+ python -m lidar_slam --result /working/result.json --no-model /working/3d498e3e-a917-4c97-92ef-108ec2957da9 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/3d498e3e-a917-4c97-92ef-108ec2957da9 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 0.018001145 Adjusted end_distance from 9.223372036854776e+18 to 245.228001145 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.018001145 meters Centerline goodness : 0.183827 with order 1 Centerline is valid? [0, False] SLAMing on 0.078001145 meters Centerline goodness : 0.258568 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99991540e-01 -3.99684533e-03 -9.71914585e-04 5.33121036e-03] [ 3.99398517e-03 9.99987740e-01 -2.92714898e-03 1.15225273e-03] [ 9.83602030e-04 2.92324241e-03 9.99995244e-01 -3.26366377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.138001145 meters Centerline goodness : 0.270573 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99981578e-01 -5.69842723e-03 -2.09078742e-03 1.18041585e-02] [ 5.69091793e-03 9.99977398e-01 -3.58015471e-03 1.74001317e-04] [ 2.11114141e-03 3.56819026e-03 9.99991406e-01 -7.79223590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.198001145 meters Centerline goodness : 0.592259 with order 3 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 0.99996106 -0.00828482 -0.00304076 0.01730764] [ 0.00826762 0.99995 -0.00562522 -0.00123234] [ 0.00308721 0.00559986 0.99997956 -0.01118932] [ 0. 0. 0. 1. ]] SLAMing on 0.258001145 meters Centerline goodness : 0.243629 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 0.99992131 -0.01196372 -0.00377334 0.02464747] [ 0.01192916 0.99988787 -0.00905208 -0.00631594] [ 0.00388121 0.00900636 0.99995191 -0.01560426] [ 0. 0. 0. 1. ]] SLAMing on 0.318001145 meters Centerline goodness : 0.180421 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 0.99988537 -0.01426644 -0.00507145 0.03186373] [ 0.01421295 0.99984457 -0.01043162 -0.00917803] [ 0.00521949 0.01035835 0.99993273 -0.01977406] [ 0. 0. 0. 1. ]] SLAMing on 0.378001145 meters Centerline goodness : 0.232084 with order 3 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.02 [[ 0.9997389 -0.02116767 -0.00860591 0.08538244] [ 0.02110304 0.99974892 -0.00753357 -0.01765528] [ 0.00876322 0.00734999 0.99993459 -0.0224904 ] [ 0. 0. 0. 1. ]] SLAMing on 0.438001145 meters Centerline goodness : 0.237260 with order 3 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:-0.03 [[ 0.99957707 -0.02799916 -0.00785705 0.11390262] [ 0.02793087 0.99957225 -0.00867097 -0.02212499] [ 0.00809647 0.00844784 0.99993154 -0.02672185] [ 0. 0. 0. 1. ]] SLAMing on 0.498001145 meters Centerline goodness : 0.204980 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.03 [[ 0.99940364 -0.03343854 -0.00861571 0.16855176] [ 0.03335496 0.9993968 -0.00966895 -0.03184375] [ 0.00893382 0.00937581 0.99991614 -0.02871958] [ 0. 0. 0. 1. ]] SLAMing on 0.5580011450000001 meters Centerline goodness : 0.215158 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.04, Z:-0.03 [[ 0.99924773 -0.0375503 -0.00969304 0.22392703] [ 0.03746624 0.99925991 -0.00871299 -0.03938615] [ 0.01001304 0.00834327 0.99991506 -0.03092752] [ 0. 0. 0. 1. ]] SLAMing on 0.618001145 meters Centerline goodness : 0.242401 with order 2 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:-0.04 [[ 0.99917277 -0.03878626 -0.01222317 0.24398309] [ 0.03860857 0.9991499 -0.01445192 -0.04316688] [ 0.01277332 0.01396805 0.99982085 -0.03598152] [ 0. 0. 0. 1. ]] SLAMing on 0.678001145 meters Centerline goodness : 0.240889 with order 2 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:-0.04 [[ 0.99907588 -0.0399482 -0.01585941 0.28648016] [ 0.03969612 0.99908523 -0.01590323 -0.04811239] [ 0.01648021 0.01525898 0.99974775 -0.04370647] [ 0. 0. 0. 1. ]] SLAMing on 0.738001145 meters Centerline goodness : 0.243511 with order 2 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.05, Z:-0.05 [[ 0.99898767 -0.04095041 -0.01862007 0.30021147] [ 0.0406818 0.99906573 -0.01458276 -0.05021476] [ 0.01919985 0.0138105 0.99972028 -0.05086447] [ 0. 0. 0. 1. ]] SLAMing on 0.7980011450000001 meters Centerline goodness : 0.246049 with order 2 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.06, Z:-0.05 [[ 0.99864657 -0.04682961 -0.02262784 0.3604546 ] [ 0.04651593 0.99881668 -0.01419553 -0.05567274] [ 0.02326583 0.01312376 0.99964317 -0.05477839] [ 0. 0. 0. 1. ]] SLAMing on 0.858001145 meters Centerline goodness : 0.235191 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.06, Z:-0.06 [[ 0.9985404 -0.05034734 -0.01955044 0.38808172] [ 0.05014829 0.99868615 -0.01054182 -0.05983449] [ 0.0200555 0.00954601 0.99975329 -0.06103098] [ 0. 0. 0. 1. ]] SLAMing on 0.918001145 meters Centerline goodness : 0.642872 with order 3 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.06, Z:-0.07 [[ 0.9984922 -0.05237721 -0.01643015 0.41386947] [ 0.05229418 0.99861689 -0.00544312 -0.06344703] [ 0.01669252 0.00457572 0.9998502 -0.06687308] [ 0. 0. 0. 1. ]] SLAMing on 0.978001145 meters Centerline goodness : 0.239838 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.07, Z:-0.07 [[ 9.98470557e-01 -5.38475118e-02 -1.25296523e-02 4.39506520e-01] [ 5.38311227e-02 9.98548704e-01 -1.64186755e-03 -6.77506988e-02] [ 1.25998786e-02 9.64871154e-04 9.99920153e-01 -7.23519290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.038001145 meters Centerline goodness : 0.465681 with order 2 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.07, Z:-0.08 [[ 0.99838875 -0.05591667 -0.00965507 0.48636001] [ 0.05595882 0.99842445 0.00415177 -0.06806833] [ 0.0094077 -0.00468537 0.99994477 -0.07786755] [ 0. 0. 0. 1. ]] SLAMing on 1.098001145 meters Centerline goodness : 0.321682 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.07, Z:-0.08 [[ 0.99847962 -0.05399759 -0.01107728 0.50572837] [ 0.05401592 0.99853915 0.00136227 -0.0680321 ] [ 0.01098754 -0.00195855 0.99993772 -0.08375374] [ 0. 0. 0. 1. ]] SLAMing on 1.1580011449999998 meters Centerline goodness : 0.770311 with order 2 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.07, Z:-0.09 [[ 0.99856815 -0.05190466 -0.01294439 0.52381648] [ 0.05188717 0.99865153 -0.0016838 -0.06738347] [ 0.01301433 0.00100975 0.9999148 -0.08872462] [ 0. 0. 0. 1. ]] SLAMing on 1.218001145 meters Centerline goodness : 0.560232 with order 2 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.09 [[ 0.99864902 -0.05110916 -0.00938034 0.55119511] [ 0.05115753 0.99867813 0.00499048 -0.06276921] [ 0.00911288 -0.00546361 0.99994355 -0.09490191] [ 0. 0. 0. 1. ]] SLAMing on 1.278001145 meters Centerline goodness : 0.557217 with order 2 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.06, Z:-0.10 [[ 0.99844141 -0.05566719 -0.00398817 0.57829841] [ 0.05569 0.99843093 0.0058575 -0.05837726] [ 0.00365584 -0.00607048 0.99997489 -0.10046089] [ 0. 0. 0. 1. ]] SLAMing on 1.3380011449999998 meters Centerline goodness : 0.268977 with order 2 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.05, Z:-0.10 [[ 0.99819035 -0.06011541 0.00146745 0.59898659] [ 0.06010833 0.99818184 0.00447225 -0.05227504] [-0.00173363 -0.00437595 0.99998892 -0.10159683] [ 0. 0. 0. 1. ]] SLAMing on 1.3980011449999998 meters Centerline goodness : 0.590703 with order 2 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.11 [[ 0.99778234 -0.06627426 0.00617445 0.64297254] [ 0.06624521 0.99779185 0.00479646 -0.04538563] [-0.0064787 -0.00437679 0.99996943 -0.10745633] [ 0. 0. 0. 1. ]] SLAMing on 1.4580011449999999 meters Centerline goodness : 0.778115 with order 2 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.04, Z:-0.11 [[ 0.99747083 -0.07061543 0.00808676 0.66744531] [ 0.07058888 0.99749927 0.00352311 -0.039726 ] [-0.00831533 -0.00294336 0.9999611 -0.11187693] [ 0. 0. 0. 1. ]] SLAMing on 1.518001145 meters Centerline goodness : 0.776981 with order 2 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.03, Z:-0.12 [[ 0.99709867 -0.07488775 0.01364096 0.70655382] [ 0.07492288 0.99718716 -0.00208229 -0.03434856] [-0.01344665 0.00309827 0.99990479 -0.11955823] [ 0. 0. 0. 1. ]] SLAMing on 1.578001145 meters Centerline goodness : 0.767734 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.13 [[ 9.97005374e-01 -7.61068006e-02 1.37127718e-02 7.32268031e-01] [ 7.61143125e-02 9.97099098e-01 -2.59895460e-05 -2.91506449e-02] [-1.36710144e-02 1.06964992e-03 9.99905975e-01 -1.25185802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6380011449999998 meters Centerline goodness : 0.811977 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.02, Z:-0.13 [[ 9.96922016e-01 -7.72996656e-02 1.30864386e-02 7.61433775e-01] [ 7.72899470e-02 9.97007877e-01 1.24752940e-03 -2.01916271e-02] [-1.31437160e-02 -2.32239373e-04 9.99913591e-01 -1.32800314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6980011449999999 meters Centerline goodness : 0.805205 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.02, Z:-0.14 [[ 0.99680871 -0.07843899 0.01482326 0.79573335] [ 0.0785081 0.99690488 -0.00413883 -0.01617733] [-0.01445274 0.00528937 0.99988156 -0.13767197] [ 0. 0. 0. 1. ]] SLAMing on 1.758001145 meters Centerline goodness : 0.722812 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.01, Z:-0.14 [[ 0.99669054 -0.07990341 0.0149467 0.80087671] [ 0.07999058 0.99678138 -0.00532759 -0.00970507] [-0.0144729 0.00650556 0.9998741 -0.14153184] [ 0. 0. 0. 1. ]] SLAMing on 1.8180011449999998 meters Centerline goodness : 0.711602 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:0.01, Z:-0.14 [[ 9.96448358e-01 -8.11474489e-02 2.24891348e-02 8.37265222e-01] [ 8.11532612e-02 9.96701419e-01 6.55586245e-04 5.55629869e-03] [-2.24681517e-02 1.17180879e-03 9.99746872e-01 -1.43802532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8780011449999998 meters Centerline goodness : 0.648027 with order 3 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.15 [[ 0.99599987 -0.08572839 0.02519743 0.86044451] [ 0.08581914 0.99630749 -0.00254059 0.01288987] [-0.02488659 0.00469285 0.99967927 -0.14798433] [ 0. 0. 0. 1. ]] SLAMing on 1.9380011449999999 meters Centerline goodness : 0.626782 with order 2 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.16 [[ 0.99575709 -0.0889531 0.02356207 0.88952279] [ 0.08906705 0.99601827 -0.00382974 0.02401185] [-0.02312759 0.00591209 0.99971504 -0.15562343] [ 0. 0. 0. 1. ]] SLAMing on 1.998001145 meters Centerline goodness : 0.791383 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.16 [[ 9.95800117e-01 -8.84615408e-02 2.35941402e-02 9.14093831e-01] [ 8.84923490e-02 9.96076822e-01 -2.62821524e-04 3.33763286e-02] [-2.34783266e-02 2.34961859e-03 9.99721585e-01 -1.60607582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.058001145 meters Centerline goodness : 0.797489 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:0.05, Z:-0.16 [[ 0.99579451 -0.08893761 0.02198637 0.94240517] [ 0.08898438 0.99603235 -0.00115639 0.04861606] [-0.02179629 0.00310797 0.9997576 -0.16430612] [ 0. 0. 0. 1. ]] SLAMing on 2.118001145 meters Centerline goodness : 0.629391 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:0.06, Z:-0.17 [[ 0.99547048 -0.09245886 0.02213309 0.9708856 ] [ 0.09257188 0.99569742 -0.00413536 0.06141389] [-0.02165551 0.00616553 0.99974648 -0.16994254] [ 0. 0. 0. 1. ]] SLAMing on 2.178001145 meters Centerline goodness : 0.799601 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:0.07, Z:-0.17 [[ 0.99549639 -0.09220678 0.02201918 0.97359295] [ 0.09231782 0.99572124 -0.00407872 0.07170133] [-0.02154888 0.00609312 0.99974923 -0.17139037] [ 0. 0. 0. 1. ]] SLAMing on 2.2380011449999997 meters Centerline goodness : 0.160185 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:0.09, Z:-0.17 [[ 0.99524582 -0.09421887 0.0246691 0.99483915] [ 0.09437925 0.99552158 -0.00541715 0.08712749] [-0.02404822 0.00771965 0.99968099 -0.17206017] [ 0. 0. 0. 1. ]] SLAMing on 2.2980011449999997 meters SLAMing on 2.358001145 meters Centerline goodness : 0.887987 with order 2 Centerline is valid? [False, False] Translation: X:1.05, Y:0.12, Z:-0.17 [[ 0.99595256 -0.08720783 0.0217555 1.05180712] [ 0.08741526 0.99613334 -0.00877157 0.12075786] [-0.02090643 0.01063783 0.99972484 -0.17277494] [ 0. 0. 0. 1. ]] SLAMing on 2.418001145 meters Centerline goodness : 0.875260 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.13, Z:-0.18 [[ 0.99663487 -0.07998032 0.01794648 1.06853675] [ 0.08015897 0.99673715 -0.00946522 0.13269033] [-0.0171309 0.01087194 0.99979415 -0.17634582] [ 0. 0. 0. 1. ]] SLAMing on 2.478001145 meters Centerline goodness : 0.884009 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.15, Z:-0.18 [[ 0.99710142 -0.07503839 0.01257015 1.08881696] [ 0.07522029 0.99705883 -0.0146833 0.14701219] [-0.01143136 0.01558626 0.99981318 -0.17967587] [ 0. 0. 0. 1. ]] SLAMing on 2.538001145 meters Centerline goodness : 0.885547 with order 3 Centerline is valid? [False, False] Translation: X:1.11, Y:0.16, Z:-0.18 [[ 0.99733667 -0.07176543 0.01301132 1.11096146] [ 0.07188535 0.99737234 -0.00899528 0.1639152 ] [-0.01233158 0.00990665 0.99987489 -0.18139418] [ 0. 0. 0. 1. ]] SLAMing on 2.598001145 meters Centerline goodness : 0.890238 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:0.18, Z:-0.18 [[ 0.99748801 -0.07000846 0.01079242 1.11579103] [ 0.07011228 0.99749328 -0.00956146 0.17586244] [-0.01009598 0.01029412 0.99989605 -0.18105868] [ 0. 0. 0. 1. ]] SLAMing on 2.6580011449999996 meters Centerline goodness : 0.886563 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:0.19, Z:-0.18 [[ 0.99696253 -0.07678704 0.01301811 1.1373436 ] [ 0.07699434 0.9968991 -0.0162498 0.19143569] [-0.01172996 0.01720276 0.99978321 -0.1821686 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7180011449999997 meters Centerline goodness : 0.892610 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:0.20, Z:-0.18 [[ 0.99688426 -0.07800257 0.01172041 1.14163602] [ 0.07821567 0.99675576 -0.01898038 0.20139598] [-0.01020187 0.01983796 0.99975116 -0.18391625] [ 0. 0. 0. 1. ]] SLAMing on 2.7780011449999997 meters Centerline goodness : 0.894045 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.22, Z:-0.19 [[ 0.99694561 -0.07722013 0.01168375 1.16485385] [ 0.07738136 0.99690269 -0.01404095 0.21505601] [-0.01056332 0.01490217 0.99983316 -0.18874474] [ 0. 0. 0. 1. ]] SLAMing on 2.838001145 meters Centerline goodness : 0.900458 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:0.22, Z:-0.19 [[ 0.99703295 -0.0762383 0.0106307 1.16819607] [ 0.07638465 0.99697848 -0.01411693 0.21986617] [-0.00952233 0.01488707 0.99984384 -0.19014678] [ 0. 0. 0. 1. ]] SLAMing on 2.898001145 meters Centerline goodness : 0.899028 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.23, Z:-0.19 [[ 0.99757267 -0.06927365 0.00706627 1.17659777] [ 0.06935182 0.99752606 -0.01149311 0.23245949] [-0.00625262 0.01195527 0.99990898 -0.18996615] [ 0. 0. 0. 1. ]] SLAMing on 2.958001145 meters Centerline goodness : 0.907784 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.24, Z:-0.19 [[ 0.9978587 -0.06515387 0.00574303 1.17964273] [ 0.06520458 0.9978301 -0.00913586 0.2405892 ] [-0.00513533 0.00949077 0.99994178 -0.1902283 ] [ 0. 0. 0. 1. ]] SLAMing on 3.018001145 meters Centerline goodness : 0.904598 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:0.25, Z:-0.20 [[ 0.99815961 -0.05968375 0.01073498 1.20169192] [ 0.0598366 0.99810243 -0.01452987 0.25009074] [-0.00984741 0.01514548 0.99983681 -0.19601623] [ 0. 0. 0. 1. ]] SLAMing on 3.078001145 meters Centerline goodness : 0.906506 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:0.25, Z:-0.20 [[ 0.99821055 -0.05898937 0.00979585 1.2050252 ] [ 0.05913069 0.99814017 -0.0148244 0.25368808] [-0.00890315 0.01537711 0.99984213 -0.19720695] [ 0. 0. 0. 1. ]] SLAMing on 3.138001145 meters Centerline goodness : 0.903490 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.26, Z:-0.20 [[ 0.99827808 -0.05631661 0.01641103 1.21761782] [ 0.0566192 0.99822263 -0.01859688 0.26174106] [-0.01533455 0.01949403 0.99969237 -0.20300642] [ 0. 0. 0. 1. ]] SLAMing on 3.1980011449999997 meters Centerline goodness : 0.900569 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.21 [[ 0.99834387 -0.05549085 0.01517487 1.22212113] [ 0.05576652 0.99827446 -0.01839019 0.26582066] [-0.0141282 0.01920598 0.99971572 -0.20543999] [ 0. 0. 0. 1. ]] SLAMing on 3.2580011449999997 meters Centerline goodness : 0.896642 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:0.27, Z:-0.21 [[ 0.99822735 -0.0567984 0.01777915 1.23938703] [ 0.05694579 0.99834604 -0.00789644 0.26768594] [-0.01730124 0.00889489 0.99981076 -0.21336158] [ 0. 0. 0. 1. ]] SLAMing on 3.3180011449999998 meters Centerline goodness : 0.900097 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:0.26, Z:-0.22 [[ 9.97997584e-01 -5.92156085e-02 2.22336311e-02 1.25483728e+00] [ 5.91952034e-02 9.98245183e-01 1.57535757e-03 2.64967766e-01] [-2.22879009e-02 -2.56078735e-04 9.99751561e-01 -2.21081135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.378001145 meters Centerline goodness : 0.901622 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:0.27, Z:-0.23 [[ 0.99791915 -0.05852935 0.02704968 1.26599849] [ 0.05813767 0.99819517 0.01504728 0.26958623] [-0.02788157 -0.01344336 0.99952083 -0.22756914] [ 0. 0. 0. 1. ]] SLAMing on 3.438001145 meters Centerline goodness : 0.903354 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:0.27, Z:-0.24 [[ 0.9978221 -0.05794725 0.03151471 1.28096447] [ 0.05706553 0.99797228 0.02819333 0.26836909] [-0.03308454 -0.02633352 0.99910558 -0.23659108] [ 0. 0. 0. 1. ]] SLAMing on 3.498001145 meters Centerline goodness : 0.903098 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:0.27, Z:-0.24 [[ 0.99766175 -0.05751274 0.0369232 1.29321769] [ 0.05602009 0.99761751 0.04026229 0.26979695] [-0.03915082 -0.03809971 0.9985067 -0.2431769 ] [ 0. 0. 0. 1. ]] SLAMing on 3.558001145 meters Centerline goodness : 0.904273 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:0.28, Z:-0.24 [[ 0.99768776 -0.05739993 0.03639201 1.29496586] [ 0.05598149 0.99767503 0.0388665 0.27656004] [-0.03853834 -0.03673936 0.9985815 -0.24321383] [ 0. 0. 0. 1. ]] SLAMing on 3.6180011449999996 meters Centerline goodness : 0.901803 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:0.28, Z:-0.24 [[ 0.99772024 -0.05616385 0.03741593 1.29107825] [ 0.05458632 0.99762838 0.04192802 0.2793453 ] [-0.03968204 -0.03979003 0.9984198 -0.24383795] [ 0. 0. 0. 1. ]] SLAMing on 3.6780011449999996 meters Centerline goodness : 0.902181 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:0.28, Z:-0.25 [[ 0.99722646 -0.06327487 0.03918763 1.30451302] [ 0.06140154 0.99699208 0.04729308 0.28489027] [-0.04206222 -0.04475573 0.99811207 -0.25065496] [ 0. 0. 0. 1. ]] SLAMing on 3.7380011449999997 meters Centerline goodness : 0.903469 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:0.29, Z:-0.25 [[ 0.99717465 -0.06535914 0.03702561 1.30982135] [ 0.06357458 0.99684683 0.0474833 0.2883591 ] [-0.04001233 -0.04499526 0.99818557 -0.25155534] [ 0. 0. 0. 1. ]] SLAMing on 3.7980011449999997 meters Centerline goodness : 0.903472 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.29, Z:-0.25 [[ 0.99720015 -0.06639268 0.03440742 1.31646581] [ 0.06467999 0.99671678 0.04870485 0.29290128] [-0.0375281 -0.04634301 0.9982204 -0.25323533] [ 0. 0. 0. 1. ]] SLAMing on 3.858001145 meters Centerline goodness : 0.904044 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.30, Z:-0.25 [[ 0.99726863 -0.06604727 0.033061 1.31857359] [ 0.06432981 0.99664685 0.0505642 0.29534595] [-0.03628977 -0.04829928 0.99817345 -0.25217157] [ 0. 0. 0. 1. ]] SLAMing on 3.918001145 meters Centerline goodness : 0.902011 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.30, Z:-0.25 [[ 0.99743182 -0.06446518 0.03120908 1.32240162] [ 0.06274902 0.99661276 0.05315609 0.29837851] [-0.03453008 -0.05106123 0.9980984 -0.25273916] [ 0. 0. 0. 1. ]] SLAMing on 3.978001145 meters Centerline goodness : 0.902310 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.30, Z:-0.25 [[ 0.99746678 -0.06443747 0.03013024 1.32561861] [ 0.06281191 0.99666463 0.05209882 0.30113507] [-0.03338686 -0.05007431 0.9981873 -0.25466318] [ 0. 0. 0. 1. ]] SLAMing on 4.038001145 meters Centerline goodness : 0.901875 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:0.30, Z:-0.25 [[ 0.99826501 -0.05686192 0.01528671 1.33614247] [ 0.05587317 0.99670662 0.05877155 0.30103279] [-0.01857823 -0.05781546 0.99815441 -0.25248661] [ 0. 0. 0. 1. ]] SLAMing on 4.0980011450000005 meters Centerline goodness : 0.898930 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:0.30, Z:-0.25 [[ 0.99830266 -0.05651117 0.01408135 1.33934015] [ 0.05560436 0.99676095 0.05810126 0.30468688] [-0.01731911 -0.05721966 0.99821138 -0.25410027] [ 0. 0. 0. 1. ]] SLAMing on 4.158001145 meters Centerline goodness : 0.898806 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:0.31, Z:-0.25 [[ 0.99838641 -0.05526826 0.01303802 1.34170735] [ 0.05441038 0.99678081 0.05888578 0.30801963] [-0.01625056 -0.05808136 0.99817958 -0.25462375] [ 0. 0. 0. 1. ]] SLAMing on 4.218001145000001 meters Centerline goodness : 0.898948 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:0.31, Z:-0.25 [[ 0.99859637 -0.05174269 0.01131285 1.34317646] [ 0.05092546 0.9966876 0.06340688 0.31092776] [-0.01455622 -0.06274177 0.99792364 -0.25220706] [ 0. 0. 0. 1. ]] SLAMing on 4.278001145 meters Centerline goodness : 0.897738 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:0.31, Z:-0.25 [[ 0.99873886 -0.04911763 0.01039971 1.34499681] [ 0.04833235 0.99667147 0.06565039 0.31427465] [-0.01358968 -0.06506495 0.99778849 -0.25246909] [ 0. 0. 0. 1. ]] SLAMing on 4.338001145000001 meters Centerline goodness : 0.895694 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:0.32, Z:-0.25 [[ 0.99879761 -0.04817371 0.00909031 1.34732304] [ 0.04746094 0.99663372 0.0668483 0.3182085 ] [-0.01228004 -0.06633649 0.99772174 -0.25258025] [ 0. 0. 0. 1. ]] SLAMing on 4.398001145 meters Centerline goodness : 0.896834 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:0.32, Z:-0.25 [[ 0.99870559 -0.05037638 0.00702644 1.34999076] [ 0.04978865 0.99647373 0.06753656 0.32262274] [-0.01040391 -0.0670993 0.99769206 -0.25017902] [ 0. 0. 0. 1. ]] SLAMing on 4.458001145 meters Centerline goodness : 0.896587 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:0.33, Z:-0.25 [[ 0.99863522 -0.05189443 0.00588811 1.35269926] [ 0.05139003 0.99646657 0.06643367 0.32545634] [-0.00931484 -0.06604041 0.99777347 -0.25056219] [ 0. 0. 0. 1. ]] SLAMing on 4.518001145 meters Centerline goodness : 0.897602 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:0.33, Z:-0.25 [[ 0.99851369 -0.05429147 0.00477951 1.35415685] [ 0.05386737 0.99643276 0.06496195 0.32879125] [-0.00828934 -0.06460793 0.9978763 -0.24929659] [ 0. 0. 0. 1. ]] SLAMing on 4.578001145 meters Centerline goodness : 0.897834 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:0.33, Z:-0.24 [[ 0.99862588 -0.0521537 0.00513207 1.37392391] [ 0.05181519 0.99728783 0.05227007 0.33418804] [-0.00784423 -0.05193233 0.9986198 -0.24400535] [ 0. 0. 0. 1. ]] SLAMing on 4.6380011450000005 meters Centerline goodness : 0.896871 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:0.34, Z:-0.24 [[ 0.9987937 -0.04873961 0.00596542 1.40119218] [ 0.0484758 0.99808633 0.03838967 0.34039002] [-0.00782511 -0.03805418 0.99924504 -0.24134487] [ 0. 0. 0. 1. ]] SLAMing on 4.698001145 meters Centerline goodness : 0.894257 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:0.35, Z:-0.23 [[ 0.99895001 -0.04537312 0.00633666 1.41527899] [ 0.04517494 0.99857156 0.02853178 0.34927721] [-0.00762218 -0.02821556 0.9995728 -0.2344161 ] [ 0. 0. 0. 1. ]] SLAMing on 4.758001145000001 meters Centerline goodness : 0.896944 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:0.35, Z:-0.23 [[ 0.99887428 -0.04713139 0.00536682 1.42012664] [ 0.04699741 0.99863413 0.02282791 0.35400169] [-0.00643541 -0.02254999 0.999725 -0.23240362] [ 0. 0. 0. 1. ]] SLAMing on 4.818001145 meters Centerline goodness : 0.895527 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:0.36, Z:-0.23 [[ 0.99902747 -0.04347868 0.00732965 1.44040166] [ 0.04339527 0.99899544 0.01117824 0.36075329] [-0.00780831 -0.0108493 0.99991066 -0.22889602] [ 0. 0. 0. 1. ]] SLAMing on 4.878001145 meters Centerline goodness : 0.889404 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:0.37, Z:-0.22 [[ 0.99911089 -0.04082864 0.01050913 1.46090903] [ 0.04086573 0.99915907 -0.00333917 0.37061401] [-0.01036396 0.00376567 0.9999392 -0.22307871] [ 0. 0. 0. 1. ]] SLAMing on 4.938001145 meters Centerline goodness : 0.891209 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:0.38, Z:-0.22 [[ 0.99894374 -0.04481004 0.01017181 1.46254202] [ 0.04491015 0.9989426 -0.0098363 0.38042336] [-0.00972029 0.01028273 0.99989989 -0.22136658] [ 0. 0. 0. 1. ]] SLAMing on 4.998001145 meters Centerline goodness : 0.891712 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:0.39, Z:-0.22 [[ 0.99876987 -0.04866423 0.0095153 1.46461947] [ 0.04881938 0.99866605 -0.01681649 0.38763636] [-0.00868424 0.01726034 0.99981331 -0.21780395] [ 0. 0. 0. 1. ]] SLAMing on 5.058001145 meters Centerline goodness : 0.888678 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:0.39, Z:-0.21 [[ 0.99875229 -0.04897197 0.00977811 1.47365348] [ 0.04922143 0.99841879 -0.02715079 0.39436127] [-0.00843302 0.02759821 0.99958352 -0.21049521] [ 0. 0. 0. 1. ]] SLAMing on 5.118001145 meters Centerline goodness : 0.887792 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:0.40, Z:-0.20 [[ 0.99897071 -0.04225324 0.01649771 1.47995331] [ 0.04248262 0.99900176 -0.01381011 0.39986667] [-0.01589772 0.01449676 0.99976853 -0.20323332] [ 0. 0. 0. 1. ]] SLAMing on 5.1780011450000005 meters Centerline goodness : 0.885903 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:0.40, Z:-0.21 [[ 0.99914248 -0.03879294 0.01447108 1.4882788 ] [ 0.03896923 0.99916707 -0.01210615 0.39835725] [-0.01398939 0.01265969 0.999822 -0.20587549] [ 0. 0. 0. 1. ]] SLAMing on 5.238001145 meters Centerline goodness : 0.881393 with order 1 Centerline is valid? [False, False] Translation: X:1.50, Y:0.40, Z:-0.21 [[ 0.99922692 -0.03883062 0.00614392 1.50017739] [ 0.03899278 0.99882027 -0.02894198 0.39681137] [-0.00501284 0.02915917 0.99956221 -0.21275462] [ 0. 0. 0. 1. ]] SLAMing on 5.298001145 meters Centerline goodness : 0.874646 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:0.40, Z:-0.22 [[ 0.99935565 -0.0356759 0.00393964 1.51440463] [ 0.0357805 0.99888517 -0.03079253 0.40095498] [-0.0028367 0.03091365 0.99951803 -0.21633873] [ 0. 0. 0. 1. ]] SLAMing on 5.358001145 meters Centerline goodness : 0.873528 with order 1 Centerline is valid? [False, False] Translation: X:1.55, Y:0.41, Z:-0.21 [[ 0.9993864 -0.0349883 -0.00162576 1.54945934] [ 0.03492272 0.99892687 -0.03042238 0.40685641] [ 0.00268844 0.03034694 0.99953581 -0.21381088] [ 0. 0. 0. 1. ]] SLAMing on 5.418001145 meters Centerline goodness : 0.875957 with order 1 Centerline is valid? [False, False] Translation: X:1.55, Y:0.41, Z:-0.21 [[ 0.99941022 -0.0342214 -0.00284896 1.5532371 ] [ 0.03411515 0.99892368 -0.03142678 0.41183562] [ 0.00392136 0.03131105 0.999502 -0.21324281] [ 0. 0. 0. 1. ]] SLAMing on 5.478001145 meters Centerline goodness : 0.874211 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:0.42, Z:-0.21 [[ 0.99952816 -0.03058249 -0.00285938 1.57562081] [ 0.03043472 0.99864508 -0.04221046 0.41552185] [ 0.0041464 0.04210352 0.99910465 -0.20961384] [ 0. 0. 0. 1. ]] SLAMing on 5.538001145 meters Centerline goodness : 0.869116 with order 1 Centerline is valid? [False, False] Translation: X:1.61, Y:0.42, Z:-0.21 [[ 0.99958537 -0.02819672 -0.00583357 1.61441098] [ 0.02791357 0.99864306 -0.04396453 0.4209829 ] [ 0.00706531 0.04378346 0.99901606 -0.20742197] [ 0. 0. 0. 1. ]] SLAMing on 5.5980011450000005 meters Centerline goodness : 0.869166 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:0.42, Z:-0.21 [[ 0.99969814 -0.02450747 -0.00173531 1.64408197] [ 0.02441819 0.99889674 -0.04011291 0.42444271] [ 0.00271646 0.04005843 0.99919365 -0.2079118 ] [ 0. 0. 0. 1. ]] SLAMing on 5.658001145 meters Centerline goodness : 0.868099 with order 1 Centerline is valid? [False, False] Translation: X:1.67, Y:0.42, Z:-0.21 [[ 0.99972217 -0.02342042 0.00265776 1.67032048] [ 0.02349617 0.99916602 -0.03339462 0.42022758] [-0.00187343 0.03344779 0.99943871 -0.21465994] [ 0. 0. 0. 1. ]] SLAMing on 5.718001145000001 meters Centerline goodness : 0.863983 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:0.42, Z:-0.21 [[ 9.99587507e-01 -2.87165438e-02 4.18584624e-04 1.67858433e+00] [ 2.87092696e-02 9.98731240e-01 -4.13725608e-02 4.19715393e-01] [ 7.70023412e-04 4.13675122e-02 9.99143701e-01 -2.13930790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.778001145 meters Centerline goodness : 0.867148 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:0.42, Z:-0.22 [[ 9.99509292e-01 -3.13160272e-02 -6.93441715e-04 1.68338839e+00] [ 3.12559720e-02 9.98558657e-01 -4.36311043e-02 4.15517215e-01] [ 2.05879508e-03 4.35880200e-02 9.99047469e-01 -2.16658145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.838001145 meters Centerline goodness : 0.862875 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:0.41, Z:-0.22 [[ 9.99418903e-01 -3.39808890e-02 2.67482542e-03 1.70950335e+00] [ 3.40605931e-02 9.98623645e-01 -3.98834836e-02 4.10341717e-01] [-1.31586768e-03 3.99514136e-02 9.99200757e-01 -2.22644136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.898001145 meters Centerline goodness : 0.863585 with order 1 Centerline is valid? [False, False] Translation: X:1.74, Y:0.41, Z:-0.23 [[ 0.99937255 -0.03486078 0.00626433 1.73505212] [ 0.03505641 0.99879165 -0.03444268 0.40690829] [-0.00505606 0.03464067 0.99938704 -0.22827484] [ 0. 0. 0. 1. ]] SLAMing on 5.958001145 meters Centerline goodness : 0.858916 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.40, Z:-0.23 [[ 0.99921608 -0.03812559 0.01066139 1.75245037] [ 0.03840909 0.99887565 -0.02778797 0.40489243] [-0.00958998 0.02817568 0.99955698 -0.23317559] [ 0. 0. 0. 1. ]] SLAMing on 6.018001145 meters Centerline goodness : 0.855449 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:0.40, Z:-0.24 [[ 0.99905079 -0.04162395 0.01284425 1.78550456] [ 0.0420016 0.99864621 -0.03068564 0.40494868] [-0.01154961 0.03119599 0.99944656 -0.23544898] [ 0. 0. 0. 1. ]] SLAMing on 6.078001145 meters Centerline goodness : 0.855628 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:0.41, Z:-0.23 [[ 0.99923307 -0.03749189 0.01129691 1.80035334] [ 0.03787319 0.99864547 -0.03567694 0.40786632] [-0.00994401 0.03607743 0.99929952 -0.23292637] [ 0. 0. 0. 1. ]] SLAMing on 6.1380011450000005 meters Centerline goodness : 0.856822 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:0.42, Z:-0.23 [[ 0.99934173 -0.03536659 0.00808148 1.84364364] [ 0.03568535 0.99841753 -0.04346263 0.41634082] [-0.00653157 0.04372241 0.99902237 -0.2260309 ] [ 0. 0. 0. 1. ]] SLAMing on 6.198001145 meters Centerline goodness : 0.856605 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:0.42, Z:-0.23 [[ 0.99935705 -0.0342709 0.01053519 1.87804137] [ 0.03470825 0.99840211 -0.04459329 0.4166748 ] [-0.0089901 0.04493028 0.99894967 -0.22605982] [ 0. 0. 0. 1. ]] SLAMing on 6.258001145000001 meters Centerline goodness : 0.855984 with order 1 Centerline is valid? [False, False] Translation: X:1.89, Y:0.42, Z:-0.22 [[ 0.99944575 -0.03126604 0.01142905 1.89427802] [ 0.0318572 0.99793149 -0.05583776 0.42005922] [-0.00965958 0.05617091 0.99837444 -0.21813308] [ 0. 0. 0. 1. ]] SLAMing on 6.318001145 meters Centerline goodness : 0.857482 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.42, Z:-0.21 [[ 0.9995107 -0.02969264 0.00983358 1.93243165] [ 0.0302292 0.99774919 -0.05985604 0.42304621] [-0.00803416 0.06012401 0.99815858 -0.21438541] [ 0. 0. 0. 1. ]] SLAMing on 6.378001145 meters Centerline goodness : 0.853355 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.43, Z:-0.21 [[ 0.99955849 -0.02900084 0.0064634 1.97495925] [ 0.02937079 0.99729617 -0.06736255 0.42822641] [-0.00449235 0.06752264 0.99770763 -0.21013809] [ 0. 0. 0. 1. ]] SLAMing on 6.438001145 meters Centerline goodness : 0.853647 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:0.42, Z:-0.21 [[ 0.99973087 -0.0214173 -0.00891539 1.98227557] [ 0.02088496 0.99821004 -0.05604053 0.42165081] [ 0.01009966 0.05583925 0.99838869 -0.2112483 ] [ 0. 0. 0. 1. ]] SLAMing on 6.498001145 meters Centerline goodness : 0.852471 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.43, Z:-0.20 [[ 0.9998048 -0.01732669 -0.00949497 1.9956673 ] [ 0.01669258 0.9978599 -0.06322171 0.42763196] [ 0.01057007 0.06305087 0.99795434 -0.20496315] [ 0. 0. 0. 1. ]] SLAMing on 6.558001145 meters Centerline goodness : 0.853276 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.43, Z:-0.21 [[ 0.99982568 -0.01498512 -0.01113808 2.00058247] [ 0.01430328 0.99815777 -0.05896172 0.42859776] [ 0.01200111 0.05879213 0.99819811 -0.20773583] [ 0. 0. 0. 1. ]] SLAMing on 6.618001145 meters Centerline goodness : 0.855279 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.43, Z:-0.21 [[ 0.99990609 -0.00661913 -0.01199969 2.00479832] [ 0.00599688 0.99867197 -0.05116972 0.43108847] [ 0.01232245 0.05109295 0.99861788 -0.21171273] [ 0. 0. 0. 1. ]] SLAMing on 6.6780011450000005 meters Centerline goodness : 0.853641 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:0.41, Z:-0.23 [[ 0.99971439 -0.00849628 -0.02233733 1.9946721 ] [ 0.00867483 0.9999311 0.00790877 0.41239835] [ 0.0222686 -0.00810028 0.99971921 -0.23131666] [ 0. 0. 0. 1. ]] SLAMing on 6.738001145 meters Centerline goodness : 0.856228 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.40, Z:-0.25 [[ 0.99973853 -0.00274139 -0.02270166 2.00230216] [ 0.0036323 0.99922099 0.03929662 0.40384498] [ 0.02257625 -0.0393688 0.99896967 -0.2455977 ] [ 0. 0. 0. 1. ]] SLAMing on 6.798001145 meters Centerline goodness : 0.855035 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:0.41, Z:-0.24 [[ 9.99750623e-01 6.49828024e-04 -2.23219312e-02 2.01434185e+00] [ 4.13980357e-05 9.99520877e-01 3.09518197e-02 4.10268801e-01] [ 2.23313496e-02 -3.09450251e-02 9.99271593e-01 -2.38352259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.858001145 meters Centerline goodness : 0.854124 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.37, Z:-0.27 [[ 0.99978568 0.00539555 -0.01998719 2.02973872] [-0.00303127 0.99318801 0.11648342 0.36949606] [ 0.02047952 -0.11639787 0.9929915 -0.2740893 ] [ 0. 0. 0. 1. ]] SLAMing on 6.918001145 meters Centerline goodness : 0.856993 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.37, Z:-0.27 [[ 0.99975472 0.00921805 -0.02013792 2.03007256] [-0.00671588 0.99263446 0.12096171 0.36874908] [ 0.02110463 -0.1207968 0.99245288 -0.27288295] [ 0. 0. 0. 1. ]] SLAMing on 6.978001145 meters Centerline goodness : 0.853853 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.36, Z:-0.28 [[ 0.9998037 0.01235275 -0.01549129 2.05416636] [-0.01022559 0.9913858 0.13057427 0.36431329] [ 0.0169708 -0.13039023 0.9913175 -0.2771179 ] [ 0. 0. 0. 1. ]] SLAMing on 7.038001145 meters Centerline goodness : 0.853420 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.35, Z:-0.29 [[ 0.99982714 0.01640627 -0.00874817 2.06824798] [-0.0148851 0.98824726 0.15213737 0.35061628] [ 0.01114136 -0.15198085 0.98832064 -0.28918898] [ 0. 0. 0. 1. ]] SLAMing on 7.0980011450000005 meters Centerline goodness : 0.847296 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:0.35, Z:-0.29 [[ 0.99980212 0.0164304 -0.01121425 2.09971699] [-0.01448335 0.98767846 0.15582519 0.34907547] [ 0.01363634 -0.15563194 0.98772099 -0.2892398 ] [ 0. 0. 0. 1. ]] SLAMing on 7.158001145 meters Centerline goodness : 0.849866 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:0.32, Z:-0.31 [[ 0.99978652 0.02036845 -0.00347013 2.12162605] [-0.01922907 0.97869012 0.20444045 0.31748251] [ 0.00756031 -0.20433008 0.97887285 -0.31431134] [ 0. 0. 0. 1. ]] SLAMing on 7.218001145 meters Centerline goodness : 0.856008 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:0.28, Z:-0.34 [[ 9.99678945e-01 2.43320179e-02 7.06820549e-03 2.13356015e+00] [-2.53336475e-02 9.64915944e-01 2.61333939e-01 2.76400270e-01] [-4.61442106e-04 -2.61429099e-01 9.65222572e-01 -3.42533854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.278001145 meters Centerline goodness : 0.851185 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:0.18, Z:-0.39 [[ 0.99932937 0.02308458 0.02842389 2.13378137] [-0.03250413 0.91668027 0.39829732 0.1806575 ] [-0.01686109 -0.39895411 0.91681586 -0.39154461] [ 0. 0. 0. 1. ]] SLAMing on 7.338001145 meters Centerline goodness : 0.847385 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:0.20, Z:-0.38 [[ 0.9993375 0.02268486 0.02845959 2.14241203] [-0.03190064 0.92239057 0.38493894 0.19639687] [-0.01751857 -0.3855918 0.92250315 -0.38119749] [ 0. 0. 0. 1. ]] SLAMing on 7.398001145 meters Centerline goodness : 0.849943 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:0.21, Z:-0.37 [[ 0.99935136 0.02265093 0.02799631 2.09217616] [-0.03163682 0.9236019 0.38204535 0.2057814 ] [-0.01720376 -0.38268325 0.92371942 -0.37022289] [ 0. 0. 0. 1. ]] SLAMing on 7.458001145 meters Centerline goodness : 0.843760 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.22, Z:-0.36 [[ 0.99934063 0.02163609 0.02915782 2.04468786] [-0.03083401 0.92975804 0.36687771 0.21685296] [-0.01917192 -0.36753485 0.92981212 -0.36113678] [ 0. 0. 0. 1. ]] SLAMing on 7.518001145 meters Centerline goodness : 0.841442 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.23, Z:-0.35 [[ 0.99928894 0.01722192 0.0335412 2.03947847] [-0.02789568 0.93618305 0.35040423 0.22510991] [-0.02536607 -0.35109072 0.93599779 -0.34703896] [ 0. 0. 0. 1. ]] SLAMing on 7.578001145 meters Centerline goodness : 0.845847 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:-0.33 [[ 0.99927787 0.01406832 0.03529607 2.03782806] [-0.02517583 0.9409046 0.33773466 0.2356067 ] [-0.02845887 -0.33837938 0.94057933 -0.3302496 ] [ 0. 0. 0. 1. ]] SLAMing on 7.6380011450000005 meters Centerline goodness : 0.853534 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.25, Z:-0.32 [[ 0.99907515 0.00970163 0.04188933 2.04163104] [-0.02272681 0.94615639 0.32291109 0.24781935] [-0.03650109 -0.32356446 0.94550183 -0.31669519] [ 0. 0. 0. 1. ]] SLAMing on 7.698001145 meters Centerline goodness : 0.845966 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.26, Z:-0.31 [[ 0.99902794 0.01212073 0.04238237 2.06714927] [-0.02383796 0.95729416 0.28813129 0.26349321] [-0.03708004 -0.28886152 0.95665255 -0.30603269] [ 0. 0. 0. 1. ]] SLAMing on 7.758001145 meters Centerline goodness : 0.850535 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:0.28, Z:-0.29 [[ 0.99885049 0.01134057 0.0465735 2.06271586] [-0.02334127 0.96370887 0.26593309 0.27752024] [-0.04186746 -0.26671448 0.96286578 -0.28537122] [ 0. 0. 0. 1. ]] SLAMing on 7.818001145 meters Centerline goodness : 0.852447 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:-0.27 [[ 0.99874636 0.01327552 0.04826449 2.10109222] [-0.02431797 0.97144563 0.23601275 0.29353218] [-0.04375313 -0.23689057 0.97055063 -0.27096131] [ 0. 0. 0. 1. ]] SLAMing on 7.878001145 meters Centerline goodness : 0.853349 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:0.29, Z:-0.27 [[ 0.99874307 0.0123343 0.04858141 2.0992649 ] [-0.02331169 0.97234652 0.23237644 0.29391258] [-0.04437176 -0.23321687 0.97141188 -0.26858285] [ 0. 0. 0. 1. ]] SLAMing on 7.938001145 meters Centerline goodness : 0.852206 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:0.31, Z:-0.26 [[ 0.99852006 0.01086377 0.05328853 2.11799113] [-0.0213822 0.9793577 0.20100073 0.30801821] [-0.05000491 -0.20184269 0.9781406 -0.2568254 ] [ 0. 0. 0. 1. ]] SLAMing on 7.998001145 meters Centerline goodness : 0.853968 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:0.32, Z:-0.24 [[ 0.99848894 0.00960174 0.05410772 2.14279953] [-0.01897563 0.98429622 0.17550178 0.32158001] [-0.0515729 -0.17626331 0.98299109 -0.24387857] [ 0. 0. 0. 1. ]] SLAMing on 8.058001144999999 meters Centerline goodness : 0.850899 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:0.33, Z:-0.23 [[ 0.99844365 0.00840764 0.05513251 2.16739648] [-0.01663594 0.98846462 0.15053551 0.33416019] [-0.05323089 -0.15121841 0.98706609 -0.23164321] [ 0. 0. 0. 1. ]] SLAMing on 8.118001145 meters Centerline goodness : 0.849645 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:0.34, Z:-0.22 [[ 0.99805633 0.00971549 0.06155631 2.17761089] [-0.01740032 0.99193264 0.12556622 0.34324558] [-0.05983978 -0.12639326 0.99017369 -0.22388398] [ 0. 0. 0. 1. ]] SLAMing on 8.178001145 meters Centerline goodness : 0.847706 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.35, Z:-0.22 [[ 0.99809977 0.0062457 0.06130125 2.20057822] [-0.0125307 0.99463504 0.10268451 0.35053368] [-0.06033104 -0.10325753 0.99282327 -0.21537601] [ 0. 0. 0. 1. ]] SLAMing on 8.238001144999998 meters Centerline goodness : 0.849098 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.36, Z:-0.20 [[ 0.99827012 0.00530611 0.05855429 2.20057902] [-0.00968531 0.99715449 0.07476047 0.36303199] [-0.05799099 -0.07519826 0.99548092 -0.20097613] [ 0. 0. 0. 1. ]] SLAMing on 8.298001144999999 meters Centerline goodness : 0.854630 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:0.37, Z:-0.19 [[ 9.98308322e-01 -8.90834074e-04 5.81351941e-02 2.20843061e+00] [-2.43904927e-03 9.98360781e-01 5.71821775e-02 3.72206042e-01] [-5.80908376e-02 -5.72272383e-02 9.96669703e-01 -1.90884011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.358001145 meters Centerline goodness : 0.850528 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:0.38, Z:-0.18 [[ 0.99840613 -0.00476982 0.05623571 2.21961863] [ 0.00233725 0.99906183 0.04324338 0.3779038 ] [-0.05638922 -0.04304302 0.9974806 -0.18330311] [ 0. 0. 0. 1. ]] SLAMing on 8.418001145 meters Centerline goodness : 0.849036 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:0.39, Z:-0.18 [[ 0.99843754 -0.01186119 0.05460576 2.22350187] [ 0.01021327 0.99948687 0.03035924 0.38652386] [-0.05493784 -0.0297541 0.99804636 -0.17609424] [ 0. 0. 0. 1. ]] SLAMing on 8.478001144999999 meters Centerline goodness : 0.847604 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:0.39, Z:-0.18 [[ 0.99842219 -0.0158094 0.05388125 2.225395 ] [ 0.01447955 0.99958302 0.02498271 0.39059672] [-0.05425374 -0.02416312 0.99823478 -0.17531241] [ 0. 0. 0. 1. ]] SLAMing on 8.538001144999999 meters Centerline goodness : 0.849868 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:0.39, Z:-0.17 [[ 0.99844756 -0.01856591 0.05251455 2.22944046] [ 0.01756622 0.99965681 0.01943447 0.39473151] [-0.05285734 -0.01848181 0.99843103 -0.17350124] [ 0. 0. 0. 1. ]] SLAMing on 8.598001145 meters Centerline goodness : 0.848600 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:0.40, Z:-0.17 [[ 0.99851573 -0.02024972 0.05055979 2.23609932] [ 0.01965253 0.99973144 0.01228103 0.40055993] [-0.0507949 -0.01126918 0.99864552 -0.16895435] [ 0. 0. 0. 1. ]] SLAMing on 8.658001145 meters Centerline goodness : 0.841272 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:0.40, Z:-0.17 [[ 0.99859003 -0.01916781 0.04950307 2.23975833] [ 0.01862328 0.99976115 0.01143775 0.40410507] [-0.04971048 -0.01049972 0.99870848 -0.16871008] [ 0. 0. 0. 1. ]] SLAMing on 8.718001144999999 meters Centerline goodness : 0.838916 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:0.41, Z:-0.16 [[ 0.99874928 -0.01237346 0.04844345 2.25418293] [ 0.01206182 0.99990467 0.00672018 0.41185574] [-0.04852198 -0.00612746 0.99880332 -0.16405975] [ 0. 0. 0. 1. ]] SLAMing on 8.778001145 meters Centerline goodness : 0.842564 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:0.42, Z:-0.16 [[ 0.99884709 -0.01427937 0.04583226 2.29259988] [ 0.01447926 0.99988704 -0.00403211 0.42092539] [-0.0457695 0.00469108 0.99894101 -0.15557616] [ 0. 0. 0. 1. ]] SLAMing on 8.838001145 meters Centerline goodness : 0.835719 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:0.42, Z:-0.15 [[ 0.99884188 -0.01755196 0.04479773 2.29550286] [ 0.01799682 0.99979247 -0.00954652 0.42382306] [-0.04462087 0.01034168 0.99895046 -0.15350806] [ 0. 0. 0. 1. ]] SLAMing on 8.898001144999999 meters Centerline goodness : 0.836439 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:0.42, Z:-0.15 [[ 0.99883799 -0.0203172 0.04370223 2.29971931] [ 0.02093079 0.99968803 -0.0136288 0.42481183] [-0.0434117 0.01452769 0.99895164 -0.15444445] [ 0. 0. 0. 1. ]] SLAMing on 8.958001144999999 meters Centerline goodness : 0.834534 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.43, Z:-0.15 [[ 0.99895294 -0.02501707 0.03830359 2.3381194 ] [ 0.02586388 0.99942831 -0.02177422 0.42958713] [-0.03773696 0.0227421 0.99902889 -0.15267301] [ 0. 0. 0. 1. ]] SLAMing on 9.018001145 meters Centerline goodness : 0.839218 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.43, Z:-0.15 [[ 0.99877084 -0.02378345 0.04348743 2.35282402] [ 0.02436551 0.99961983 -0.01290384 0.43281105] [-0.043164 0.01394757 0.99897064 -0.15296647] [ 0. 0. 0. 1. ]] SLAMing on 9.078001145 meters Centerline goodness : 0.839571 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.44, Z:-0.15 [[ 0.99876714 -0.02439163 0.04323482 2.38559757] [ 0.0251459 0.99953943 -0.01698869 0.43737379] [-0.04280052 0.01805492 0.99892048 -0.1479283 ] [ 0. 0. 0. 1. ]] SLAMing on 9.138001144999999 meters Centerline goodness : 0.837960 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.44, Z:-0.14 [[ 0.99879979 -0.02537953 0.04189101 2.39182854] [ 0.02637238 0.99938013 -0.02332073 0.44123201] [-0.04127318 0.02439751 0.99884998 -0.14378492] [ 0. 0. 0. 1. ]] SLAMing on 9.198001145 meters Centerline goodness : 0.836227 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.44, Z:-0.15 [[ 0.99893973 -0.02338241 0.0396569 2.41001565] [ 0.02457163 0.9992547 -0.0297703 0.43959295] [-0.03893125 0.03071317 0.99876977 -0.14569004] [ 0. 0. 0. 1. ]] SLAMing on 9.258001145 meters Centerline goodness : 0.838064 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.44, Z:-0.14 [[ 0.99911611 -0.01917791 0.03740593 2.42080376] [ 0.02047513 0.99919111 -0.03461052 0.44423422] [-0.03671191 0.03534582 0.99870061 -0.13742989] [ 0. 0. 0. 1. ]] SLAMing on 9.318001144999998 meters Centerline goodness : 0.840768 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.44, Z:-0.14 [[ 0.9997161 -0.00699625 0.0227767 2.42801787] [ 0.00749745 0.99972998 -0.02199434 0.43627239] [-0.02261667 0.02215886 0.99949861 -0.13910632] [ 0. 0. 0. 1. ]] SLAMing on 9.378001144999999 meters Centerline goodness : 0.844273 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.43, Z:-0.14 [[ 0.99992633 0.0041258 0.01141512 2.42907651] [-0.00396184 0.9998892 -0.01434923 0.42958349] [-0.01147306 0.01430295 0.99983188 -0.14220009] [ 0. 0. 0. 1. ]] SLAMing on 9.438001145 meters Centerline goodness : 0.838576 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.43, Z:-0.14 [[ 9.99936984e-01 8.76570121e-04 1.11919231e-02 2.39795691e+00] [-8.77330166e-04 9.99999613e-01 6.30006561e-05 4.31828250e-01] [-1.11918635e-02 -7.28156978e-05 9.99937366e-01 -1.43578220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.498001145 meters Centerline goodness : 0.838912 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.43, Z:-0.14 [[ 9.99916164e-01 -5.33026382e-04 1.29375894e-02 2.37924799e+00] [ 4.23800442e-04 9.99964261e-01 8.44380023e-03 4.33870231e-01] [-1.29416278e-02 -8.43760937e-03 9.99880653e-01 -1.44494821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.558001144999999 meters Centerline goodness : 0.838301 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.43, Z:-0.15 [[ 9.99907325e-01 1.49774210e-03 1.35313629e-02 2.37666541e+00] [-1.66633242e-03 9.99921026e-01 1.24565557e-02 4.32124115e-01] [-1.35116375e-02 -1.24779490e-02 9.99830854e-01 -1.45626212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.618001145 meters Centerline goodness : 0.836979 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.43, Z:-0.15 [[ 0.99989388 0.0059999 0.01327528 2.37928838] [-0.00623712 0.99982032 0.01790028 0.43100188] [-0.0131655 -0.01798118 0.99975164 -0.14972788] [ 0. 0. 0. 1. ]] SLAMing on 9.678001145 meters Centerline goodness : 0.836019 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.43, Z:-0.15 [[ 0.99986938 0.01051334 0.01227573 2.38328888] [-0.01079436 0.99967592 0.02305488 0.43152102] [-0.01202937 -0.02318438 0.99965883 -0.15305719] [ 0. 0. 0. 1. ]] SLAMing on 9.738001144999998 meters Centerline goodness : 0.838159 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:0.43, Z:-0.16 [[ 0.99979932 0.01710192 0.01043302 2.39133521] [-0.01740668 0.99940266 0.02985533 0.42884447] [-0.00991621 -0.03003094 0.99949978 -0.1582565 ] [ 0. 0. 0. 1. ]] SLAMing on 9.798001144999999 meters Centerline goodness : 0.840257 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:0.43, Z:-0.16 [[ 0.9998018 0.01873473 0.00673544 2.42724656] [-0.01893041 0.99936253 0.03026833 0.4291464 ] [-0.00616407 -0.03038983 0.99951912 -0.15760265] [ 0. 0. 0. 1. ]] SLAMing on 9.858001145 meters Centerline goodness : 0.843479 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.43, Z:-0.16 [[ 0.99981418 0.01850649 0.00539615 2.47535741] [-0.01869213 0.99915281 0.03666432 0.4300414 ] [-0.00471305 -0.03675837 0.99931307 -0.15563147] [ 0. 0. 0. 1. ]] SLAMing on 9.918001145 meters Centerline goodness : 0.841716 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.43, Z:-0.15 [[ 0.99980545 0.01933105 0.00392168 2.5096607 ] [-0.01944204 0.99934343 0.03057303 0.43457616] [-0.0033281 -0.03064333 0.99952484 -0.14514679] [ 0. 0. 0. 1. ]] SLAMing on 9.978001144999999 meters Centerline goodness : 0.841157 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.43, Z:-0.15 [[ 0.99982325 0.01849557 0.00337315 2.56099552] [-0.01860816 0.99913708 0.03713259 0.43465757] [-0.00268345 -0.03718879 0.99930465 -0.14668178] [ 0. 0. 0. 1. ]] SLAMing on 10.038001144999999 meters Centerline goodness : 0.844032 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:0.44, Z:-0.14 [[ 0.99987507 0.015355 -0.00374954 2.61775388] [-0.01522197 0.99933119 0.03324845 0.43928928] [ 0.00425756 -0.03318723 0.99944008 -0.14179895] [ 0. 0. 0. 1. ]] SLAMing on 10.098001145 meters Centerline goodness : 0.844752 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.44, Z:-0.15 [[ 9.99872898e-01 1.58664813e-02 -1.56291142e-03 2.66830306e+00] [-1.57889887e-02 9.99032549e-01 4.10447730e-02 4.38719133e-01] [ 2.21263550e-03 -4.10148793e-02 9.99156086e-01 -1.45172512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.158001144999998 meters Centerline goodness : 0.850165 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:0.44, Z:-0.14 [[ 0.99988706 0.01466961 -0.00326591 2.72216287] [-0.01451746 0.99898897 0.04254748 0.44254729] [ 0.00388677 -0.04249526 0.99908911 -0.14204522] [ 0. 0. 0. 1. ]] SLAMing on 10.218001144999999 meters Centerline goodness : 0.847555 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:0.43, Z:-0.16 [[ 0.99970434 0.01853478 0.0157386 2.75783614] [-0.01956854 0.99747349 0.06829138 0.43047688] [-0.01443307 -0.06857917 0.99754127 -0.16197388] [ 0. 0. 0. 1. ]] SLAMing on 10.278001145 meters Centerline goodness : 0.850071 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:0.43, Z:-0.16 [[ 0.99978098 0.01545959 0.01410654 2.81303437] [-0.01635236 0.99771619 0.06553621 0.43480672] [-0.01306116 -0.06575254 0.99775047 -0.15690388] [ 0. 0. 0. 1. ]] SLAMing on 10.338001145 meters Centerline goodness : 0.845034 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.43, Z:-0.17 [[ 0.99960081 0.01099209 0.02602696 2.87056078] [-0.01307142 0.99661872 0.08111888 0.42785975] [-0.02504729 -0.0814267 0.99636455 -0.16943387] [ 0. 0. 0. 1. ]] SLAMing on 10.398001144999999 meters Centerline goodness : 0.846200 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.43, Z:-0.17 [[ 0.99961663 0.00558068 0.02711906 2.91815253] [-0.00783905 0.99644356 0.08389746 0.42830536] [-0.02655441 -0.08407788 0.9961053 -0.17102276] [ 0. 0. 0. 1. ]] SLAMing on 10.458001144999999 meters Centerline goodness : 0.847958 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.42, Z:-0.18 [[ 0.99942927 0.00324578 0.03362445 2.95480022] [-0.00656464 0.99505891 0.09906906 0.42364157] [-0.03313675 -0.09923326 0.9945123 -0.17950918] [ 0. 0. 0. 1. ]] SLAMing on 10.518001145 meters Centerline goodness : 0.849359 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:0.42, Z:-0.19 [[ 9.98846927e-01 8.96363361e-04 4.80001321e-02 3.00121874e+00] [-6.09694625e-03 9.94098589e-01 1.08308920e-01 4.19489015e-01] [-4.76197795e-02 -1.08476686e-01 9.92957786e-01 -1.91394629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.578001144999998 meters Centerline goodness : 0.852407 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:0.42, Z:-0.19 [[ 9.98818254e-01 -3.56710227e-03 4.84703032e-02 3.05170116e+00] [-1.74408916e-03 9.94029874e-01 1.09094311e-01 4.22813159e-01] [-4.85700799e-02 -1.09049925e-01 9.92848962e-01 -1.93206582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.638001144999999 meters Centerline goodness : 0.854940 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:0.41, Z:-0.21 [[ 9.98349291e-01 -9.29958003e-03 5.66763648e-02 3.10187818e+00] [ 1.38558159e-03 9.90416925e-01 1.38102842e-01 4.09853837e-01] [-5.74175294e-02 -1.37796345e-01 9.88794920e-01 -2.11760282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.698001145 meters Centerline goodness : 0.855827 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:0.42, Z:-0.21 [[ 9.98593466e-01 -9.54679189e-03 5.21531265e-02 3.14260408e+00] [ 2.81846483e-03 9.91822969e-01 1.27590182e-01 4.21556801e-01] [-5.29447456e-02 -1.27263731e-01 9.90454843e-01 -2.05226895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.758001145 meters Centerline goodness : 0.855348 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.41, Z:-0.23 [[ 0.99819456 -0.01445636 0.05829775 3.1746067 ] [ 0.00419078 0.98500074 0.17249923 0.40604204] [-0.05991704 -0.17194348 0.98328296 -0.22795746] [ 0. 0. 0. 1. ]] SLAMing on 10.818001144999998 meters Centerline goodness : 0.853737 with order 1 Centerline is valid? [False, False] Translation: X:3.18, Y:0.41, Z:-0.21 [[ 9.98613792e-01 -8.32661801e-03 5.19727119e-02 3.18494191e+00] [-4.60500449e-04 9.85988167e-01 1.66814634e-01 4.06335081e-01] [-5.26334806e-02 -1.66607328e-01 9.84617548e-01 -2.13865170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.878001144999999 meters Centerline goodness : 0.855127 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:-0.21 [[ 9.98567831e-01 -6.85926121e-03 5.30588106e-02 3.23418151e+00] [-1.25148231e-03 9.88480922e-01 1.51340347e-01 4.20068774e-01] [-5.34857050e-02 -1.51190004e-01 9.87056666e-01 -2.07020121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.938001145 meters Centerline goodness : 0.858806 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:0.43, Z:-0.20 [[ 9.98702484e-01 -8.18111446e-03 5.02634763e-02 3.27757542e+00] [ 1.08987550e-03 9.90219008e-01 1.39517482e-01 4.32327594e-01] [-5.09132582e-02 -1.39281675e-01 9.88943100e-01 -2.01017360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.998001145 meters Centerline goodness : 0.855742 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.43, Z:-0.21 [[ 0.99892022 -0.01560344 0.04375984 3.30523589] [ 0.00841218 0.98709099 0.1599394 0.43269598] [-0.04569055 -0.15939858 0.98615641 -0.20582979] [ 0. 0. 0. 1. ]] SLAMing on 11.058001144999999 meters Centerline goodness : 0.862331 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:0.45, Z:-0.19 [[ 0.99877337 -0.01939207 0.04555978 3.32769443] [ 0.01333553 0.99146833 0.12966382 0.44719646] [-0.04768553 -0.12889721 0.99051078 -0.18943556] [ 0. 0. 0. 1. ]] SLAMing on 11.118001145 meters Centerline goodness : 0.856912 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:0.45, Z:-0.18 [[ 0.9987444 -0.02044298 0.04573529 3.34998124] [ 0.01528341 0.9937646 0.1104461 0.45427859] [-0.04770796 -0.10960844 0.99282926 -0.18059145] [ 0. 0. 0. 1. ]] SLAMing on 11.178001145 meters Centerline goodness : 0.859762 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.47, Z:-0.17 [[ 0.99863989 -0.02247821 0.04704353 3.3702651 ] [ 0.0182913 0.99598675 0.08761182 0.46518895] [-0.04882409 -0.08663217 0.99504325 -0.16665561] [ 0. 0. 0. 1. ]] SLAMing on 11.238001144999998 meters Centerline goodness : 0.858453 with order 1 Centerline is valid? [False, False] Translation: X:3.39, Y:0.47, Z:-0.16 [[ 0.9986354 -0.02285066 0.04695947 3.39091866] [ 0.01949868 0.99731138 0.07063854 0.47175698] [-0.04844735 -0.0696265 0.99639601 -0.15906402] [ 0. 0. 0. 1. ]] SLAMing on 11.298001144999999 meters Centerline goodness : 0.859543 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.48, Z:-0.15 [[ 0.99863561 -0.02292224 0.04691999 3.41272022] [ 0.0204858 0.99844913 0.05176558 0.47993962] [-0.04803381 -0.05073376 0.99755643 -0.14846809] [ 0. 0. 0. 1. ]] SLAMing on 11.358001145 meters Centerline goodness : 0.860576 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.49, Z:-0.14 [[ 0.99864554 -0.02350029 0.04642008 3.42406266] [ 0.02166148 0.9989758 0.03972582 0.48640572] [-0.04730611 -0.03866649 0.99813177 -0.14053493] [ 0. 0. 0. 1. ]] SLAMing on 11.418001145 meters Centerline goodness : 0.855886 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.49, Z:-0.13 [[ 0.99863017 -0.02388742 0.04655295 3.43717262] [ 0.02272799 0.99942206 0.02527796 0.49425055] [-0.04712988 -0.02418528 0.99859594 -0.13027635] [ 0. 0. 0. 1. ]] SLAMing on 11.478001144999999 meters Centerline goodness : 0.851467 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.50, Z:-0.12 [[ 0.99865345 -0.02513763 0.04538035 3.4498388 ] [ 0.0245695 0.99961315 0.0130339 0.50014705] [-0.04569044 -0.01190138 0.99888475 -0.12317599] [ 0. 0. 0. 1. ]] SLAMing on 11.538001144999999 meters Centerline goodness : 0.851339 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.50, Z:-0.12 [[ 0.99872852 -0.02646909 0.04290363 3.45928646] [ 0.0262416 0.99963847 0.00585689 0.50449931] [-0.04304315 -0.00472358 0.99906205 -0.11921243] [ 0. 0. 0. 1. ]] SLAMing on 11.598001145 meters Centerline goodness : 0.848191 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:0.51, Z:-0.11 [[ 0.99876159 -0.02702127 0.0417748 3.47363721] [ 0.02730781 0.9996072 -0.00630375 0.51014934] [-0.04158805 0.00743672 0.99910717 -0.11293856] [ 0. 0. 0. 1. ]] SLAMing on 11.658001144999998 meters Centerline goodness : 0.848774 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.52, Z:-0.11 [[ 0.99879674 -0.02807361 0.04021114 3.48093448] [ 0.02868628 0.99947976 -0.01474114 0.51694247] [-0.03977639 0.01587691 0.99908246 -0.10599169] [ 0. 0. 0. 1. ]] SLAMing on 11.718001144999999 meters Centerline goodness : 0.852162 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:-0.10 [[ 0.99878847 -0.03045072 0.03865683 3.51773344] [ 0.03142741 0.99919547 -0.02491456 0.52565833] [-0.03786707 0.02609926 0.9989419 -0.09679673] [ 0. 0. 0. 1. ]] SLAMing on 11.778001145 meters Centerline goodness : 0.849719 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:0.53, Z:-0.09 [[ 0.99871101 -0.03404645 0.03764528 3.5199944 ] [ 0.03528949 0.99883664 -0.03286357 0.53138524] [-0.0364826 0.03414969 0.99875063 -0.08986259] [ 0. 0. 0. 1. ]] SLAMing on 11.838001145 meters Centerline goodness : 0.856779 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.74, Z:0.23 [[ 0.51145685 -0.17051134 -0.84222193 3.41384722] [ 0.49187049 0.86175976 0.12423177 0.73771537] [ 0.70461004 -0.4778033 0.52462243 0.23387764] [ 0. 0. 0. 1. ]] SLAMing on 11.898001144999999 meters Centerline goodness : 0.847874 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:0.91, Z:0.32 [[ 0.69399003 -0.329852 -0.63998086 3.54563095] [ 0.52169568 0.8429759 0.13124504 0.91365274] [ 0.496197 -0.42495799 0.75709923 0.31789158] [ 0. 0. 0. 1. ]] SLAMing on 11.958001144999999 meters Centerline goodness : 0.846821 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.91, Z:0.31 [[ 0.69733146 -0.34504648 -0.62822906 3.51374399] [ 0.51746244 0.84884203 0.10816577 0.9148845 ] [ 0.49594502 -0.40051234 0.77047285 0.31473658] [ 0. 0. 0. 1. ]] SLAMing on 12.018001145 meters Centerline goodness : 0.849853 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.93, Z:0.32 [[ 0.69899055 -0.36289519 -0.61621367 3.48632266] [ 0.51531478 0.85305308 0.08216518 0.92657121] [ 0.49584562 -0.3749767 0.7832813 0.3218182 ] [ 0. 0. 0. 1. ]] SLAMing on 12.078001144999998 meters Centerline goodness : 0.849602 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.93, Z:0.32 [[ 0.70282306 -0.37701522 -0.60324064 3.45774778] [ 0.51063858 0.85778 0.05883631 0.92794982] [ 0.49526557 -0.34938946 0.79538608 0.32287025] [ 0. 0. 0. 1. ]] SLAMing on 12.138001144999999 meters Centerline goodness : 0.849069 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:0.93, Z:0.32 [[ 0.70634564 -0.39102327 -0.59006494 3.4334064 ] [ 0.50625586 0.86167243 0.03500911 0.92663618] [ 0.49475331 -0.32345237 0.80659638 0.32341667] [ 0. 0. 0. 1. ]] SLAMing on 12.198001145 meters Centerline goodness : 0.851509 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.93, Z:0.33 [[ 0.71078245 -0.40462409 -0.57538479 3.40966569] [ 0.50026414 0.86582486 0.00911628 0.92939675] [ 0.49449379 -0.29432407 0.81783203 0.32717921] [ 0. 0. 0. 1. ]] SLAMing on 12.258001145 meters Centerline goodness : 0.855253 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.93, Z:0.33 [[ 0.71294555 -0.41307815 -0.56663488 3.39515911] [ 0.49580461 0.86838507 -0.00922853 0.9327696 ] [ 0.49586938 -0.27436075 0.82391731 0.33320451] [ 0. 0. 0. 1. ]] SLAMing on 12.318001144999998 meters Centerline goodness : 0.852883 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:0.95, Z:0.35 [[ 0.71331774 -0.42908343 -0.55413464 3.37949237] [ 0.49384791 0.86876094 -0.03699543 0.94604278] [ 0.49728466 -0.24726874 0.83160455 0.34898225] [ 0. 0. 0. 1. ]] SLAMing on 12.378001144999999 meters Centerline goodness : 0.853540 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:0.95, Z:0.35 [[ 0.71651952 -0.43556581 -0.54486897 3.37891504] [ 0.49823564 0.86624012 -0.03727322 0.95252002] [ 0.4882223 -0.24476615 0.83769237 0.35097901] [ 0. 0. 0. 1. ]] SLAMing on 12.438001145 meters Centerline goodness : 0.854560 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.96, Z:0.36 [[ 0.72050126 -0.44468541 -0.53210226 3.37383264] [ 0.50179744 0.86393851 -0.04253912 0.95727839] [ 0.47862016 -0.23635807 0.84561079 0.35518415] [ 0. 0. 0. 1. ]] SLAMing on 12.498001145 meters Centerline goodness : 0.854945 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.96, Z:0.36 [[ 0.72422761 -0.45115959 -0.52148767 3.37132271] [ 0.50407138 0.86243166 -0.04608336 0.96273902] [ 0.47053843 -0.22949217 0.85201346 0.36072261] [ 0. 0. 0. 1. ]] SLAMing on 12.558001144999999 meters Centerline goodness : 0.854375 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.97, Z:0.38 [[ 0.72812155 -0.4580152 -0.50996185 3.36608852] [ 0.50364611 0.86214356 -0.05521839 0.9688889 ] [ 0.46495119 -0.2166346 0.85842288 0.37590093] [ 0. 0. 0. 1. ]] SLAMing on 12.618001145 meters Centerline goodness : 0.858719 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:0.97, Z:0.39 [[ 0.73379286 -0.46832054 -0.49216249 3.35193325] [ 0.50504729 0.8605736 -0.06588107 0.97114118] [ 0.4543955 -0.20022227 0.86800678 0.39052875] [ 0. 0. 0. 1. ]] SLAMing on 12.678001145 meters Centerline goodness : 0.857372 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.98, Z:0.40 [[ 0.73780446 -0.47531196 -0.4792944 3.35924054] [ 0.50933778 0.85797092 -0.06679016 0.98259747] [ 0.44296682 -0.19484466 0.87510911 0.40111094] [ 0. 0. 0. 1. ]] SLAMing on 12.738001144999998 meters Centerline goodness : 0.857367 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:0.99, Z:0.42 [[ 0.74117416 -0.48546316 -0.46366624 3.34670433] [ 0.51205431 0.85547928 -0.07717243 0.98715614] [ 0.43412123 -0.18022409 0.88264264 0.41548307] [ 0. 0. 0. 1. ]] SLAMing on 12.798001144999999 meters Centerline goodness : 0.862578 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:1.00, Z:0.43 [[ 0.74267785 -0.4920223 -0.45425066 3.35751493] [ 0.51275375 0.8541337 -0.08682865 1.00173762] [ 0.43071243 -0.16843302 0.88663246 0.43164565] [ 0. 0. 0. 1. ]] SLAMing on 12.858001145 meters Centerline goodness : 0.868098 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:1.01, Z:0.44 [[ 0.74415125 -0.50047161 -0.44245575 3.35197503] [ 0.51684809 0.85097866 -0.09329184 1.00784612] [ 0.42321032 -0.15925917 0.89192463 0.44263517] [ 0. 0. 0. 1. ]] SLAMing on 12.918001145 meters Centerline goodness : 0.870963 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:1.01, Z:0.45 [[ 0.74786369 -0.505247 -0.43061047 3.3408688 ] [ 0.51945235 0.84927783 -0.09432081 1.00892222] [ 0.41336323 -0.15314251 0.89759579 0.4537264 ] [ 0. 0. 0. 1. ]] SLAMing on 12.978001144999999 meters Centerline goodness : 0.864957 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:1.01, Z:0.47 [[ 0.75287759 -0.51318409 -0.4120891 3.32847174] [ 0.52142453 0.8471392 -0.10233106 1.0080513 ] [ 0.4016115 -0.1378306 0.90537889 0.46619378] [ 0. 0. 0. 1. ]] SLAMing on 13.038001144999999 meters Centerline goodness : 0.863241 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:1.02, Z:0.48 [[ 0.75763205 -0.51938032 -0.39526922 3.33563628] [ 0.52515906 0.8447065 -0.10333869 1.0181828 ] [ 0.38755856 -0.12928651 0.912734 0.47513832] [ 0. 0. 0. 1. ]] SLAMing on 13.098001145 meters Centerline goodness : 0.864738 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:1.02, Z:0.48 [[ 0.76190578 -0.52261338 -0.38258965 3.32878527] [ 0.52597181 0.84394818 -0.10538091 1.02106183] [ 0.37795931 -0.12094104 0.9178889 0.48257083] [ 0. 0. 0. 1. ]] SLAMing on 13.158001144999998 meters Centerline goodness : 0.865247 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:1.03, Z:0.50 [[ 0.76489391 -0.52700155 -0.37041421 3.32368637] [ 0.52597441 0.84293895 -0.11315849 1.02588241] [ 0.37187126 -0.10827415 0.92194819 0.50009052] [ 0. 0. 0. 1. ]] SLAMing on 13.218001144999999 meters Centerline goodness : 0.862350 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:1.03, Z:0.51 [[ 0.77040261 -0.53220066 -0.35105879 3.3158792 ] [ 0.52591596 0.84174838 -0.12195113 1.02641361] [ 0.36040564 -0.09067595 0.92837797 0.50975144] [ 0. 0. 0. 1. ]] SLAMing on 13.278001145 meters Centerline goodness : 0.860547 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:1.04, Z:0.52 [[ 0.77213796 -0.53274127 -0.34639531 3.33619416] [ 0.5237444 0.84222711 -0.12784873 1.04110792] [ 0.35985381 -0.08270575 0.92933578 0.52452367] [ 0. 0. 0. 1. ]] SLAMing on 13.338001145 meters Centerline goodness : 0.862823 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:1.04, Z:0.53 [[ 0.77499384 -0.53493645 -0.33649299 3.33096657] [ 0.52536243 0.84128208 -0.12743149 1.04476374] [ 0.35125327 -0.07802215 0.93302395 0.53284549] [ 0. 0. 0. 1. ]] SLAMing on 13.398001144999999 meters Centerline goodness : 0.860357 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:1.06, Z:0.54 [[ 0.77249876 -0.53947699 -0.33497797 3.3448143 ] [ 0.53021737 0.83825726 -0.12725687 1.05621414] [ 0.34944987 -0.07930537 0.93359276 0.53911358] [ 0. 0. 0. 1. ]] SLAMing on 13.458001144999999 meters Centerline goodness : 0.858005 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:1.07, Z:0.54 [[ 0.76726441 -0.5500002 -0.3298562 3.35407468] [ 0.54069009 0.83134815 -0.12850868 1.06579915] [ 0.34490514 -0.07974984 0.9352435 0.54395258] [ 0. 0. 0. 1. ]] SLAMing on 13.518001145 meters Centerline goodness : 0.860852 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:1.08, Z:0.54 [[ 0.75893381 -0.56032255 -0.33175007 3.37175807] [ 0.55239394 0.82375581 -0.12762172 1.07937131] [ 0.34479038 -0.08640029 0.93469491 0.54406266] [ 0. 0. 0. 1. ]] SLAMing on 13.578001144999998 meters Centerline goodness : 0.865273 with order 1 Centerline is valid? [False, False] Translation: X:3.39, Y:1.10, Z:0.55 [[ 0.75566564 -0.56717899 -0.32753235 3.39124558] [ 0.55985041 0.81889565 -0.12640182 1.09910355] [ 0.33990727 -0.08785161 0.9363467 0.55404709] [ 0. 0. 0. 1. ]] SLAMing on 13.638001144999999 meters Centerline goodness : 0.861935 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:1.11, Z:0.57 [[ 0.75348454 -0.56914237 -0.32914739 3.40901847] [ 0.56218391 0.81731184 -0.12629575 1.11226541] [ 0.34089632 -0.08987947 0.93579452 0.56764256] [ 0. 0. 0. 1. ]] SLAMing on 13.698001145 meters Centerline goodness : 0.862089 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:1.13, Z:0.58 [[ 0.75592439 -0.57457974 -0.31374581 3.42005697] [ 0.56605652 0.81442123 -0.12766388 1.12533861] [ 0.32887433 -0.08109362 0.94088549 0.57894484] [ 0. 0. 0. 1. ]] SLAMing on 13.758001145 meters Centerline goodness : 0.862134 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:1.13, Z:0.58 [[ 0.75788968 -0.5769808 -0.30446081 3.42206012] [ 0.56876499 0.81297129 -0.12483614 1.12979733] [ 0.31954595 -0.07855463 0.94430904 0.57965587] [ 0. 0. 0. 1. ]] SLAMing on 13.818001144999998 meters Centerline goodness : 0.866077 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:1.14, Z:0.58 [[ 0.75845704 -0.58180461 -0.29367724 3.42328516] [ 0.57290038 0.81001565 -0.12513913 1.13582597] [ 0.31068969 -0.07333515 0.94767815 0.58144132] [ 0. 0. 0. 1. ]] SLAMing on 13.878001144999999 meters Centerline goodness : 0.864843 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:1.14, Z:0.58 [[ 0.7577933 -0.58689294 -0.28514205 3.43294461] [ 0.57735601 0.8067081 -0.12602409 1.14446228] [ 0.30398905 -0.06912826 0.95016417 0.57872291] [ 0. 0. 0. 1. ]] SLAMing on 13.938001145 meters Centerline goodness : 0.863310 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:1.15, Z:0.58 [[ 0.75774379 -0.59077767 -0.27713912 3.43382315] [ 0.58145739 0.80404378 -0.1241809 1.14928466] [ 0.29619529 -0.06704728 0.95277123 0.58492182] [ 0. 0. 0. 1. ]] SLAMing on 13.998001144999998 meters Centerline goodness : 0.866381 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:1.16, Z:0.59 [[ 0.75567042 -0.59083616 -0.28262138 3.44925004] [ 0.58362952 0.80328213 -0.11880404 1.16099721] [ 0.29721843 -0.07516948 0.95184597 0.59022867] [ 0. 0. 0. 1. ]] SLAMing on 14.058001144999999 meters Centerline goodness : 0.865157 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:1.17, Z:0.60 [[ 0.75202566 -0.59445446 -0.28474777 3.46447953] [ 0.58699763 0.80050895 -0.12090992 1.17417658] [ 0.29981858 -0.0762189 0.95094663 0.59964791] [ 0. 0. 0. 1. ]] SLAMing on 14.118001145 meters Centerline goodness : 0.865853 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:1.19, Z:0.60 [[ 0.74831048 -0.5965396 -0.29012399 3.48390181] [ 0.59006732 0.79842554 -0.11973812 1.1865587 ] [ 0.30307093 -0.0815914 0.94946872 0.59851736] [ 0. 0. 0. 1. ]] SLAMing on 14.178001145 meters Centerline goodness : 0.861972 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:1.20, Z:0.60 [[ 0.74380478 -0.60285694 -0.2886485 3.49795588] [ 0.59583363 0.79373034 -0.12237009 1.19771375] [ 0.30288073 -0.08096703 0.94958286 0.60309852] [ 0. 0. 0. 1. ]] SLAMing on 14.238001144999998 meters Centerline goodness : 0.860565 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:1.21, Z:0.61 [[ 0.74101186 -0.60345118 -0.29453029 3.51596669] [ 0.59823846 0.7924937 -0.11859381 1.2095823 ] [ 0.30497897 -0.08831993 0.94825493 0.60591747] [ 0. 0. 0. 1. ]] SLAMing on 14.298001144999999 meters Centerline goodness : 0.857256 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:1.22, Z:0.61 [[ 0.73939417 -0.60887587 -0.28734377 3.52146471] [ 0.60321158 0.78865887 -0.11896631 1.21883346] [ 0.29905193 -0.0853661 0.95041074 0.61042754] [ 0. 0. 0. 1. ]] SLAMing on 14.358001145 meters Centerline goodness : 0.854561 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:1.22, Z:0.61 [[ 0.73711763 -0.61024212 -0.29027944 3.5269769 ] [ 0.60384186 0.78764045 -0.12246438 1.22391099] [ 0.30336875 -0.08501222 0.9490734 0.61482539] [ 0. 0. 0. 1. ]] SLAMing on 14.418001144999998 meters Centerline goodness : 0.851423 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:1.23, Z:0.61 [[ 0.73598415 -0.6106482 -0.29229456 3.53517417] [ 0.60332068 0.78747765 -0.12602818 1.23162115] [ 0.30713431 -0.08359261 0.94798776 0.61450207] [ 0. 0. 0. 1. ]] SLAMing on 14.478001144999999 meters Centerline goodness : 0.846081 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:1.25, Z:0.62 [[ 0.73428876 -0.61314818 -0.29132342 3.54222478] [ 0.60674058 0.78525891 -0.12342735 1.24525872] [ 0.30444356 -0.08612642 0.94862867 0.61914574] [ 0. 0. 0. 1. ]] SLAMing on 14.538001144999999 meters Centerline goodness : 0.845487 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:1.25, Z:0.62 [[ 0.73343524 -0.61255213 -0.2947077 3.54223806] [ 0.60660229 0.78544642 -0.12291291 1.2493564 ] [ 0.30676767 -0.08862171 0.94764961 0.62261832] [ 0. 0. 0. 1. ]] SLAMing on 14.598001145 meters Centerline goodness : 0.850258 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:1.26, Z:0.62 [[ 0.73074608 -0.61133181 -0.30378214 3.55248247] [ 0.60733592 0.78539332 -0.11958433 1.2567092 ] [ 0.31169417 -0.09711202 0.94520686 0.62183707] [ 0. 0. 0. 1. ]] SLAMing on 14.658001144999998 meters Centerline goodness : 0.850567 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:1.26, Z:0.62 [[ 0.72846815 -0.61189018 -0.30809831 3.55760429] [ 0.60859747 0.78449618 -0.11905823 1.26169751] [ 0.31455251 -0.10077772 0.94387529 0.62282439] [ 0. 0. 0. 1. ]] SLAMing on 14.718001144999999 meters Centerline goodness : 0.847482 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:1.27, Z:0.63 [[ 0.72449094 -0.61507433 -0.31112128 3.56006722] [ 0.61226285 0.78158404 -0.11941774 1.26531848] [ 0.31661821 -0.10397093 0.94283771 0.6252376 ] [ 0. 0. 0. 1. ]] SLAMing on 14.778001145 meters Centerline goodness : 0.846006 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:1.24, Z:0.62 [[ 0.72449591 -0.61910493 -0.3030095 3.51730718] [ 0.6128205 0.77978713 -0.12799636 1.2356804 ] [ 0.31552609 -0.0929576 0.94435278 0.61571154] [ 0. 0. 0. 1. ]] SLAMing on 14.838001145 meters Centerline goodness : 0.848321 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:1.21, Z:0.61 [[ 0.72484643 -0.62327278 -0.29347691 3.47961604] [ 0.61260324 0.77802152 -0.13928307 1.20991363] [ 0.3151427 -0.07882607 0.94576505 0.60791551] [ 0. 0. 0. 1. ]] SLAMing on 14.898001144999999 meters Centerline goodness : 0.846893 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:1.22, Z:0.61 [[ 0.72237682 -0.62424508 -0.29747238 3.48595858] [ 0.61349506 0.77704167 -0.14081923 1.21528274] [ 0.31905415 -0.08077329 0.94428816 0.61067599] [ 0. 0. 0. 1. ]] SLAMing on 14.958001144999999 meters Centerline goodness : 0.850156 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:1.22, Z:0.62 [[ 0.72294988 -0.62054485 -0.30375576 3.49224449] [ 0.60967492 0.7798194 -0.14204999 1.22230366] [ 0.32502302 -0.08249725 0.94210097 0.61727786] [ 0. 0. 0. 1. ]] SLAMing on 15.018001145 meters Centerline goodness : 0.851596 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:1.23, Z:0.62 [[ 0.72301355 -0.61779093 -0.30916949 3.50177591] [ 0.6063583 0.78195107 -0.14450653 1.22843646] [ 0.33103024 -0.08298731 0.93996387 0.62357669] [ 0. 0. 0. 1. ]] SLAMing on 15.078001144999998 meters Centerline goodness : 0.854408 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:1.23, Z:0.62 [[ 0.72460248 -0.61505509 -0.31089946 3.50908201] [ 0.60381157 0.78404801 -0.14380648 1.23216299] [ 0.33220901 -0.08352215 0.93950052 0.61915999] [ 0. 0. 0. 1. ]] SLAMing on 15.138001144999999 meters Centerline goodness : 0.850946 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:1.24, Z:0.62 [[ 0.72532053 -0.61983543 -0.29952323 3.50964954] [ 0.6081915 0.78080169 -0.14300986 1.23814768] [ 0.32251082 -0.07843949 0.94331014 0.61975595] [ 0. 0. 0. 1. ]] SLAMing on 15.198001145 meters Centerline goodness : 0.849885 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:1.25, Z:0.62 [[ 0.72791273 -0.6207537 -0.29121796 3.51065133] [ 0.60912522 0.78043532 -0.1410219 1.24606538] [ 0.31481665 -0.07473656 0.94620554 0.62284864] [ 0. 0. 0. 1. ]] SLAMing on 15.258001145 meters Centerline goodness : 0.847681 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:1.25, Z:0.63 [[ 0.73145498 -0.61575337 -0.2929529 3.51514095] [ 0.60263718 0.78476736 -0.14480548 1.25058771] [ 0.31906434 -0.07062562 0.94509786 0.62804253] [ 0. 0. 0. 1. ]] SLAMing on 15.318001144999998 meters Centerline goodness : 0.853866 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:1.25, Z:0.63 [[ 0.73343112 -0.61155863 -0.29677404 3.51850828] [ 0.59897443 0.78785196 -0.14324428 1.25271618] [ 0.32141628 -0.07270025 0.94414313 0.62993077] [ 0. 0. 0. 1. ]] SLAMing on 15.378001144999999 meters Centerline goodness : 0.852285 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:1.26, Z:0.63 [[ 0.73639848 -0.61370131 -0.28475952 3.51750873] [ 0.60074152 0.78673242 -0.14199199 1.25628238] [ 0.31117022 -0.06650418 0.94802441 0.63138779] [ 0. 0. 0. 1. ]] SLAMing on 15.438001145 meters Centerline goodness : 0.852911 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:1.26, Z:0.64 [[ 0.74208707 -0.61306327 -0.27103545 3.5142802 ] [ 0.59894902 0.7880049 -0.14250733 1.25926015] [ 0.30094327 -0.05658357 0.95196189 0.63677303] [ 0. 0. 0. 1. ]] SLAMing on 15.498001144999998 meters Centerline goodness : 0.854539 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:1.26, Z:0.63 [[ 0.74857729 -0.60615762 -0.26870985 3.51151123] [ 0.59199256 0.79353528 -0.14087786 1.25792192] [ 0.29862493 -0.05361626 0.95286329 0.63448018] [ 0. 0. 0. 1. ]] SLAMing on 15.558001144999999 meters Centerline goodness : 0.851428 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:1.26, Z:0.64 [[ 0.75028946 -0.60224922 -0.27269323 3.51426493] [ 0.58857083 0.79634533 -0.13935022 1.2606527 ] [ 0.30108154 -0.05594628 0.95195584 0.63595606] [ 0. 0. 0. 1. ]] SLAMing on 15.618001145 meters Centerline goodness : 0.853201 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:1.26, Z:0.64 [[ 0.74972863 -0.60113421 -0.27666704 3.5169289 ] [ 0.58779652 0.79700276 -0.13885914 1.26352256] [ 0.30397737 -0.05851725 0.95088038 0.63901693] [ 0. 0. 0. 1. ]] SLAMing on 15.678001145 meters Centerline goodness : 0.852167 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:1.28, Z:0.64 [[ 0.74746401 -0.6066026 -0.27079667 3.52707374] [ 0.5921294 0.79317232 -0.14233918 1.27566941] [ 0.30113174 -0.05395325 0.952055 0.64344692] [ 0. 0. 0. 1. ]] SLAMing on 15.738001144999998 meters Centerline goodness : 0.855587 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:1.28, Z:0.64 [[ 0.74386627 -0.60988373 -0.27332181 3.53209336] [ 0.59481178 0.79061727 -0.14533851 1.28157302] [ 0.30473253 -0.05446261 0.95087954 0.64465596] [ 0. 0. 0. 1. ]] SLAMing on 15.798001144999999 meters Centerline goodness : 0.860301 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:1.30, Z:0.65 [[ 0.7382954 -0.61237266 -0.28270059 3.55086204] [ 0.5995992 0.78783911 -0.14067814 1.29765715] [ 0.30887003 -0.06564503 0.94883615 0.64814934] [ 0. 0. 0. 1. ]] SLAMing on 15.858001145 meters Centerline goodness : 0.862432 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:1.31, Z:0.65 [[ 0.73260254 -0.61680307 -0.28783242 3.56778023] [ 0.60571876 0.78367914 -0.13766552 1.31268623] [ 0.31048077 -0.07349139 0.94773451 0.6488889 ] [ 0. 0. 0. 1. ]] SLAMing on 15.918001144999998 meters Centerline goodness : 0.863151 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:1.33, Z:0.65 [[ 0.72212253 -0.62301554 -0.30065044 3.58884881] [ 0.61610262 0.7768589 -0.13003005 1.32961118] [ 0.31457372 -0.0913339 0.94482882 0.64587386] [ 0. 0. 0. 1. ]] SLAMing on 15.978001144999999 meters Centerline goodness : 0.864129 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:1.34, Z:0.65 [[ 0.71428771 -0.63017163 -0.30442864 3.60766947] [ 0.62421519 0.77035464 -0.13003509 1.34416458] [ 0.31646244 -0.09714652 0.94361755 0.65106572] [ 0. 0. 0. 1. ]] SLAMing on 16.038001145 meters Centerline goodness : 0.864891 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:1.36, Z:0.65 [[ 0.70726514 -0.63583922 -0.30900567 3.62501731] [ 0.63200745 0.76454557 -0.12663592 1.35619151] [ 0.316769 -0.10572872 0.94259155 0.65445263] [ 0. 0. 0. 1. ]] SLAMing on 16.098001144999998 meters Centerline goodness : 0.868088 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:1.36, Z:0.65 [[ 0.70799096 -0.63424854 -0.31060841 3.62909062] [ 0.63012463 0.76592251 -0.12769357 1.3592803 ] [ 0.31889144 -0.10531612 0.94192185 0.65461889] [ 0. 0. 0. 1. ]] SLAMing on 16.158001145 meters Centerline goodness : 0.866934 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:1.36, Z:0.65 [[ 0.70803833 -0.63389404 -0.3112235 3.63210062] [ 0.62930132 0.76634544 -0.1292073 1.36218968] [ 0.32040845 -0.10436964 0.9415123 0.65430552] [ 0. 0. 0. 1. ]] SLAMing on 16.218001145 meters Centerline goodness : 0.867626 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:1.36, Z:0.66 [[ 0.70810557 -0.63368343 -0.3114993 3.63297522] [ 0.62860214 0.76666853 -0.13068558 1.3642173 ] [ 0.32162999 -0.10326994 0.94121701 0.65526679] [ 0. 0. 0. 1. ]] SLAMing on 16.278001144999998 meters Centerline goodness : 0.866074 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:1.37, Z:0.66 [[ 0.70773441 -0.63260037 -0.31452945 3.63578081] [ 0.62762044 0.76738747 -0.13118332 1.36765345] [ 0.32435257 -0.10456216 0.94013944 0.65735461] [ 0. 0. 0. 1. ]] SLAMing on 16.338001145 meters Centerline goodness : 0.863511 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:1.37, Z:0.66 [[ 0.70694107 -0.63312932 -0.31524846 3.63689467] [ 0.62792916 0.76696019 -0.13220072 1.36942287] [ 0.32548317 -0.10449558 0.93975602 0.65851093] [ 0. 0. 0. 1. ]] SLAMing on 16.398001145 meters Centerline goodness : 0.863889 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:1.37, Z:0.66 [[ 0.70389872 -0.63564976 -0.31697944 3.64028312] [ 0.62980078 0.76488476 -0.13528592 1.37399176] [ 0.32844721 -0.10440631 0.93873412 0.660937 ] [ 0. 0. 0. 1. ]] SLAMing on 16.458001144999997 meters Centerline goodness : 0.865523 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:1.39, Z:0.67 [[ 0.70298364 -0.63709767 -0.31610215 3.6550306 ] [ 0.63091192 0.76378731 -0.13630516 1.3885849 ] [ 0.32827451 -0.10361232 0.93888249 0.66828123] [ 0. 0. 0. 1. ]] SLAMing on 16.518001145 meters Centerline goodness : 0.864068 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:1.40, Z:0.68 [[ 0.70282455 -0.63930798 -0.31196628 3.66259869] [ 0.63246948 0.76231577 -0.13732085 1.40110703] [ 0.32560713 -0.10079668 0.94011703 0.67588051] [ 0. 0. 0. 1. ]] SLAMing on 16.578001144999998 meters Centerline goodness : 0.865869 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:1.41, Z:0.68 [[ 0.70264382 -0.63903701 -0.3129271 3.67496238] [ 0.63291076 0.76227131 -0.13552277 1.41243046] [ 0.32513942 -0.10283069 0.94005862 0.67939166] [ 0. 0. 0. 1. ]] SLAMing on 16.638001145 meters Centerline goodness : 0.863389 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:1.40, Z:0.69 [[ 0.70495351 -0.64482807 -0.29535963 3.65133336] [ 0.63181219 0.76015536 -0.1515823 1.40088916] [ 0.32226373 -0.07975334 0.94328442 0.6870521 ] [ 0. 0. 0. 1. ]] SLAMing on 16.698001145 meters Centerline goodness : 0.859798 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:1.40, Z:0.69 [[ 0.70617387 -0.64240432 -0.29771657 3.65702808] [ 0.62929635 0.76217172 -0.15192225 1.4037876 ] [ 0.32450666 -0.08006843 0.94248845 0.68609503] [ 0. 0. 0. 1. ]] SLAMing on 16.758001144999998 meters Centerline goodness : 0.859073 with order 1 Centerline is valid? [False, False] Translation: X:3.62, Y:1.37, Z:0.67 [[ 0.70900055 -0.64168623 -0.29250129 3.61721545] [ 0.62713214 0.76340848 -0.15463755 1.36957489] [ 0.32252675 -0.07379885 0.94367909 0.67299196] [ 0. 0. 0. 1. ]] SLAMing on 16.818001145 meters Centerline goodness : 0.859614 with order 1 Centerline is valid? [False, False] Translation: X:3.62, Y:1.37, Z:0.67 [[ 0.71240948 -0.63751036 -0.29334838 3.61634376] [ 0.62312329 0.76692846 -0.15342133 1.36959288] [ 0.32278491 -0.0734934 0.94361466 0.67323443] [ 0. 0. 0. 1. ]] SLAMing on 16.878001145 meters Centerline goodness : 0.862383 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:1.37, Z:0.68 [[ 0.71492067 -0.63775673 -0.28662656 3.61418223] [ 0.6245946 0.76676228 -0.14817961 1.37346268] [ 0.31427698 -0.07308873 0.94651361 0.67827359] [ 0. 0. 0. 1. ]] SLAMing on 16.938001144999998 meters Centerline goodness : 0.865037 with order 1 Centerline is valid? [False, False] Translation: X:3.62, Y:1.37, Z:0.68 [[ 0.71829866 -0.63309117 -0.28851796 3.61558553] [ 0.62039591 0.77053599 -0.14623 1.37248979] [ 0.31489039 -0.07395855 0.94624213 0.67868067] [ 0. 0. 0. 1. ]] SLAMing on 16.998001145 meters Centerline goodness : 0.860601 with order 1 Centerline is valid? [False, False] Translation: X:3.62, Y:1.37, Z:0.68 [[ 0.7196753 -0.63041228 -0.290943 3.6226691 ] [ 0.61806338 0.77259872 -0.14522011 1.37425276] [ 0.31633072 -0.07530989 0.94565496 0.67582555] [ 0. 0. 0. 1. ]] SLAMing on 17.058001145 meters Centerline goodness : 0.852696 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:1.33, Z:0.66 [[ 0.72364369 -0.6306016 -0.2805021 3.56851188] [ 0.61488936 0.77364177 -0.15293623 1.32775887] [ 0.31344997 -0.06180642 0.9475912 0.65698513] [ 0. 0. 0. 1. ]] SLAMing on 17.118001144999997 meters Centerline goodness : 0.851513 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:1.33, Z:0.66 [[ 0.72526411 -0.6266457 -0.28514406 3.56869607] [ 0.61216412 0.77648771 -0.14940524 1.32850459] [ 0.31503501 -0.0661967 0.94676868 0.65975314] [ 0. 0. 0. 1. ]] SLAMing on 17.178001145 meters Centerline goodness : 0.849392 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:1.33, Z:0.66 [[ 0.72585521 -0.6253882 -0.286398 3.5688385 ] [ 0.61121861 0.77740848 -0.14848526 1.3273738 ] [ 0.31550916 -0.06727299 0.9465349 0.66140245] [ 0. 0. 0. 1. ]] SLAMing on 17.238001145 meters Centerline goodness : 0.843696 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:1.33, Z:0.66 [[ 0.72500542 -0.62794117 -0.28294351 3.5705926 ] [ 0.61248055 0.77570703 -0.1521387 1.32762322] [ 0.31501542 -0.06299602 0.94699355 0.65975013] [ 0. 0. 0. 1. ]] SLAMing on 17.298001145 meters Centerline goodness : 0.834606 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:1.33, Z:0.66 [[ 0.72757517 -0.62447391 -0.28401884 3.57452135] [ 0.60874571 0.77858232 -0.15244087 1.33287577] [ 0.3163274 -0.06198306 0.94662299 0.6565917 ] [ 0. 0. 0. 1. ]] SLAMing on 17.358001145 meters Centerline goodness : 0.836907 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:1.34, Z:0.66 [[ 0.73285023 -0.61790057 -0.28483227 3.57024207] [ 0.60268681 0.78381109 -0.14969565 1.33500456] [ 0.31575172 -0.06196016 0.94681666 0.65587205] [ 0. 0. 0. 1. ]] SLAMing on 17.418001144999998 meters Centerline goodness : 0.838711 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:1.34, Z:0.65 [[ 0.73643837 -0.61394559 -0.2841291 3.56737181] [ 0.59878626 0.78700918 -0.148565 1.33570889] [ 0.31482303 -0.06072363 0.94720594 0.65497786] [ 0. 0. 0. 1. ]] SLAMing on 17.478001145 meters Centerline goodness : 0.835832 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:1.34, Z:0.65 [[ 0.74136961 -0.60970121 -0.28042028 3.56396975] [ 0.59398277 0.790625 -0.14864915 1.33511862] [ 0.31233885 -0.05636085 0.94829737 0.65184493] [ 0. 0. 0. 1. ]] SLAMing on 17.538001145 meters Centerline goodness : 0.835257 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:1.34, Z:0.65 [[ 0.74266604 -0.60864982 -0.27927147 3.56573917] [ 0.59209767 0.79164014 -0.15075224 1.33814611] [ 0.31283782 -0.05339742 0.94830439 0.64987981] [ 0. 0. 0. 1. ]] SLAMing on 17.598001144999998 meters Centerline goodness : 0.837999 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:1.34, Z:0.65 [[ 0.74277952 -0.60893794 -0.27834001 3.56408417] [ 0.59190383 0.79152659 -0.15210364 1.34005618] [ 0.3129352 -0.05177105 0.94836244 0.65027086] [ 0. 0. 0. 1. ]] SLAMing on 17.658001145 meters Centerline goodness : 0.839606 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:1.34, Z:0.65 [[ 0.74334711 -0.60790212 -0.27908795 3.56211955] [ 0.59113673 0.79226958 -0.15121603 1.34072228] [ 0.31303744 -0.05257314 0.94828457 0.65161723] [ 0. 0. 0. 1. ]] SLAMing on 17.718001145 meters Centerline goodness : 0.842167 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:1.34, Z:0.65 [[ 0.74296734 -0.60619749 -0.28376776 3.56486219] [ 0.59020236 0.79330693 -0.14941652 1.34383034] [ 0.31569085 -0.0564688 0.94718032 0.6536576 ] [ 0. 0. 0. 1. ]] SLAMing on 17.778001144999998 meters Centerline goodness : 0.838338 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:1.35, Z:0.65 [[ 0.74281966 -0.60503368 -0.28662378 3.56967325] [ 0.58963226 0.79400374 -0.147959 1.34757318] [ 0.31710053 -0.05909578 0.94654897 0.65091087] [ 0. 0. 0. 1. ]] SLAMing on 17.838001145 meters Centerline goodness : 0.839982 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:1.35, Z:0.65 [[ 0.74050684 -0.60852805 -0.28520735 3.56870399] [ 0.59224248 0.79147762 -0.1510365 1.34860385] [ 0.31764518 -0.05706835 0.94649075 0.65287365] [ 0. 0. 0. 1. ]] SLAMing on 17.898001145 meters Centerline goodness : 0.845318 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:1.36, Z:0.65 [[ 0.73572744 -0.61163226 -0.2908799 3.57760021] [ 0.59537426 0.78880069 -0.1527186 1.35697638] [ 0.32285389 -0.06082314 0.94449241 0.65153623] [ 0. 0. 0. 1. ]] SLAMing on 17.958001144999997 meters Centerline goodness : 0.841638 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:1.36, Z:0.65 [[ 0.73404071 -0.6132031 -0.29183247 3.58120644] [ 0.59664684 0.78756684 -0.15411363 1.35930709] [ 0.32434053 -0.06099525 0.94397182 0.6512222 ] [ 0. 0. 0. 1. ]] SLAMing on 18.018001145 meters Centerline goodness : 0.846100 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:1.37, Z:0.65 [[ 0.73277509 -0.61570883 -0.28972971 3.58660038] [ 0.60154585 0.78516677 -0.14715889 1.36735988] [ 0.31809317 -0.06645134 0.94572774 0.65227252] [ 0. 0. 0. 1. ]] SLAMing on 18.078001144999998 meters Centerline goodness : 0.843180 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:1.37, Z:0.65 [[ 0.732469 -0.61572121 -0.29047645 3.58717551] [ 0.60155086 0.78512693 -0.14735083 1.36790327] [ 0.31878792 -0.06680644 0.94546875 0.65330313] [ 0. 0. 0. 1. ]] SLAMing on 18.138001145 meters Centerline goodness : 0.842365 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:1.37, Z:0.65 [[ 0.7308572 -0.61576087 -0.29442538 3.59169509] [ 0.60219005 0.78479679 -0.14649625 1.37202004] [ 0.32127075 -0.07023219 0.94437945 0.65299098] [ 0. 0. 0. 1. ]] SLAMing on 18.198001145 meters Centerline goodness : 0.842593 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:1.37, Z:0.65 [[ 0.72953697 -0.61653963 -0.29606536 3.59453098] [ 0.60279939 0.78413169 -0.14754792 1.37466291] [ 0.32312337 -0.07082635 0.94370277 0.65382275] [ 0. 0. 0. 1. ]] SLAMing on 18.258001144999998 meters Centerline goodness : 0.841281 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:1.38, Z:0.65 [[ 0.72796092 -0.62032923 -0.29200094 3.60322288] [ 0.60737328 0.78105448 -0.14509169 1.38419854] [ 0.31807326 -0.07173249 0.94534853 0.6527685 ] [ 0. 0. 0. 1. ]] SLAMing on 18.318001145 meters Centerline goodness : 0.841118 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:1.39, Z:0.66 [[ 0.72685785 -0.62654653 -0.28127764 3.60358202] [ 0.61325323 0.77648346 -0.14489275 1.38906924] [ 0.30918948 -0.06717799 0.94862478 0.65563494] [ 0. 0. 0. 1. ]] SLAMing on 18.378001145 meters Centerline goodness : 0.839772 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:1.39, Z:0.66 [[ 0.7251253 -0.62485884 -0.2893868 3.61217112] [ 0.61287966 0.77722034 -0.14250288 1.39483854] [ 0.3139615 -0.07402684 0.94654541 0.65503968] [ 0. 0. 0. 1. ]] SLAMing on 18.438001144999998 meters Centerline goodness : 0.839831 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:1.41, Z:0.66 [[ 0.72390646 -0.62549296 -0.29106356 3.62525124] [ 0.61440722 0.77640018 -0.14037995 1.40856978] [ 0.31378847 -0.0772096 0.9463485 0.65775904] [ 0. 0. 0. 1. ]] SLAMing on 18.498001145 meters Centerline goodness : 0.839442 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:1.42, Z:0.66 [[ 0.72246021 -0.63102768 -0.2825868 3.62614865] [ 0.61981179 0.7722054 -0.1397575 1.41594585] [ 0.30640591 -0.0741814 0.94900608 0.66158804] [ 0. 0. 0. 1. ]] SLAMing on 18.558001145 meters Centerline goodness : 0.840633 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:1.42, Z:0.66 [[ 0.72092458 -0.63216366 -0.28396631 3.62992303] [ 0.62071966 0.77123839 -0.14106187 1.41936158] [ 0.30817991 -0.07456851 0.94840112 0.66092246] [ 0. 0. 0. 1. ]] SLAMing on 18.618001144999997 meters Centerline goodness : 0.840824 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:1.42, Z:0.66 [[ 0.71813099 -0.63342483 -0.28820282 3.63339824] [ 0.62253734 0.7698286 -0.14075222 1.42168116] [ 0.31102272 -0.07833849 0.94716838 0.66392621] [ 0. 0. 0. 1. ]] SLAMing on 18.678001145 meters Centerline goodness : 0.842511 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:1.43, Z:0.67 [[ 0.71634714 -0.63707743 -0.28456831 3.63836048] [ 0.62711335 0.76665736 -0.1377147 1.43027569] [ 0.30590132 -0.07980505 0.94871257 0.66924225] [ 0. 0. 0. 1. ]] SLAMing on 18.738001145 meters Centerline goodness : 0.842558 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:1.43, Z:0.67 [[ 0.71397222 -0.64007339 -0.28381282 3.64246094] [ 0.62916774 0.76436012 -0.14107287 1.43241884] [ 0.3072322 -0.07784376 0.94844543 0.66852541] [ 0. 0. 0. 1. ]] SLAMing on 18.798001144999997 meters Centerline goodness : 0.843378 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:1.44, Z:0.67 [[ 0.71350618 -0.64067367 -0.28363037 3.64599102] [ 0.62908543 0.76402151 -0.14325732 1.43583304] [ 0.30848089 -0.07621275 0.94817253 0.66654755] [ 0. 0. 0. 1. ]] SLAMing on 18.858001145 meters Centerline goodness : 0.840937 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:1.44, Z:0.67 [[ 0.71397533 -0.63949232 -0.28511191 3.64724134] [ 0.62791146 0.76496561 -0.14336947 1.43751624] [ 0.30978449 -0.07666277 0.94771113 0.66739855] [ 0. 0. 0. 1. ]] SLAMing on 18.918001144999998 meters Centerline goodness : 0.837941 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:1.44, Z:0.67 [[ 0.71767082 -0.63480752 -0.28630054 3.64671045] [ 0.62344914 0.76886426 -0.14198212 1.43868823] [ 0.31025757 -0.07659739 0.94756165 0.6668121 ] [ 0. 0. 0. 1. ]] SLAMing on 18.978001145 meters Centerline goodness : 0.846724 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:1.44, Z:0.67 [[ 0.71871164 -0.63781432 -0.27685099 3.6458191 ] [ 0.62662132 0.76671141 -0.13964001 1.44397644] [ 0.30132921 -0.07311983 0.95071247 0.66946375] [ 0. 0. 0. 1. ]] SLAMing on 19.038001145 meters Centerline goodness : 0.846919 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:1.45, Z:0.67 [[ 0.71829759 -0.63819618 -0.2770455 3.64894924] [ 0.62657215 0.76647916 -0.14112776 1.44650766] [ 0.3024168 -0.07221726 0.95043608 0.66821583] [ 0. 0. 0. 1. ]] SLAMing on 19.098001144999998 meters Centerline goodness : 0.850686 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:1.46, Z:0.67 [[ 0.71782553 -0.63849876 -0.27757134 3.66038463] [ 0.62803945 0.76590939 -0.1376563 1.45716442] [ 0.30048787 -0.07551255 0.95079172 0.67004804] [ 0. 0. 0. 1. ]] SLAMing on 19.158001145 meters Centerline goodness : 0.854167 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:1.47, Z:0.67 [[ 0.71671095 -0.6379322 -0.28172312 3.67187434] [ 0.62969955 0.76560182 -0.13165228 1.46956901] [ 0.29967296 -0.08304429 0.95042083 0.67327252] [ 0. 0. 0. 1. ]] SLAMing on 19.218001145 meters Centerline goodness : 0.855761 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:1.47, Z:0.67 [[ 0.71337907 -0.64154866 -0.28196741 3.67517342] [ 0.63290745 0.76257792 -0.13380237 1.47006354] [ 0.30086285 -0.08300747 0.95004805 0.67458975] [ 0. 0. 0. 1. ]] SLAMing on 19.278001144999998 meters Centerline goodness : 0.855369 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:1.47, Z:0.68 [[ 0.70881872 -0.64537596 -0.28472072 3.67996871] [ 0.63674318 0.75908819 -0.13543722 1.47413602] [ 0.30353606 -0.08529353 0.94899466 0.67616838] [ 0. 0. 0. 1. ]] SLAMing on 19.338001145 meters Centerline goodness : 0.862296 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:1.48, Z:0.68 [[ 0.70806932 -0.64578392 -0.28565883 3.68193992] [ 0.63687125 0.75875755 -0.13668207 1.47786518] [ 0.30501288 -0.08514751 0.94853416 0.67594666] [ 0. 0. 0. 1. ]] SLAMing on 19.398001145 meters Centerline goodness : 0.861361 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:1.48, Z:0.68 [[ 0.70714635 -0.64603888 -0.28736353 3.68224138] [ 0.63729939 0.75839209 -0.13671478 1.47838803] [ 0.30625729 -0.08645925 0.94801438 0.67852374] [ 0. 0. 0. 1. ]] SLAMing on 19.458001144999997 meters Centerline goodness : 0.860374 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:1.48, Z:0.68 [[ 0.70624047 -0.64593201 -0.28982106 3.68566479] [ 0.63734118 0.75830897 -0.13698075 1.48053388] [ 0.30825416 -0.08797355 0.94722755 0.67971901] [ 0. 0. 0. 1. ]] SLAMing on 19.518001145 meters Centerline goodness : 0.864364 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:1.48, Z:0.68 [[ 0.70415123 -0.64906765 -0.28789274 3.68821199] [ 0.63929658 0.75597244 -0.14073221 1.48190513] [ 0.30898371 -0.08495209 0.94726565 0.67949641] [ 0. 0. 0. 1. ]] SLAMing on 19.578001144999998 meters Centerline goodness : 0.866724 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:1.48, Z:0.68 [[ 0.70169903 -0.64990159 -0.29196984 3.69125653] [ 0.64062613 0.75486441 -0.14063388 1.48453654] [ 0.31179583 -0.08836085 0.94603157 0.68297997] [ 0. 0. 0. 1. ]] SLAMing on 19.638001145 meters Centerline goodness : 0.867673 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:1.49, Z:0.68 [[ 0.70005742 -0.65021027 -0.29520539 3.69485817] [ 0.64139405 0.75427114 -0.14031647 1.4868617 ] [ 0.31390012 -0.09111339 0.9450741 0.68437937] [ 0. 0. 0. 1. ]] SLAMing on 19.698001145 meters Centerline goodness : 0.861269 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:1.49, Z:0.68 [[ 0.70006617 -0.64986185 -0.29595091 3.69933291] [ 0.64089188 0.75458356 -0.14092993 1.4882405 ] [ 0.31490468 -0.09101226 0.9447496 0.68314723] [ 0. 0. 0. 1. ]] SLAMing on 19.758001144999998 meters Centerline goodness : 0.858795 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:1.49, Z:0.68 [[ 0.69815185 -0.65171831 -0.29639034 3.70218145] [ 0.64227886 0.75303104 -0.14290595 1.48953111] [ 0.31632555 -0.0905952 0.94431491 0.68445947] [ 0. 0. 0. 1. ]] SLAMing on 19.818001145 meters Centerline goodness : 0.868931 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:1.50, Z:0.69 [[ 0.69565277 -0.65741192 -0.2896149 3.70380085] [ 0.64873506 0.74806188 -0.13980792 1.49679835] [ 0.30856126 -0.09062557 0.94687748 0.68761853] [ 0. 0. 0. 1. ]] SLAMing on 19.878001145 meters Centerline goodness : 0.870354 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:1.50, Z:0.69 [[ 0.69409219 -0.65782316 -0.29241192 3.70850775] [ 0.6495264 0.74740737 -0.13963409 1.4998759 ] [ 0.31040537 -0.09301033 0.94604312 0.68735017] [ 0. 0. 0. 1. ]] SLAMing on 19.938001144999998 meters Centerline goodness : 0.871825 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:1.51, Z:0.69 [[ 0.69080289 -0.66031029 -0.29458731 3.72095861] [ 0.65270782 0.74478254 -0.13882175 1.50960767] [ 0.31106892 -0.09638097 0.94548762 0.69000302] [ 0. 0. 0. 1. ]] SLAMing on 19.998001145 meters Centerline goodness : 0.872119 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:1.52, Z:0.69 [[ 0.69051618 -0.66456124 -0.28556219 3.72219565] [ 0.65694147 0.74141327 -0.13687317 1.51626649] [ 0.3026802 -0.09308451 0.9485357 0.69201957] [ 0. 0. 0. 1. ]] SLAMing on 20.058001145 meters Centerline goodness : 0.874789 with order 1 Centerline is valid? [False, False] Translation: X:3.73, Y:1.52, Z:0.69 [[ 0.69081232 -0.66127874 -0.29238463 3.72771831] [ 0.65529315 0.74351367 -0.13333534 1.51878651] [ 0.3055638 -0.09948795 0.94695983 0.69322851] [ 0. 0. 0. 1. ]] SLAMing on 20.118001144999997 meters Centerline goodness : 0.868012 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:1.44, Z:0.74 [[ 6.84441256e-01 -6.95058266e-01 -2.20077656e-01 3.56032769e+00] [ 6.60208363e-01 7.18945040e-01 -2.17354425e-01 1.44087749e+00] [ 3.09297729e-01 3.46922656e-03 9.50958926e-01 7.42586742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.178001145 meters Centerline goodness : 0.867609 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:1.44, Z:0.74 [[ 0.68536361 -0.6940381 -0.22042648 3.56384137] [ 0.65882265 0.71992481 -0.21831395 1.44203776] [ 0.31020869 0.00440248 0.95065829 0.74168054] [ 0. 0. 0. 1. ]] SLAMing on 20.238001145 meters Centerline goodness : 0.865491 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:1.45, Z:0.74 [[ 6.86943412e-01 -6.91398317e-01 -2.23779166e-01 3.56639426e+00] [ 6.56442579e-01 7.22470381e-01 -2.17070702e-01 1.44560164e+00] [ 3.11756137e-01 2.21711565e-03 9.50159563e-01 7.41340615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.298001144999997 meters Centerline goodness : 0.863683 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:1.45, Z:0.74 [[ 6.88890762e-01 -6.89425224e-01 -2.23880279e-01 3.56773469e+00] [ 6.54293800e-01 7.24349752e-01 -2.17294868e-01 1.44682720e+00] [ 3.11976187e-01 3.20894868e-03 9.50084502e-01 7.40119087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.358001145 meters Centerline goodness : 0.862706 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:1.45, Z:0.74 [[ 6.88915997e-01 -6.88468353e-01 -2.26729081e-01 3.56959685e+00] [ 6.53505024e-01 7.25265610e-01 -2.16612508e-01 1.45040510e+00] [ 3.13569662e-01 1.05922838e-03 9.49564608e-01 7.40429245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.418001144999998 meters Centerline goodness : 0.859593 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:1.45, Z:0.74 [[ 6.90940762e-01 -6.85723896e-01 -2.28874643e-01 3.57235265e+00] [ 6.50781105e-01 7.27861665e-01 -2.16104953e-01 1.45426488e+00] [ 3.14777409e-01 3.68427759e-04 9.49165448e-01 7.38971991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.478001145 meters Centerline goodness : 0.856641 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:1.38, Z:0.71 [[ 6.97398760e-01 -6.79478399e-01 -2.27912429e-01 3.49412450e+00] [ 6.45073244e-01 7.33693149e-01 -2.13482721e-01 1.37680984e+00] [ 3.12274685e-01 1.86237526e-03 9.49990028e-01 7.06102299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.538001145 meters Centerline goodness : 0.858955 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:1.30, Z:0.67 [[ 0.70102344 -0.67675345 -0.22487974 3.41593267] [ 0.64266057 0.73619781 -0.21213245 1.29801142] [ 0.30911734 0.00418848 0.95101468 0.6710585 ] [ 0. 0. 0. 1. ]] SLAMing on 20.598001144999998 meters Centerline goodness : 0.859454 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:1.30, Z:0.67 [[ 0.69961096 -0.67816341 -0.22503085 3.41747534] [ 0.64355012 0.73489508 -0.21394502 1.30330503] [ 0.31046375 0.00485965 0.9505728 0.66993743] [ 0. 0. 0. 1. ]] SLAMing on 20.658001145 meters Centerline goodness : 0.850343 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:1.24, Z:0.64 [[ 0.6997744 -0.67805337 -0.22485421 3.34793196] [ 0.64400694 0.73500347 -0.21219084 1.2384393 ] [ 0.30914534 0.00367805 0.95100769 0.64175628] [ 0. 0. 0. 1. ]] SLAMing on 20.718001145 meters Centerline goodness : 0.853912 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:1.15, Z:0.65 [[ 0.68583347 -0.69847126 -0.20437793 3.20575618] [ 0.6536783 0.71467605 -0.24888317 1.146214 ] [ 0.31990175 0.03709499 0.94672426 0.64613888] [ 0. 0. 0. 1. ]] SLAMing on 20.778001144999998 meters Centerline goodness : 0.849083 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:1.10, Z:0.62 [[ 0.68537285 -0.69840203 -0.20615204 3.16160849] [ 0.6556331 0.71502755 -0.24265377 1.09521114] [ 0.31687427 0.03114821 0.94795595 0.61808903] [ 0. 0. 0. 1. ]] SLAMing on 20.838001145 meters Centerline goodness : 0.845561 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:1.09, Z:0.66 [[ 0.68721705 -0.71083461 -0.14982282 3.13089773] [ 0.65848321 0.69663049 -0.28479085 1.09363319] [ 0.30681033 0.09705731 0.94680901 0.66498116] [ 0. 0. 0. 1. ]] SLAMing on 20.898001145 meters Centerline goodness : 0.844583 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:1.08, Z:0.71 [[ 0.69344111 -0.71487649 -0.08995017 3.08845048] [ 0.65831034 0.67936186 -0.32418354 1.08001944] [ 0.2928599 0.16558707 0.94170802 0.71014676] [ 0. 0. 0. 1. ]] SLAMing on 20.958001144999997 meters Centerline goodness : 0.844491 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:1.06, Z:0.77 [[ 0.7037727 -0.70998403 -0.02503333 3.0379611 ] [ 0.65472201 0.66186597 -0.36506509 1.06146137] [ 0.27575909 0.24053298 0.93064537 0.76512409] [ 0. 0. 0. 1. ]] SLAMing on 21.018001145 meters Centerline goodness : 0.843164 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:1.01, Z:0.82 [[ 0.71210404 -0.70032204 0.04956689 2.96461858] [ 0.65423995 0.63631696 -0.40874296 1.01113088] [ 0.25471145 0.32349615 0.91130254 0.8179855 ] [ 0. 0. 0. 1. ]] SLAMing on 21.078001144999998 meters Centerline goodness : 0.842791 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.95, Z:0.81 [[ 0.72210705 -0.68857776 0.06649876 2.90690377] [ 0.64633147 0.6372725 -0.41968964 0.94995852] [ 0.24661112 0.34604109 0.90522844 0.80862608] [ 0. 0. 0. 1. ]] SLAMing on 21.138001144999997 meters Centerline goodness : 0.835944 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.82, Z:0.81 [[ 0.7220684 -0.68735029 0.07852899 2.7664502 ] [ 0.6418938 0.62328818 -0.44663654 0.81917262] [ 0.25804956 0.3729094 0.89126259 0.80582809] [ 0. 0. 0. 1. ]] SLAMing on 21.198001145 meters Centerline goodness : 0.836973 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.81, Z:0.81 [[ 0.73727566 -0.67317469 0.05710024 2.77020783] [ 0.61924658 0.63957625 -0.45549522 0.81273884] [ 0.27010789 0.37118467 0.88840513 0.80502538] [ 0. 0. 0. 1. ]] SLAMing on 21.258001144999998 meters Centerline goodness : 0.836938 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.82, Z:0.80 [[ 0.74658574 -0.66380398 0.04442985 2.77599498] [ 0.6053932 0.65016085 -0.45911866 0.8158285 ] [ 0.27587825 0.36966897 0.88726323 0.8002828 ] [ 0. 0. 0. 1. ]] SLAMing on 21.318001145 meters Centerline goodness : 0.833878 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:0.82, Z:0.80 [[ 0.76239693 -0.64689412 0.01670081 2.78645078] [ 0.57834296 0.66957436 -0.46603606 0.815722 ] [ 0.29029356 0.36496325 0.88460809 0.80142628] [ 0. 0. 0. 1. ]] SLAMing on 21.378001145 meters Centerline goodness : 0.832157 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:0.82, Z:0.80 [[ 0.77303505 -0.63432724 0.00676525 2.79255762] [ 0.56208308 0.67997158 -0.47085163 0.81668598] [ 0.29407384 0.36778745 0.88218647 0.79536163] [ 0. 0. 0. 1. ]] SLAMing on 21.438001144999998 meters Centerline goodness : 0.831611 with order 1 Centerline is valid? [False, False] Translation: X:2.80, Y:0.82, Z:0.79 [[ 0.77984281 -0.62594256 -0.00641167 2.79708417] [ 0.54909559 0.68894781 -0.47312255 0.81766256] [ 0.30056484 0.3654406 0.88097329 0.79162708] [ 0. 0. 0. 1. ]] SLAMing on 21.498001145 meters Centerline goodness : 0.825230 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:0.82, Z:0.79 [[ 0.78651922 -0.61707998 -0.02449107 2.80558803] [ 0.53442253 0.69996793 -0.4737483 0.82105662] [ 0.30948355 0.35952357 0.88031968 0.79107551] [ 0. 0. 0. 1. ]] SLAMing on 21.558001145 meters Centerline goodness : 0.825295 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.83, Z:0.79 [[ 0.78579359 -0.61752451 -0.0345242 2.81526241] [ 0.53219435 0.7035417 -0.47095462 0.82961517] [ 0.31511523 0.35169954 0.88148161 0.78814891] [ 0. 0. 0. 1. ]] SLAMing on 21.618001144999997 meters Centerline goodness : 0.823332 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:0.84, Z:0.79 [[ 0.78197427 -0.62199876 -0.04042004 2.82315887] [ 0.53370893 0.70165289 -0.47205719 0.83816961] [ 0.32197983 0.34756404 0.88064081 0.78690017] [ 0. 0. 0. 1. ]] SLAMing on 21.678001145 meters Centerline goodness : 0.825491 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:0.85, Z:0.79 [[ 0.77882617 -0.62553598 -0.04620103 2.83137238] [ 0.53443768 0.70035099 -0.47316473 0.84720479] [ 0.3283385 0.3438215 0.87976168 0.78553585] [ 0. 0. 0. 1. ]] SLAMing on 21.738001145 meters Centerline goodness : 0.820995 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.85, Z:0.79 [[ 0.77390804 -0.63091532 -0.05488354 2.84058368] [ 0.5363395 0.6990395 -0.47295212 0.85497206] [ 0.3367585 0.33658524 0.8793771 0.78647669] [ 0. 0. 0. 1. ]] SLAMing on 21.798001144999997 meters Centerline goodness : 0.817551 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:0.86, Z:0.79 [[ 0.77140371 -0.63314492 -0.06374816 2.84852339] [ 0.53592977 0.70041988 -0.4713717 0.86269565] [ 0.34309708 0.32945334 0.8796277 0.78702645] [ 0. 0. 0. 1. ]] SLAMing on 21.858001145 meters Centerline goodness : 0.816326 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:0.87, Z:0.79 [[ 0.77129116 -0.63302331 -0.06626796 2.85164279] [ 0.53492642 0.70112288 -0.47146627 0.86667179] [ 0.34491112 0.32818928 0.87939076 0.78770846] [ 0. 0. 0. 1. ]] SLAMing on 21.918001144999998 meters Centerline goodness : 0.815982 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.87, Z:0.79 [[ 0.77077666 -0.63340515 -0.06856574 2.85598405] [ 0.53420556 0.70117832 -0.47220058 0.87137364] [ 0.34717109 0.32733298 0.87882043 0.78802794] [ 0. 0. 0. 1. ]] SLAMing on 21.978001145 meters Centerline goodness : 0.816150 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:0.87, Z:0.79 [[ 0.77404574 -0.62746444 -0.08450779 2.86470163] [ 0.52191675 0.70793 -0.47585505 0.87458186] [ 0.35840772 0.32422755 0.8754544 0.79006142] [ 0. 0. 0. 1. ]] SLAMing on 22.038001145 meters Centerline goodness : 0.817950 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.87, Z:0.79 [[ 0.77581396 -0.62526217 -0.08461626 2.8668952 ] [ 0.52002405 0.70958111 -0.47546781 0.87457496] [ 0.35733413 0.32487207 0.8756543 0.78822363] [ 0. 0. 0. 1. ]] SLAMing on 22.098001144999998 meters Centerline goodness : 0.817342 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.88, Z:0.79 [[ 0.77762622 -0.62295121 -0.08502497 2.86945271] [ 0.51777268 0.71122746 -0.47546498 0.87681032] [ 0.35666358 0.32571043 0.87561624 0.78658345] [ 0. 0. 0. 1. ]] SLAMing on 22.158001145 meters Centerline goodness : 0.819747 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.88, Z:0.78 [[ 0.77864684 -0.62162002 -0.08542632 2.87324372] [ 0.5161813 0.71199429 -0.47604726 0.87991855] [ 0.35674356 0.32657723 0.87526073 0.78468913] [ 0. 0. 0. 1. ]] SLAMing on 22.218001145 meters Centerline goodness : 0.818187 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.88, Z:0.78 [[ 0.77926393 -0.62088916 -0.08511393 2.87566755] [ 0.51525351 0.71206468 -0.47694623 0.88246094] [ 0.35673737 0.32781174 0.87480164 0.78308014] [ 0. 0. 0. 1. ]] SLAMing on 22.278001144999998 meters Centerline goodness : 0.825896 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:0.89, Z:0.78 [[ 0.77803249 -0.62139571 -0.09237324 2.88216865] [ 0.51472261 0.71483697 -0.473359 0.88624977] [ 0.36017506 0.32074209 0.87601281 0.7834297 ] [ 0. 0. 0. 1. ]] SLAMing on 22.338001145 meters Centerline goodness : 0.826672 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.89, Z:0.79 [[ 0.77613242 -0.6228636 -0.09828231 2.8876105 ] [ 0.51476675 0.71587284 -0.4717428 0.89121634] [ 0.36418906 0.31554242 0.87624158 0.78508791] [ 0. 0. 0. 1. ]] SLAMing on 22.398001145 meters Centerline goodness : 0.831802 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.90, Z:0.78 [[ 0.77211182 -0.62713219 -0.10270613 2.89526516] [ 0.51705579 0.71392047 -0.47219792 0.89906669] [ 0.36945453 0.3114848 0.87548876 0.78262388] [ 0. 0. 0. 1. ]] SLAMing on 22.458001144999997 meters Centerline goodness : 0.834999 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.91, Z:0.78 [[ 0.76525845 -0.63432194 -0.10961381 2.90628123] [ 0.52128728 0.71056091 -0.47261269 0.9115991 ] [ 0.37767589 0.30453057 0.8744267 0.77835359] [ 0. 0. 0. 1. ]] SLAMing on 22.518001145 meters Centerline goodness : 0.835941 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.92, Z:0.78 [[ 0.76133327 -0.63826358 -0.11397917 2.91241798] [ 0.52378876 0.70908508 -0.47206323 0.91578745] [ 0.38212169 0.29969643 0.87416535 0.77868341] [ 0. 0. 0. 1. ]] SLAMing on 22.578001144999998 meters Centerline goodness : 0.836184 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.92, Z:0.78 [[ 0.75721624 -0.64182998 -0.12115217 2.92100156] [ 0.52530013 0.70865002 -0.47103601 0.92324005] [ 0.38817952 0.29303486 0.87375467 0.77796857] [ 0. 0. 0. 1. ]] SLAMing on 22.638001144999997 meters Centerline goodness : 0.842305 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.93, Z:0.78 [[ 0.75515524 -0.64371941 -0.12395919 2.92549147] [ 0.5260141 0.70785613 -0.47143278 0.92700543] [ 0.3912157 0.29080066 0.87314675 0.77913239] [ 0. 0. 0. 1. ]] SLAMing on 22.698001145 meters Centerline goodness : 0.843777 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.93, Z:0.78 [[ 0.75163513 -0.64655942 -0.13040535 2.93344278] [ 0.52713569 0.70768578 -0.4704347 0.93411151] [ 0.39645 0.28485393 0.87274603 0.77843084] [ 0. 0. 0. 1. ]] SLAMing on 22.758001144999998 meters Centerline goodness : 0.848358 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.94, Z:0.78 [[ 0.75083955 -0.64720864 -0.13176095 2.93695543] [ 0.52719353 0.70744182 -0.47073671 0.93641102] [ 0.39787807 0.28398422 0.87237951 0.77807492] [ 0. 0. 0. 1. ]] SLAMing on 22.818001145 meters Centerline goodness : 0.842929 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.94, Z:0.78 [[ 0.75101502 -0.6469977 -0.13179689 2.94036114] [ 0.5270565 0.70765005 -0.47057714 0.93726855] [ 0.3977284 0.28394609 0.87246016 0.77551283] [ 0. 0. 0. 1. ]] SLAMing on 22.878001145 meters Centerline goodness : 0.843218 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.91, Z:0.75 [[ 0.75513315 -0.64124046 -0.13632534 2.91671479] [ 0.52525745 0.71623238 -0.45947339 0.91268507] [ 0.39227355 0.2753577 0.87766714 0.7508275 ] [ 0. 0. 0. 1. ]] SLAMing on 22.938001144999998 meters Centerline goodness : 0.848528 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.92, Z:0.75 [[ 0.75848438 -0.63666031 -0.1391585 2.91840635] [ 0.52115365 0.72077332 -0.45703905 0.91604567] [ 0.39128036 0.27413402 0.87849315 0.74978003] [ 0. 0. 0. 1. ]] SLAMing on 22.998001145 meters Centerline goodness : 0.848102 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.92, Z:0.75 [[ 0.76239802 -0.6314778 -0.14136845 2.92065345] [ 0.51672648 0.72559036 -0.45443633 0.91789373] [ 0.38954204 0.27341253 0.87948996 0.74731777] [ 0. 0. 0. 1. ]] SLAMing on 23.058001145 meters Centerline goodness : 0.846756 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.92, Z:0.74 [[ 0.76630036 -0.62694902 -0.14042325 2.922601 ] [ 0.51270637 0.72844584 -0.45442144 0.92116101] [ 0.38718981 0.27622742 0.87964906 0.7432572 ] [ 0. 0. 0. 1. ]] SLAMing on 23.118001144999997 meters Centerline goodness : 0.845179 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.93, Z:0.73 [[ 0.77098672 -0.62320162 -0.13114582 2.92283774] [ 0.5154392 0.73157398 -0.44623082 0.92927403] [ 0.37403464 0.27644034 0.88525636 0.73010814] [ 0. 0. 0. 1. ]] SLAMing on 23.178001145 meters Centerline goodness : 0.849623 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.93, Z:0.73 [[ 0.77535182 -0.61721692 -0.1336893 2.92504331] [ 0.51012725 0.73690076 -0.44356224 0.93176422] [ 0.37228986 0.27571823 0.88621652 0.72813742] [ 0. 0. 0. 1. ]] SLAMing on 23.238001145 meters Centerline goodness : 0.845404 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.94, Z:0.72 [[ 0.77950994 -0.61359033 -0.12598079 2.92653749] [ 0.51255775 0.74042899 -0.43479819 0.93924671] [ 0.36006779 0.27435708 0.89167224 0.71987678] [ 0. 0. 0. 1. ]] SLAMing on 23.298001144999997 meters Centerline goodness : 0.846836 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.94, Z:0.72 [[ 0.78102975 -0.61175119 -0.12551102 2.92910654] [ 0.51061326 0.74128272 -0.4356306 0.94117697] [ 0.35953669 0.27615287 0.89133213 0.71754441] [ 0. 0. 0. 1. ]] SLAMing on 23.358001145 meters Centerline goodness : 0.850545 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.95, Z:0.72 [[ 0.78042535 -0.61145768 -0.13059778 2.93475364] [ 0.50966371 0.7431155 -0.43361534 0.94539714] [ 0.36218667 0.27184346 0.89158396 0.71752792] [ 0. 0. 0. 1. ]] SLAMing on 23.418001144999998 meters Centerline goodness : 0.851846 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.95, Z:0.71 [[ 0.77680885 -0.61501043 -0.13538896 2.94381797] [ 0.51174544 0.74179219 -0.43342929 0.95238226] [ 0.36699401 0.26740703 0.89095953 0.71289856] [ 0. 0. 0. 1. ]] SLAMing on 23.478001145 meters Centerline goodness : 0.846192 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.96, Z:0.71 [[ 0.77078201 -0.62036495 -0.14506007 2.95418653] [ 0.51488693 0.74066 -0.4316413 0.95844284] [ 0.37521532 0.25801181 0.89030521 0.71401634] [ 0. 0. 0. 1. ]] SLAMing on 23.538001145 meters Centerline goodness : 0.849623 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.88, Z:0.68 [[ 0.75989994 -0.63126445 -0.15510411 2.84440036] [ 0.52023528 0.73365631 -0.43715405 0.88277095] [ 0.38975292 0.25150271 0.88591142 0.67822011] [ 0. 0. 0. 1. ]] SLAMing on 23.598001144999998 meters Centerline goodness : 0.852386 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:0.80, Z:0.64 [[ 0.74649747 -0.64841764 -0.14931876 2.71796339] [ 0.53093106 0.71572153 -0.45371235 0.79747348] [ 0.40106574 0.25941716 0.87854938 0.64089755] [ 0. 0. 0. 1. ]] SLAMing on 23.658001145 meters Centerline goodness : 0.852224 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.76, Z:0.62 [[ 0.74100955 -0.65413724 -0.15168825 2.67812986] [ 0.53764304 0.7133023 -0.44959959 0.76226956] [ 0.40229941 0.25160345 0.88025615 0.61674632] [ 0. 0. 0. 1. ]] SLAMing on 23.718001145 meters Centerline goodness : 0.853353 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.73, Z:0.58 [[ 0.73047004 -0.66100349 -0.17172045 2.65445645] [ 0.54797011 0.71734171 -0.43029017 0.73449222] [ 0.40760554 0.2202164 0.88620678 0.58219351] [ 0. 0. 0. 1. ]] SLAMing on 23.778001144999998 meters Centerline goodness : 0.853994 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.74, Z:0.59 [[ 0.72941046 -0.66279931 -0.16928512 2.67021694] [ 0.55200923 0.71644504 -0.42660556 0.7429994 ] [ 0.40403736 0.21772361 0.88845385 0.5917449 ] [ 0. 0. 0. 1. ]] SLAMing on 23.838001145 meters Centerline goodness : 0.856249 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.71, Z:0.55 [[ 0.7241817 -0.66165791 -0.19434423 2.63819226] [ 0.55416884 0.72609365 -0.40704412 0.70753842] [ 0.41043607 0.18707438 0.89249393 0.55080813] [ 0. 0. 0. 1. ]] SLAMing on 23.898001145 meters Centerline goodness : 0.854363 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.71, Z:0.55 [[ 0.72797046 -0.65649518 -0.19766915 2.64340525] [ 0.5493484 0.73102567 -0.40474411 0.70976121] [ 0.41021378 0.18605253 0.89280967 0.5529321 ] [ 0. 0. 0. 1. ]] SLAMing on 23.958001144999997 meters Centerline goodness : 0.860964 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.70, Z:0.54 [[ 0.7291355 -0.65320144 -0.20417957 2.64486821] [ 0.54825252 0.73608022 -0.39699506 0.70352024] [ 0.40961029 0.17752123 0.89482156 0.5414977 ] [ 0. 0. 0. 1. ]] SLAMing on 24.018001145 meters Centerline goodness : 0.856649 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.70, Z:0.55 [[ 0.73043869 -0.65169837 -0.20432464 2.65067588] [ 0.54578642 0.73682762 -0.39900155 0.70462134] [ 0.4105807 0.17992856 0.89389552 0.54697478] [ 0. 0. 0. 1. ]] SLAMing on 24.078001144999998 meters Centerline goodness : 0.857388 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.69, Z:0.53 [[ 0.73134604 -0.64708256 -0.21544635 2.6399052 ] [ 0.54459798 0.74425244 -0.38665404 0.69198566] [ 0.41054356 0.16544626 0.89670593 0.53195981] [ 0. 0. 0. 1. ]] SLAMing on 24.138001144999997 meters Centerline goodness : 0.858178 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.69, Z:0.54 [[ 0.73332824 -0.64553772 -0.21333246 2.64467944] [ 0.54118944 0.74418306 -0.39154254 0.69396035] [ 0.41151388 0.17167593 0.89508866 0.54472723] [ 0. 0. 0. 1. ]] SLAMing on 24.198001145 meters Centerline goodness : 0.857355 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.69, Z:0.53 [[ 0.73527075 -0.64083289 -0.2207037 2.64732523] [ 0.53893762 0.75025426 -0.38296838 0.68807172] [ 0.41100263 0.16263992 0.89700897 0.5342335 ] [ 0. 0. 0. 1. ]] SLAMing on 24.258001144999998 meters Centerline goodness : 0.858507 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.69, Z:0.54 [[ 0.73842854 -0.63687705 -0.22160983 2.64870562] [ 0.53499177 0.7533599 -0.38240381 0.68677316] [ 0.41049617 0.16381846 0.89702643 0.54040533] [ 0. 0. 0. 1. ]] SLAMing on 24.318001145 meters Centerline goodness : 0.863312 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.69, Z:0.54 [[ 0.74105439 -0.63245269 -0.22548168 2.65380701] [ 0.53149833 0.75774215 -0.37859789 0.68580858] [ 0.41030222 0.16071849 0.89767569 0.53895363] [ 0. 0. 0. 1. ]] SLAMing on 24.378001145 meters Centerline goodness : 0.863553 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.67, Z:0.52 [[ 0.73819846 -0.63016162 -0.24074752 2.64361016] [ 0.53209008 0.76329737 -0.36641135 0.67132127] [ 0.41466032 0.14238493 0.89876769 0.51721655] [ 0. 0. 0. 1. ]] SLAMing on 24.438001144999998 meters Centerline goodness : 0.865145 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.67, Z:0.51 [[ 0.73701033 -0.63054618 -0.24336657 2.64575064] [ 0.53394373 0.76394632 -0.36233979 0.66662816] [ 0.41439097 0.13710411 0.8997125 0.50765266] [ 0. 0. 0. 1. ]] SLAMing on 24.498001145 meters Centerline goodness : 0.864165 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.66, Z:0.51 [[ 0.73739688 -0.63051959 -0.24226201 2.64486892] [ 0.5338498 0.76376288 -0.36286451 0.66446547] [ 0.41382391 0.13824364 0.89979913 0.51023612] [ 0. 0. 0. 1. ]] SLAMing on 24.558001145 meters Centerline goodness : 0.868133 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:0.64, Z:0.49 [[ 0.73624539 -0.62719153 -0.25411318 2.62329707] [ 0.53626239 0.76977812 -0.34621424 0.64327402] [ 0.4127534 0.1186273 0.90308482 0.48811462] [ 0. 0. 0. 1. ]] SLAMing on 24.618001144999997 meters Centerline goodness : 0.870486 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.62, Z:0.47 [[ 0.73322193 -0.62431184 -0.26948159 2.60523575] [ 0.53790851 0.77496293 -0.33179345 0.62221962] [ 0.41598082 0.09832179 0.90404247 0.46505873] [ 0. 0. 0. 1. ]] SLAMing on 24.678001145 meters Centerline goodness : 0.871737 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:0.61, Z:0.44 [[ 0.73058557 -0.62135785 -0.2831239 2.59540694] [ 0.53932415 0.77940768 -0.31883089 0.6074629 ] [ 0.41877702 0.08023769 0.9045373 0.44328055] [ 0. 0. 0. 1. ]] SLAMing on 24.738001145 meters Centerline goodness : 0.872836 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:0.59, Z:0.42 [[ 0.72661101 -0.61799503 -0.30019758 2.57943437] [ 0.54093613 0.78396984 -0.3045971 0.58814903] [ 0.42358534 0.05893589 0.90393695 0.41910317] [ 0. 0. 0. 1. ]] SLAMing on 24.798001144999997 meters Centerline goodness : 0.874989 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.56, Z:0.39 [[ 0.72794856 -0.61371634 -0.30568471 2.5510342 ] [ 0.5416114 0.7881054 -0.29248411 0.55935423] [ 0.42041405 0.04735107 0.90609597 0.39026801] [ 0. 0. 0. 1. ]] SLAMing on 24.858001145 meters Centerline goodness : 0.876725 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:0.54, Z:0.37 [[ 0.73162868 -0.60958392 -0.30516704 2.53073402] [ 0.54011588 0.79147241 -0.28608785 0.53819746] [ 0.41592584 0.04448451 0.90830987 0.37151881] [ 0. 0. 0. 1. ]] SLAMing on 24.918001144999998 meters Centerline goodness : 0.873377 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.51, Z:0.35 [[ 0.73493334 -0.60343689 -0.30941381 2.50550101] [ 0.53849689 0.79663433 -0.27458123 0.51262307] [ 0.41218211 0.03518052 0.91042201 0.34663223] [ 0. 0. 0. 1. ]] SLAMing on 24.978001145 meters Centerline goodness : 0.870568 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.51, Z:0.35 [[ 0.73759099 -0.60000915 -0.30975563 2.50380813] [ 0.53509888 0.79917192 -0.27384928 0.51192438] [ 0.41186008 0.03623887 0.91052623 0.35198671] [ 0. 0. 0. 1. ]] SLAMing on 25.038001145 meters Centerline goodness : 0.870433 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.50, Z:0.35 [[ 0.73925427 -0.59826538 -0.30916282 2.48860018] [ 0.53129995 0.80023073 -0.27812073 0.49990009] [ 0.4137916 0.04134375 0.90943236 0.34573615] [ 0. 0. 0. 1. ]] SLAMing on 25.098001144999998 meters Centerline goodness : 0.873431 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.51, Z:0.37 [[ 0.74129788 -0.59903376 -0.3027144 2.49850194] [ 0.52741131 0.79884746 -0.28927504 0.50842051] [ 0.41510814 0.05478397 0.90812111 0.36668182] [ 0. 0. 0. 1. ]] SLAMing on 25.158001145 meters Centerline goodness : 0.876336 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.52, Z:0.39 [[ 0.74414752 -0.59995343 -0.2937692 2.5127734 ] [ 0.52291338 0.79681975 -0.3027208 0.52067971] [ 0.41569948 0.07165309 0.90667512 0.39094898] [ 0. 0. 0. 1. ]] SLAMing on 25.218001145 meters Centerline goodness : 0.874483 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.51, Z:0.42 [[ 0.74902601 -0.61032528 -0.25780435 2.47621557] [ 0.52190862 0.78323391 -0.33786985 0.51466948] [ 0.40813162 0.118523 0.9051966 0.42331143] [ 0. 0. 0. 1. ]] SLAMing on 25.278001144999998 meters Centerline goodness : 0.872454 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.52, Z:0.48 [[ 0.75514201 -0.62355306 -0.20234159 2.44573473] [ 0.52328827 0.75926446 -0.38689387 0.51817326] [ 0.39487964 0.18627684 0.8996505 0.48435633] [ 0. 0. 0. 1. ]] SLAMing on 25.338001145 meters Centerline goodness : 0.876806 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:0.51, Z:0.48 [[ 0.75734805 -0.62055107 -0.20332315 2.4444159 ] [ 0.52133158 0.76207387 -0.38400103 0.51399362] [ 0.39323951 0.18482366 0.90066803 0.48499789] [ 0. 0. 0. 1. ]] SLAMing on 25.398001145 meters Centerline goodness : 0.873858 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.51, Z:0.48 [[ 0.75989649 -0.61655641 -0.20595029 2.44828281] [ 0.5185424 0.76600582 -0.37993271 0.50958549] [ 0.39200907 0.18191557 0.90179577 0.48314297] [ 0. 0. 0. 1. ]] SLAMing on 25.458001144999997 meters Centerline goodness : 0.878730 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.49, Z:0.55 [[ 0.766749 -0.62863957 -0.1300318 2.3844338 ] [ 0.52130581 0.7279513 -0.44533937 0.49157629] [ 0.37461477 0.27367719 0.88586939 0.55230972] [ 0. 0. 0. 1. ]] SLAMing on 25.518001145 meters Centerline goodness : 0.879216 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:0.46, Z:0.61 [[ 0.77361332 -0.63111617 -0.05669932 2.31243698] [ 0.52526012 0.68875147 -0.49972314 0.45550323] [ 0.35443509 0.35681059 0.86432747 0.60968158] [ 0. 0. 0. 1. ]] SLAMing on 25.578001144999998 meters Centerline goodness : 0.881176 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:0.40, Z:0.63 [[ 0.77843289 -0.62761356 -0.01197685 2.2330496 ] [ 0.52624742 0.66287159 -0.53260202 0.40333688] [ 0.34220737 0.40829215 0.84628106 0.62734843] [ 0. 0. 0. 1. ]] SLAMing on 25.638001144999997 meters Centerline goodness : 0.881426 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:0.37, Z:0.71 [[ 0.78739608 -0.61255917 0.06912793 2.1897123 ] [ 0.52667516 0.61021107 -0.59182407 0.36867455] [ 0.32034463 0.50240792 0.8030975 0.70782223] [ 0. 0. 0. 1. ]] SLAMing on 25.698001145 meters Centerline goodness : 0.880560 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.28, Z:0.73 [[ 0.79216885 -0.5961287 0.13076347 2.08135396] [ 0.53169801 0.56892927 -0.62738881 0.28218341] [ 0.29960931 0.56652455 0.76764849 0.73252216] [ 0. 0. 0. 1. ]] SLAMing on 25.758001144999998 meters Centerline goodness : 0.884883 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:0.24, Z:0.70 [[ 0.79522341 -0.59567819 0.11308059 2.0309839 ] [ 0.52504568 0.58327551 -0.6197715 0.23658094] [ 0.30322723 0.55222928 0.7765926 0.70460201] [ 0. 0. 0. 1. ]] SLAMing on 25.818001145 meters Centerline goodness : 0.885613 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.24, Z:0.70 [[ 0.80241598 -0.58893873 0.09633155 2.03789311] [ 0.51118917 0.59504433 -0.62016762 0.24087156] [ 0.30791919 0.54687605 0.77853218 0.69906171] [ 0. 0. 0. 1. ]] SLAMing on 25.878001145 meters Centerline goodness : 0.888090 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:0.24, Z:0.69 [[ 0.80734455 -0.58435759 0.08198169 2.04501734] [ 0.49910681 0.60213789 -0.62315516 0.24461384] [ 0.31478116 0.54401854 0.77778959 0.69442055] [ 0. 0. 0. 1. ]] SLAMing on 25.938001144999998 meters Centerline goodness : 0.891553 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.19, Z:0.63 [[ 0.80652771 -0.58936903 0.04644559 1.96931235] [ 0.49587509 0.63162035 -0.59595606 0.1891134 ] [ 0.32190207 0.50368629 0.80167274 0.62715023] [ 0. 0. 0. 1. ]] SLAMing on 25.998001145 meters Centerline goodness : 0.892332 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:0.19, Z:0.62 [[ 0.81000399 -0.58557202 0.03160603 1.97758995] [ 0.48422522 0.63746699 -0.59930106 0.19018608] [ 0.33078613 0.50074069 0.79989955 0.62445698] [ 0. 0. 0. 1. ]] SLAMing on 26.058001145 meters Centerline goodness : 0.895912 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:0.20, Z:0.62 [[ 0.81018838 -0.58580851 0.02057126 1.98673362] [ 0.48078268 0.64403985 -0.59502999 0.19888545] [ 0.33532492 0.49197669 0.80344019 0.62375068] [ 0. 0. 0. 1. ]] SLAMing on 26.118001144999997 meters Centerline goodness : 0.898496 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:0.13, Z:0.57 [[ 0.80526977 -0.5928858 -0.00519822 1.87593392] [ 0.47985931 0.65685427 -0.58161629 0.12592958] [ 0.34824651 0.46586361 0.81344666 0.56668372] [ 0. 0. 0. 1. ]] SLAMing on 26.178001145 meters Centerline goodness : 0.898369 with order 1 Centerline is valid? [False, False] Translation: X:1.74, Y:0.03, Z:0.51 [[ 0.7937824 -0.60784312 -0.0208863 1.73857712] [ 0.48527234 0.6536712 -0.58071053 0.03470118] [ 0.36663367 0.45082226 0.81384215 0.51072738] [ 0. 0. 0. 1. ]] SLAMing on 26.238001145 meters Centerline goodness : 0.900666 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:0.01, Z:0.48 [[ 0.78743527 -0.614987 -0.04167362 1.70908978] [ 0.4886562 0.66402962 -0.56593266 0.00601409] [ 0.37571375 0.42527126 0.82339755 0.48084528] [ 0. 0. 0. 1. ]] SLAMing on 26.298001144999997 meters Centerline goodness : 0.900765 with order 1 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.02, Z:0.43 [[ 0.77997076 -0.62176189 -0.07111801 1.67081924] [ 0.49243385 0.67988746 -0.54338011 -0.0242452 ] [ 0.38620529 0.38879968 0.83646894 0.42923381] [ 0. 0. 0. 1. ]] SLAMing on 26.358001145 meters Centerline goodness : 0.897664 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.04, Z:0.39 [[ 0.77616669 -0.6233094 -0.09513496 1.64479457] [ 0.49355502 0.69449685 -0.52352418 -0.04422338] [ 0.39238847 0.35938769 0.84668281 0.38867234] [ 0. 0. 0. 1. ]] SLAMing on 26.418001144999998 meters Centerline goodness : 0.899487 with order 1 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.08, Z:0.34 [[ 0.77323367 -0.6209894 -0.12838172 1.59705083] [ 0.49336443 0.7163284 -0.49342188 -0.08188467] [ 0.39837323 0.31819144 0.86026332 0.3364003 ] [ 0. 0. 0. 1. ]] SLAMing on 26.478001144999997 meters Centerline goodness : 0.900643 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.10, Z:0.31 [[ 0.77281303 -0.61605745 -0.15242453 1.58481207] [ 0.49051099 0.73222439 -0.4724896 -0.09770543] [ 0.4026897 0.29038021 0.86805549 0.31272224] [ 0. 0. 0. 1. ]] SLAMing on 26.538001145 meters Centerline goodness : 0.899923 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.12, Z:0.28 [[ 0.77117025 -0.61213668 -0.17488604 1.56284666] [ 0.48913441 0.74554071 -0.45267714 -0.12176469] [ 0.40748494 0.26354837 0.87435593 0.27733866] [ 0. 0. 0. 1. ]] SLAMing on 26.598001144999998 meters Centerline goodness : 0.899662 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.13, Z:0.26 [[ 0.77154322 -0.60808402 -0.18696226 1.55943569] [ 0.48747737 0.75392562 -0.44041115 -0.13241677] [ 0.40876262 0.24865636 0.8781134 0.25894425] [ 0. 0. 0. 1. ]] SLAMing on 26.658001145 meters Centerline goodness : 0.902112 with order 1 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.15, Z:0.23 [[ 0.77167384 -0.60087572 -0.20848947 1.53964508] [ 0.48589405 0.76847481 -0.41635734 -0.15361797] [ 0.41039792 0.21998828 0.88497384 0.2257427 ] [ 0. 0. 0. 1. ]] SLAMing on 26.718001145 meters Centerline goodness : 0.902665 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.18, Z:0.19 [[ 0.77003751 -0.59478275 -0.23081534 1.51357561] [ 0.48514466 0.78083914 -0.393605 -0.17963426] [ 0.41433911 0.19111179 0.8898311 0.1905322 ] [ 0. 0. 0. 1. ]] SLAMing on 26.778001144999998 meters Centerline goodness : 0.899709 with order 1 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.20, Z:0.17 [[ 0.76861968 -0.59119065 -0.24437146 1.50247828] [ 0.48570904 0.78793027 -0.37848727 -0.19503612] [ 0.4163058 0.17221934 0.89276535 0.16683135] [ 0. 0. 0. 1. ]] SLAMing on 26.838001145 meters Centerline goodness : 0.899294 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.21, Z:0.14 [[ 0.76772027 -0.58591129 -0.25944854 1.48477972] [ 0.48624535 0.79638146 -0.35964154 -0.21496811] [ 0.41733805 0.14994846 0.89629483 0.14051648] [ 0. 0. 0. 1. ]] SLAMing on 26.898001145 meters Centerline goodness : 0.894816 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.22, Z:0.14 [[ 0.77073376 -0.58060356 -0.262429 1.48858785] [ 0.48220316 0.80074001 -0.35538084 -0.21718283] [ 0.41647278 0.14735992 0.89712623 0.13960983] [ 0. 0. 0. 1. ]] SLAMing on 26.958001144999997 meters Centerline goodness : 0.900074 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.22, Z:0.14 [[ 0.77290455 -0.57593511 -0.26630304 1.49331281] [ 0.47908425 0.80487117 -0.35022946 -0.21987808] [ 0.41604908 0.14311235 0.89801003 0.1362062 ] [ 0. 0. 0. 1. ]] SLAMing on 27.018001145 meters Centerline goodness : 0.900721 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.22, Z:0.14 [[ 0.77495202 -0.57139685 -0.27010183 1.50942718] [ 0.47419193 0.8081984 -0.34922395 -0.2165619 ] [ 0.41784133 0.14255169 0.89726676 0.13652814] [ 0. 0. 0. 1. ]] SLAMing on 27.078001144999998 meters Centerline goodness : 0.903519 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.22, Z:0.13 [[ 0.77935588 -0.56272647 -0.27557816 1.51253095] [ 0.46813841 0.81527348 -0.34084539 -0.22058528] [ 0.41647429 0.13663114 0.89882206 0.1333632 ] [ 0. 0. 0. 1. ]] SLAMing on 27.138001144999997 meters Centerline goodness : 0.901969 with order 1 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.22, Z:0.14 [[ 0.78198105 -0.55799246 -0.27775899 1.51520653] [ 0.46425567 0.81876005 -0.33778494 -0.22446279] [ 0.41589941 0.13519023 0.899306 0.13555782] [ 0. 0. 0. 1. ]] SLAMing on 27.198001145 meters Centerline goodness : 0.905471 with order 1 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.22, Z:0.17 [[ 0.7853876 -0.55957818 -0.26464803 1.52199044] [ 0.46064693 0.8139443 -0.3539761 -0.21893149] [ 0.41348606 0.15609914 0.89702973 0.16772265] [ 0. 0. 0. 1. ]] SLAMing on 27.258001144999998 meters Centerline goodness : 0.901932 with order 1 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.22, Z:0.17 [[ 0.78799119 -0.55433388 -0.26792507 1.52731517] [ 0.45680002 0.81814547 -0.34924453 -0.2223898 ] [ 0.41279975 0.15281344 0.89791114 0.16576106] [ 0. 0. 0. 1. ]] SLAMing on 27.318001145 meters Centerline goodness : 0.901637 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.24, Z:0.19 [[ 0.79091999 -0.56521442 -0.23447436 1.49041453] [ 0.45947304 0.80162062 -0.38247733 -0.23561681] [ 0.40414118 0.19477432 0.89371856 0.18587939] [ 0. 0. 0. 1. ]] SLAMing on 27.378001145 meters Centerline goodness : 0.896480 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.25, Z:0.25 [[ 0.79932757 -0.5774663 -0.16615688 1.43439337] [ 0.46064315 0.7664275 -0.44765699 -0.24841299] [ 0.38585403 0.28128554 0.87863252 0.25042336] [ 0. 0. 0. 1. ]] SLAMing on 27.438001144999998 meters Centerline goodness : 0.897115 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.28, Z:0.30 [[ 0.81090995 -0.57626496 -0.10170422 1.36605823] [ 0.46018917 0.73536562 -0.49745686 -0.27610632] [ 0.36145675 0.35658953 0.86150619 0.30072825] [ 0. 0. 0. 1. ]] SLAMing on 27.498001145 meters Centerline goodness : 0.897166 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.28, Z:0.36 [[ 0.81988013 -0.57014463 -0.05226531 1.36948452] [ 0.45743354 0.70721615 -0.53907317 -0.27532032] [ 0.34431254 0.41806747 0.84063575 0.36092674] [ 0. 0. 0. 1. ]] SLAMing on 27.558001145 meters Centerline goodness : 0.891504 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.33, Z:0.32 [[ 0.82006776 -0.56957517 -0.05543463 1.28803672] [ 0.45816825 0.71151628 -0.53275363 -0.33257592] [ 0.34288588 0.41149569 0.84445283 0.31511678] [ 0. 0. 0. 1. ]] SLAMing on 27.618001144999997 meters Centerline goodness : 0.891944 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.35, Z:0.30 [[ 0.81859442 -0.5704304 -0.06717392 1.2738589 ] [ 0.45738839 0.71813627 -0.52447704 -0.35066479] [ 0.34741767 0.3986094 0.84877058 0.3025909 ] [ 0. 0. 0. 1. ]] SLAMing on 27.678001145 meters Centerline goodness : 0.890750 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.39, Z:0.27 [[ 0.81745029 -0.57000792 -0.0828613 1.22203855] [ 0.4555144 0.7277822 -0.51267895 -0.39426783] [ 0.35253604 0.38134504 0.85457258 0.26710979] [ 0. 0. 0. 1. ]] SLAMing on 27.738001145 meters Centerline goodness : 0.890963 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.47, Z:0.24 [[ 0.81003662 -0.57996415 -0.08650004 1.10584753] [ 0.45956672 0.71953057 -0.52064785 -0.465456 ] [ 0.36419651 0.38199128 0.84937834 0.2388336 ] [ 0. 0. 0. 1. ]] SLAMing on 27.798001144999997 meters Centerline goodness : 0.895333 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.52, Z:0.20 [[ 0.8088785 -0.58257751 -0.07949219 1.02090531] [ 0.4648118 0.71636852 -0.52035193 -0.51996903] [ 0.36009104 0.38395258 0.850244 0.20443022] [ 0. 0. 0. 1. ]] SLAMing on 27.858001145 meters Centerline goodness : 0.891743 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.57, Z:0.22 [[ 0.81203364 -0.58309143 -0.02461207 0.93991379] [ 0.47361777 0.68304529 -0.5559994 -0.56651457] [ 0.34100965 0.4398335 0.83081822 0.2247412 ] [ 0. 0. 0. 1. ]] SLAMing on 27.918001144999998 meters Centerline goodness : 0.896440 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.61, Z:0.26 [[ 0.81568311 -0.57762626 0.03176436 0.87015655] [ 0.48064227 0.64612609 -0.5928778 -0.61137763] [ 0.32193801 0.4988677 0.80466573 0.25721725] [ 0. 0. 0. 1. ]] SLAMing on 27.978001144999997 meters Centerline goodness : 0.897172 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.63, Z:0.25 [[ 0.81709482 -0.57600806 0.02389069 0.85205493] [ 0.47751055 0.65298881 -0.58786843 -0.63220797] [ 0.3230166 0.4917523 0.8086037 0.25073259] [ 0. 0. 0. 1. ]] SLAMing on 28.038001145 meters Centerline goodness : 0.900112 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.72, Z:0.31 [[ 0.8127716 -0.57739486 0.07757256 0.73087895] [ 0.48135648 0.59056325 -0.64771212 -0.7173698 ] [ 0.32817414 0.56378207 0.75792579 0.31280308] [ 0. 0. 0. 1. ]] SLAMing on 28.098001144999998 meters Centerline goodness : 0.893732 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.76, Z:0.26 [[ 0.81490327 -0.57691545 0.05568875 0.67317 ] [ 0.47533823 0.61024783 -0.63375954 -0.76110811] [ 0.33164173 0.54292371 0.77152291 0.26329951] [ 0. 0. 0. 1. ]] SLAMing on 28.158001145 meters Centerline goodness : 0.891278 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.82, Z:0.19 [[ 0.81472193 -0.57935684 0.02395492 0.58707369] [ 0.47090699 0.63697841 -0.61033197 -0.81948852] [ 0.33834123 0.50853137 0.79178346 0.19264922] [ 0. 0. 0. 1. ]] SLAMing on 28.218001145 meters Centerline goodness : 0.891168 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.87, Z:0.13 [[ 0.81407518 -0.58068119 -0.0095375 0.5140117 ] [ 0.46509077 0.66168473 -0.58810194 -0.87344022] [ 0.34781055 0.47432338 0.80873058 0.1322353 ] [ 0. 0. 0. 1. ]] SLAMing on 28.278001144999998 meters Centerline goodness : 0.894360 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.93, Z:0.07 [[ 0.81254646 -0.5812642 -0.04359108 0.44187051] [ 0.46045661 0.68592586 -0.56345845 -0.92501134] [ 0.35741847 0.43776437 0.82499357 0.06887205] [ 0. 0. 0. 1. ]] SLAMing on 28.338001145 meters Centerline goodness : 0.889346 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.92, Z:0.07 [[ 0.81081916 -0.58340488 -0.04702166 0.45031698] [ 0.46036917 0.68530416 -0.56428578 -0.91619473] [ 0.36143122 0.4358864 0.82423936 0.06537657] [ 0. 0. 0. 1. ]] SLAMing on 28.398001145 meters Centerline goodness : 0.889660 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.97, Z:-0.00 [[ 0.80676314 -0.58579657 -0.07730214 0.3778201 ] [ 0.46203709 0.70697863 -0.53544649 -0.9695936 ] [ 0.36831368 0.39626204 0.84102404 -0.00158675] [ 0. 0. 0. 1. ]] SLAMing on 28.458001144999997 meters Centerline goodness : 0.888666 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-1.05, Z:-0.05 [[ 0.79769218 -0.59631621 -0.08996755 0.25604792] [ 0.46757476 0.70577216 -0.53222129 -1.04760759] [ 0.38086878 0.38248221 0.84181134 -0.04686536] [ 0. 0. 0. 1. ]] SLAMing on 28.518001145 meters Centerline goodness : 0.888858 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-1.13, Z:-0.08 [[ 0.78744924 -0.60925294 -0.09345876 0.13180189] [ 0.47404646 0.6955224 -0.53993384 -1.12695854] [ 0.39395894 0.3808667 0.83650279 -0.08352293] [ 0. 0. 0. 1. ]] SLAMing on 28.578001144999998 meters Centerline goodness : 0.887618 with order 1 Centerline is valid? [False, False] Translation: X:0.08, Y:-1.16, Z:-0.09 [[ 0.78652525 -0.6121049 -0.08188789 0.0822031 ] [ 0.47689001 0.68625432 -0.54920936 -1.16451218] [ 0.39236966 0.39291551 0.83166306 -0.09310797] [ 0. 0. 0. 1. ]] SLAMing on 28.638001144999997 meters Centerline goodness : 0.891970 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:-1.19, Z:-0.11 [[ 0.78730123 -0.61096287 -0.08295264 0.05416357] [ 0.47758528 0.68937982 -0.54467217 -1.19224875] [ 0.38996035 0.38920411 0.83453645 -0.10990371] [ 0. 0. 0. 1. ]] SLAMing on 28.698001145 meters Centerline goodness : 0.895247 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:-1.21, Z:-0.05 [[ 0.79479552 -0.60660118 -0.01830548 0.02580045] [ 0.48164208 0.64884549 -0.5890844 -1.21021338] [ 0.36921672 0.45938495 0.80786415 -0.04934687] [ 0. 0. 0. 1. ]] SLAMing on 28.758001144999998 meters Centerline goodness : 0.892654 with order 1 Centerline is valid? [False, False] Translation: X:-0.00, Y:-1.24, Z:0.00 [[ 0.80066355 -0.59753943 0.04341089 -0.00367575] [ 0.48676618 0.60656747 -0.62859732 -1.23570255] [ 0.34928005 0.52442592 0.77651845 0.00477067] [ 0. 0. 0. 1. ]] SLAMing on 28.818001144999997 meters Centerline goodness : 0.896276 with order 1 Centerline is valid? [False, False] Translation: X:-0.06, Y:-1.28, Z:0.05 [[ 0.80224725 -0.58767749 0.10504534 -0.05594875] [ 0.49556109 0.55743523 -0.66609697 -1.27776435] [ 0.33289422 0.58643084 0.73843098 0.05261843] [ 0. 0. 0. 1. ]] SLAMing on 28.878001145 meters Centerline goodness : 0.893486 with order 1 Centerline is valid? [False, False] Translation: X:-0.04, Y:-1.28, Z:0.11 [[ 0.80189793 -0.5816162 0.13668324 -0.03669622] [ 0.49851095 0.52524823 -0.6896384 -1.27979382] [ 0.32931224 0.6211577 0.71113751 0.10851452] [ 0. 0. 0. 1. ]] SLAMing on 28.938001144999998 meters Centerline goodness : 0.897836 with order 1 Centerline is valid? [False, False] Translation: X:-0.06, Y:-1.31, Z:0.17 [[ 0.79960173 -0.56968813 0.18998029 -0.06109873] [ 0.50697383 0.47079288 -0.72203296 -1.31370229] [ 0.32189223 0.67365384 0.66526377 0.16666537] [ 0. 0. 0. 1. ]] SLAMing on 28.998001145 meters Centerline goodness : 0.894195 with order 1 Centerline is valid? [False, False] Translation: X:-0.10, Y:-1.34, Z:0.14 [[ 0.79771518 -0.57836976 0.17070124 -0.09928002] [ 0.50546676 0.48692714 -0.71232388 -1.34061936] [ 0.32886753 0.65451537 0.68077586 0.13760789] [ 0. 0. 0. 1. ]] SLAMing on 29.058001145 meters Centerline goodness : 0.898807 with order 1 Centerline is valid? [False, False] Translation: X:-0.14, Y:-1.36, Z:0.09 [[ 0.7954235 -0.59046686 0.13656623 -0.13843632] [ 0.50269284 0.51692917 -0.69288105 -1.36402301] [ 0.33852823 0.61978474 0.70800107 0.09218396] [ 0. 0. 0. 1. ]] SLAMing on 29.118001144999997 meters Centerline goodness : 0.897196 with order 1 Centerline is valid? [False, False] Translation: X:-0.20, Y:-1.40, Z:0.03 [[ 0.79194989 -0.60227883 0.10037722 -0.20009504] [ 0.50309875 0.55050341 -0.66621141 -1.40434314] [ 0.34598702 0.57810571 0.73897684 0.0281079 ] [ 0. 0. 0. 1. ]] SLAMing on 29.178001145 meters Centerline goodness : 0.899921 with order 1 Centerline is valid? [False, False] Translation: X:-0.24, Y:-1.43, Z:-0.02 [[ 0.79146891 -0.60748588 0.06736379 -0.24303584] [ 0.4997445 0.5797334 -0.64355623 -1.43364065] [ 0.35189828 0.54301943 0.76242869 -0.02261616] [ 0. 0. 0. 1. ]] SLAMing on 29.238001145 meters Centerline goodness : 0.901305 with order 1 Centerline is valid? [False, False] Translation: X:-0.22, Y:-1.43, Z:-0.03 [[ 0.79456113 -0.60454657 0.05653368 -0.22221142] [ 0.49744702 0.59474235 -0.63152831 -1.42588823] [ 0.3481653 0.52991035 0.77328904 -0.02849753] [ 0. 0. 0. 1. ]] SLAMing on 29.298001144999997 meters Centerline goodness : 0.897680 with order 1 Centerline is valid? [False, False] Translation: X:-0.21, Y:-1.43, Z:-0.04 [[ 0.79676392 -0.60294248 0.0403438 -0.21212146] [ 0.49129694 0.60746326 -0.62419204 -1.4284868 ] [ 0.35184452 0.51715448 0.78022861 -0.03580563] [ 0. 0. 0. 1. ]] SLAMing on 29.358001145 meters Centerline goodness : 0.895022 with order 1 Centerline is valid? [False, False] Translation: X:-0.23, Y:-1.46, Z:0.05 [[ 0.80299889 -0.58402653 0.11876778 -0.2349837 ] [ 0.49500207 0.54258412 -0.67865707 -1.4627523 ] [ 0.33191223 0.60375118 0.72478879 0.0525492 ] [ 0. 0. 0. 1. ]] SLAMing on 29.418001144999998 meters Centerline goodness : 0.896131 with order 1 Centerline is valid? [False, False] Translation: X:-0.33, Y:-1.53, Z:0.01 [[ 0.80439243 -0.58312361 0.11366478 -0.3317462 ] [ 0.49337019 0.54908505 -0.67460467 -1.53138318] [ 0.33096628 0.5987257 0.72937566 0.01329024] [ 0. 0. 0. 1. ]] SLAMing on 29.478001144999997 meters Centerline goodness : 0.893015 with order 1 Centerline is valid? [False, False] Translation: X:-0.39, Y:-1.60, Z:0.07 [[ 0.80454181 -0.56679956 0.17734357 -0.39306041] [ 0.50053211 0.48640367 -0.71615576 -1.59620384] [ 0.31965621 0.6649434 0.67503347 0.07461518] [ 0. 0. 0. 1. ]] SLAMing on 29.538001145 meters Centerline goodness : 0.893497 with order 1 Centerline is valid? [False, False] Translation: X:-0.49, Y:-1.69, Z:0.11 [[ 0.80392838 -0.54411809 0.2400722 -0.48862383] [ 0.50992131 0.42289264 -0.74909416 -1.69063176] [ 0.30607092 0.72463599 0.61743281 0.11049274] [ 0. 0. 0. 1. ]] SLAMing on 29.598001144999998 meters Centerline goodness : 0.889398 with order 1 Centerline is valid? [False, False] Translation: X:-1.02, Y:-3.17, Z:-1.48 [[-0.77120747 0.55125014 0.3183745 -1.01864846] [-0.55839602 -0.3456553 -0.75413281 -3.16978083] [-0.30566798 -0.75937191 0.57438783 -1.48182502] [ 0. 0. 0. 1. ]] SLAMing on 29.658001145 meters Centerline goodness : 0.893020 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-3.06, Z:-1.27 [[ 0.77311253 -0.5826145 -0.25071371 0.96923878] [ 0.52855359 0.81029082 -0.25310056 -3.05507949] [ 0.35061107 0.06315958 0.93438897 -1.2704409 ] [ 0. 0. 0. 1. ]] SLAMing on 29.718001145 meters Centerline goodness : 0.890435 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-3.08, Z:-1.27 [[ 0.77467229 -0.58825392 -0.23203484 0.93197003] [ 0.52968187 0.80405876 -0.2700493 -3.07708043] [ 0.3454272 0.08629507 0.93446948 -1.26683056] [ 0. 0. 0. 1. ]] SLAMing on 29.778001144999998 meters Centerline goodness : 0.886118 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-3.08, Z:-1.24 [[ 0.77115568 -0.60082793 -0.21053436 0.90534513] [ 0.53466653 0.79071599 -0.29816091 -3.08219707] [ 0.34561629 0.1173628 0.93100771 -1.2416855 ] [ 0. 0. 0. 1. ]] SLAMing on 29.838001145 meters Centerline goodness : 0.885125 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:-3.11, Z:-1.26 [[ 0.76561109 -0.60360989 -0.22247418 0.88075877] [ 0.541167 0.79129788 -0.2845803 -3.10584437] [ 0.34781883 0.09748216 0.93248018 -1.2633435 ] [ 0. 0. 0. 1. ]] SLAMing on 29.898001145 meters Centerline goodness : 0.884674 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:-3.13, Z:-1.28 [[ 0.76169305 -0.6031822 -0.23663248 0.8601238 ] [ 0.544655 0.79386951 -0.27041103 -3.12808515] [ 0.35096243 0.07708714 0.93321109 -1.28486037] [ 0. 0. 0. 1. ]] SLAMing on 29.958001144999997 meters Centerline goodness : 0.888385 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:-3.15, Z:-1.30 [[ 0.76359122 -0.59971263 -0.23931823 0.83964576] [ 0.54369147 0.79710381 -0.26272629 -3.15059722] [ 0.34832175 0.07050021 0.93472011 -1.30481355] [ 0. 0. 0. 1. ]] SLAMing on 30.018001145 meters Centerline goodness : 0.890889 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-3.15, Z:-1.31 [[ 0.76631676 -0.59457441 -0.24339246 0.84673757] [ 0.5397504 0.8012954 -0.25806044 -3.15255327] [ 0.34846539 0.06638486 0.93496787 -1.30705647] [ 0. 0. 0. 1. ]] SLAMing on 30.078001144999998 meters Centerline goodness : 0.894428 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-3.16, Z:-1.31 [[ 0.76904618 -0.58910621 -0.24803597 0.85422481] [ 0.53577844 0.80572944 -0.25247086 -3.15506212] [ 0.34858203 0.06126943 0.93527356 -1.311323 ] [ 0. 0. 0. 1. ]] SLAMing on 30.138001144999997 meters Centerline goodness : 0.893532 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:-3.16, Z:-1.31 [[ 0.77175113 -0.58404626 -0.25157536 0.86113695] [ 0.53200086 0.80969156 -0.24773911 -3.15865194] [ 0.34838955 0.05735463 0.93559349 -1.31350786] [ 0. 0. 0. 1. ]] SLAMing on 30.198001145 meters Centerline goodness : 0.892611 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-3.14, Z:-1.29 [[ 0.77565488 -0.58473373 -0.23758361 0.87363826] [ 0.52795901 0.80737922 -0.26343515 -3.14390066] [ 0.34585949 0.07890036 0.93496307 -1.28562632] [ 0. 0. 0. 1. ]] SLAMing on 30.258001144999998 meters Centerline goodness : 0.897450 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:-3.13, Z:-1.26 [[ 0.77860308 -0.58566149 -0.22533944 0.87964395] [ 0.52500597 0.80465821 -0.27729749 -3.13382928] [ 0.34372369 0.09760013 0.93398514 -1.25929925] [ 0. 0. 0. 1. ]] SLAMing on 30.318001144999997 meters Centerline goodness : 0.900944 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-3.15, Z:-1.23 [[ 0.78508525 -0.59219348 -0.18151593 0.82374858] [ 0.52384529 0.79120185 -0.31557209 -3.15385902] [ 0.33049547 0.15266472 0.93137867 -1.23044984] [ 0. 0. 0. 1. ]] SLAMing on 30.378001145 meters Centerline goodness : 0.899626 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-3.16, Z:-1.24 [[ 0.78773625 -0.58738764 -0.18559999 0.83127826] [ 0.52027896 0.79571466 -0.3100774 -3.15735073] [ 0.32982027 0.14769543 0.93241871 -1.23538939] [ 0. 0. 0. 1. ]] SLAMing on 30.438001144999998 meters Centerline goodness : 0.896358 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-3.14, Z:-1.13 [[ 0.79659832 -0.59576953 -0.1024196 0.8009191 ] [ 0.51835056 0.76036146 -0.39136064 -3.14245195] [ 0.31103667 0.25866797 0.91452013 -1.13389791] [ 0. 0. 0. 1. ]] SLAMing on 30.498001145 meters Centerline goodness : 0.896095 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-3.16, Z:-1.13 [[ 0.79896618 -0.5931201 -0.0993055 0.77959476] [ 0.51447854 0.75963831 -0.39782089 -3.15984848] [ 0.31139183 0.26675489 0.91207289 -1.12876448] [ 0. 0. 0. 1. ]] SLAMing on 30.558001145 meters Centerline goodness : 0.899419 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-3.16, Z:-1.11 [[ 0.80162815 -0.5924417 -0.0800322 0.7774784 ] [ 0.5152181 0.75254476 -0.41015448 -3.16244963] [ 0.30322043 0.28755733 0.90849775 -1.10864642] [ 0. 0. 0. 1. ]] SLAMing on 30.618001144999997 meters Centerline goodness : 0.902234 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-3.19, Z:-1.13 [[ 0.7974691 -0.59565588 -0.0961099 0.75335608] [ 0.518986 0.75843496 -0.39424603 -3.18806244] [ 0.30772808 0.26451933 0.91396551 -1.13250746] [ 0. 0. 0. 1. ]] SLAMing on 30.678001145 meters Centerline goodness : 0.900215 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-3.21, Z:-1.16 [[ 0.79321811 -0.59863527 -0.1115385 0.73771383] [ 0.52268 0.7633159 -0.37967677 -3.20881589] [ 0.31242702 0.24286755 0.91837068 -1.15746563] [ 0. 0. 0. 1. ]] SLAMing on 30.738001145 meters Centerline goodness : 0.897769 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-3.24, Z:-1.19 [[ 0.78708909 -0.60220576 -0.13356264 0.70783792] [ 0.52664364 0.7687893 -0.36278021 -3.24020611] [ 0.32114986 0.21520043 0.92225351 -1.19002931] [ 0. 0. 0. 1. ]] SLAMing on 30.798001144999997 meters Centerline goodness : 0.896253 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-3.26, Z:-1.21 [[ 0.78462002 -0.60243528 -0.14643482 0.69414849] [ 0.52863902 0.7734941 -0.34963933 -3.25721739] [ 0.32390154 0.19692286 0.92536975 -1.21025879] [ 0. 0. 0. 1. ]] SLAMing on 30.858001145 meters Centerline goodness : 0.895833 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-3.26, Z:-1.21 [[ 0.78818794 -0.59651514 -0.15142479 0.69675914] [ 0.5242147 0.77962683 -0.34260905 -3.26195 ] [ 0.32242631 0.19066122 0.92719446 -1.21357938] [ 0. 0. 0. 1. ]] SLAMing on 30.918001144999998 meters Centerline goodness : 0.898981 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-3.26, Z:-1.21 [[ 0.7908916 -0.59233106 -0.15373477 0.69898732] [ 0.5207935 0.78340667 -0.33918743 -3.26319955] [ 0.3213481 0.18819642 0.92807193 -1.21309206] [ 0. 0. 0. 1. ]] SLAMing on 30.978001144999997 meters Centerline goodness : 0.895716 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-3.27, Z:-1.21 [[ 0.79304125 -0.58878825 -0.15624971 0.70225164] [ 0.51806377 0.78680844 -0.33547342 -3.26907279] [ 0.3204614 0.18509695 0.9290014 -1.21361187] [ 0. 0. 0. 1. ]] SLAMing on 31.038001145 meters Centerline goodness : 0.894654 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:-3.28, Z:-1.18 [[ 0.79734482 -0.59100347 -0.12229527 0.67100524] [ 0.51610011 0.77274362 -0.36946985 -3.28072538] [ 0.31286085 0.23147827 0.92116008 -1.1762555 ] [ 0. 0. 0. 1. ]] SLAMing on 31.098001144999998 meters Centerline goodness : 0.894905 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-3.27, Z:-1.15 [[ 0.80040213 -0.58927225 -0.11006649 0.68623587] [ 0.51257153 0.76795851 -0.38407052 -3.27164103] [ 0.3108486 0.25099391 0.91671981 -1.14997794] [ 0. 0. 0. 1. ]] SLAMing on 31.158001145 meters Centerline goodness : 0.895394 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-3.28, Z:-1.14 [[ 0.80438973 -0.58615811 -0.09682886 0.68614363] [ 0.51080528 0.76558787 -0.39109229 -3.27667871] [ 0.30337292 0.26512993 0.91524368 -1.13950087] [ 0. 0. 0. 1. ]] SLAMing on 31.218001145 meters Centerline goodness : 0.896527 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-3.29, Z:-1.14 [[ 0.80504865 -0.5845933 -0.10073405 0.68554635] [ 0.50995457 0.76876536 -0.38593543 -3.28964184] [ 0.30305612 0.259327 0.91700954 -1.14180315] [ 0. 0. 0. 1. ]] SLAMing on 31.278001144999998 meters Centerline goodness : 0.898300 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-3.32, Z:-1.16 [[ 0.80535631 -0.58345227 -0.10480773 0.66180382] [ 0.51034659 0.77237246 -0.37813641 -3.31693578] [ 0.30157516 0.25104628 0.91979791 -1.1619369 ] [ 0. 0. 0. 1. ]] SLAMing on 31.338001145 meters Centerline goodness : 0.899236 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:-3.34, Z:-1.19 [[ 0.80115244 -0.58578422 -0.12252191 0.64170156] [ 0.51303742 0.77766115 -0.36336723 -3.34326276] [ 0.30813532 0.22825422 0.92355435 -1.18558916] [ 0. 0. 0. 1. ]] SLAMing on 31.398001145 meters Centerline goodness : 0.897068 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:-3.35, Z:-1.18 [[ 0.80021895 -0.58776468 -0.11908954 0.63820048] [ 0.51517175 0.77538336 -0.3652105 -3.34845592] [ 0.30699788 0.2308968 0.92327622 -1.18138071] [ 0. 0. 0. 1. ]] SLAMing on 31.458001144999997 meters Centerline goodness : 0.901905 with order 1 Centerline is valid? [False, False] Translation: X:0.62, Y:-3.37, Z:-1.20 [[ 0.79642091 -0.58892444 -0.13741086 0.62329619] [ 0.51821788 0.78174027 -0.34688958 -3.37096375] [ 0.31171135 0.20506135 0.92778547 -1.20425945] [ 0. 0. 0. 1. ]] SLAMing on 31.518001145 meters Centerline goodness : 0.897457 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:-3.41, Z:-1.24 [[ 0.7912269 -0.59051723 -0.1589006 0.58829336] [ 0.52156932 0.78731599 -0.32878409 -3.40810876] [ 0.31925765 0.17726514 0.93094126 -1.24086032] [ 0. 0. 0. 1. ]] SLAMing on 31.578001144999998 meters Centerline goodness : 0.897914 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:-3.42, Z:-1.26 [[ 0.79041412 -0.58891627 -0.16859166 0.57873851] [ 0.52239338 0.79175908 -0.31657971 -3.420401 ] [ 0.31992292 0.16215791 0.93346352 -1.25690164] [ 0. 0. 0. 1. ]] SLAMing on 31.638001144999997 meters Centerline goodness : 0.900340 with order 1 Centerline is valid? [False, False] Translation: X:0.56, Y:-3.44, Z:-1.28 [[ 0.79087651 -0.58350801 -0.18447969 0.55889819] [ 0.52064262 0.79997397 -0.29828327 -3.44105784] [ 0.32162963 0.13985724 0.93647976 -1.27713138] [ 0. 0. 0. 1. ]] SLAMing on 31.698001145 meters Centerline goodness : 0.900631 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:-3.44, Z:-1.28 [[ 0.79643256 -0.57353139 -0.19172093 0.5681937 ] [ 0.51234552 0.8083721 -0.28989071 -3.44232539] [ 0.32124327 0.13265104 0.9376601 -1.2801814 ] [ 0. 0. 0. 1. ]] SLAMing on 31.758001144999998 meters Centerline goodness : 0.900906 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:-3.44, Z:-1.27 [[ 0.80117878 -0.56737711 -0.19025188 0.57893581] [ 0.50517085 0.8116701 -0.29324745 -3.43633838] [ 0.32080366 0.13883392 0.93691523 -1.26694162] [ 0. 0. 0. 1. ]] SLAMing on 31.818001144999997 meters Centerline goodness : 0.896828 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:-3.46, Z:-1.25 [[ 0.80443399 -0.56948778 -0.1690255 0.52638481] [ 0.50316545 0.80445518 -0.3157157 -3.45676327] [ 0.31576968 0.16892465 0.93367766 -1.25002671] [ 0. 0. 0. 1. ]] SLAMing on 31.878001145 meters Centerline goodness : 0.897474 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:-3.45, Z:-1.22 [[ 0.80632035 -0.57140841 -0.15277411 0.52144818] [ 0.49908383 0.79589631 -0.3427308 -3.45410468] [ 0.31743161 0.20010373 0.92692808 -1.21928914] [ 0. 0. 0. 1. ]] SLAMing on 31.938001144999998 meters Centerline goodness : 0.895163 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:-3.48, Z:-1.23 [[ 0.80322537 -0.57600078 -0.15182919 0.48544227] [ 0.50267167 0.79218816 -0.3460623 -3.48489202] [ 0.31960945 0.20164579 0.9258449 -1.22506174] [ 0. 0. 0. 1. ]] SLAMing on 31.998001145 meters Centerline goodness : 0.896942 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:-3.51, Z:-1.23 [[ 0.80242391 -0.57863519 -0.14593555 0.46063881] [ 0.50569152 0.78917353 -0.34854159 -3.50838945] [ 0.3168469 0.20587973 0.92586261 -1.2312844 ] [ 0. 0. 0. 1. ]] SLAMing on 32.058001145 meters Centerline goodness : 0.896565 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-3.54, Z:-1.25 [[ 0.79811484 -0.58127034 -0.1585481 0.43821314] [ 0.51069478 0.79228211 -0.33388606 -3.53725334] [ 0.31969289 0.18550973 0.92918383 -1.25022845] [ 0. 0. 0. 1. ]] SLAMing on 32.118001145 meters Centerline goodness : 0.899402 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-3.54, Z:-1.24 [[ 0.7960851 -0.58563265 -0.15258741 0.44010482] [ 0.51338925 0.78701655 -0.34210588 -3.53957415] [ 0.32043719 0.19400865 0.92718965 -1.23941744] [ 0. 0. 0. 1. ]] SLAMing on 32.178001144999996 meters Centerline goodness : 0.903122 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-3.55, Z:-1.24 [[ 0.79471693 -0.58770701 -0.15174146 0.44376987] [ 0.51531222 0.7853773 -0.34298077 -3.5456226 ] [ 0.3207465 0.19437839 0.92700524 -1.23959964] [ 0. 0. 0. 1. ]] SLAMing on 32.238001145 meters Centerline goodness : 0.899273 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-3.56, Z:-1.25 [[ 0.79273585 -0.58833527 -0.15947249 0.43220797] [ 0.51728398 0.7876945 -0.33459626 -3.56163957] [ 0.32247038 0.18275388 0.92877009 -1.25011315] [ 0. 0. 0. 1. ]] SLAMing on 32.298001145 meters Centerline goodness : 0.897233 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-3.56, Z:-1.25 [[ 0.79222073 -0.58945709 -0.15788178 0.43206626] [ 0.51823525 0.78648558 -0.33596525 -3.56494137] [ 0.32220884 0.18433873 0.92854763 -1.24719008] [ 0. 0. 0. 1. ]] SLAMing on 32.358001144999996 meters Centerline goodness : 0.900126 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-3.59, Z:-1.27 [[ 0.78822284 -0.59088507 -0.171929 0.41451079] [ 0.52112016 0.78949918 -0.32422959 -3.58552648] [ 0.32732023 0.1659695 0.93022341 -1.26599737] [ 0. 0. 0. 1. ]] SLAMing on 32.418001145 meters Centerline goodness : 0.898541 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-3.59, Z:-1.27 [[ 0.78857124 -0.59020171 -0.17267697 0.41995121] [ 0.52039392 0.79008513 -0.32396861 -3.58706007] [ 0.32763633 0.16561229 0.93017579 -1.26604022] [ 0. 0. 0. 1. ]] SLAMing on 32.478001145 meters Centerline goodness : 0.899139 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-3.60, Z:-1.28 [[ 0.78899224 -0.58500518 -0.18777696 0.40638461] [ 0.51804586 0.79774163 -0.30860457 -3.60236073] [ 0.33033277 0.14620954 0.93247146 -1.28243268] [ 0. 0. 0. 1. ]] SLAMing on 32.538001144999996 meters Centerline goodness : 0.902605 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-3.58, Z:-1.18 [[ 0.79737286 -0.59416393 -0.10566807 0.37569949] [ 0.51664829 0.76257908 -0.38929127 -3.58487898] [ 0.31188309 0.25581707 0.91503364 -1.17954244] [ 0. 0. 0. 1. ]] SLAMing on 32.598001145 meters Centerline goodness : 0.900107 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:-3.56, Z:-1.12 [[ 0.80079267 -0.59444363 -0.07326574 0.39650583] [ 0.51431804 0.74517239 -0.42449389 -3.56091968] [ 0.3069333 0.30224971 0.90246167 -1.12034351] [ 0. 0. 0. 1. ]] SLAMing on 32.658001145 meters Centerline goodness : 0.901123 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-3.56, Z:-1.03 [[ 0.80881769 -0.58802132 0.00669921 0.37129411] [ 0.51402218 0.70140716 -0.49377039 -3.56295574] [ 0.28564864 0.40281376 0.86956652 -1.03269904] [ 0. 0. 0. 1. ]] SLAMing on 32.718001144999995 meters Centerline goodness : 0.897918 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:-3.61, Z:-0.98 [[ 0.81077234 -0.58164309 0.06587508 0.3073114 ] [ 0.51791783 0.66035747 -0.54377305 -3.60509464] [ 0.27278073 0.47499403 0.8366429 -0.97563602] [ 0. 0. 0. 1. ]] SLAMing on 32.778001145 meters Centerline goodness : 0.904061 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-3.65, Z:-0.93 [[ 0.8086278 -0.57746432 0.11249905 0.25615989] [ 0.5249834 0.6219486 -0.58100979 -3.64607895] [ 0.2655438 0.5288808 0.80608411 -0.92623519] [ 0. 0. 0. 1. ]] SLAMing on 32.838001145 meters Centerline goodness : 0.901039 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-3.69, Z:-0.97 [[ 0.80333493 -0.58924875 0.08624905 0.20818372] [ 0.52924096 0.63998688 -0.55706445 -3.68793009] [ 0.27305128 0.49315586 0.82597839 -0.97214544] [ 0. 0. 0. 1. ]] SLAMing on 32.898001144999995 meters Centerline goodness : 0.902936 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:-3.71, Z:-1.01 [[ 0.80038985 -0.59593384 0.06510717 0.18178218] [ 0.53093077 0.65424304 -0.53858942 -3.71468863] [ 0.27836775 0.46564891 0.8400491 -1.00603913] [ 0. 0. 0. 1. ]] SLAMing on 32.958001145 meters Centerline goodness : 0.898907 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-3.75, Z:-1.05 [[ 0.79709138 -0.60268955 0.03755847 0.13974572] [ 0.53264667 0.67242831 -0.51393355 -3.74968787] [ 0.284487 0.42965739 0.85700739 -1.04618481] [ 0. 0. 0. 1. ]] SLAMing on 33.018001145 meters Centerline goodness : 0.904985 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:-3.78, Z:-1.08 [[ 0.79603488 -0.60515296 0.0108791 0.11097425] [ 0.53151287 0.69034268 -0.49083709 -3.77546013] [ 0.28952121 0.39650583 0.87118345 -1.07959004] [ 0. 0. 0. 1. ]] SLAMing on 33.078001145 meters Centerline goodness : 0.897330 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:-3.78, Z:-1.09 [[ 7.98775367e-01 -6.01629378e-01 7.10677024e-05 1.10867888e-01] [ 5.27561814e-01 7.00380051e-01 -4.80776785e-01 -3.77988294e+00] [ 2.89199664e-01 3.84070146e-01 8.76843018e-01 -1.09348226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.138001145 meters Centerline goodness : 0.897364 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-3.75, Z:-1.04 [[ 0.80190281 -0.59716212 0.01868935 0.14586184] [ 0.52371522 0.68753139 -0.50301388 -3.75218358] [ 0.28753132 0.41315613 0.86407624 -1.04423033] [ 0. 0. 0. 1. ]] SLAMing on 33.198001145 meters Centerline goodness : 0.902033 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-3.74, Z:-1.02 [[ 0.80536691 -0.59236498 0.02208761 0.17299945] [ 0.5198166 0.6878412 -0.50662134 -3.73616615] [ 0.28491198 0.41949757 0.8618857 -1.02084495] [ 0. 0. 0. 1. ]] SLAMing on 33.258001145 meters Centerline goodness : 0.898581 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-3.76, Z:-0.93 [[ 0.81541946 -0.57079989 0.09632541 0.13725049] [ 0.51658549 0.64244948 -0.56603719 -3.75629799] [ 0.26120975 0.51131805 0.81873275 -0.93196264] [ 0. 0. 0. 1. ]] SLAMing on 33.318001145 meters Centerline goodness : 0.898718 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:-3.78, Z:-0.93 [[ 0.81669806 -0.56879702 0.0973357 0.11277658] [ 0.51490101 0.64212354 -0.56793865 -3.78112653] [ 0.26054027 0.51395264 0.8172952 -0.93360717] [ 0. 0. 0. 1. ]] SLAMing on 33.378001145 meters Centerline goodness : 0.897920 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:-3.85, Z:-0.98 [[ 0.8175449 -0.57069626 0.07698133 0.0318151 ] [ 0.51063416 0.65663195 -0.55505606 -3.84859176] [ 0.26622001 0.49309255 0.82824311 -0.97937032] [ 0. 0. 0. 1. ]] SLAMing on 33.438001145 meters Centerline goodness : 0.897045 with order 1 Centerline is valid? [False, False] Translation: X:-0.05, Y:-3.91, Z:-1.03 [[ 0.81523239 -0.57625668 0.05765751 -0.04964994] [ 0.51203275 0.67067803 -0.53666884 -3.9145807 ] [ 0.27058938 0.46703235 0.84182074 -1.02891439] [ 0. 0. 0. 1. ]] SLAMing on 33.498001144999996 meters Centerline goodness : 0.895540 with order 1 Centerline is valid? [False, False] Translation: X:-0.14, Y:-3.99, Z:-1.08 [[ 0.81132209 -0.58304307 0.04262912 -0.14263726] [ 0.5156797 0.67941937 -0.52198061 -3.98848369] [ 0.27537413 0.44547738 0.85189142 -1.07728705] [ 0. 0. 0. 1. ]] SLAMing on 33.558001145 meters Centerline goodness : 0.893142 with order 1 Centerline is valid? [False, False] Translation: X:-0.20, Y:-4.04, Z:-1.12 [[ 0.80598762 -0.59154544 0.02139969 -0.20382829] [ 0.51992083 0.69019061 -0.5033083 -4.0423132 ] [ 0.28295987 0.41678641 0.86384189 -1.11727562] [ 0. 0. 0. 1. ]] SLAMing on 33.618001145 meters Centerline goodness : 0.891499 with order 1 Centerline is valid? [False, False] Translation: X:-0.24, Y:-4.08, Z:-1.16 [[ 7.98942280e-01 -6.01407395e-01 -6.14694889e-04 -2.40885565e-01] [ 5.25789453e-01 6.98982740e-01 -4.84735579e-01 -4.08179526e+00] [ 2.91953223e-01 3.86952548e-01 8.74660529e-01 -1.15837250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.678001144999996 meters Centerline goodness : 0.891356 with order 1 Centerline is valid? [False, False] Translation: X:-0.27, Y:-4.11, Z:-1.19 [[ 0.79555333 -0.6053978 -0.02425712 -0.26771044] [ 0.52682523 0.7109654 -0.46581475 -4.11198771] [ 0.2992492 0.35780121 0.88454972 -1.19242291] [ 0. 0. 0. 1. ]] SLAMing on 33.738001145 meters Centerline goodness : 0.896297 with order 1 Centerline is valid? [False, False] Translation: X:-0.28, Y:-4.13, Z:-1.21 [[ 0.79235758 -0.60828561 -0.04645517 -0.27972393] [ 0.52800381 0.72193744 -0.44723407 -4.13128969] [ 0.30558378 0.3298408 0.89320972 -1.21193968] [ 0. 0. 0. 1. ]] SLAMing on 33.798001145 meters Centerline goodness : 0.890992 with order 1 Centerline is valid? [False, False] Translation: X:-0.31, Y:-4.17, Z:-1.25 [[ 0.7891174 -0.60992541 -0.07269615 -0.31374961] [ 0.52789033 0.73392441 -0.42741871 -4.16663037] [ 0.31404701 0.29890795 0.90112625 -1.24906314] [ 0. 0. 0. 1. ]] SLAMing on 33.858001144999996 meters Centerline goodness : 0.891565 with order 1 Centerline is valid? [False, False] Translation: X:-0.33, Y:-4.19, Z:-1.28 [[ 0.78736146 -0.60908999 -0.0952434 -0.33121295] [ 0.52611132 0.74439504 -0.41119692 -4.18789222] [ 0.32135464 0.27365198 0.90655711 -1.27722578] [ 0. 0. 0. 1. ]] SLAMing on 33.918001145 meters Centerline goodness : 0.885152 with order 1 Centerline is valid? [False, False] Translation: X:-0.32, Y:-4.19, Z:-1.26 [[ 0.78896007 -0.6074671 -0.09233486 -0.32219989] [ 0.52313686 0.74291294 -0.41762207 -4.18559459] [ 0.32228843 0.28118337 0.90391708 -1.26430737] [ 0. 0. 0. 1. ]] SLAMing on 33.978001145 meters Centerline goodness : 0.889647 with order 1 Centerline is valid? [False, False] Translation: X:-0.37, Y:-4.20, Z:-1.17 [[ 0.79425195 -0.6074918 -0.01084255 -0.37487004] [ 0.52636778 0.69688237 -0.4871262 -4.19954149] [ 0.30348115 0.38119376 0.87326428 -1.17440328] [ 0. 0. 0. 1. ]] SLAMing on 34.038001144999996 meters Centerline goodness : 0.888945 with order 1 Centerline is valid? [False, False] Translation: X:-0.35, Y:-4.19, Z:-1.14 [[ 0.79848349 -0.60195439 0.00866182 -0.35329519] [ 0.52265641 0.68601224 -0.5061793 -4.18730745] [ 0.29875473 0.40870297 0.86238477 -1.13576506] [ 0. 0. 0. 1. ]] SLAMing on 34.098001145 meters Centerline goodness : 0.889007 with order 1 Centerline is valid? [False, False] Translation: X:-0.34, Y:-4.18, Z:-1.10 [[ 0.80194587 -0.59683426 0.02591688 -0.3371394 ] [ 0.51967199 0.67555319 -0.52303815 -4.17988405] [ 0.29465886 0.43291655 0.85191514 -1.10082272] [ 0. 0. 0. 1. ]] SLAMing on 34.158001145 meters Centerline goodness : 0.883201 with order 1 Centerline is valid? [False, False] Translation: X:-0.34, Y:-4.19, Z:-1.09 [[ 0.80095772 -0.59781764 0.03287549 -0.34178325] [ 0.52227635 0.67079032 -0.52656221 -4.18768047] [ 0.29273561 0.43892416 0.8495007 -1.09141746] [ 0. 0. 0. 1. ]] SLAMing on 34.218001144999995 meters Centerline goodness : 0.886671 with order 1 Centerline is valid? [False, False] Translation: X:-0.39, Y:-4.22, Z:-1.08 [[ 0.79784185 -0.60150412 0.04051154 -0.38647828] [ 0.52611446 0.66188155 -0.5339629 -4.22201451] [ 0.29436704 0.44733166 0.84453682 -1.08435936] [ 0. 0. 0. 1. ]] SLAMing on 34.278001145 meters Centerline goodness : 0.883502 with order 1 Centerline is valid? [False, False] Translation: X:-0.43, Y:-4.25, Z:-1.08 [[ 0.79424115 -0.60573076 0.04765755 -0.4265489 ] [ 0.53103376 0.65389755 -0.53890735 -4.25400813] [ 0.2952696 0.45333016 0.84101583 -1.083401 ] [ 0. 0. 0. 1. ]] SLAMing on 34.338001145 meters Centerline goodness : 0.878902 with order 1 Centerline is valid? [False, False] Translation: X:-0.43, Y:-4.26, Z:-1.08 [[ 0.7934797 -0.60653362 0.05006929 -0.42549413] [ 0.53218 0.65158429 -0.54057595 -4.26008117] [ 0.29525312 0.45558192 0.83980397 -1.0802013 ] [ 0. 0. 0. 1. ]] SLAMing on 34.398001144999995 meters Centerline goodness : 0.882224 with order 1 Centerline is valid? [False, False] Translation: X:-0.45, Y:-4.29, Z:-1.09 [[ 0.79129411 -0.61031273 0.03704048 -0.44919228] [ 0.53154133 0.65669479 -0.53499137 -4.2850752 ] [ 0.30218776 0.44302407 0.84404516 -1.0932674 ] [ 0. 0. 0. 1. ]] SLAMing on 34.458001145 meters Centerline goodness : 0.880918 with order 1 Centerline is valid? [False, False] Translation: X:-0.46, Y:-4.30, Z:-1.11 [[ 0.79032614 -0.61217733 0.02497013 -0.45607948] [ 0.53085156 0.66384676 -0.52678658 -4.29830542] [ 0.30591046 0.42958864 0.84963074 -1.10837456] [ 0. 0. 0. 1. ]] SLAMing on 34.518001145 meters Centerline goodness : 0.880676 with order 1 Centerline is valid? [False, False] Translation: X:-0.45, Y:-4.30, Z:-1.08 [[ 0.7902348 -0.61157613 0.03877617 -0.44930688] [ 0.53078712 0.65147554 -0.54207439 -4.30186807] [ 0.30625804 0.44894794 0.83943538 -1.07659632] [ 0. 0. 0. 1. ]] SLAMing on 34.578001145 meters Centerline goodness : 0.882561 with order 1 Centerline is valid? [False, False] Translation: X:-0.44, Y:-4.30, Z:-1.04 [[ 0.79181892 -0.60826959 0.0550536 -0.43954947] [ 0.5297417 0.63912965 -0.55757244 -4.30059288] [ 0.30396797 0.4706606 0.82830072 -1.04331927] [ 0. 0. 0. 1. ]] SLAMing on 34.638001145 meters Centerline goodness : 0.880943 with order 1 Centerline is valid? [False, False] Translation: X:-0.45, Y:-4.32, Z:-1.05 [[ 0.7914764 -0.6095888 0.04434638 -0.45369244] [ 0.52777648 0.64505312 -0.55259249 -4.31921587] [ 0.30824842 0.46076889 0.83227096 -1.05074997] [ 0. 0. 0. 1. ]] SLAMing on 34.698001145 meters Centerline goodness : 0.878876 with order 1 Centerline is valid? [False, False] Translation: X:-0.51, Y:-4.36, Z:-0.98 [[ 0.79213885 -0.59864775 0.11889872 -0.51115464] [ 0.53588852 0.5889439 -0.60495336 -4.36375518] [ 0.2921293 0.54292352 0.78733381 -0.97919072] [ 0. 0. 0. 1. ]] SLAMing on 34.758001145 meters Centerline goodness : 0.875396 with order 1 Centerline is valid? [False, False] Translation: X:-0.54, Y:-4.40, Z:-1.00 [[ 0.79131238 -0.60245056 0.10429784 -0.54292962] [ 0.53425661 0.59836947 -0.59709618 -4.3960386 ] [ 0.29731228 0.52821141 0.79536037 -1.00161349] [ 0. 0. 0. 1. ]] SLAMing on 34.818001145 meters Centerline goodness : 0.873948 with order 1 Centerline is valid? [False, False] Translation: X:-0.60, Y:-4.45, Z:-0.93 [[ 0.79170552 -0.58079318 0.18942453 -0.5972586 ] [ 0.54484035 0.53104067 -0.64895669 -4.45101745] [ 0.27631749 0.61698873 0.73686739 -0.92515144] [ 0. 0. 0. 1. ]] SLAMing on 34.878001145 meters Centerline goodness : 0.875541 with order 1 Centerline is valid? [False, False] Translation: X:-0.68, Y:-4.53, Z:-0.86 [[ 0.79082169 -0.55013588 0.26823789 -0.67718218] [ 0.55644495 0.46373289 -0.68943515 -4.53420473] [ 0.25489228 0.69447989 0.67285036 -0.8629161 ] [ 0. 0. 0. 1. ]] SLAMing on 34.938001145 meters Centerline goodness : 0.876760 with order 1 Centerline is valid? [False, False] Translation: X:-0.69, Y:-4.54, Z:-0.88 [[ 0.79404619 -0.55411635 0.24989142 -0.68669671] [ 0.54873862 0.47659607 -0.68683485 -4.53951326] [ 0.26148915 0.68250367 0.68250434 -0.87780903] [ 0. 0. 0. 1. ]] SLAMing on 34.998001144999996 meters Centerline goodness : 0.876149 with order 1 Centerline is valid? [False, False] Translation: X:-0.75, Y:-4.60, Z:-0.91 [[ 0.79507904 -0.5616831 0.22882616 -0.7462167 ] [ 0.54370154 0.49288033 -0.67930671 -4.59557971] [ 0.26877119 0.66451566 0.69726679 -0.91264565] [ 0. 0. 0. 1. ]] SLAMing on 35.058001145 meters Centerline goodness : 0.873905 with order 1 Centerline is valid? [False, False] Translation: X:-0.75, Y:-4.62, Z:-0.92 [[ 0.79793285 -0.55745132 0.22924045 -0.75373547] [ 0.54076805 0.49410515 -0.68075694 -4.61729067] [ 0.26621997 0.66716424 0.6957146 -0.92090059] [ 0. 0. 0. 1. ]] SLAMing on 35.118001145 meters Centerline goodness : 0.873263 with order 1 Centerline is valid? [False, False] Translation: X:-0.77, Y:-4.62, Z:-0.94 [[ 0.80415523 -0.55594836 0.2103706 -0.76586154] [ 0.52887867 0.5076342 -0.68014327 -4.62312595] [ 0.27133323 0.65820129 0.70224592 -0.93878065] [ 0. 0. 0. 1. ]] SLAMing on 35.178001144999996 meters Centerline goodness : 0.875310 with order 1 Centerline is valid? [False, False] Translation: X:-0.77, Y:-4.62, Z:-0.95 [[ 0.80953194 -0.55335702 0.19609704 -0.76579089] [ 0.51982598 0.52039751 -0.67747132 -4.61971425] [ 0.2728351 0.650371 0.70892776 -0.94967085] [ 0. 0. 0. 1. ]] SLAMing on 35.238001145 meters Centerline goodness : 0.875236 with order 1 Centerline is valid? [False, False] Translation: X:-0.85, Y:-4.69, Z:-0.99 [[ 0.8115492 -0.55647037 0.17812529 -0.85406936] [ 0.5146406 0.53644449 -0.668859 -4.68850631] [ 0.27664589 0.63448249 0.72173334 -0.99128363] [ 0. 0. 0. 1. ]] SLAMing on 35.298001145 meters Centerline goodness : 0.872995 with order 1 Centerline is valid? [False, False] Translation: X:-0.86, Y:-4.69, Z:-1.01 [[ 0.81974632 -0.55081116 0.15691728 -0.85992221] [ 0.49864468 0.55162893 -0.66862471 -4.69158625] [ 0.28172584 0.62634861 0.72685485 -1.00563726] [ 0. 0. 0. 1. ]] SLAMing on 35.358001144999996 meters Centerline goodness : 0.868868 with order 1 Centerline is valid? [False, False] Translation: X:-0.85, Y:-4.69, Z:-1.01 [[ 0.82529168 -0.5464214 0.14253876 -0.8536252 ] [ 0.48713485 0.56119445 -0.66914904 -4.68558391] [ 0.28564539 0.62167873 0.72933001 -1.013096 ] [ 0. 0. 0. 1. ]] SLAMing on 35.418001145 meters Centerline goodness : 0.871457 with order 1 Centerline is valid? [False, False] Translation: X:-0.85, Y:-4.69, Z:-1.02 [[ 0.83419215 -0.53879805 0.117559 -0.85079685] [ 0.46650897 0.57576593 -0.67146331 -4.68766105] [ 0.29409665 0.61497175 0.73165354 -1.02223109] [ 0. 0. 0. 1. ]] SLAMing on 35.478001145 meters Centerline goodness : 0.871351 with order 1 Centerline is valid? [False, False] Translation: X:-0.85, Y:-4.69, Z:-1.03 [[ 0.84044539 -0.53341371 0.0955058 -0.85201433] [ 0.4494814 0.5877601 -0.67268457 -4.69225829] [ 0.30268467 0.60828273 0.73373981 -1.03259943] [ 0. 0. 0. 1. ]] SLAMing on 35.538001144999996 meters Centerline goodness : 0.874324 with order 1 Centerline is valid? [False, False] Translation: X:-0.84, Y:-4.68, Z:-1.04 [[ 0.83958661 -0.53608526 0.08778903 -0.84286754] [ 0.44809248 0.59208987 -0.66980797 -4.68403856] [ 0.30709518 0.60169941 0.7373265 -1.03761534] [ 0. 0. 0. 1. ]] SLAMing on 35.598001145 meters Centerline goodness : 0.872272 with order 1 Centerline is valid? [False, False] Translation: X:-0.83, Y:-4.68, Z:-1.04 [[ 0.83955724 -0.53880803 0.06949499 -0.83194641] [ 0.4398829 0.59912881 -0.66899007 -4.68035641] [ 0.31882077 0.59222511 0.74001536 -1.04354542] [ 0. 0. 0. 1. ]] SLAMing on 35.658001145 meters Centerline goodness : 0.872141 with order 1 Centerline is valid? [False, False] Translation: X:-0.89, Y:-4.72, Z:-1.09 [[ 0.8360362 -0.54629992 0.05098884 -0.89050037] [ 0.44226116 0.61597375 -0.65190598 -4.7213434 ] [ 0.3247284 0.56756739 0.75658359 -1.08776018] [ 0. 0. 0. 1. ]] SLAMing on 35.718001144999995 meters Centerline goodness : 0.874529 with order 1 Centerline is valid? [False, False] Translation: X:-0.88, Y:-4.72, Z:-1.09 [[ 0.83244016 -0.55249051 0.04239821 -0.87957662] [ 0.44386051 0.6190472 -0.64789537 -4.71500025] [ 0.33170955 0.55815302 0.76054847 -1.09266509] [ 0. 0. 0. 1. ]] SLAMing on 35.778001145 meters Centerline goodness : 0.874184 with order 1 Centerline is valid? [False, False] Translation: X:-0.93, Y:-4.75, Z:-1.11 [[ 0.82892904 -0.55806763 0.03790994 -0.93038671] [ 0.44840816 0.62247147 -0.64145101 -4.74850032] [ 0.33437518 0.5487165 0.76622676 -1.1130245 ] [ 0. 0. 0. 1. ]] SLAMing on 35.838001145 meters Centerline goodness : 0.876704 with order 1 Centerline is valid? [False, False] Translation: X:-0.92, Y:-4.74, Z:-1.12 [[ 0.82702876 -0.56115952 0.03351748 -0.92249871] [ 0.44930729 0.62399559 -0.63933752 -4.74015496] [ 0.33785557 0.54381016 0.76819537 -1.11962688] [ 0. 0. 0. 1. ]] SLAMing on 35.898001144999995 meters Centerline goodness : 0.876035 with order 1 Centerline is valid? [False, False] Translation: X:-0.91, Y:-4.74, Z:-1.12 [[ 0.83009877 -0.55739515 0.01570585 -0.91398369] [ 0.43759012 0.63370494 -0.63791295 -4.73822652] [ 0.34561672 0.53640348 0.7699483 -1.12373618] [ 0. 0. 0. 1. ]] SLAMing on 35.958001145 meters Centerline goodness : 0.873901 with order 1 Centerline is valid? [False, False] Translation: X:-0.90, Y:-4.73, Z:-1.13 [[ 8.30959882e-01 -5.56320267e-01 3.66524241e-03 -9.02771356e-01] [ 4.33400031e-01 6.43198574e-01 -6.31236887e-01 -4.72665844e+00] [ 3.48812395e-01 5.26121045e-01 7.75581433e-01 -1.12616125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.018001145 meters Centerline goodness : 0.871639 with order 1 Centerline is valid? [False, False] Translation: X:-0.89, Y:-4.71, Z:-1.13 [[ 0.83221976 -0.55441102 -0.00621953 -0.89251592] [ 0.42892033 0.65087442 -0.62641028 -4.71343759] [ 0.3513369 0.51864333 0.77946871 -1.13014838] [ 0. 0. 0. 1. ]] SLAMing on 36.078001144999995 meters Centerline goodness : 0.870548 with order 1 Centerline is valid? [False, False] Translation: X:-0.91, Y:-4.73, Z:-1.15 [[ 0.83196956 -0.55456433 -0.01688335 -0.91009863] [ 0.42902041 0.66232536 -0.61422032 -4.72653014] [ 0.35180695 0.50376931 0.78895396 -1.14850118] [ 0. 0. 0. 1. ]] SLAMing on 36.138001145 meters Centerline goodness : 0.873962 with order 1 Centerline is valid? [False, False] Translation: X:-0.90, Y:-4.71, Z:-1.15 [[ 0.83224214 -0.55381888 -0.0256452 -0.90007211] [ 0.42589856 0.66825659 -0.60995372 -4.71415289] [ 0.35494146 0.49670693 0.79202196 -1.15112735] [ 0. 0. 0. 1. ]] SLAMing on 36.198001145 meters Centerline goodness : 0.872599 with order 1 Centerline is valid? [False, False] Translation: X:-0.89, Y:-4.72, Z:-1.13 [[ 0.83605734 -0.5481375 -0.02352458 -0.89453196] [ 0.4205785 0.66785001 -0.61407662 -4.71653277] [ 0.35230931 0.50350933 0.78889575 -1.13429204] [ 0. 0. 0. 1. ]] SLAMing on 36.258001145 meters Centerline goodness : 0.875656 with order 1 Centerline is valid? [False, False] Translation: X:-0.87, Y:-4.71, Z:-1.08 [[ 0.83886073 -0.54427767 0.00863057 -0.87005475] [ 0.42148385 0.63940967 -0.64304482 -4.70702035] [ 0.34447647 0.5430627 0.76577991 -1.07937012] [ 0. 0. 0. 1. ]] SLAMing on 36.318001145 meters Centerline goodness : 0.876007 with order 1 Centerline is valid? [False, False] Translation: X:-0.93, Y:-4.75, Z:-1.01 [[ 0.8419728 -0.53380792 0.07830013 -0.92507872] [ 0.43036491 0.57699066 -0.694167 -4.74785773] [ 0.3253734 0.61816736 0.71554264 -1.0086926 ] [ 0. 0. 0. 1. ]] SLAMing on 36.378001145 meters Centerline goodness : 0.876016 with order 1 Centerline is valid? [False, False] Translation: X:-0.99, Y:-4.80, Z:-0.95 [[ 0.84319591 -0.51635895 0.14964654 -0.98833919] [ 0.4427403 0.50906051 -0.73813171 -4.80269178] [ 0.30496177 0.6886442 0.65785066 -0.9499361 ] [ 0. 0. 0. 1. ]] SLAMing on 36.438001145 meters Centerline goodness : 0.877537 with order 1 Centerline is valid? [False, False] Translation: X:-1.03, Y:-4.84, Z:-0.96 [[ 0.84558989 -0.51462475 0.14191231 -1.0316724 ] [ 0.43790123 0.51663366 -0.73575279 -4.83509176] [ 0.30531992 0.6842887 0.66221501 -0.96239845] [ 0. 0. 0. 1. ]] SLAMing on 36.498001144999996 meters Centerline goodness : 0.876477 with order 1 Centerline is valid? [False, False] Translation: X:-1.05, Y:-4.86, Z:-0.93 [[ 0.8460043 -0.50883815 0.15924968 -1.04875539] [ 0.43800281 0.49295449 -0.75176419 -4.86186104] [ 0.30402346 0.70574755 0.63991416 -0.93325926] [ 0. 0. 0. 1. ]] SLAMing on 36.558001145 meters Centerline goodness : 0.877480 with order 1 Centerline is valid? [False, False] Translation: X:-1.67, Y:-6.27, Z:-2.41 [[-0.80598461 0.53456405 0.25422448 -1.67478553] [-0.51118217 -0.41201609 -0.75427815 -6.27271603] [-0.29846541 -0.73789161 0.60533824 -2.40596442] [ 0. 0. 0. 1. ]] SLAMing on 36.618001145 meters Centerline goodness : 0.876491 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-6.31, Z:-2.16 [[ 0.80419407 -0.50021884 -0.32101871 0.41108893] [ 0.45571274 0.86565886 -0.20726951 -6.31461687] [ 0.3815728 0.02039259 0.92411381 -2.15918462] [ 0. 0. 0. 1. ]] SLAMing on 36.678001144999996 meters Centerline goodness : 0.880155 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-6.32, Z:-2.13 [[ 0.81061591 -0.52056187 -0.2681738 0.34476852] [ 0.45792623 0.84896014 -0.26376172 -6.32255635] [ 0.36497316 0.09100563 0.92655953 -2.13075087] [ 0. 0. 0. 1. ]] SLAMing on 36.738001145 meters Centerline goodness : 0.879664 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-6.32, Z:-2.13 [[ 0.81065377 -0.52012354 -0.26890883 0.34561543] [ 0.45788596 0.84937048 -0.26250757 -6.3245898 ] [ 0.36493959 0.08967317 0.92670266 -2.13135916] [ 0. 0. 0. 1. ]] SLAMing on 36.798001145 meters Centerline goodness : 0.879045 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-6.33, Z:-2.13 [[ 0.81045152 -0.52049234 -0.26880486 0.34539858] [ 0.45832541 0.8491668 -0.26239961 -6.32567292] [ 0.36483715 0.08946207 0.9267634 -2.13104432] [ 0. 0. 0. 1. ]] SLAMing on 36.858001144999996 meters Centerline goodness : 0.879971 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-6.31, Z:-2.10 [[ 0.81208331 -0.52400761 -0.25678149 0.36099406] [ 0.45614919 0.84447284 -0.28070187 -6.31156196] [ 0.36393491 0.11082263 0.92480794 -2.10461734] [ 0. 0. 0. 1. ]] SLAMing on 36.918001145 meters Centerline goodness : 0.875129 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-6.31, Z:-2.11 [[ 0.81223837 -0.52350144 -0.25732289 0.3645615 ] [ 0.45593704 0.84490902 -0.27973231 -6.31380783] [ 0.36385469 0.10988628 0.92495122 -2.10550175] [ 0. 0. 0. 1. ]] SLAMing on 36.978001145 meters Centerline goodness : 0.875478 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-6.31, Z:-2.10 [[ 0.8121227 -0.52328529 -0.25812636 0.3665226 ] [ 0.45565237 0.84509565 -0.27963237 -6.31368938] [ 0.36446897 0.10947991 0.92475755 -2.10468893] [ 0. 0. 0. 1. ]] SLAMing on 37.038001144999996 meters Centerline goodness : 0.873618 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-6.32, Z:-2.11 [[ 0.8141442 -0.51872396 -0.26094957 0.36966567] [ 0.4525819 0.8484224 -0.27449783 -6.31621801] [ 0.36378406 0.10537976 0.92550325 -2.10805072] [ 0. 0. 0. 1. ]] SLAMing on 37.098001145 meters Centerline goodness : 0.880614 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-6.32, Z:-2.11 [[ 0.81442774 -0.51842162 -0.26066547 0.37127364] [ 0.45202318 0.84849154 -0.27520385 -6.31660432] [ 0.36384407 0.10630681 0.92537363 -2.10587127] [ 0. 0. 0. 1. ]] SLAMing on 37.158001145 meters Centerline goodness : 0.877207 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-6.32, Z:-2.11 [[ 0.81852213 -0.50968783 -0.26502801 0.37239156] [ 0.4455675 0.85446039 -0.26714611 -6.31868236] [ 0.36261705 0.10057714 0.92649507 -2.10803923] [ 0. 0. 0. 1. ]] SLAMing on 37.218001144999995 meters Centerline goodness : 0.875592 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-6.32, Z:-2.11 [[ 0.82119896 -0.50365746 -0.26825629 0.37859791] [ 0.44032323 0.85829383 -0.26352826 -6.31847194] [ 0.36297069 0.09828966 0.92660208 -2.10722484] [ 0. 0. 0. 1. ]] SLAMing on 37.278001145 meters Centerline goodness : 0.874401 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-6.32, Z:-2.11 [[ 0.82335457 -0.49833515 -0.27156826 0.38521203] [ 0.4364186 0.86185093 -0.25836366 -6.32171412] [ 0.36280305 0.09420746 0.92709164 -2.1102218 ] [ 0. 0. 0. 1. ]] SLAMing on 37.338001145 meters Centerline goodness : 0.876473 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-6.32, Z:-2.11 [[ 0.82560351 -0.49300992 -0.27444502 0.38825014] [ 0.43217342 0.86522512 -0.25418816 -6.32384275] [ 0.36277401 0.0912508 0.92739868 -2.10952717] [ 0. 0. 0. 1. ]] SLAMing on 37.398001144999995 meters Centerline goodness : 0.882181 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-6.32, Z:-2.11 [[ 0.82664457 -0.49160434 -0.27383195 0.40723139] [ 0.43424352 0.86677789 -0.24521144 -6.32017739] [ 0.35789849 0.08379296 0.92999323 -2.10708445] [ 0. 0. 0. 1. ]] SLAMing on 37.458001145 meters Centerline goodness : 0.881714 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-6.32, Z:-2.11 [[ 0.82746371 -0.48886151 -0.27625755 0.41162293] [ 0.43282001 0.86871081 -0.24084926 -6.32467816] [ 0.35772985 0.07972423 0.93041572 -2.11150149] [ 0. 0. 0. 1. ]] SLAMing on 37.518001145 meters Centerline goodness : 0.872215 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-6.33, Z:-2.11 [[ 0.82744613 -0.48833855 -0.27723339 0.41616439] [ 0.43272317 0.86914661 -0.23944694 -6.32928063] [ 0.35788763 0.07816413 0.93048741 -2.11318066] [ 0. 0. 0. 1. ]] SLAMing on 37.578001144999995 meters Centerline goodness : 0.874944 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-6.34, Z:-2.11 [[ 0.82730918 -0.48815788 -0.27795934 0.41941216] [ 0.43310466 0.8694097 -0.2377964 -6.3354931 ] [ 0.35774274 0.07634566 0.93069408 -2.11474465] [ 0. 0. 0. 1. ]] SLAMing on 37.638001145 meters Centerline goodness : 0.876078 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-6.34, Z:-2.12 [[ 0.82724154 -0.48771505 -0.27893632 0.42259476] [ 0.43296525 0.86976973 -0.23673128 -6.33850403] [ 0.35806777 0.07506421 0.93067332 -2.11552131] [ 0. 0. 0. 1. ]] SLAMing on 37.698001145 meters Centerline goodness : 0.874483 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-6.34, Z:-2.12 [[ 0.82719314 -0.48690847 -0.28048468 0.42783354] [ 0.43277743 0.87041909 -0.23467915 -6.34285478] [ 0.35840649 0.07273754 0.93072769 -2.11823132] [ 0. 0. 0. 1. ]] SLAMing on 37.758001145 meters Centerline goodness : 0.872201 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-6.35, Z:-2.12 [[ 0.82693448 -0.48644184 -0.28205266 0.43227232] [ 0.4329145 0.87087702 -0.23271927 -6.34843124] [ 0.35883756 0.0703389 0.93074596 -2.12001956] [ 0. 0. 0. 1. ]] SLAMing on 37.818001145 meters Centerline goodness : 0.869556 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-6.35, Z:-2.10 [[ 0.82883704 -0.48651429 -0.27628427 0.44241725] [ 0.42933729 0.86970265 -0.24348878 -6.34504026] [ 0.35874594 0.08319338 0.9297205 -2.10125757] [ 0. 0. 0. 1. ]] SLAMing on 37.878001145 meters Centerline goodness : 0.872683 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:-6.33, Z:-2.07 [[ 0.83070384 -0.4910612 -0.26227853 0.45556294] [ 0.42687159 0.86426334 -0.26613817 -6.33219707] [ 0.35736785 0.10912275 0.92756695 -2.06748082] [ 0. 0. 0. 1. ]] SLAMing on 37.938001145 meters Centerline goodness : 0.868800 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-6.35, Z:-2.02 [[ 0.84821648 -0.48977412 -0.20161872 0.3734404 ] [ 0.41126488 0.84891157 -0.33197943 -6.34946798] [ 0.3337514 0.19867173 0.92148768 -2.02361061] [ 0. 0. 0. 1. ]] SLAMing on 37.998001144999996 meters Centerline goodness : 0.872320 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-6.38, Z:-2.04 [[ 0.85244961 -0.48293103 -0.20026804 0.33594463] [ 0.40420806 0.85174449 -0.3333874 -6.37728261] [ 0.33158033 0.203246 0.92127387 -2.03739446] [ 0. 0. 0. 1. ]] SLAMing on 38.058001145 meters Centerline goodness : 0.869460 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-6.42, Z:-2.07 [[ 0.85334721 -0.47642452 -0.21170312 0.27627375] [ 0.39906029 0.85822078 -0.32281261 -6.42063831] [ 0.33548386 0.19098893 0.92248241 -2.07378265] [ 0. 0. 0. 1. ]] SLAMing on 38.118001145 meters Centerline goodness : 0.872064 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-6.42, Z:-2.08 [[ 0.85083307 -0.48397792 -0.20456898 0.28398199] [ 0.41009253 0.85506523 -0.31731304 -6.41915461] [ 0.32849233 0.18608822 0.9259935 -2.07958386] [ 0. 0. 0. 1. ]] SLAMing on 38.178001144999996 meters Centerline goodness : 0.873930 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-6.46, Z:-2.11 [[ 0.84629404 -0.48687068 -0.21620206 0.22633828] [ 0.41569607 0.85736139 -0.30352631 -6.46353304] [ 0.33314137 0.16699816 0.92797007 -2.11130322] [ 0. 0. 0. 1. ]] SLAMing on 38.238001145 meters Centerline goodness : 0.876471 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-6.47, Z:-2.12 [[ 0.84237013 -0.4966362 -0.20920098 0.23670547] [ 0.42895586 0.85291299 -0.2975505 -6.46513696] [ 0.32620458 0.16090967 0.93150343 -2.11802556] [ 0. 0. 0. 1. ]] SLAMing on 38.298001145 meters Centerline goodness : 0.878162 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-6.46, Z:-2.12 [[ 0.83888934 -0.50463705 -0.20397578 0.24805344] [ 0.43975557 0.84920259 -0.29235253 -6.4620121 ] [ 0.32074868 0.15555194 0.93430396 -2.12262067] [ 0. 0. 0. 1. ]] SLAMing on 38.358001144999996 meters Centerline goodness : 0.881434 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-6.46, Z:-2.13 [[ 0.83501177 -0.51462694 -0.19471634 0.25674718] [ 0.45247544 0.84358555 -0.28918748 -6.45962865] [ 0.31308356 0.15337059 0.93725991 -2.13021493] [ 0. 0. 0. 1. ]] SLAMing on 38.418001145 meters Centerline goodness : 0.885572 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-6.48, Z:-2.14 [[ 0.82982891 -0.52009465 -0.20220173 0.24147808] [ 0.46020156 0.84279064 -0.27913878 -6.48211766] [ 0.31559231 0.13858388 0.93872041 -2.14485812] [ 0. 0. 0. 1. ]] SLAMing on 38.478001145 meters Centerline goodness : 0.889024 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-6.49, Z:-2.14 [[ 0.82774065 -0.52426731 -0.19997301 0.24343642] [ 0.46317955 0.8395713 -0.28387451 -6.48715701] [ 0.31671773 0.14235106 0.93777719 -2.13932358] [ 0. 0. 0. 1. ]] SLAMing on 38.538001144999996 meters Centerline goodness : 0.889230 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-6.49, Z:-2.15 [[ 0.82522562 -0.52949956 -0.19655253 0.25249359] [ 0.47118205 0.83729371 -0.27735666 -6.48769903] [ 0.31143242 0.1362698 0.94044691 -2.14792439] [ 0. 0. 0. 1. ]] SLAMing on 38.598001145 meters Centerline goodness : 0.890012 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-6.49, Z:-2.13 [[ 0.82371044 -0.53587169 -0.18531771 0.24997915] [ 0.47450492 0.83038583 -0.29206926 -6.48716611] [ 0.31039685 0.15264633 0.93827123 -2.12808182] [ 0. 0. 0. 1. ]] SLAMing on 38.658001145 meters Centerline goodness : 0.888923 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-6.49, Z:-2.13 [[ 0.82427349 -0.53460516 -0.18646859 0.2550693 ] [ 0.47348786 0.83144103 -0.29071475 -6.48986589] [ 0.31045525 0.15133785 0.93846385 -2.13036024] [ 0. 0. 0. 1. ]] SLAMing on 38.718001144999995 meters Centerline goodness : 0.890312 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-6.49, Z:-2.13 [[ 0.82541563 -0.53208736 -0.18860563 0.25941599] [ 0.47145356 0.83349083 -0.28813986 -6.49189393] [ 0.31051664 0.14891635 0.93883084 -2.13176139] [ 0. 0. 0. 1. ]] SLAMing on 38.778001145 meters Centerline goodness : 0.893416 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-6.50, Z:-2.13 [[ 0.82691925 -0.52894985 -0.19083137 0.26383414] [ 0.4690421 0.83600378 -0.28477568 -6.49523619] [ 0.3101678 0.14597855 0.93940737 -2.13367132] [ 0. 0. 0. 1. ]] SLAMing on 38.838001145 meters Centerline goodness : 0.892023 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-6.50, Z:-2.14 [[ 0.82665467 -0.53026808 -0.18830249 0.267582 ] [ 0.47012802 0.83472257 -0.28673659 -6.49874249] [ 0.3092276 0.14850587 0.93932119 -2.13834941] [ 0. 0. 0. 1. ]] SLAMing on 38.898001144999995 meters Centerline goodness : 0.891957 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-6.50, Z:-2.14 [[ 0.82657994 -0.53011854 -0.1890501 0.27305254] [ 0.47004208 0.83496278 -0.28617756 -6.50007765] [ 0.30955783 0.14768712 0.93934151 -2.14102602] [ 0. 0. 0. 1. ]] SLAMing on 38.958001145 meters Centerline goodness : 0.893264 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-6.50, Z:-2.14 [[ 0.8245393 -0.53484515 -0.1845958 0.27817171] [ 0.47855703 0.83329151 -0.27678227 -6.49936414] [ 0.30185777 0.13987824 0.9430355 -2.14476578] [ 0. 0. 0. 1. ]] SLAMing on 39.018001145 meters Centerline goodness : 0.891060 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-6.50, Z:-2.14 [[ 0.82358562 -0.53559487 -0.18666779 0.28308203] [ 0.4792417 0.83314111 -0.27604943 -6.49845715] [ 0.30337126 0.13789135 0.94284243 -2.14497405] [ 0. 0. 0. 1. ]] SLAMing on 39.078001144999995 meters Centerline goodness : 0.896598 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:-6.50, Z:-2.15 [[ 0.82102311 -0.53943118 -0.18690919 0.28880177] [ 0.4825555 0.83067733 -0.27769654 -6.49869603] [ 0.3050594 0.13780121 0.94231077 -2.14603303] [ 0. 0. 0. 1. ]] SLAMing on 39.138001145 meters Centerline goodness : 0.895376 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-6.50, Z:-2.15 [[ 0.81711922 -0.54449189 -0.18932715 0.30090757] [ 0.48682023 0.82766644 -0.27923883 -6.49525867] [ 0.30874301 0.13600313 0.94137182 -2.15295455] [ 0. 0. 0. 1. ]] SLAMing on 39.198001145 meters Centerline goodness : 0.896213 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:-6.49, Z:-2.15 [[ 0.81465811 -0.54467542 -0.19915032 0.31363536] [ 0.48667216 0.82882913 -0.27602986 -6.48594182] [ 0.31540827 0.12794905 0.94029074 -2.15462819] [ 0. 0. 0. 1. ]] SLAMing on 39.258001145 meters Centerline goodness : 0.896153 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:-6.47, Z:-2.16 [[ 0.81409632 -0.54530654 -0.19971969 0.3251194 ] [ 0.48945675 0.82937772 -0.26937833 -6.47336218] [ 0.31253683 0.12154576 0.94209732 -2.15941351] [ 0. 0. 0. 1. ]] SLAMing on 39.318001145 meters Centerline goodness : 0.894598 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-6.46, Z:-2.16 [[ 0.8135642 -0.54539209 -0.20164513 0.33906515] [ 0.49101096 0.83012468 -0.26419926 -6.45930121] [ 0.31148279 0.11593309 0.94315322 -2.16371145] [ 0. 0. 0. 1. ]] SLAMing on 39.378001145 meters Centerline goodness : 0.890303 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-6.44, Z:-2.17 [[ 0.81112334 -0.54501585 -0.21221839 0.35728138] [ 0.49279691 0.83227505 -0.25390835 -6.43899629] [ 0.31500815 0.10137042 0.94365985 -2.16855642] [ 0. 0. 0. 1. ]] SLAMing on 39.438001145 meters Centerline goodness : 0.890453 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:-6.42, Z:-2.18 [[ 0.80879576 -0.54752919 -0.21461876 0.37132474] [ 0.49604725 0.83118585 -0.25113185 -6.41818794] [ 0.3158901 0.09665333 0.94385994 -2.17508913] [ 0. 0. 0. 1. ]] SLAMing on 39.498001144999996 meters Centerline goodness : 0.888780 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-6.40, Z:-2.18 [[ 0.80796087 -0.54835852 -0.2156436 0.38326981] [ 0.49893986 0.83137404 -0.24469617 -6.40154841] [ 0.31346173 0.09011174 0.94531562 -2.17970131] [ 0. 0. 0. 1. ]] SLAMing on 39.558001145 meters Centerline goodness : 0.890159 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-6.39, Z:-2.18 [[ 0.80748749 -0.5481843 -0.21784841 0.39338871] [ 0.50232189 0.83262585 -0.23325289 -6.38615567] [ 0.30925179 0.07891876 0.94769993 -2.18291236] [ 0. 0. 0. 1. ]] SLAMing on 39.618001145 meters Centerline goodness : 0.887555 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:-6.37, Z:-2.19 [[ 0.80739925 -0.54867417 -0.21694033 0.4034777 ] [ 0.50576905 0.83297844 -0.22437599 -6.37198219] [ 0.30381593 0.0714393 0.95004858 -2.18856429] [ 0. 0. 0. 1. ]] SLAMing on 39.678001144999996 meters Centerline goodness : 0.882949 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-6.37, Z:-2.19 [[ 0.80828346 -0.54509068 -0.22260728 0.40669875] [ 0.50286548 0.83574809 -0.22057072 -6.36555032] [ 0.30627465 0.06634215 0.94962864 -2.1873523 ] [ 0. 0. 0. 1. ]] SLAMing on 39.738001145 meters Centerline goodness : 0.882897 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-6.35, Z:-2.16 [[ 0.80946671 -0.54813493 -0.21050354 0.41057633] [ 0.50169786 0.83192787 -0.23705543 -6.3539473 ] [ 0.30506212 0.08627931 0.94841604 -2.16340902] [ 0. 0. 0. 1. ]] SLAMing on 39.798001145 meters Centerline goodness : 0.880758 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-6.35, Z:-2.17 [[ 0.81102949 -0.5447695 -0.21320733 0.41436733] [ 0.49895261 0.83442346 -0.23405937 -6.35306223] [ 0.3054136 0.0834487 0.94855619 -2.16512861] [ 0. 0. 0. 1. ]] SLAMing on 39.858001144999996 meters Centerline goodness : 0.880676 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-6.35, Z:-2.17 [[ 0.8116734 -0.54230382 -0.21700889 0.41953983] [ 0.49709052 0.83640721 -0.23091989 -6.35180434] [ 0.30673654 0.07955847 0.94846357 -2.16567252] [ 0. 0. 0. 1. ]] SLAMing on 39.918001145 meters Centerline goodness : 0.881637 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-6.35, Z:-2.17 [[ 0.81260319 -0.54087458 -0.21709615 0.42577469] [ 0.49572108 0.83731408 -0.23057697 -6.35296264] [ 0.30649088 0.07974844 0.94852703 -2.17026815] [ 0. 0. 0. 1. ]] SLAMing on 39.978001145 meters Centerline goodness : 0.885083 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-6.35, Z:-2.17 [[ 0.8130486 -0.53962966 -0.21852185 0.42977949] [ 0.49472026 0.83824927 -0.22932514 -6.35320025] [ 0.30692643 0.0783453 0.94850313 -2.17175448] [ 0. 0. 0. 1. ]] SLAMing on 40.038001144999996 meters Centerline goodness : 0.887308 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-6.36, Z:-2.18 [[ 0.81468733 -0.53753545 -0.21757802 0.43339624] [ 0.49278515 0.83950892 -0.22888333 -6.35610195] [ 0.30569159 0.07924914 0.94882676 -2.17617657] [ 0. 0. 0. 1. ]] SLAMing on 40.098001145 meters Centerline goodness : 0.885319 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-6.35, Z:-2.18 [[ 0.81549166 -0.54201168 -0.2029697 0.43406349] [ 0.49931149 0.83619719 -0.22685302 -6.35472666] [ 0.29267968 0.08365164 0.95254449 -2.18299214] [ 0. 0. 0. 1. ]] SLAMing on 40.158001145 meters Centerline goodness : 0.893072 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-6.36, Z:-2.19 [[ 0.81776325 -0.54070153 -0.19724381 0.43417493] [ 0.49741389 0.83635161 -0.23042443 -6.36137447] [ 0.28955602 0.09032082 0.95289006 -2.18818619] [ 0. 0. 0. 1. ]] SLAMing on 40.218001144999995 meters Centerline goodness : 0.891637 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-6.37, Z:-2.19 [[ 0.82063186 -0.53623853 -0.19751351 0.43796818] [ 0.49342593 0.83925412 -0.22843681 -6.36531495] [ 0.28826064 0.09000423 0.95331267 -2.19195078] [ 0. 0. 0. 1. ]] SLAMing on 40.278001145 meters Centerline goodness : 0.894898 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-6.38, Z:-2.19 [[ 0.82415432 -0.53128261 -0.19623569 0.43740097] [ 0.4893292 0.84240905 -0.22561899 -6.3754797 ] [ 0.28517817 0.08992102 0.95424715 -2.19370471] [ 0. 0. 0. 1. ]] SLAMing on 40.338001145 meters Centerline goodness : 0.898728 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-6.38, Z:-2.19 [[ 0.82546037 -0.52838461 -0.19855702 0.4409142 ] [ 0.48738363 0.84463355 -0.22147542 -6.38108321] [ 0.28473212 0.08604574 0.95473753 -2.19413992] [ 0. 0. 0. 1. ]] SLAMing on 40.398001144999995 meters Centerline goodness : 0.903093 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-6.39, Z:-2.20 [[ 0.82468369 -0.53184681 -0.19244684 0.44264841] [ 0.49059452 0.84196359 -0.22453136 -6.3935961 ] [ 0.28144952 0.09075399 0.95527477 -2.19876748] [ 0. 0. 0. 1. ]] SLAMing on 40.458001145 meters Centerline goodness : 0.906616 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:-6.40, Z:-2.20 [[ 0.82251585 -0.53514514 -0.19258079 0.44855519] [ 0.49396327 0.84000407 -0.22448485 -6.39867333] [ 0.28190063 0.08951451 0.9552587 -2.20054758] [ 0. 0. 0. 1. ]] SLAMing on 40.518001145 meters Centerline goodness : 0.913437 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:-6.40, Z:-2.20 [[ 0.81699874 -0.54124331 -0.19891894 0.4612844 ] [ 0.50068014 0.83696501 -0.22092751 -6.40376244] [ 0.28606373 0.08090273 0.95478913 -2.20125354] [ 0. 0. 0. 1. ]] SLAMing on 40.578001144999995 meters Centerline goodness : 0.917861 with order 1 Centerline is valid? [False, False] Translation: X:0.47, Y:-6.41, Z:-2.21 [[ 0.81092458 -0.55023698 -0.19909943 0.47266961] [ 0.50944604 0.83127268 -0.22237459 -6.41258776] [ 0.28786464 0.07889861 0.95441551 -2.20507962] [ 0. 0. 0. 1. ]] SLAMing on 40.638001145 meters Centerline goodness : 0.923181 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:-6.42, Z:-2.21 [[ 0.80808552 -0.55432411 -0.19930523 0.47869077] [ 0.51351337 0.82867219 -0.222725 -6.41770577] [ 0.28862054 0.07763495 0.95429084 -2.20563174] [ 0. 0. 0. 1. ]] SLAMing on 40.698001145 meters Centerline goodness : 0.923545 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:-6.42, Z:-2.21 [[ 0.80446294 -0.55711698 -0.20605836 0.49019828] [ 0.51735586 0.82759679 -0.21777618 -6.4219284 ] [ 0.29186005 0.06858736 0.95399868 -2.20621965] [ 0. 0. 0. 1. ]] SLAMing on 40.758001145 meters Centerline goodness : 0.922328 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:-6.43, Z:-2.21 [[ 0.80381154 -0.55864164 -0.20446643 0.49420943] [ 0.51873702 0.82646765 -0.21877644 -6.4259871 ] [ 0.29120252 0.06979073 0.95411233 -2.20914323] [ 0. 0. 0. 1. ]] SLAMing on 40.818001145 meters Centerline goodness : 0.927799 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:-6.43, Z:-2.22 [[ 0.80567138 -0.55990342 -0.19339539 0.49955202] [ 0.52250642 0.82552868 -0.21328255 -6.42670049] [ 0.27907107 0.07078532 0.95765796 -2.2159556 ] [ 0. 0. 0. 1. ]] SLAMing on 40.878001145 meters Centerline goodness : 0.931083 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:-6.43, Z:-2.22 [[ 0.80758885 -0.5557291 -0.19739662 0.50201545] [ 0.51923617 0.82872834 -0.20881366 -6.42657133] [ 0.279632 0.06614012 0.95782641 -2.21543331] [ 0. 0. 0. 1. ]] SLAMing on 40.938001145 meters Centerline goodness : 0.930345 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:-6.43, Z:-2.22 [[ 0.8094187 -0.55204684 -0.20021402 0.50645919] [ 0.51623131 0.83143186 -0.20549039 -6.42653755] [ 0.27990463 0.06297102 0.95796036 -2.21759809] [ 0. 0. 0. 1. ]] SLAMing on 40.998001144999996 meters Centerline goodness : 0.931262 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:-6.43, Z:-2.22 [[ 0.81015657 -0.55190237 -0.19761101 0.50893167] [ 0.51564162 0.83126816 -0.20762217 -6.42753648] [ 0.27885491 0.06631001 0.95804119 -2.22230192] [ 0. 0. 0. 1. ]] SLAMing on 41.058001145 meters Centerline goodness : 0.930377 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:-6.43, Z:-2.22 [[ 0.81216201 -0.54778234 -0.20081678 0.51222217] [ 0.51216693 0.83424191 -0.20426812 -6.42595433] [ 0.27942425 0.0630471 0.95809559 -2.2235566 ] [ 0. 0. 0. 1. ]] SLAMing on 41.118001145 meters Centerline goodness : 0.930220 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:-6.42, Z:-2.23 [[ 0.81351064 -0.54476851 -0.20353798 0.5160401 ] [ 0.50961803 0.83640714 -0.20177354 -6.42375378] [ 0.28016049 0.0604183 0.95804996 -2.22526773] [ 0. 0. 0. 1. ]] SLAMing on 41.178001144999996 meters Centerline goodness : 0.927575 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:-6.42, Z:-2.23 [[ 0.81564367 -0.54242742 -0.20124087 0.51897509] [ 0.50698893 0.83769175 -0.20306341 -6.42472556] [ 0.27872498 0.06360049 0.95826268 -2.23134016] [ 0. 0. 0. 1. ]] SLAMing on 41.238001145 meters Centerline goodness : 0.927828 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:-6.42, Z:-2.23 [[ 0.81746876 -0.53836239 -0.20472117 0.52144232] [ 0.50367453 0.84058789 -0.19930872 -6.42298707] [ 0.27938645 0.05981581 0.95831377 -2.23159023] [ 0. 0. 0. 1. ]] SLAMing on 41.298001145 meters Centerline goodness : 0.927368 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:-6.42, Z:-2.23 [[ 0.8184214 -0.53547785 -0.20844638 0.5247557 ] [ 0.5015219 0.84271405 -0.19572637 -6.42154597] [ 0.28046783 0.05564623 0.95824908 -2.23138823] [ 0. 0. 0. 1. ]] SLAMing on 41.358001144999996 meters Centerline goodness : 0.927335 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:-6.42, Z:-2.23 [[ 0.81655996 -0.53790302 -0.2094998 0.53235421] [ 0.50372975 0.84121564 -0.19650085 -6.42091455] [ 0.28193291 0.05492344 0.95786077 -2.23422236] [ 0. 0. 0. 1. ]] SLAMing on 41.418001145 meters Centerline goodness : 0.929816 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:-6.42, Z:-2.23 [[ 0.81133083 -0.54242862 -0.21797587 0.54657197] [ 0.50882393 0.83883594 -0.19352641 -6.41971947] [ 0.28782025 0.0461026 0.95657412 -2.23381635] [ 0. 0. 0. 1. ]] SLAMing on 41.478001145 meters Centerline goodness : 0.930358 with order 1 Centerline is valid? [False, False] Translation: X:0.56, Y:-6.41, Z:-2.23 [[ 0.80779598 -0.54735388 -0.21879074 0.55795603] [ 0.51697298 0.83617526 -0.18316623 -6.41258591] [ 0.28320415 0.03485204 0.95842618 -2.23361771] [ 0. 0. 0. 1. ]] SLAMing on 41.538001144999996 meters Centerline goodness : 0.928769 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:-6.41, Z:-2.24 [[ 0.80253254 -0.55348067 -0.2227121 0.57244657] [ 0.52269691 0.83225147 -0.18478484 -6.41014896] [ 0.28762731 0.03188492 0.95721151 -2.23886117] [ 0. 0. 0. 1. ]] SLAMing on 41.598001145 meters Centerline goodness : 0.931362 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:-6.41, Z:-2.24 [[ 0.79909058 -0.55566998 -0.22953238 0.58396439] [ 0.52525997 0.83100347 -0.18312619 -6.40502364] [ 0.29249993 0.02577024 0.95591824 -2.23921242] [ 0. 0. 0. 1. ]] SLAMing on 41.658001145 meters Centerline goodness : 0.933211 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:-6.40, Z:-2.24 [[ 0.79428219 -0.55659009 -0.2435637 0.59933211] [ 0.52774749 0.83069673 -0.17727249 -6.3953106 ] [ 0.30099568 0.01226425 0.95354664 -2.23596132] [ 0. 0. 0. 1. ]] SLAMing on 41.718001144999995 meters Centerline goodness : 0.927187 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:-6.39, Z:-2.24 [[ 7.91077518e-01 -5.57992982e-01 -2.50679460e-01 6.10605721e-01] [ 5.29722540e-01 8.29823888e-01 -1.75460380e-01 -6.38881150e+00] [ 3.05925465e-01 6.01220121e-03 9.52036482e-01 -2.23624246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.778001145 meters Centerline goodness : 0.929258 with order 1 Centerline is valid? [False, False] Translation: X:0.62, Y:-6.38, Z:-2.24 [[ 7.87900082e-01 -5.60462336e-01 -2.55138061e-01 6.18614374e-01] [ 5.32367921e-01 8.28176883e-01 -1.75235406e-01 -6.38267442e+00] [ 3.09512289e-01 2.24067190e-03 9.50892803e-01 -2.23581233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.838001145 meters Centerline goodness : 0.931747 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:-6.37, Z:-2.24 [[ 0.78597102 -0.56216678 -0.2573287 0.6302964 ] [ 0.53713965 0.82698792 -0.1660481 -6.37163019] [ 0.30615446 -0.00771246 0.95195061 -2.23746944] [ 0. 0. 0. 1. ]] SLAMing on 41.898001144999995 meters Centerline goodness : 0.932970 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:-6.36, Z:-2.24 [[ 0.78264827 -0.56269991 -0.26613998 0.64177266] [ 0.53861838 0.82651914 -0.16357371 -6.36160119] [ 0.3120127 -0.01532721 0.94995429 -2.23730538] [ 0. 0. 0. 1. ]] SLAMing on 41.958001145 meters Centerline goodness : 0.934758 with order 1 Centerline is valid? [False, False] Translation: X:0.65, Y:-6.35, Z:-2.24 [[ 0.78166597 -0.56291442 -0.26856221 0.65284522] [ 0.54155705 0.82616842 -0.15544035 -6.34982753] [ 0.30937723 -0.02393933 0.95063802 -2.24056351] [ 0. 0. 0. 1. ]] SLAMing on 42.018001145 meters Centerline goodness : 0.932358 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-6.34, Z:-2.24 [[ 0.78238482 -0.55770247 -0.2772038 0.65956422] [ 0.53838193 0.82940169 -0.14912321 -6.33671975] [ 0.31307969 -0.03256978 0.94916823 -2.24109692] [ 0. 0. 0. 1. ]] SLAMing on 42.078001144999995 meters Centerline goodness : 0.933093 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:-6.33, Z:-2.25 [[ 0.78306149 -0.55698428 -0.27673672 0.66977123] [ 0.5401427 0.82961686 -0.14135675 -6.32533918] [ 0.30831894 -0.03878629 0.95049201 -2.24709386] [ 0. 0. 0. 1. ]] SLAMing on 42.138001145 meters Centerline goodness : 0.927626 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-6.31, Z:-2.25 [[ 0.78222712 -0.5562187 -0.28060913 0.67944835] [ 0.54188639 0.82969402 -0.13404091 -6.30828616] [ 0.30737577 -0.04720784 0.95041652 -2.25100935] [ 0. 0. 0. 1. ]] SLAMing on 42.198001145 meters Centerline goodness : 0.924093 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-6.29, Z:-2.26 [[ 0.78161384 -0.55650647 -0.2817452 0.69301496] [ 0.54437788 0.82910204 -0.12744622 -6.29486327] [ 0.30452017 -0.05376213 0.95098743 -2.25762448] [ 0. 0. 0. 1. ]] SLAMing on 42.258001144999994 meters Centerline goodness : 0.920143 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-6.28, Z:-2.26 [[ 0.78192322 -0.55326752 -0.28721271 0.69554993] [ 0.54211647 0.83097649 -0.12485116 -6.28375708] [ 0.3077431 -0.05807871 0.94969524 -2.25741495] [ 0. 0. 0. 1. ]] SLAMing on 42.318001145 meters Centerline goodness : 0.917476 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-6.27, Z:-2.26 [[ 0.78366308 -0.55385612 -0.28127492 0.70195066] [ 0.54463764 0.83037615 -0.11766601 -6.27216576] [ 0.29873403 -0.0609824 0.95238602 -2.26496715] [ 0. 0. 0. 1. ]] SLAMing on 42.378001145 meters Centerline goodness : 0.910727 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-6.26, Z:-2.27 [[ 0.78677652 -0.54921555 -0.28168242 0.70994788] [ 0.5426883 0.8329326 -0.10822515 -6.25629294] [ 0.29406141 -0.06771674 0.95338467 -2.27264825] [ 0. 0. 0. 1. ]] SLAMing on 42.438001145 meters Centerline goodness : 0.911018 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-6.25, Z:-2.28 [[ 0.78971522 -0.54999898 -0.27175538 0.71287828] [ 0.54461165 0.8324459 -0.10213703 -6.24533472] [ 0.28239692 -0.06734198 0.95693105 -2.28186196] [ 0. 0. 0. 1. ]] SLAMing on 42.498001144999996 meters Centerline goodness : 0.910634 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-6.23, Z:-2.28 [[ 0.79130296 -0.54475884 -0.27762822 0.71596737] [ 0.54059551 0.83548853 -0.09856681 -6.23367527] [ 0.28565033 -0.07208836 0.95561873 -2.28317123] [ 0. 0. 0. 1. ]] SLAMing on 42.558001145 meters Centerline goodness : 0.913223 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-6.22, Z:-2.28 [[ 0.79256735 -0.54719621 -0.26909718 0.71756606] [ 0.54319525 0.83407778 -0.09619345 -6.22036702] [ 0.27708467 -0.06993253 0.9582972 -2.28393389] [ 0. 0. 0. 1. ]] SLAMing on 42.618001145 meters Centerline goodness : 0.904214 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-6.21, Z:-2.29 [[ 0.79246569 -0.54737056 -0.26904202 0.72824649] [ 0.54511665 0.83350161 -0.09012718 -6.20562862] [ 0.27357993 -0.07523659 0.95890223 -2.29087168] [ 0. 0. 0. 1. ]] SLAMing on 42.678001144999996 meters Centerline goodness : 0.904033 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-6.19, Z:-2.30 [[ 0.79187475 -0.54925618 -0.26693075 0.7362542 ] [ 0.54958886 0.83153595 -0.08062286 -6.19279897] [ 0.26624512 -0.08285895 0.9603374 -2.29685252] [ 0. 0. 0. 1. ]] SLAMing on 42.738001145 meters Centerline goodness : 0.904494 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-6.18, Z:-2.30 [[ 0.79244386 -0.54962885 -0.26446334 0.7430853 ] [ 0.55199953 0.83069581 -0.0723947 -6.1802827 ] [ 0.25947881 -0.0886149 0.96167466 -2.29768939] [ 0. 0. 0. 1. ]] SLAMing on 42.798001145 meters Centerline goodness : 0.900438 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-6.17, Z:-2.30 [[ 0.79222408 -0.5497191 -0.2649338 0.74584693] [ 0.55169867 0.83075213 -0.07402353 -6.17337535] [ 0.26078647 -0.0875204 0.96142113 -2.30104021] [ 0. 0. 0. 1. ]] SLAMing on 42.858001144999996 meters Centerline goodness : 0.903029 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-6.16, Z:-2.30 [[ 0.79200765 -0.55464077 -0.25514212 0.74941742] [ 0.55629536 0.82780079 -0.07267277 -6.16468601] [ 0.25151413 -0.08437699 0.96416864 -2.30243442] [ 0. 0. 0. 1. ]] SLAMing on 42.918001145 meters Centerline goodness : 0.902528 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-6.15, Z:-2.30 [[ 0.78932008 -0.55518952 -0.26218012 0.76134241] [ 0.55859176 0.82659377 -0.06868752 -6.15171725] [ 0.25485105 -0.09223522 0.96257135 -2.29701179] [ 0. 0. 0. 1. ]] SLAMing on 42.978001145 meters Centerline goodness : 0.903260 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-6.15, Z:-2.30 [[ 0.78651714 -0.55816571 -0.26427606 0.76374678] [ 0.56152792 0.82447734 -0.07016773 -6.14597402] [ 0.25705484 -0.09321026 0.96189119 -2.29549332] [ 0. 0. 0. 1. ]] SLAMing on 43.038001144999996 meters Centerline goodness : 0.900167 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-6.14, Z:-2.30 [[ 0.78540667 -0.55853342 -0.26678976 0.76578221] [ 0.56212071 0.82405727 -0.07035566 -6.13919292] [ 0.25914603 -0.09471025 0.96118328 -2.29552775] [ 0. 0. 0. 1. ]] SLAMing on 43.098001145 meters Centerline goodness : 0.902815 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-6.13, Z:-2.29 [[ 0.78499197 -0.55693558 -0.27131231 0.76694138] [ 0.56142141 0.82468929 -0.06850964 -6.13268341] [ 0.26190381 -0.09854102 0.96005003 -2.29336063] [ 0. 0. 0. 1. ]] SLAMing on 43.158001145 meters Centerline goodness : 0.903405 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-6.13, Z:-2.30 [[ 0.78503907 -0.55654749 -0.2719716 0.76838858] [ 0.56065515 0.82507869 -0.0700782 -6.12570504] [ 0.26339982 -0.09746816 0.95975023 -2.29572985] [ 0. 0. 0. 1. ]] SLAMing on 43.218001144999995 meters Centerline goodness : 0.902430 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-6.12, Z:-2.29 [[ 0.78497258 -0.55503159 -0.27524169 0.76848559] [ 0.55989536 0.82574034 -0.06833798 -6.12168809] [ 0.2652079 -0.10046311 0.95894313 -2.29355074] [ 0. 0. 0. 1. ]] SLAMing on 43.278001145 meters Centerline goodness : 0.901722 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-6.11, Z:-2.29 [[ 0.78482702 -0.55292453 -0.27985892 0.76806031] [ 0.55874628 0.82667928 -0.06636227 -6.11349047] [ 0.2680469 -0.10428723 0.95774476 -2.29140523] [ 0. 0. 0. 1. ]] SLAMing on 43.338001145 meters Centerline goodness : 0.900570 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-6.11, Z:-2.30 [[ 0.78620513 -0.55099852 -0.27978943 0.77053481] [ 0.55615993 0.82826226 -0.06832099 -6.10595805] [ 0.26938379 -0.10189336 0.95762734 -2.29596971] [ 0. 0. 0. 1. ]] SLAMing on 43.398001144999995 meters Centerline goodness : 0.898556 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-6.10, Z:-2.29 [[ 0.78708507 -0.54733676 -0.28446365 0.77014923] [ 0.55359969 0.83019385 -0.06561668 -6.09884617] [ 0.27207439 -0.10583308 0.95643865 -2.29398248] [ 0. 0. 0. 1. ]] SLAMing on 43.458001145 meters Centerline goodness : 0.898554 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-6.07, Z:-2.26 [[ 0.792943 -0.55115195 -0.25975551 0.77597854] [ 0.54638693 0.83187825 -0.09715917 -6.06726422] [ 0.26963442 -0.06488534 0.96077426 -2.26207866] [ 0. 0. 0. 1. ]] SLAMing on 43.518001145 meters Centerline goodness : 0.900383 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-6.06, Z:-2.27 [[ 0.79513648 -0.54721199 -0.26137525 0.77889086] [ 0.54257771 0.83445426 -0.0964133 -6.06179093] [ 0.2708642 -0.06515466 0.96041004 -2.26555753] [ 0. 0. 0. 1. ]] SLAMing on 43.578001144999995 meters Centerline goodness : 0.895615 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-6.05, Z:-2.27 [[ 0.79850134 -0.54550918 -0.25458858 0.77949469] [ 0.54147014 0.83564321 -0.09225239 -6.04852667] [ 0.26306975 -0.06418845 0.96263916 -2.26570765] [ 0. 0. 0. 1. ]] SLAMing on 43.638001145 meters Centerline goodness : 0.895256 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-6.04, Z:-2.27 [[ 0.80143811 -0.54052359 -0.25599064 0.78083726] [ 0.53659574 0.83887977 -0.09135505 -6.0438103 ] [ 0.26412493 -0.06414807 0.96235287 -2.26827005] [ 0. 0. 0. 1. ]] SLAMing on 43.698001145 meters Centerline goodness : 0.897279 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-6.04, Z:-2.23 [[ 0.81302516 -0.55065943 -0.18911445 0.70452652] [ 0.52883031 0.83430403 -0.15580528 -6.043788 ] [ 0.24357459 0.02666416 0.96951557 -2.22612125] [ 0. 0. 0. 1. ]] SLAMing on 43.758001144999994 meters Centerline goodness : 0.893637 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-6.04, Z:-2.23 [[ 0.81244823 -0.55087996 -0.1909428 0.70682546] [ 0.52902003 0.83419403 -0.15575021 -6.03983562] [ 0.24508301 0.02552641 0.96916599 -2.22632161] [ 0. 0. 0. 1. ]] SLAMing on 43.818001145 meters Centerline goodness : 0.892913 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-6.05, Z:-2.22 [[ 0.81400586 -0.55463267 -0.17256034 0.67632901] [ 0.52949521 0.8306664 -0.17212832 -6.05386431] [ 0.23880806 0.04874359 0.96984265 -2.22115682] [ 0. 0. 0. 1. ]] SLAMing on 43.878001145 meters Centerline goodness : 0.898511 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:-6.05, Z:-2.21 [[ 0.81205626 -0.55923583 -0.16679304 0.66780562] [ 0.53307893 0.82714345 -0.17793415 -6.05439632] [ 0.23746892 0.05557869 0.96980386 -2.21241671] [ 0. 0. 0. 1. ]] SLAMing on 43.938001145 meters Centerline goodness : 0.895643 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-6.03, Z:-2.18 [[ 0.81223039 -0.56561489 -0.14269404 0.67851091] [ 0.53437325 0.8195495 -0.20684258 -6.03225924] [ 0.23393807 0.09175195 0.96791247 -2.17593954] [ 0. 0. 0. 1. ]] SLAMing on 43.998001144999996 meters Centerline goodness : 0.898555 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:-6.04, Z:-2.18 [[ 0.81049679 -0.56818415 -0.1423437 0.67310522] [ 0.53770006 0.81810187 -0.2039313 -6.03676589] [ 0.23232218 0.08874745 0.96858159 -2.18188028] [ 0. 0. 0. 1. ]] SLAMing on 44.058001145 meters Centerline goodness : 0.896014 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-6.04, Z:-2.18 [[ 0.81025408 -0.56835604 -0.14303751 0.67686611] [ 0.53809846 0.81813894 -0.2027282 -6.03989821] [ 0.23224636 0.08729309 0.96873193 -2.18460399] [ 0. 0. 0. 1. ]] SLAMing on 44.118001145 meters Centerline goodness : 0.895284 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-6.04, Z:-2.19 [[ 0.81177603 -0.56556404 -0.14545442 0.67817719] [ 0.53598652 0.82046874 -0.19887058 -6.0430254 ] [ 0.23181485 0.08347676 0.96917156 -2.18598577] [ 0. 0. 0. 1. ]] SLAMing on 44.178001144999996 meters Centerline goodness : 0.900111 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-6.04, Z:-2.18 [[ 0.81396017 -0.56203264 -0.1469291 0.67670392] [ 0.53291378 0.8230954 -0.19625717 -6.04279711] [ 0.2312396 0.08144498 0.9694818 -2.18373698] [ 0. 0. 0. 1. ]] SLAMing on 44.238001145 meters Centerline goodness : 0.895128 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-6.04, Z:-2.18 [[ 0.81505566 -0.5607368 -0.145803 0.6785312 ] [ 0.53095764 0.82361097 -0.19937141 -6.03924206] [ 0.23187984 0.08508358 0.96901627 -2.17689278] [ 0. 0. 0. 1. ]] SLAMing on 44.298001145 meters Centerline goodness : 0.896351 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-6.04, Z:-2.18 [[ 0.81754732 -0.5567182 -0.14724546 0.68220146] [ 0.52755089 0.82658056 -0.19609856 -6.04022411] [ 0.23088187 0.08264038 0.9694659 -2.17810283] [ 0. 0. 0. 1. ]] SLAMing on 44.358001144999996 meters Centerline goodness : 0.895048 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-6.04, Z:-2.17 [[ 0.81852318 -0.55531693 -0.14711529 0.68649913] [ 0.52545392 0.82722382 -0.1989948 -6.03625658] [ 0.23220246 0.08557955 0.96889533 -2.172329 ] [ 0. 0. 0. 1. ]] SLAMing on 44.418001145 meters Centerline goodness : 0.891475 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-6.03, Z:-2.16 [[ 0.8194443 -0.55544132 -0.14140716 0.69191827] [ 0.52397747 0.8259616 -0.20793041 -6.02956526] [ 0.23229003 0.09629322 0.96786825 -2.15825585] [ 0. 0. 0. 1. ]] SLAMing on 44.478001145 meters Centerline goodness : 0.892734 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-6.03, Z:-2.16 [[ 0.82151556 -0.5516782 -0.14409495 0.69368844] [ 0.52091572 0.82892988 -0.20376962 -6.03176656] [ 0.23185986 0.09233859 0.96835664 -2.15922739] [ 0. 0. 0. 1. ]] SLAMing on 44.538001144999996 meters Centerline goodness : 0.892353 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-6.03, Z:-2.15 [[ 0.82192405 -0.55138486 -0.14288316 0.70824506] [ 0.51906917 0.82835388 -0.21070609 -6.02923158] [ 0.23453797 0.09901816 0.96705085 -2.15057403] [ 0. 0. 0. 1. ]] SLAMing on 44.598001145 meters Centerline goodness : 0.891326 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-6.03, Z:-2.15 [[ 0.82171616 -0.55149794 -0.14364046 0.70856477] [ 0.51930316 0.8284141 -0.20989118 -6.030334 ] [ 0.23474833 0.09787803 0.96711587 -2.15086181] [ 0. 0. 0. 1. ]] SLAMing on 44.658001145 meters Centerline goodness : 0.893339 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-6.03, Z:-2.15 [[ 0.82158801 -0.55148627 -0.14441617 0.71126749] [ 0.51940736 0.82855149 -0.20908951 -6.03292339] [ 0.23496623 0.09677461 0.967174 -2.15168783] [ 0. 0. 0. 1. ]] SLAMing on 44.718001144999995 meters Centerline goodness : 0.889522 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-6.05, Z:-2.16 [[ 0.82270458 -0.54966797 -0.14499065 0.68841405] [ 0.51858936 0.83017066 -0.20465031 -6.05227048] [ 0.2328567 0.09317614 0.96803717 -2.16498451] [ 0. 0. 0. 1. ]] SLAMing on 44.778001145 meters Centerline goodness : 0.891690 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-6.06, Z:-2.17 [[ 0.82384944 -0.54706834 -0.14828462 0.69304578] [ 0.51668688 0.83240267 -0.20035087 -6.05591657] [ 0.23303814 0.08844224 0.9684375 -2.16905934] [ 0. 0. 0. 1. ]] SLAMing on 44.838001145 meters Centerline goodness : 0.891366 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-6.06, Z:-2.17 [[ 0.82581397 -0.54315687 -0.15169674 0.6957795 ] [ 0.51357551 0.83545916 -0.19557143 -6.05848087] [ 0.23296239 0.08359789 0.96888592 -2.17136442] [ 0. 0. 0. 1. ]] SLAMing on 44.898001144999995 meters Centerline goodness : 0.890728 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-6.03, Z:-2.13 [[ 0.82816232 -0.54530902 -0.12955785 0.71489016] [ 0.51142596 0.82978071 -0.22339976 -6.03366586] [ 0.22932651 0.11875201 0.96607831 -2.13280017] [ 0. 0. 0. 1. ]] SLAMing on 44.958001145 meters Centerline goodness : 0.890609 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-6.04, Z:-2.14 [[ 0.8301568 -0.54111502 -0.13429156 0.71815461] [ 0.50849181 0.83362601 -0.2156473 -6.03647443] [ 0.22863893 0.11073491 0.96719285 -2.14175666] [ 0. 0. 0. 1. ]] SLAMing on 45.018001145 meters Centerline goodness : 0.892533 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-6.04, Z:-2.14 [[ 0.83237322 -0.53699699 -0.13707319 0.72060496] [ 0.50501639 0.83679204 -0.21151247 -6.03824986] [ 0.22828331 0.10683311 0.96771557 -2.14296059] [ 0. 0. 0. 1. ]] SLAMing on 45.078001144999995 meters Centerline goodness : 0.890923 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-6.04, Z:-2.14 [[ 0.83465637 -0.53298022 -0.13885544 0.72088101] [ 0.50150118 0.83966806 -0.20845652 -6.03862795] [ 0.22769568 0.1043534 0.9681245 -2.14159087] [ 0. 0. 0. 1. ]] SLAMing on 45.138001145 meters Centerline goodness : 0.886360 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-6.04, Z:-2.14 [[ 0.83701316 -0.52889256 -0.14029127 0.72284752] [ 0.49787433 0.84249467 -0.2057277 -6.04063407] [ 0.2270025 0.10234937 0.96850115 -2.13940483] [ 0. 0. 0. 1. ]] SLAMing on 45.198001145 meters Centerline goodness : 0.886850 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-6.06, Z:-2.15 [[ 0.83844069 -0.52593485 -0.14286266 0.69767897] [ 0.49643725 0.84519449 -0.19798065 -6.06240856] [ 0.22487166 0.09507269 0.9697391 -2.1547541 ] [ 0. 0. 0. 1. ]] SLAMing on 45.258001144999994 meters Centerline goodness : 0.884607 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-6.07, Z:-2.15 [[ 0.83858094 -0.52558137 -0.14333959 0.69995943] [ 0.49617159 0.84548928 -0.19738701 -6.06565869] [ 0.22493502 0.09440395 0.96978974 -2.15397876] [ 0. 0. 0. 1. ]] SLAMing on 45.318001145 meters Centerline goodness : 0.886887 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-6.08, Z:-2.16 [[ 0.8416498 -0.52140922 -0.14056333 0.68332122] [ 0.49247963 0.84788543 -0.19635201 -6.08062716] [ 0.22156135 0.09603505 0.97040602 -2.15950986] [ 0. 0. 0. 1. ]] SLAMing on 45.378001145 meters Centerline goodness : 0.883852 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-6.09, Z:-2.16 [[ 0.84180167 -0.52107792 -0.14088202 0.68772401] [ 0.4923794 0.84821195 -0.19518968 -6.08600829] [ 0.22120685 0.0949436 0.97059427 -2.16123711] [ 0. 0. 0. 1. ]] SLAMing on 45.438001145 meters Centerline goodness : 0.884718 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-6.09, Z:-2.16 [[ 0.84342036 -0.51789409 -0.14292586 0.68912838] [ 0.49002887 0.85062587 -0.19054486 -6.09178878] [ 0.22025849 0.09067162 0.97121823 -2.16275387] [ 0. 0. 0. 1. ]] SLAMing on 45.498001144999996 meters Centerline goodness : 0.885745 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-6.10, Z:-2.16 [[ 0.84543405 -0.51412535 -0.14462503 0.69214016] [ 0.4869981 0.85327187 -0.18644025 -6.09776096] [ 0.21925813 0.08719082 0.97176316 -2.16354005] [ 0. 0. 0. 1. ]] SLAMing on 45.558001145 meters Centerline goodness : 0.886959 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-6.10, Z:-2.16 [[ 0.84565913 -0.51339644 -0.14589289 0.69660419] [ 0.4861641 0.85376305 -0.18636825 -6.09972595] [ 0.22023875 0.08667612 0.97158743 -2.1622464 ] [ 0. 0. 0. 1. ]] SLAMing on 45.618001145 meters Centerline goodness : 0.888968 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-6.10, Z:-2.16 [[ 0.84598969 -0.51295407 -0.14553202 0.69934353] [ 0.48540696 0.85386216 -0.18788161 -6.10107213] [ 0.22063892 0.08830365 0.97135006 -2.15825659] [ 0. 0. 0. 1. ]] SLAMing on 45.678001144999996 meters Centerline goodness : 0.888549 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-6.08, Z:-2.12 [[ 0.84829571 -0.51560988 -0.12058541 0.72146813] [ 0.48354266 0.84709979 -0.22047322 -6.07912487] [ 0.21582605 0.1287183 0.96791049 -2.12105186] [ 0. 0. 0. 1. ]] SLAMing on 45.738001145 meters Centerline goodness : 0.883501 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:-6.06, Z:-2.02 [[ 0.85540879 -0.51655224 -0.03807352 0.67133858] [ 0.47990773 0.81808361 -0.31690341 -6.0635055 ] [ 0.19484448 0.25281018 0.94769332 -2.02410089] [ 0. 0. 0. 1. ]] SLAMing on 45.798001145 meters Centerline goodness : 0.882635 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:-6.07, Z:-1.95 [[ 0.86184763 -0.50678814 0.01960729 0.62547827] [ 0.47420447 0.79152009 -0.38552052 -6.07337404] [ 0.17985766 0.34155781 0.92249091 -1.95307103] [ 0. 0. 0. 1. ]] SLAMing on 45.858001144999996 meters Centerline goodness : 0.881661 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:-6.10, Z:-1.91 [[ 0.86629843 -0.49414631 0.07311951 0.56927687] [ 0.47394864 0.76684702 -0.43280288 -6.10198457] [ 0.15779647 0.40959134 0.89851834 -1.90701668] [ 0. 0. 0. 1. ]] SLAMing on 45.918001145 meters Centerline goodness : 0.881077 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:-6.15, Z:-1.92 [[ 0.86623508 -0.49426823 0.07304594 0.50583904] [ 0.47515522 0.76973705 -0.42630083 -6.14832849] [ 0.15448079 0.4039849 0.90162736 -1.92124987] [ 0. 0. 0. 1. ]] SLAMing on 45.978001145 meters Centerline goodness : 0.881856 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:-6.16, Z:-1.89 [[ 0.86664744 -0.48905627 0.09872277 0.49964027] [ 0.47696656 0.75407827 -0.45151839 -6.15981317] [ 0.1463732 0.43839472 0.88678349 -1.8870117 ] [ 0. 0. 0. 1. ]] SLAMing on 46.038001144999996 meters Centerline goodness : 0.881043 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:-6.16, Z:-1.89 [[ 0.86992975 -0.4863964 0.08149094 0.50702563] [ 0.4680432 0.7621733 -0.44724425 -6.16329666] [ 0.15542777 0.42721236 0.89069176 -1.89324275] [ 0. 0. 0. 1. ]] SLAMing on 46.098001145 meters Centerline goodness : 0.880253 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:-6.18, Z:-1.90 [[ 0.87266386 -0.48453754 0.06067264 0.50767981] [ 0.45720216 0.76707578 -0.4500677 -6.17508246] [ 0.17153418 0.42049747 0.89093092 -1.90171776] [ 0. 0. 0. 1. ]] SLAMing on 46.158001145 meters Centerline goodness : 0.881927 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:-6.18, Z:-1.91 [[ 0.87373803 -0.48400211 0.04820594 0.51501356] [ 0.45095717 0.76895007 -0.45315938 -6.17788802] [ 0.18226214 0.41768139 0.89012514 -1.90754344] [ 0. 0. 0. 1. ]] SLAMing on 46.218001144999995 meters Centerline goodness : 0.885219 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:-6.18, Z:-1.91 [[ 0.87524308 -0.48266557 0.03136076 0.52182594] [ 0.44362112 0.77522288 -0.44969967 -6.18404917] [ 0.19274297 0.40750881 0.8926291 -1.91064999] [ 0. 0. 0. 1. ]] SLAMing on 46.278001145 meters Centerline goodness : 0.886536 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:-6.19, Z:-1.92 [[ 0.87771766 -0.47887473 0.01705 0.52836983] [ 0.4345333 0.78043943 -0.4495499 -6.18803646] [ 0.2019716 0.40198668 0.89309248 -1.91503939] [ 0. 0. 0. 1. ]] SLAMing on 46.338001145 meters Centerline goodness : 0.886264 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:-6.20, Z:-1.92 [[ 0.88171736 -0.47172996 -0.00673312 0.53037521] [ 0.41897366 0.78951104 -0.44847898 -6.19885548] [ 0.21687685 0.3926107 0.89376802 -1.92264742] [ 0. 0. 0. 1. ]] SLAMing on 46.398001144999995 meters Centerline goodness : 0.888589 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:-6.20, Z:-1.93 [[ 0.88507318 -0.46493418 -0.02194722 0.53621768] [ 0.40763702 0.79703432 -0.44561009 -6.20301655] [ 0.22467205 0.38545104 0.89495808 -1.92747391] [ 0. 0. 0. 1. ]] SLAMing on 46.458001145 meters Centerline goodness : 0.885021 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:-6.21, Z:-1.93 [[ 0.88827547 -0.45792415 -0.03566752 0.54211963] [ 0.39637645 0.80348339 -0.44418481 -6.2055121 ] [ 0.2320612 0.3804207 0.89522494 -1.93341772] [ 0. 0. 0. 1. ]] SLAMing on 46.518001145 meters Centerline goodness : 0.886970 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:-6.20, Z:-1.94 [[ 0.88931137 -0.45546004 -0.04100538 0.54962171] [ 0.39363099 0.80804778 -0.43830747 -6.20296223] [ 0.23276584 0.37365083 0.89788926 -1.93825609] [ 0. 0. 0. 1. ]] SLAMing on 46.578001144999995 meters Centerline goodness : 0.884603 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:-6.21, Z:-1.94 [[ 0.89015762 -0.45271067 -0.05169587 0.55418989] [ 0.3864997 0.81027397 -0.4405384 -6.20799406] [ 0.24132425 0.37216818 0.89624408 -1.94478627] [ 0. 0. 0. 1. ]] SLAMing on 46.638001145 meters Centerline goodness : 0.889224 with order 1 Centerline is valid? [False, False] Translation: X:0.56, Y:-6.21, Z:-1.95 [[ 0.8899297 -0.45290512 -0.05387097 0.55973376] [ 0.38622198 0.81114061 -0.43918503 -6.20586987] [ 0.24260608 0.37003765 0.89678003 -1.94710885] [ 0. 0. 0. 1. ]] SLAMing on 46.698001145 meters Centerline goodness : 0.892282 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:-6.21, Z:-1.95 [[ 0.8888179 -0.4544461 -0.05900406 0.56807924] [ 0.38718677 0.81359002 -0.43377147 -6.2078755 ] [ 0.24513087 0.36269826 0.89908889 -1.95060873] [ 0. 0. 0. 1. ]] SLAMing on 46.758001144999994 meters Centerline goodness : 0.894285 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:-6.21, Z:-1.95 [[ 0.88766213 -0.45603096 -0.06396651 0.57670671] [ 0.38800267 0.81548517 -0.4294623 -6.20764327] [ 0.24801184 0.35639824 0.90081653 -1.95370612] [ 0. 0. 0. 1. ]] SLAMing on 46.818001145 meters Centerline goodness : 0.889884 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:-6.21, Z:-1.96 [[ 0.88504608 -0.46084736 -0.0656745 0.58488367] [ 0.39187267 0.8137516 -0.4292367 -6.20726234] [ 0.25125533 0.35415822 0.90080115 -1.95939144] [ 0. 0. 0. 1. ]] SLAMing on 46.878001145 meters Centerline goodness : 0.889303 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:-6.20, Z:-1.96 [[ 0.88253953 -0.46518391 -0.06875976 0.59413778] [ 0.39502096 0.8127325 -0.42828066 -6.20475838] [ 0.25511257 0.35081306 0.90102596 -1.96487357] [ 0. 0. 0. 1. ]] SLAMing on 46.938001145 meters Centerline goodness : 0.889500 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:-6.20, Z:-1.97 [[ 0.88071744 -0.46766938 -0.07498102 0.60430874] [ 0.39650089 0.81457382 -0.42338698 -6.20485974] [ 0.2590827 0.34315425 0.90284069 -1.96826357] [ 0. 0. 0. 1. ]] SLAMing on 46.998001144999996 meters Centerline goodness : 0.896063 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:-6.20, Z:-1.97 [[ 0.87921518 -0.46942823 -0.08134982 0.61294811] [ 0.39722742 0.81656939 -0.41883744 -6.20338089] [ 0.2630419 0.33593386 0.90440998 -1.96812996] [ 0. 0. 0. 1. ]] SLAMing on 47.058001145 meters Centerline goodness : 0.896440 with order 1 Centerline is valid? [False, False] Translation: X:0.62, Y:-6.20, Z:-1.97 [[ 0.87799391 -0.47115625 -0.0844895 0.62021982] [ 0.39838096 0.81710187 -0.4166979 -6.20122908] [ 0.26536635 0.33219921 0.90511015 -1.97086668] [ 0. 0. 0. 1. ]] SLAMing on 47.118001145 meters Centerline goodness : 0.899121 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:-6.20, Z:-1.97 [[ 0.87746757 -0.47183384 -0.08615972 0.62599898] [ 0.39870715 0.81740132 -0.41579765 -6.19812763] [ 0.26661447 0.33049646 0.90536667 -1.97384295] [ 0. 0. 0. 1. ]] SLAMing on 47.178001144999996 meters Centerline goodness : 0.897672 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:-6.19, Z:-1.98 [[ 0.8774281 -0.47096949 -0.09114636 0.6349007 ] [ 0.39696752 0.8195367 -0.41325099 -6.19176172] [ 0.2693264 0.32641588 0.90604413 -1.97665381] [ 0. 0. 0. 1. ]] SLAMing on 47.238001145 meters Centerline goodness : 0.895702 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:-6.18, Z:-1.98 [[ 0.87751948 -0.46946297 -0.09779611 0.64408164] [ 0.39437318 0.8225255 -0.40978237 -6.18433934] [ 0.27281744 0.32102385 0.90692576 -1.97724664] [ 0. 0. 0. 1. ]] SLAMing on 47.298001145 meters Centerline goodness : 0.897773 with order 1 Centerline is valid? [False, False] Translation: X:0.65, Y:-6.18, Z:-1.98 [[ 0.87797377 -0.46731408 -0.1038249 0.6534242 ] [ 0.39199259 0.82631226 -0.40441299 -6.17749994] [ 0.27477967 0.31436541 0.90866414 -1.98173989] [ 0. 0. 0. 1. ]] SLAMing on 47.358001144999996 meters Centerline goodness : 0.899871 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-6.17, Z:-1.98 [[ 0.88016167 -0.46242029 -0.10715831 0.6559203 ] [ 0.38744344 0.83029144 -0.40062913 -6.17167306] [ 0.27423167 0.31110062 0.90995241 -1.9819263 ] [ 0. 0. 0. 1. ]] SLAMing on 47.418001145 meters Centerline goodness : 0.900617 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-6.16, Z:-1.98 [[ 0.88154888 -0.45931438 -0.10909566 0.66043202] [ 0.38411727 0.83220139 -0.39986845 -6.16343536] [ 0.27445489 0.31059806 0.91005679 -1.98432567] [ 0. 0. 0. 1. ]] SLAMing on 47.478001145 meters Centerline goodness : 0.897644 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-6.15, Z:-1.99 [[ 0.88246547 -0.45574662 -0.11640327 0.67614975] [ 0.3813762 0.83809068 -0.39007206 -6.14589667] [ 0.27533052 0.29983168 0.91339699 -1.98946631] [ 0. 0. 0. 1. ]] SLAMing on 47.538001144999996 meters Centerline goodness : 0.900377 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-6.14, Z:-1.99 [[ 0.8819494 -0.45561578 -0.1207457 0.68240739] [ 0.38058476 0.8394905 -0.38782848 -6.13830825] [ 0.27806564 0.29609112 0.91378857 -1.98911602] [ 0. 0. 0. 1. ]] SLAMing on 47.598001145 meters Centerline goodness : 0.901348 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-6.12, Z:-1.99 [[ 0.87897372 -0.45955572 -0.12733319 0.70017636] [ 0.38538242 0.84181852 -0.37791793 -6.12402834] [ 0.28086579 0.28310795 0.91704106 -1.99279846] [ 0. 0. 0. 1. ]] SLAMing on 47.658001145 meters Centerline goodness : 0.902115 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-6.12, Z:-1.99 [[ 0.87690429 -0.46193367 -0.13287641 0.70911322] [ 0.38684225 0.84231497 -0.37531129 -6.11761326] [ 0.28529271 0.27770988 0.91732507 -1.99362729] [ 0. 0. 0. 1. ]] SLAMing on 47.718001144999995 meters Centerline goodness : 0.898682 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-6.11, Z:-1.99 [[ 0.87599901 -0.4632201 -0.13436098 0.71378642] [ 0.38746897 0.84177288 -0.37588059 -6.11187063] [ 0.28721687 0.27721031 0.91687562 -1.99469892] [ 0. 0. 0. 1. ]] SLAMing on 47.778001145 meters Centerline goodness : 0.901262 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-6.10, Z:-2.00 [[ 0.87650344 -0.45888057 -0.14550032 0.72534153] [ 0.38316625 0.84799183 -0.36618777 -6.09987829] [ 0.29141953 0.26521403 0.9190953 -1.99820304] [ 0. 0. 0. 1. ]] SLAMing on 47.838001145 meters Centerline goodness : 0.901233 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-6.08, Z:-1.94 [[ 0.87916485 -0.46202482 -0.11662862 0.7450098 ] [ 0.38237995 0.8300753 -0.40590711 -6.07661624] [ 0.28434969 0.31226282 0.90644205 -1.94365192] [ 0. 0. 0. 1. ]] SLAMing on 47.898001144999995 meters Centerline goodness : 0.894166 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-6.05, Z:-1.88 [[ 0.88135165 -0.46553995 -0.08057188 0.76605303] [ 0.38392936 0.80509786 -0.45212352 -6.05302859] [ 0.2753498 0.3675459 0.88830879 -1.88015711] [ 0. 0. 0. 1. ]] SLAMing on 47.958001145 meters Centerline goodness : 0.892073 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-6.05, Z:-1.79 [[ 0.88332542 -0.46846222 -0.0167137 0.74084452] [ 0.39020674 0.75459064 -0.52757147 -6.04895605] [ 0.25975931 0.45949549 0.84934621 -1.79422386] [ 0. 0. 0. 1. ]] SLAMing on 48.018001145 meters Centerline goodness : 0.888431 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-6.04, Z:-1.80 [[ 0.88319471 -0.46821176 -0.02729196 0.7525852 ] [ 0.38663376 0.75978264 -0.5227281 -6.03608466] [ 0.2654834 0.4511187 0.85206249 -1.79689747] [ 0. 0. 0. 1. ]] SLAMing on 48.078001144999995 meters Centerline goodness : 0.890531 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-6.04, Z:-1.76 [[ 0.88200941 -0.47118022 -0.00697226 0.74422069] [ 0.39197836 0.74180204 -0.54413482 -6.03599223] [ 0.2615576 0.47719905 0.83896882 -1.7597577 ] [ 0. 0. 0. 1. ]] SLAMing on 48.138001145 meters Centerline goodness : 0.890208 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-6.04, Z:-1.72 [[ 0.87985589 -0.47507462 0.01255854 0.73404042] [ 0.39859999 0.72331663 -0.56385379 -6.04006105] [ 0.25878883 0.50111592 0.82577914 -1.72409668] [ 0. 0. 0. 1. ]] SLAMing on 48.198001145 meters Centerline goodness : 0.887997 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-6.04, Z:-1.68 [[ 0.8798194 -0.47364539 0.03972248 0.74362615] [ 0.40341773 0.69994186 -0.58935179 -6.03696565] [ 0.25134033 0.53454789 0.80689937 -1.68019149] [ 0. 0. 0. 1. ]] SLAMing on 48.258001144999994 meters Centerline goodness : 0.888081 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-6.05, Z:-1.59 [[ 0.87984069 -0.46379323 0.10380843 0.72400403] [ 0.41307884 0.63822726 -0.64963978 -6.05320861] [ 0.23504516 0.61446058 0.75312148 -1.59083336] [ 0. 0. 0. 1. ]] SLAMing on 48.318001145 meters Centerline goodness : 0.884851 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-6.06, Z:-1.59 [[ 0.88063785 -0.46239043 0.10330567 0.72274787] [ 0.41281592 0.64184145 -0.64623724 -6.05680575] [ 0.23250805 0.6117472 0.75611201 -1.59494367] [ 0. 0. 0. 1. ]] SLAMing on 48.378001145 meters Centerline goodness : 0.885661 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-6.05, Z:-1.56 [[ 0.87954812 -0.46119842 0.11700912 0.75479085] [ 0.41566449 0.62509549 -0.66066532 -6.048655 ] [ 0.23155593 0.62972347 0.74150536 -1.5606457 ] [ 0. 0. 0. 1. ]] SLAMing on 48.438001145 meters Centerline goodness : 0.884193 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-6.04, Z:-1.53 [[ 0.87988276 -0.45687623 0.13065385 0.78927638] [ 0.41716497 0.61100502 -0.6727899 -6.04096009] [ 0.22755156 0.64648045 0.72820555 -1.52634679] [ 0. 0. 0. 1. ]] SLAMing on 48.498001144999996 meters Centerline goodness : 0.880530 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-6.05, Z:-1.51 [[ 0.87922391 -0.45542185 0.13984367 0.78679513] [ 0.41951001 0.60099646 -0.68030478 -6.05044756] [ 0.22578011 0.65680605 0.71946449 -1.50724743] [ 0. 0. 0. 1. ]] SLAMing on 48.558001145 meters Centerline goodness : 0.880687 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-6.05, Z:-1.50 [[ 0.87771987 -0.46014799 0.13368494 0.79553059] [ 0.42014828 0.60489736 -0.67644262 -6.05252191] [ 0.23039804 0.64989462 0.72426081 -1.50306227] [ 0. 0. 0. 1. ]] SLAMing on 48.618001145 meters Centerline goodness : 0.875328 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-6.06, Z:-1.53 [[ 0.87679893 -0.46572198 0.11969404 0.77690668] [ 0.41980523 0.6199959 -0.66284889 -6.06469917] [ 0.23449349 0.63143339 0.73912427 -1.52773573] [ 0. 0. 0. 1. ]] SLAMing on 48.678001144999996 meters Centerline goodness : 0.875119 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-6.08, Z:-1.56 [[ 0.87635289 -0.47096741 0.10097188 0.7477413 ] [ 0.41831837 0.64026085 -0.64426375 -6.08084298] [ 0.23877888 0.60684079 0.75810877 -1.55852598] [ 0. 0. 0. 1. ]] SLAMing on 48.738001145 meters Centerline goodness : 0.871732 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-6.07, Z:-1.55 [[ 0.87659734 -0.46935818 0.10620741 0.77696394] [ 0.41999793 0.63846919 -0.64494871 -6.07429626] [ 0.23490179 0.60996721 0.75680985 -1.54650595] [ 0. 0. 0. 1. ]] SLAMing on 48.798001145 meters Centerline goodness : 0.876145 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-6.08, Z:-1.56 [[ 0.87666724 -0.47231903 0.09148379 0.77345782] [ 0.41928265 0.65683917 -0.62670916 -6.08066612] [ 0.23591653 0.58777295 0.77386456 -1.56305265] [ 0. 0. 0. 1. ]] SLAMing on 48.858001144999996 meters Centerline goodness : 0.875863 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-6.09, Z:-1.58 [[ 0.87662913 -0.47509218 0.07621542 0.76866776] [ 0.41881306 0.67541247 -0.60697085 -6.08710173] [ 0.23689026 0.56400834 0.79106106 -1.58101265] [ 0. 0. 0. 1. ]] SLAMing on 48.918001145 meters Centerline goodness : 0.873929 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-6.07, Z:-1.54 [[ 0.87760943 -0.47069916 0.09079648 0.81212768] [ 0.41734456 0.65702963 -0.62780218 -6.0742639 ] [ 0.23584998 0.58885853 0.77305913 -1.53746007] [ 0. 0. 0. 1. ]] SLAMing on 48.978001145 meters Centerline goodness : 0.875681 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-6.09, Z:-1.46 [[ 0.8770998 -0.45894908 0.14163925 0.80212338] [ 0.42446988 0.60266213 -0.67573935 -6.09217647] [ 0.22476934 0.65281245 0.7234049 -1.4646245 ] [ 0. 0. 0. 1. ]] SLAMing on 49.038001144999996 meters Centerline goodness : 0.874280 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-6.11, Z:-1.50 [[ 0.87693856 -0.46576926 0.11848102 0.76104075] [ 0.42241882 0.62940578 -0.65223516 -6.1149245 ] [ 0.22921845 0.62201878 0.7486999 -1.5016028 ] [ 0. 0. 0. 1. ]] SLAMing on 49.098001145 meters Centerline goodness : 0.876126 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-6.12, Z:-1.52 [[ 0.87608459 -0.47141434 0.10121412 0.75558921] [ 0.42119232 0.64608632 -0.63652926 -6.12460733] [ 0.23467596 0.60028409 0.76458237 -1.52048736] [ 0. 0. 0. 1. ]] SLAMing on 49.158001145 meters Centerline goodness : 0.875392 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-6.15, Z:-1.56 [[ 0.87473083 -0.47833749 0.07771235 0.71788457] [ 0.41991805 0.66810675 -0.6142493 -6.14519076] [ 0.24189832 0.56993562 0.78527612 -1.55574401] [ 0. 0. 0. 1. ]] SLAMing on 49.218001144999995 meters Centerline goodness : 0.878553 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-6.15, Z:-1.57 [[ 0.87466421 -0.47975519 0.06926377 0.71788243] [ 0.41888863 0.67619935 -0.60604187 -6.15244223] [ 0.24391562 0.55909694 0.79241137 -1.56740841] [ 0. 0. 0. 1. ]] SLAMing on 49.278001145 meters Centerline goodness : 0.882353 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-6.17, Z:-1.59 [[ 0.87403228 -0.48317256 0.05110634 0.69991933] [ 0.41822907 0.69464687 -0.58527785 -6.16551367] [ 0.24728934 0.53292589 0.8092206 -1.59019024] [ 0. 0. 0. 1. ]] SLAMing on 49.338001145 meters Centerline goodness : 0.885198 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-6.17, Z:-1.60 [[ 0.87337215 -0.4853246 0.04100139 0.70456637] [ 0.41937777 0.70653996 -0.57002068 -6.1706861 ] [ 0.24767594 0.51503526 0.82060667 -1.60183347] [ 0. 0. 0. 1. ]] SLAMing on 49.398001144999995 meters Centerline goodness : 0.888524 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:-6.19, Z:-1.63 [[ 0.87258138 -0.48810851 0.01875694 0.66978976] [ 0.41819061 0.72664465 -0.54507263 -6.19292453] [ 0.25242496 0.4834642 0.83817898 -1.63356144] [ 0. 0. 0. 1. ]] SLAMing on 49.458001145 meters Centerline goodness : 0.888531 with order 1 Centerline is valid? [False, False] Translation: X:0.65, Y:-6.21, Z:-1.66 [[ 8.71939706e-01 -4.89606955e-01 -2.48556721e-03 6.51567697e-01] [ 4.15545317e-01 7.42709167e-01 -5.25076359e-01 -6.20805582e+00] [ 2.58927091e-01 4.56802061e-01 8.51051490e-01 -1.65887486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.518001145 meters Centerline goodness : 0.892186 with order 1 Centerline is valid? [False, False] Translation: X:0.62, Y:-6.23, Z:-1.69 [[ 0.87144998 -0.48993386 -0.02323236 0.62152839] [ 0.41416686 0.76040411 -0.50025134 -6.22961311] [ 0.26275605 0.42632194 0.86556852 -1.69076882] [ 0. 0. 0. 1. ]] SLAMing on 49.578001144999995 meters Centerline goodness : 0.890661 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:-6.23, Z:-1.71 [[ 0.87192518 -0.48844417 -0.03418732 0.63106526] [ 0.41433483 0.77323127 -0.48004172 -6.23319139] [ 0.26090828 0.40439547 0.87657925 -1.70530093] [ 0. 0. 0. 1. ]] SLAMing on 49.638001145 meters Centerline goodness : 0.893470 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:-6.24, Z:-1.72 [[ 0.87355019 -0.48442575 -0.04734712 0.62552456] [ 0.41017578 0.78502826 -0.46420519 -6.24434814] [ 0.26204177 0.38608589 0.8844613 -1.72358302] [ 0. 0. 0. 1. ]] SLAMing on 49.698001145 meters Centerline goodness : 0.892367 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:-6.24, Z:-1.72 [[ 0.87462526 -0.4826854 -0.04522671 0.64413983] [ 0.41126276 0.78811808 -0.45796598 -6.24128847] [ 0.25669748 0.38194855 0.88781851 -1.71720399] [ 0. 0. 0. 1. ]] SLAMing on 49.758001144999994 meters Centerline goodness : 0.891452 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:-6.25, Z:-1.73 [[ 0.87525142 -0.4810055 -0.05068202 0.64052071] [ 0.41020499 0.79374261 -0.44911527 -6.25067422] [ 0.25625539 0.37229876 0.8920352 -1.72729321] [ 0. 0. 0. 1. ]] SLAMing on 49.818001145 meters Centerline goodness : 0.893803 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-6.25, Z:-1.72 [[ 0.87426764 -0.48308062 -0.04784565 0.65616169] [ 0.41488345 0.79472577 -0.44303801 -6.2523187 ] [ 0.25204725 0.36748342 0.89522518 -1.72348876] [ 0. 0. 0. 1. ]] SLAMing on 49.878001145 meters Centerline goodness : 0.895307 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-6.25, Z:-1.73 [[ 0.87196566 -0.48693566 -0.05069073 0.6648221 ] [ 0.41776494 0.79406275 -0.44151648 -6.24904034] [ 0.25524174 0.3638104 0.8958201 -1.73036724] [ 0. 0. 0. 1. ]] SLAMing on 49.938001145 meters Centerline goodness : 0.896069 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:-6.26, Z:-1.74 [[ 0.87026432 -0.48841798 -0.06393665 0.6742938 ] [ 0.41365257 0.79510488 -0.44350849 -6.2550314 ] [ 0.26745386 0.35952206 0.89398676 -1.73553451] [ 0. 0. 0. 1. ]] SLAMing on 49.998001144999996 meters Centerline goodness : 0.897091 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-6.25, Z:-1.74 [[ 0.86898356 -0.48977112 -0.07065289 0.68349951] [ 0.4140323 0.79782241 -0.43824269 -6.25364326] [ 0.27100707 0.35157311 0.89607562 -1.73766997] [ 0. 0. 0. 1. ]] SLAMing on 50.058001145 meters Centerline goodness : 0.900955 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-6.25, Z:-1.74 [[ 0.86833268 -0.49027465 -0.07502745 0.69097102] [ 0.4144359 0.80031914 -0.4332807 -6.25396999] [ 0.27247244 0.34513772 0.89813068 -1.74272904] [ 0. 0. 0. 1. ]] SLAMing on 50.118001145 meters Centerline goodness : 0.903049 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:-6.28, Z:-1.77 [[ 0.86546983 -0.49272666 -0.09045674 0.66638015] [ 0.41812726 0.80994337 -0.41129228 -6.27829853] [ 0.27591951 0.31813863 0.90700399 -1.77215918] [ 0. 0. 0. 1. ]] SLAMing on 50.178001144999996 meters Centerline goodness : 0.904881 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-6.27, Z:-1.78 [[ 0.86370404 -0.49486399 -0.0955247 0.67565279] [ 0.41942345 0.81083246 -0.40820914 -6.27496433] [ 0.27946253 0.31250658 0.90787683 -1.77579568] [ 0. 0. 0. 1. ]] SLAMing on 50.238001145 meters Centerline goodness : 0.902016 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-6.28, Z:-1.78 [[ 0.86523184 -0.48924628 -0.10959905 0.68133608] [ 0.41035689 0.81663362 -0.40585311 -6.27946068] [ 0.28806439 0.30618231 0.90734299 -1.78084044] [ 0. 0. 0. 1. ]] SLAMing on 50.298001145 meters Centerline goodness : 0.896325 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-6.28, Z:-1.78 [[ 0.86658202 -0.48632684 -0.1119009 0.68501359] [ 0.40776498 0.81932728 -0.40302671 -6.27830995] [ 0.28768617 0.30362644 0.90832134 -1.78294296] [ 0. 0. 0. 1. ]] SLAMing on 50.358001144999996 meters Centerline goodness : 0.897184 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-6.28, Z:-1.79 [[ 0.86899071 -0.48151583 -0.11400722 0.68757425] [ 0.40353264 0.82294078 -0.39991234 -6.27618535] [ 0.28638531 0.30151448 0.90943525 -1.78516047] [ 0. 0. 0. 1. ]] SLAMing on 50.418001145 meters Centerline goodness : 0.894882 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-6.27, Z:-1.79 [[ 0.86970179 -0.48008346 -0.114624 0.69142618] [ 0.40196678 0.82368274 -0.39996182 -6.2708588 ] [ 0.28642887 0.30177247 0.90933596 -1.78850317] [ 0. 0. 0. 1. ]] SLAMing on 50.478001145 meters Centerline goodness : 0.895291 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-6.27, Z:-1.79 [[ 0.8698441 -0.47965199 -0.11534818 0.69499209] [ 0.4012391 0.82389681 -0.40025145 -6.26854659] [ 0.2870164 0.30187416 0.90911692 -1.79028596] [ 0. 0. 0. 1. ]] SLAMing on 50.538001144999996 meters Centerline goodness : 0.891181 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-6.27, Z:-1.79 [[ 0.87014707 -0.47855701 -0.11758942 0.69985062] [ 0.40015576 0.82542976 -0.39817217 -6.26602656] [ 0.28760989 0.29941426 0.90974263 -1.79260099] [ 0. 0. 0. 1. ]] SLAMing on 50.598001145 meters Centerline goodness : 0.895923 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-6.27, Z:-1.79 [[ 0.86851341 -0.48012792 -0.1231326 0.7076107 ] [ 0.40120628 0.8268388 -0.39417144 -6.26510898] [ 0.29106353 0.2929416 0.91075092 -1.79270763] [ 0. 0. 0. 1. ]] SLAMing on 50.658001145 meters Centerline goodness : 0.900454 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-6.26, Z:-1.79 [[ 0.86664449 -0.48288687 -0.12548944 0.7132753 ] [ 0.40331637 0.82611009 -0.39354546 -6.26408261] [ 0.29370602 0.29045206 0.91069994 -1.79320227] [ 0. 0. 0. 1. ]] SLAMing on 50.718001144999995 meters Centerline goodness : 0.898523 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-6.26, Z:-1.80 [[ 0.86472584 -0.48588598 -0.12713785 0.71980693] [ 0.40532699 0.82461262 -0.39461886 -6.26010298] [ 0.29657925 0.28970473 0.91000655 -1.79557738] [ 0. 0. 0. 1. ]] SLAMing on 50.778001145 meters Centerline goodness : 0.895036 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-6.26, Z:-1.80 [[ 0.86426292 -0.4866942 -0.1271942 0.72350494] [ 0.40557981 0.82375294 -0.39615164 -6.25624383] [ 0.2975813 0.29079177 0.90933246 -1.79787507] [ 0. 0. 0. 1. ]] SLAMing on 50.838001145 meters Centerline goodness : 0.895933 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-6.25, Z:-1.80 [[ 0.86460902 -0.48457063 -0.13282524 0.7298968 ] [ 0.40310209 0.82678947 -0.39233644 -6.25116237] [ 0.29993323 0.2856755 0.91018106 -1.79728359] [ 0. 0. 0. 1. ]] SLAMing on 50.898001144999995 meters Centerline goodness : 0.894457 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-6.25, Z:-1.80 [[ 0.86584691 -0.48099178 -0.13768089 0.73327848] [ 0.3996016 0.83044609 -0.38817245 -6.24571759] [ 0.30104432 0.28108041 0.91124427 -1.79609001] [ 0. 0. 0. 1. ]] SLAMing on 50.958001145 meters Centerline goodness : 0.892900 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-6.24, Z:-1.80 [[ 0.8667839 -0.47844552 -0.14062559 0.73896885] [ 0.39697654 0.83267084 -0.38609442 -6.2389111 ] [ 0.30181998 0.27883537 0.91167732 -1.79888156] [ 0. 0. 0. 1. ]] SLAMing on 51.018001145 meters Centerline goodness : 0.892924 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-6.23, Z:-1.80 [[ 0.86714644 -0.47749681 -0.14161158 0.74114278] [ 0.39545854 0.83295013 -0.38704861 -6.23080597] [ 0.30276986 0.27962632 0.91111993 -1.79965067] [ 0. 0. 0. 1. ]] SLAMing on 51.078001144999995 meters Centerline goodness : 0.893192 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-6.22, Z:-1.80 [[ 0.86779691 -0.47488237 -0.14633951 0.7474834 ] [ 0.39262263 0.83576466 -0.38385531 -6.22326882] [ 0.30459151 0.27565225 0.91172356 -1.80068054] [ 0. 0. 0. 1. ]] SLAMing on 51.138001145 meters Centerline goodness : 0.893223 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:-6.22, Z:-1.80 [[ 0.86975573 -0.46943788 -0.15216127 0.75218628] [ 0.38744909 0.84056551 -0.37859322 -6.21600147] [ 0.30562751 0.27032888 0.91296995 -1.80050268] [ 0. 0. 0. 1. ]] SLAMing on 51.198001145 meters Centerline goodness : 0.892209 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-6.21, Z:-1.80 [[ 0.87319666 -0.46182475 -0.15570962 0.75511065] [ 0.38039839 0.84554884 -0.37462544 -6.20887391] [ 0.30467139 0.26789 0.91400782 -1.80211355] [ 0. 0. 0. 1. ]] SLAMing on 51.258001144999994 meters Centerline goodness : 0.892380 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-6.20, Z:-1.80 [[ 0.87493356 -0.4581147 -0.15691456 0.75709674] [ 0.37661035 0.84743813 -0.37418346 -6.20286918] [ 0.30439432 0.26829002 0.9139828 -1.80354561] [ 0. 0. 0. 1. ]] SLAMing on 51.318001145 meters Centerline goodness : 0.889997 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-6.19, Z:-1.80 [[ 0.87560373 -0.45646881 -0.15796942 0.75907153] [ 0.37454793 0.84812945 -0.3746869 -6.19486173] [ 0.3050114 0.26891013 0.91359476 -1.80448464] [ 0. 0. 0. 1. ]] SLAMing on 51.378001145 meters Centerline goodness : 0.889412 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-6.19, Z:-1.81 [[ 0.87532716 -0.45579549 -0.16140887 0.7654658 ] [ 0.37335881 0.84923306 -0.37337167 -6.18994965] [ 0.30725488 0.26655894 0.91353203 -1.80524809] [ 0. 0. 0. 1. ]] SLAMing on 51.438001144999994 meters Centerline goodness : 0.886587 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-6.21, Z:-1.81 [[ 0.87224864 -0.4601593 -0.16563735 0.72973629] [ 0.37944062 0.85042169 -0.36442799 -6.20756087] [ 0.30855653 0.25502227 0.91638229 -1.81343105] [ 0. 0. 0. 1. ]] SLAMing on 51.498001144999996 meters Centerline goodness : 0.887253 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-6.21, Z:-1.82 [[ 0.87111497 -0.46267857 -0.16458205 0.73837625] [ 0.38595093 0.85226308 -0.35311403 -6.20827746] [ 0.3036455 0.24408232 0.92099035 -1.81729191] [ 0. 0. 0. 1. ]] SLAMing on 51.558001145 meters Centerline goodness : 0.886220 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-6.21, Z:-1.82 [[ 0.87081742 -0.46301062 -0.16522165 0.75762979] [ 0.38929585 0.85471223 -0.34338862 -6.2062009 ] [ 0.30020954 0.23470869 0.92454641 -1.81956994] [ 0. 0. 0. 1. ]] SLAMing on 51.618001145 meters Centerline goodness : 0.888154 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-6.21, Z:-1.83 [[ 0.86986119 -0.46222715 -0.17230082 0.76673095] [ 0.39283198 0.86034099 -0.32480212 -6.20894201] [ 0.29836982 0.21484748 0.92995484 -1.83116389] [ 0. 0. 0. 1. ]] SLAMing on 51.678001144999996 meters Centerline goodness : 0.890955 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-6.19, Z:-1.79 [[ 0.8688308 -0.46871642 -0.15949283 0.80794773] [ 0.39369093 0.84937554 -0.35152333 -6.18659575] [ 0.30023406 0.24262341 0.92249303 -1.79038367] [ 0. 0. 0. 1. ]] SLAMing on 51.738001145 meters Centerline goodness : 0.889995 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-6.19, Z:-1.80 [[ 0.86955857 -0.46486282 -0.16664465 0.8214564 ] [ 0.39386626 0.85641538 -0.33379942 -6.1865462 ] [ 0.29788799 0.22462245 0.92779712 -1.79788194] [ 0. 0. 0. 1. ]] SLAMing on 51.798001145 meters Centerline goodness : 0.892128 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-6.17, Z:-1.77 [[ 0.8720427 -0.46323713 -0.15796481 0.85490337] [ 0.39069388 0.85326247 -0.34540042 -6.17129268] [ 0.29478775 0.23948803 0.92506522 -1.76622611] [ 0. 0. 0. 1. ]] SLAMing on 51.858001144999996 meters Centerline goodness : 0.888097 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:-6.17, Z:-1.77 [[ 0.87381496 -0.45958802 -0.1588278 0.87914618] [ 0.38986456 0.85737562 -0.3360248 -6.16618698] [ 0.29060805 0.23170217 0.92836473 -1.76534364] [ 0. 0. 0. 1. ]] SLAMing on 51.918001145 meters Centerline goodness : 0.891130 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:-6.15, Z:-1.70 [[ 0.87646967 -0.46693149 -0.11737074 0.88781925] [ 0.3924132 0.83406106 -0.38775512 -6.14732031] [ 0.27894944 0.29379777 0.91425931 -1.70116524] [ 0. 0. 0. 1. ]] SLAMing on 51.978001145 meters Centerline goodness : 0.890965 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:-6.15, Z:-1.71 [[ 0.87624117 -0.46705593 -0.11857558 0.88521231] [ 0.39366002 0.83573983 -0.38284556 -6.15454143] [ 0.27790863 0.28878658 0.91617089 -1.70754851] [ 0. 0. 0. 1. ]] SLAMing on 52.038001144999996 meters Centerline goodness : 0.894026 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:-6.15, Z:-1.71 [[ 0.87612316 -0.46768315 -0.11696444 0.90161828] [ 0.39755596 0.83814725 -0.37344136 -6.15410823] [ 0.27268566 0.28068071 0.92025044 -1.70925092] [ 0. 0. 0. 1. ]] SLAMing on 52.098001145 meters Centerline goodness : 0.896234 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-6.15, Z:-1.71 [[ 0.87516376 -0.46974154 -0.11589339 0.92157736] [ 0.40169561 0.8389646 -0.36712264 -6.1525327 ] [ 0.26968321 0.27473856 0.92292453 -1.70832567] [ 0. 0. 0. 1. ]] SLAMing on 52.158001145 meters Centerline goodness : 0.899283 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-6.17, Z:-1.73 [[ 0.8744377 -0.46827861 -0.12678269 0.91046585] [ 0.40206224 0.84575738 -0.35077117 -6.16621076] [ 0.27148603 0.25575301 0.92783928 -1.72609067] [ 0. 0. 0. 1. ]] SLAMing on 52.218001144999995 meters Centerline goodness : 0.902773 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-6.16, Z:-1.71 [[ 0.87399713 -0.47112308 -0.1190465 0.93104177] [ 0.40599409 0.84258848 -0.35385513 -6.16078374] [ 0.26701652 0.26093619 0.9276931 -1.71033573] [ 0. 0. 0. 1. ]] SLAMing on 52.278001145 meters Centerline goodness : 0.901207 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-6.16, Z:-1.71 [[ 0.87419543 -0.47005466 -0.12178246 0.93531043] [ 0.40476717 0.84396545 -0.35197422 -6.15731806] [ 0.26822731 0.25840071 0.92805344 -1.71149899] [ 0. 0. 0. 1. ]] SLAMing on 52.338001145 meters Centerline goodness : 0.901408 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-6.15, Z:-1.71 [[ 0.87415728 -0.46979346 -0.12305749 0.93895017] [ 0.40420037 0.8442772 -0.35187791 -6.15452929] [ 0.26920458 0.25785675 0.92792176 -1.71298109] [ 0. 0. 0. 1. ]] SLAMing on 52.398001144999995 meters Centerline goodness : 0.902838 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-6.15, Z:-1.72 [[ 0.87429822 -0.4693565 -0.12372183 0.94278458] [ 0.40359102 0.84455573 -0.35190894 -6.15347406] [ 0.26966073 0.25774034 0.92782164 -1.71537092] [ 0. 0. 0. 1. ]] SLAMing on 52.458001145 meters Centerline goodness : 0.901768 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-6.15, Z:-1.72 [[ 0.8745859 -0.46778702 -0.12757277 0.94689287] [ 0.40207686 0.84674001 -0.34837558 -6.15176446] [ 0.27098654 0.25339032 0.92863321 -1.71530378] [ 0. 0. 0. 1. ]] SLAMing on 52.518001145 meters Centerline goodness : 0.903460 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-6.15, Z:-1.72 [[ 0.87416044 -0.46807951 -0.12940285 0.95088659] [ 0.40210389 0.84704449 -0.34760336 -6.1510933 ] [ 0.27231598 0.25182772 0.92866937 -1.71602865] [ 0. 0. 0. 1. ]] SLAMing on 52.578001144999995 meters Centerline goodness : 0.903163 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-6.15, Z:-1.72 [[ 0.87392362 -0.46783372 -0.13186779 0.95490014] [ 0.40169125 0.84789534 -0.34600235 -6.14996094] [ 0.27368165 0.24940949 0.92892048 -1.7165518 ] [ 0. 0. 0. 1. ]] SLAMing on 52.638001145 meters Centerline goodness : 0.905100 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-6.15, Z:-1.72 [[ 0.87416626 -0.46705434 -0.13301726 0.95843642] [ 0.4006798 0.84843478 -0.34585276 -6.14687583] [ 0.2743885 0.24903548 0.92881229 -1.71848385] [ 0. 0. 0. 1. ]] SLAMing on 52.698001145 meters Centerline goodness : 0.906307 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-6.14, Z:-1.72 [[ 0.87453606 -0.46602838 -0.13417982 0.96164839] [ 0.39933426 0.84900411 -0.34601179 -6.1425317 ] [ 0.27517054 0.24901719 0.92858581 -1.72012636] [ 0. 0. 0. 1. ]] SLAMing on 52.758001144999994 meters Centerline goodness : 0.909606 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-6.14, Z:-1.72 [[ 0.87524824 -0.46316485 -0.1393515 0.96504082] [ 0.3967482 0.85229394 -0.34086055 -6.13956232] [ 0.27664306 0.24305014 0.92972859 -1.71838529] [ 0. 0. 0. 1. ]] SLAMing on 52.818001145 meters Centerline goodness : 0.908202 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-6.14, Z:-1.72 [[ 0.87574744 -0.4612548 -0.14251465 0.96907133] [ 0.39477966 0.85413362 -0.33853328 -6.13693956] [ 0.27787666 0.24020777 0.93009934 -1.71869541] [ 0. 0. 0. 1. ]] SLAMing on 52.878001145 meters Centerline goodness : 0.907547 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-6.13, Z:-1.72 [[ 0.87654039 -0.45962706 -0.14289825 0.97159529] [ 0.39310781 0.85492082 -0.33849171 -6.13453758] [ 0.27774664 0.24052724 0.93005562 -1.72090565] [ 0. 0. 0. 1. ]] SLAMing on 52.938001144999994 meters Centerline goodness : 0.905612 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-6.13, Z:-1.72 [[ 0.87619097 -0.45974232 -0.14465955 0.97701336] [ 0.39274241 0.85504381 -0.33860519 -6.13090467] [ 0.27936139 0.23986887 0.92974197 -1.72313197] [ 0. 0. 0. 1. ]] SLAMing on 52.998001144999996 meters Centerline goodness : 0.910921 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-6.15, Z:-1.74 [[ 0.87506464 -0.45857661 -0.15482044 0.96526197] [ 0.39409146 0.86076843 -0.32213295 -6.14665874] [ 0.28098718 0.22087374 0.93394914 -1.73894795] [ 0. 0. 0. 1. ]] SLAMing on 53.058001145 meters Centerline goodness : 0.912508 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-6.14, Z:-1.73 [[ 0.87623465 -0.4576216 -0.15098115 0.99165347] [ 0.39451452 0.86116128 -0.32056129 -6.14108573] [ 0.27671489 0.22132265 0.93511772 -1.72793312] [ 0. 0. 0. 1. ]] SLAMing on 53.118001145 meters Centerline goodness : 0.912451 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-6.16, Z:-1.70 [[ 0.8795531 -0.46229371 -0.11256496 0.92440289] [ 0.39657799 0.84300912 -0.36340271 -6.1601172 ] [ 0.26289208 0.27499119 0.92480679 -1.69678622] [ 0. 0. 0. 1. ]] SLAMing on 53.178001144999996 meters Centerline goodness : 0.913614 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:-6.16, Z:-1.64 [[ 0.88430831 -0.46160558 -0.07013625 0.9032261 ] [ 0.39409218 0.81848979 -0.41805003 -6.16148977] [ 0.25038003 0.34204497 0.90571247 -1.64454209] [ 0. 0. 0. 1. ]] SLAMing on 53.238001145 meters Centerline goodness : 0.912856 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:-6.17, Z:-1.60 [[ 0.88618805 -0.46219606 -0.0323349 0.88349845] [ 0.39616982 0.79208141 -0.46438833 -6.16501742] [ 0.24025033 0.39872527 0.88504121 -1.59777847] [ 0. 0. 0. 1. ]] SLAMing on 53.298001145 meters Centerline goodness : 0.912220 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-6.20, Z:-1.60 [[ 0.88579301 -0.46347227 -0.02375292 0.82755833] [ 0.39858914 0.78600675 -0.47256755 -6.19545258] [ 0.23769191 0.40912938 0.8809743 -1.59973223] [ 0. 0. 0. 1. ]] SLAMing on 53.358001144999996 meters Centerline goodness : 0.913865 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-6.19, Z:-1.54 [[ 0.88631717 -0.46250149 0.02311382 0.83381601] [ 0.40489116 0.74975914 -0.52337786 -6.19453445] [ 0.22473324 0.47323736 0.85178716 -1.53555252] [ 0. 0. 0. 1. ]] SLAMing on 53.418001145 meters Centerline goodness : 0.915189 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:-6.20, Z:-1.54 [[ 0.88763833 -0.46047759 0.00765464 0.84073382] [ 0.39627102 0.75519062 -0.52216511 -6.19927495] [ 0.23466461 0.46652708 0.85281007 -1.53922723] [ 0. 0. 0. 1. ]] SLAMing on 53.478001145 meters Centerline goodness : 0.912486 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-6.20, Z:-1.54 [[ 0.88954244 -0.45680795 -0.00638345 0.84837162] [ 0.38659924 0.76012303 -0.52225856 -6.20120528] [ 0.24342407 0.46210332 0.8527633 -1.54498746] [ 0. 0. 0. 1. ]] SLAMing on 53.538001144999996 meters Centerline goodness : 0.914197 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:-6.21, Z:-1.55 [[ 0.8916502 -0.45219154 -0.02197107 0.8564749 ] [ 0.37588525 0.76648953 -0.52077258 -6.20501269] [ 0.25232955 0.45608838 0.85341267 -1.54977429] [ 0. 0. 0. 1. ]] SLAMing on 53.598001145 meters Centerline goodness : 0.913165 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-6.20, Z:-1.55 [[ 0.89177154 -0.45154119 -0.0292244 0.86532278] [ 0.37392268 0.77176826 -0.51434966 -6.20282312] [ 0.25480453 0.44775473 0.85708247 -1.55214317] [ 0. 0. 0. 1. ]] SLAMing on 53.658001145 meters Centerline goodness : 0.912032 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-6.21, Z:-1.56 [[ 0.89335674 -0.4473543 -0.04228308 0.8701445 ] [ 0.36518003 0.77763044 -0.51179531 -6.21034473] [ 0.26183445 0.44177485 0.85806626 -1.55869555] [ 0. 0. 0. 1. ]] SLAMing on 53.718001144999995 meters Centerline goodness : 0.911099 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:-6.21, Z:-1.56 [[ 0.89374878 -0.44606757 -0.04729517 0.8783329 ] [ 0.36352038 0.78203101 -0.50624147 -6.2099889 ] [ 0.26280419 0.43525994 0.86109392 -1.56416671] [ 0. 0. 0. 1. ]] SLAMing on 53.778001145 meters Centerline goodness : 0.911411 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:-6.21, Z:-1.57 [[ 0.89446621 -0.44424361 -0.05077216 0.88492436] [ 0.36143502 0.78520091 -0.50281634 -6.20724901] [ 0.26323929 0.43140139 0.86290087 -1.56820677] [ 0. 0. 0. 1. ]] SLAMing on 53.838001145 meters Centerline goodness : 0.907802 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:-6.21, Z:-1.57 [[ 0.89638103 -0.43884396 -0.06258619 0.88917272] [ 0.35123777 0.78926885 -0.50367322 -6.21136748] [ 0.27043129 0.42950049 0.86162419 -1.57408523] [ 0. 0. 0. 1. ]] SLAMing on 53.898001144999995 meters Centerline goodness : 0.906874 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:-6.21, Z:-1.58 [[ 0.89577532 -0.43948881 -0.06660453 0.89721164] [ 0.35126616 0.79170505 -0.49981517 -6.20993708] [ 0.27239431 0.42432618 0.86356739 -1.57905157] [ 0. 0. 0. 1. ]] SLAMing on 53.958001145 meters Centerline goodness : 0.909118 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-6.21, Z:-1.58 [[ 0.89532857 -0.43957799 -0.07181878 0.90586789] [ 0.35057187 0.79493942 -0.49514713 -6.2086737 ] [ 0.27474736 0.41814173 0.86583566 -1.58272857] [ 0. 0. 0. 1. ]] SLAMing on 54.018001145 meters Centerline goodness : 0.907025 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-6.21, Z:-1.59 [[ 0.89559643 -0.43884046 -0.07298002 0.91106324] [ 0.34965479 0.79580465 -0.49440519 -6.20728781] [ 0.27504284 0.41726971 0.86616247 -1.58659471] [ 0. 0. 0. 1. ]] SLAMing on 54.078001144999995 meters Centerline goodness : 0.905653 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-6.20, Z:-1.59 [[ 0.89534179 -0.43863444 -0.0772199 0.92039682] [ 0.34860425 0.79809045 -0.49145367 -6.20271398] [ 0.27719697 0.41309982 0.86747356 -1.59227714] [ 0. 0. 0. 1. ]] SLAMing on 54.138001145 meters Centerline goodness : 0.901350 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-6.20, Z:-1.60 [[ 0.89430065 -0.43955234 -0.08378594 0.93155748] [ 0.34810599 0.80106621 -0.4869447 -6.19833554] [ 0.28115577 0.40630858 0.86940484 -1.59777588] [ 0. 0. 0. 1. ]] SLAMing on 54.198001145 meters Centerline goodness : 0.900427 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-6.20, Z:-1.60 [[ 0.89259876 -0.44208168 -0.08849432 0.94081788] [ 0.34939053 0.80232257 -0.48394705 -6.19601676] [ 0.28494511 0.40105146 0.87061129 -1.60092396] [ 0. 0. 0. 1. ]] SLAMing on 54.258001144999994 meters Centerline goodness : 0.898355 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-6.19, Z:-1.60 [[ 0.89083882 -0.44458165 -0.09355942 0.95068317] [ 0.3507233 0.80386704 -0.48040706 -6.19451599] [ 0.28878949 0.39515179 0.87204111 -1.60445391] [ 0. 0. 0. 1. ]] SLAMing on 54.318001145 meters Centerline goodness : 0.895104 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-6.19, Z:-1.61 [[ 0.88922229 -0.44723012 -0.09627534 0.95800369] [ 0.35250536 0.8039782 -0.47891442 -6.19281944] [ 0.29158823 0.39192381 0.87256635 -1.60721736] [ 0. 0. 0. 1. ]] SLAMing on 54.378001145 meters Centerline goodness : 0.899278 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-6.19, Z:-1.61 [[ 0.88804559 -0.44769271 -0.10462446 0.97008378] [ 0.35154814 0.80787647 -0.47302168 -6.18785007] [ 0.296292 0.38328428 0.87481667 -1.61064257] [ 0. 0. 0. 1. ]] SLAMing on 54.438001144999994 meters Centerline goodness : 0.900595 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-6.18, Z:-1.61 [[ 0.8876153 -0.44825827 -0.1058471 0.97570179] [ 0.35161008 0.80790869 -0.4729206 -6.18482324] [ 0.29750536 0.38255465 0.87472424 -1.61368043] [ 0. 0. 0. 1. ]] SLAMing on 54.498001144999996 meters Centerline goodness : 0.901622 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-6.18, Z:-1.62 [[ 0.88717822 -0.44846502 -0.10859988 0.98231984] [ 0.35132442 0.80909202 -0.47110641 -6.18228808] [ 0.29914205 0.37980156 0.87536553 -1.61593772] [ 0. 0. 0. 1. ]] SLAMing on 54.558001145 meters Centerline goodness : 0.902408 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-6.18, Z:-1.62 [[ 0.88655123 -0.44768735 -0.11663169 0.99337756] [ 0.3494794 0.81327522 -0.46523925 -6.17676667] [ 0.30313539 0.37169806 0.87746766 -1.61777027] [ 0. 0. 0. 1. ]] SLAMing on 54.618001145 meters Centerline goodness : 0.904118 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-6.17, Z:-1.62 [[ 0.88754962 -0.44524845 -0.11836169 0.99732721] [ 0.34695891 0.81499716 -0.46411113 -6.17248087] [ 0.3031092 0.37085502 0.87783334 -1.61972989] [ 0. 0. 0. 1. ]] SLAMing on 54.678001144999996 meters Centerline goodness : 0.899675 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-6.17, Z:-1.62 [[ 0.88960378 -0.44102335 -0.11875828 0.99960529] [ 0.34303598 0.81683875 -0.46378958 -6.16767901] [ 0.3015484 0.3718506 0.87794971 -1.62267445] [ 0. 0. 0. 1. ]] SLAMing on 54.738001145 meters Centerline goodness : 0.897744 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-6.16, Z:-1.62 [[ 0.89086636 -0.43739455 -0.12265046 1.00557071] [ 0.33946946 0.82042523 -0.4600684 -6.16362208] [ 0.30185695 0.36822338 0.87937133 -1.62433234] [ 0. 0. 0. 1. ]] SLAMing on 54.798001145 meters Centerline goodness : 0.893289 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-6.16, Z:-1.62 [[ 0.89194072 -0.43360625 -0.1281693 1.01168261] [ 0.33588459 0.82517258 -0.45417151 -6.16107645] [ 0.30269339 0.36204398 0.88164668 -1.62461418] [ 0. 0. 0. 1. ]] SLAMing on 54.858001144999996 meters Centerline goodness : 0.890626 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-6.16, Z:-1.63 [[ 0.89171388 -0.43252314 -0.13330449 1.02098235] [ 0.3343741 0.82805928 -0.45001311 -6.15639063] [ 0.3050251 0.35670937 0.88301649 -1.62882072] [ 0. 0. 0. 1. ]] SLAMing on 54.918001145 meters Centerline goodness : 0.890042 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-6.15, Z:-1.63 [[ 0.89157824 -0.43241818 -0.13454648 1.02604983] [ 0.33380795 0.82828317 -0.45002139 -6.15389014] [ 0.30604001 0.3563166 0.88282388 -1.63109382] [ 0. 0. 0. 1. ]] SLAMing on 54.978001145 meters Centerline goodness : 0.888870 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-6.15, Z:-1.63 [[ 0.89130626 -0.43084682 -0.1412238 1.03530303] [ 0.33193095 0.83223636 -0.44407711 -6.15071046] [ 0.3088608 0.34893216 0.88478888 -1.63272328] [ 0. 0. 0. 1. ]] SLAMing on 55.038001144999996 meters Centerline goodness : 0.893169 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-6.15, Z:-1.64 [[ 0.89022429 -0.43163401 -0.14557743 1.04377539] [ 0.33221027 0.83384778 -0.44083355 -6.14834094] [ 0.31166817 0.34407842 0.8857048 -1.63526921] [ 0. 0. 0. 1. ]] SLAMing on 55.098001145 meters Centerline goodness : 0.896428 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-6.15, Z:-1.64 [[ 0.88867251 -0.43399409 -0.14802131 1.05007444] [ 0.33379163 0.83359886 -0.44010918 -6.14677169] [ 0.31439518 0.34170465 0.88565998 -1.63604125] [ 0. 0. 0. 1. ]] SLAMing on 55.158001145 meters Centerline goodness : 0.890054 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-6.14, Z:-1.64 [[ 0.88472205 -0.43924754 -0.15597597 1.06306842] [ 0.3371794 0.83413664 -0.43649297 -6.14307366] [ 0.32183373 0.33358307 0.8860843 -1.63741713] [ 0. 0. 0. 1. ]] SLAMing on 55.218001144999995 meters Centerline goodness : 0.894388 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-6.14, Z:-1.64 [[ 0.88268739 -0.44167881 -0.16057024 1.0729217 ] [ 0.33898727 0.83501882 -0.43339497 -6.13964693] [ 0.32550055 0.32812101 0.88678407 -1.64121461] [ 0. 0. 0. 1. ]] SLAMing on 55.278001145 meters Centerline goodness : 0.891130 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-6.13, Z:-1.64 [[ 0.88037412 -0.44336867 -0.16842103 1.084543 ] [ 0.33939322 0.83698153 -0.42927166 -6.13397872] [ 0.33129089 0.3207587 0.8873332 -1.64180667] [ 0. 0. 0. 1. ]] SLAMing on 55.338001145 meters Centerline goodness : 0.885386 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:-6.13, Z:-1.64 [[ 0.87978901 -0.44281884 -0.17286634 1.09168619] [ 0.33847387 0.83888437 -0.42627276 -6.12860139] [ 0.33377647 0.31651935 0.88792385 -1.6423289 ] [ 0. 0. 0. 1. ]] SLAMing on 55.398001144999995 meters Centerline goodness : 0.885759 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-6.12, Z:-1.64 [[ 0.87925408 -0.4409769 -0.18014336 1.10279287] [ 0.33683725 0.84296653 -0.41946169 -6.12038032] [ 0.33682774 0.30813441 0.8897192 -1.64430581] [ 0. 0. 0. 1. ]] SLAMing on 55.458001145 meters Centerline goodness : 0.882494 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-6.11, Z:-1.65 [[ 0.87809965 -0.44091534 -0.18583505 1.11943482] [ 0.33835063 0.84681189 -0.41040038 -6.10548161] [ 0.33831916 0.29749502 0.89276921 -1.64986202] [ 0. 0. 0. 1. ]] SLAMing on 55.518001145 meters Centerline goodness : 0.879332 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-6.09, Z:-1.65 [[ 0.87731883 -0.4395191 -0.19270346 1.13214361] [ 0.33723807 0.85030593 -0.40404246 -6.09490494] [ 0.34144127 0.28948712 0.89421198 -1.65371283] [ 0. 0. 0. 1. ]] SLAMing on 55.578001144999995 meters Centerline goodness : 0.873704 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-6.09, Z:-1.66 [[ 0.87688272 -0.43895663 -0.19594328 1.13942084] [ 0.33627935 0.85142795 -0.40247564 -6.08789699] [ 0.34350093 0.28703225 0.89421451 -1.65542495] [ 0. 0. 0. 1. ]] SLAMing on 55.638001145 meters Centerline goodness : 0.877886 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-6.08, Z:-1.66 [[ 0.8767337 -0.43726445 -0.20034427 1.15053304] [ 0.33730642 0.8559081 -0.39197666 -6.07628251] [ 0.34287374 0.27608174 0.89789558 -1.65778459] [ 0. 0. 0. 1. ]] SLAMing on 55.698001145 meters Centerline goodness : 0.869047 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-6.07, Z:-1.66 [[ 0.8781474 -0.43349366 -0.2023373 1.1527449 ] [ 0.33385184 0.85824749 -0.38981303 -6.07169601] [ 0.34263696 0.27476262 0.89839046 -1.65844785] [ 0. 0. 0. 1. ]] SLAMing on 55.758001144999994 meters Centerline goodness : 0.869183 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-6.07, Z:-1.66 [[ 0.87809656 -0.43219423 -0.2053158 1.15774621] [ 0.33234001 0.85959983 -0.38812144 -6.06732034] [ 0.34423328 0.27257345 0.89844709 -1.65844562] [ 0. 0. 0. 1. ]] SLAMing on 55.818001145 meters Centerline goodness : 0.867618 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-6.06, Z:-1.66 [[ 0.87861601 -0.42830768 -0.21115501 1.16437215] [ 0.32880307 0.86328 -0.38293104 -6.06039617] [ 0.3462982 0.26702093 0.89932051 -1.65765364] [ 0. 0. 0. 1. ]] SLAMing on 55.878001145 meters Centerline goodness : 0.867199 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:-6.06, Z:-1.66 [[ 0.87938417 -0.42608611 -0.2124479 1.16814726] [ 0.32636373 0.86434446 -0.38261648 -6.05572795] [ 0.34665573 0.26713159 0.89914989 -1.65904845] [ 0. 0. 0. 1. ]] SLAMing on 55.938001144999994 meters Centerline goodness : 0.866080 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:-6.04, Z:-1.67 [[ 0.88134203 -0.42622441 -0.20388471 1.1720062 ] [ 0.33091019 0.86484839 -0.37753902 -6.04391011] [ 0.33724571 0.26527348 0.90326924 -1.66624772] [ 0. 0. 0. 1. ]] SLAMing on 55.998001144999996 meters Centerline goodness : 0.867481 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:-6.04, Z:-1.67 [[ 0.88263857 -0.42129866 -0.20846246 1.17636313] [ 0.3264687 0.86851281 -0.37296606 -6.0376863 ] [ 0.33818242 0.26113776 0.90412373 -1.66569596] [ 0. 0. 0. 1. ]] SLAMing on 56.058001145 meters Centerline goodness : 0.866503 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-6.03, Z:-1.67 [[ 0.88320962 -0.42225328 -0.20406602 1.18534106] [ 0.33080329 0.86935638 -0.36713576 -6.02634137] [ 0.33243037 0.25675212 0.90750669 -1.67060738] [ 0. 0. 0. 1. ]] SLAMing on 56.118001145 meters Centerline goodness : 0.866265 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-6.01, Z:-1.68 [[ 0.88308551 -0.42509321 -0.19863469 1.19344291] [ 0.33713956 0.86928708 -0.36149259 -6.01492208] [ 0.32633862 0.25226126 0.91097056 -1.67633303] [ 0. 0. 0. 1. ]] SLAMing on 56.178001144999996 meters Centerline goodness : 0.868486 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-6.01, Z:-1.68 [[ 0.88276318 -0.42824328 -0.1932275 1.20161749] [ 0.34352249 0.86891156 -0.35634953 -6.0061299 ] [ 0.3205019 0.24819426 0.91415433 -1.68255412] [ 0. 0. 0. 1. ]] SLAMing on 56.238001145 meters Centerline goodness : 0.867833 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-6.00, Z:-1.69 [[ 0.88182377 -0.43264089 -0.18763981 1.21036695] [ 0.35133529 0.86814341 -0.35055746 -5.9954821 ] [ 0.31456376 0.24320541 0.91755151 -1.68866004] [ 0. 0. 0. 1. ]] SLAMing on 56.298001145 meters Centerline goodness : 0.869729 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:-5.99, Z:-1.69 [[ 0.87938578 -0.43653452 -0.19004806 1.22328719] [ 0.35793394 0.86937228 -0.34069801 -5.98637373] [ 0.31394895 0.23158033 0.92076414 -1.69288601] [ 0. 0. 0. 1. ]] SLAMing on 56.358001144999996 meters Centerline goodness : 0.872308 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-5.98, Z:-1.70 [[ 0.87691984 -0.44347927 -0.18530444 1.23410697] [ 0.36711262 0.86686004 -0.33731587 -5.97587766] [ 0.31022561 0.22777138 0.9229736 -1.69781418] [ 0. 0. 0. 1. ]] SLAMing on 56.418001145 meters Centerline goodness : 0.874919 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-5.96, Z:-1.70 [[ 0.87524334 -0.44635177 -0.18633086 1.24733902] [ 0.37133132 0.86693162 -0.3324795 -5.96445465] [ 0.30993893 0.22180999 0.92452052 -1.70075796] [ 0. 0. 0. 1. ]] SLAMing on 56.478001145 meters Centerline goodness : 0.872124 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-5.95, Z:-1.71 [[ 0.87402038 -0.45019292 -0.18279688 1.25847191] [ 0.37700082 0.86566575 -0.32938305 -5.95189125] [ 0.30652692 0.21897293 0.92633261 -1.7083186 ] [ 0. 0. 0. 1. ]] SLAMing on 56.538001144999996 meters Centerline goodness : 0.873189 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:-5.94, Z:-1.70 [[ 0.87490835 -0.44986612 -0.17932054 1.27580469] [ 0.37890648 0.8664718 -0.32504845 -5.94383417] [ 0.30160448 0.21644188 0.9285406 -1.70073218] [ 0. 0. 0. 1. ]] SLAMing on 56.598001145 meters Centerline goodness : 0.872906 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:-5.94, Z:-1.70 [[ 0.87688862 -0.44560822 -0.18027664 1.29179954] [ 0.37853217 0.87127662 -0.3123947 -5.93709475] [ 0.29627647 0.20569484 0.9326896 -1.70143053] [ 0. 0. 0. 1. ]] SLAMing on 56.658001145 meters Centerline goodness : 0.872058 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:-5.92, Z:-1.67 [[ 0.87634792 -0.44906502 -0.17422665 1.32459176] [ 0.37782358 0.86521113 -0.3296347 -5.91697638] [ 0.29877026 0.22304775 0.92789333 -1.66891089] [ 0. 0. 0. 1. ]] SLAMing on 56.718001144999995 meters Centerline goodness : 0.872459 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-5.91, Z:-1.67 [[ 0.87713138 -0.44687047 -0.17591852 1.34756757] [ 0.37805674 0.86838837 -0.32089676 -5.90928165] [ 0.29616488 0.21496144 0.93063309 -1.66879213] [ 0. 0. 0. 1. ]] SLAMing on 56.778001145 meters Centerline goodness : 0.867126 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:-5.90, Z:-1.67 [[ 0.87915177 -0.44061415 -0.18152506 1.37700336] [ 0.37315625 0.87343557 -0.31283337 -5.89566423] [ 0.29638925 0.2072908 0.93230035 -1.66583617] [ 0. 0. 0. 1. ]] SLAMing on 56.838001145 meters Centerline goodness : 0.871352 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-5.87, Z:-1.62 [[ 0.88437831 -0.43797811 -0.16140069 1.41037496] [ 0.36613016 0.86538381 -0.34213969 -5.86771051] [ 0.28952324 0.24348726 0.92568366 -1.62081862] [ 0. 0. 0. 1. ]] SLAMing on 56.898001144999995 meters Centerline goodness : 0.868417 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-5.85, Z:-1.53 [[ 0.88963248 -0.44673037 -0.09479464 1.37197307] [ 0.36858777 0.82494307 -0.42849969 -5.8504257 ] [ 0.26962401 0.34626709 0.8985555 -1.52823841] [ 0. 0. 0. 1. ]] SLAMing on 56.958001145 meters Centerline goodness : 0.868344 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-5.84, Z:-1.40 [[ 8.99174910e-01 -4.37580889e-01 -2.72865096e-03 1.33070949e+00] [ 3.66571977e-01 7.56636442e-01 -5.41411378e-01 -5.84116313e+00] [ 2.38975869e-01 4.85823281e-01 8.40753396e-01 -1.40068954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.018001145 meters Centerline goodness : 0.865842 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-5.83, Z:-1.41 [[ 0.9000103 -0.43577927 -0.00882549 1.33956939] [ 0.36306966 0.76073982 -0.53801055 -5.83014828] [ 0.24116775 0.48101077 0.8428919 -1.40578456] [ 0. 0. 0. 1. ]] SLAMing on 57.078001144999995 meters Centerline goodness : 0.867210 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-5.82, Z:-1.41 [[ 0.90012594 -0.43535232 -0.01554533 1.34958693] [ 0.36009511 0.7636601 -0.53586823 -5.81775286] [ 0.24516283 0.4767511 0.8441585 -1.41020538] [ 0. 0. 0. 1. ]] SLAMing on 57.138001145 meters Centerline goodness : 0.866587 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:-5.84, Z:-1.40 [[ 8.99925593e-01 -4.36006680e-01 -5.66579858e-03 1.31982580e+00] [ 3.61990605e-01 7.54273022e-01 -5.47754516e-01 -5.83611862e+00] [ 2.43098187e-01 4.90887342e-01 8.36619919e-01 -1.39833163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.198001145 meters Centerline goodness : 0.870291 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:-5.84, Z:-1.38 [[ 8.99083461e-01 -4.37766094e-01 3.12677594e-03 1.31269071e+00] [ 3.65479800e-01 7.46651979e-01 -5.55819518e-01 -5.84458986e+00] [ 2.40984326e-01 5.00870910e-01 8.31297111e-01 -1.38156140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.258001144999994 meters Centerline goodness : 0.865753 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:-5.86, Z:-1.38 [[ 8.96276625e-01 -4.43483854e-01 3.20658940e-03 1.29167952e+00] [ 3.70439462e-01 7.44640007e-01 -5.55234964e-01 -5.86049366e+00] [ 2.43849987e-01 4.98831967e-01 8.31687353e-01 -1.38046014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.318001145 meters Centerline goodness : 0.862921 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-5.85, Z:-1.39 [[ 8.96129164e-01 -4.43784259e-01 -2.83782267e-03 1.30025858e+00] [ 3.69031448e-01 7.48702996e-01 -5.50690126e-01 -5.85321678e+00] [ 2.46512295e-01 4.92442236e-01 8.34704937e-01 -1.38619055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.378001145 meters Centerline goodness : 0.865686 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:-5.88, Z:-1.37 [[ 0.89623054 -0.44325937 0.01708686 1.2449752 ] [ 0.3725664 0.73127134 -0.57134623 -5.87957358] [ 0.24075943 0.51842393 0.82053125 -1.36551108] [ 0. 0. 0. 1. ]] SLAMing on 57.438001144999994 meters Centerline goodness : 0.863023 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-5.89, Z:-1.38 [[ 0.89588663 -0.44421073 0.00799902 1.23073239] [ 0.37245105 0.74110225 -0.55861227 -5.89004064] [ 0.24221348 0.50343251 0.82939035 -1.38284016] [ 0. 0. 0. 1. ]] SLAMing on 57.498001144999996 meters Centerline goodness : 0.857893 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-5.89, Z:-1.39 [[ 0.895447 -0.44511867 0.00663609 1.2527006 ] [ 0.37505639 0.7463046 -0.54987467 -5.88756103] [ 0.23980694 0.49487253 0.83522082 -1.38772835] [ 0. 0. 0. 1. ]] SLAMing on 57.558001145 meters Centerline goodness : 0.859665 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-5.90, Z:-1.41 [[ 0.8935791 -0.448794 -0.01001668 1.23281531] [ 0.37602333 0.76050305 -0.52937847 -5.90293947] [ 0.2451996 0.46927503 0.84832665 -1.41474158] [ 0. 0. 0. 1. ]] SLAMing on 57.618001144999994 meters Centerline goodness : 0.861492 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:-5.91, Z:-1.43 [[ 0.89266857 -0.45027734 -0.0198277 1.23744778] [ 0.37832854 0.7724898 -0.51002649 -5.90864705] [ 0.24497006 0.44778323 0.85993014 -1.42998277] [ 0. 0. 0. 1. ]] SLAMing on 57.678001144999996 meters Centerline goodness : 0.862491 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-5.92, Z:-1.45 [[ 0.89127114 -0.45182377 -0.03861385 1.22582103] [ 0.37746737 0.78638569 -0.48899482 -5.92039615] [ 0.25130486 0.4212515 0.8714316 -1.45292772] [ 0. 0. 0. 1. ]] SLAMing on 57.738001145 meters Centerline goodness : 0.857926 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:-5.92, Z:-1.47 [[ 0.89154189 -0.45036316 -0.04822946 1.2414543 ] [ 0.37716745 0.79713679 -0.47150573 -5.92129167] [ 0.25079428 0.40217653 0.88054317 -1.4667618 ] [ 0. 0. 0. 1. ]] SLAMing on 57.798001145 meters Centerline goodness : 0.859136 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-5.92, Z:-1.47 [[ 0.89377048 -0.4455348 -0.0517018 1.26402421] [ 0.37527019 0.80594584 -0.45784668 -5.91691288] [ 0.24565548 0.38980771 0.88752653 -1.4720824 ] [ 0. 0. 0. 1. ]] SLAMing on 57.858001144999996 meters Centerline goodness : 0.860879 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-5.90, Z:-1.41 [[ 0.8964406 -0.44274472 -0.01927099 1.2951141 ] [ 0.37577796 0.78246278 -0.49653089 -5.9017882 ] [ 0.23491526 0.43786884 0.8678051 -1.40729937] [ 0. 0. 0. 1. ]] SLAMing on 57.918001145 meters Centerline goodness : 0.854481 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-5.89, Z:-1.37 [[ 8.96918118e-01 -4.42191494e-01 -2.13838694e-03 1.32845788e+00] [ 3.76576806e-01 7.66345716e-01 -5.20484537e-01 -5.88892305e+00] [ 2.31792579e-01 4.66026745e-01 8.53868417e-01 -1.36557224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.978001145 meters Centerline goodness : 0.853937 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:-5.91, Z:-1.28 [[ 0.89973412 -0.43187225 0.06296727 1.28451959] [ 0.38191368 0.70926291 -0.59252685 -5.90775211] [ 0.21123556 0.55716468 0.80308596 -1.28169374] [ 0. 0. 0. 1. ]] SLAMing on 58.038001144999996 meters Centerline goodness : 0.853242 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:-5.92, Z:-1.29 [[ 0.90026065 -0.43135239 0.05887168 1.27395572] [ 0.38143162 0.71632936 -0.58427919 -5.92017227] [ 0.20985871 0.54845908 0.80941458 -1.28936021] [ 0. 0. 0. 1. ]] SLAMing on 58.098001145 meters Centerline goodness : 0.853090 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-5.92, Z:-1.25 [[ 0.90147559 -0.42431765 0.08541834 1.29830677] [ 0.38528449 0.69674443 -0.6050645 -5.91769757] [ 0.1972248 0.57836124 0.79158111 -1.24949286] [ 0. 0. 0. 1. ]] SLAMing on 58.158001145 meters Centerline goodness : 0.851476 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-5.93, Z:-1.25 [[ 0.9022747 -0.42257967 0.08559666 1.29980694] [ 0.38440415 0.69850069 -0.60359775 -5.92666812] [ 0.19527881 0.57751469 0.79268088 -1.24939879] [ 0. 0. 0. 1. ]] SLAMing on 58.218001144999995 meters Centerline goodness : 0.853918 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:-5.94, Z:-1.27 [[ 0.89941637 -0.43076807 0.07408825 1.28427625] [ 0.38710946 0.7063275 -0.59266157 -5.94394199] [ 0.20296911 0.56172978 0.80203691 -1.27145024] [ 0. 0. 0. 1. ]] SLAMing on 58.278001145 meters Centerline goodness : 0.853185 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-5.96, Z:-1.30 [[ 0.89755336 -0.43717297 0.05725176 1.26169738] [ 0.3880567 0.72163704 -0.57328176 -5.96228307] [ 0.2093083 0.5367679 0.81735565 -1.30156403] [ 0. 0. 0. 1. ]] SLAMing on 58.338001145 meters Centerline goodness : 0.859211 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-5.99, Z:-1.34 [[ 0.89508363 -0.44435097 0.03711491 1.22841268] [ 0.39038396 0.74070506 -0.54676903 -5.98661194] [ 0.21546614 0.50389307 0.83646047 -1.33551832] [ 0. 0. 0. 1. ]] SLAMing on 58.398001144999995 meters Centerline goodness : 0.858183 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-6.01, Z:-1.37 [[ 0.8940939 -0.44759655 0.01591918 1.1952432 ] [ 0.39026558 0.76114888 -0.51802043 -6.0101114 ] [ 0.21974729 0.46937162 0.8552201 -1.36765341] [ 0. 0. 0. 1. ]] SLAMing on 58.458001145 meters Centerline goodness : 0.860770 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-6.02, Z:-1.38 [[ 0.89281134 -0.45038402 0.00649131 1.20533807] [ 0.39248401 0.77080159 -0.50181792 -6.01691528] [ 0.22100726 0.45057646 0.86494892 -1.38318409] [ 0. 0. 0. 1. ]] SLAMing on 58.518001145 meters Centerline goodness : 0.858216 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:-6.04, Z:-1.41 [[ 0.89120853 -0.45342205 -0.01248222 1.17809519] [ 0.39318795 0.78595309 -0.47715927 -6.03751395] [ 0.22616498 0.42034055 0.87872818 -1.41376841] [ 0. 0. 0. 1. ]] SLAMing on 58.578001144999995 meters Centerline goodness : 0.860666 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-6.05, Z:-1.44 [[ 0.88971066 -0.45538303 -0.03226815 1.16495574] [ 0.39260161 0.79928969 -0.45497248 -6.05365021] [ 0.23297835 0.39212534 0.88992067 -1.43725404] [ 0. 0. 0. 1. ]] SLAMing on 58.638001145 meters Centerline goodness : 0.864038 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:-6.06, Z:-1.45 [[ 0.88972016 -0.45483972 -0.03897255 1.17934266] [ 0.39387509 0.80800942 -0.43815887 -6.05707856] [ 0.23078224 0.37448846 0.89805231 -1.4490169 ] [ 0. 0. 0. 1. ]] SLAMing on 58.698001145 meters Centerline goodness : 0.860353 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:-6.07, Z:-1.47 [[ 0.89096019 -0.45095547 -0.05318936 1.17934055] [ 0.38899343 0.81842406 -0.42292573 -6.06821931] [ 0.23425212 0.35611967 0.90460197 -1.46507282] [ 0. 0. 0. 1. ]] SLAMing on 58.758001144999994 meters Centerline goodness : 0.862481 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-6.07, Z:-1.47 [[ 0.89366144 -0.44360188 -0.06772437 1.185471 ] [ 0.3775416 0.82483048 -0.42085272 -6.07284932] [ 0.24255219 0.35053109 0.90459737 -1.46979312] [ 0. 0. 0. 1. ]] SLAMing on 58.818001145 meters Centerline goodness : 0.861176 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-6.08, Z:-1.47 [[ 0.89730766 -0.43346002 -0.08337493 1.19052685] [ 0.36382184 0.83323466 -0.41635763 -6.07984045] [ 0.24994527 0.34326727 0.90537006 -1.47347414] [ 0. 0. 0. 1. ]] SLAMing on 58.878001145 meters Centerline goodness : 0.861822 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-6.09, Z:-1.48 [[ 0.9010723 -0.42277016 -0.09661312 1.19375434] [ 0.3503577 0.84096585 -0.41234201 -6.08549312] [ 0.25557423 0.33770081 0.90589181 -1.47983538] [ 0. 0. 0. 1. ]] SLAMing on 58.938001144999994 meters Centerline goodness : 0.864226 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-6.09, Z:-1.48 [[ 0.90204321 -0.42072149 -0.09649598 1.19659095] [ 0.34865001 0.84195986 -0.41176057 -6.0860235 ] [ 0.25448226 0.33778251 0.90616872 -1.48361959] [ 0. 0. 0. 1. ]] SLAMing on 58.998001144999996 meters Centerline goodness : 0.871086 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-6.09, Z:-1.49 [[ 0.90290668 -0.41850547 -0.09804435 1.20033294] [ 0.34658644 0.84375502 -0.40982352 -6.08789328] [ 0.2542388 0.33605155 0.90688036 -1.48602457] [ 0. 0. 0. 1. ]] SLAMing on 59.058001145 meters Centerline goodness : 0.870476 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-6.09, Z:-1.49 [[ 0.90370045 -0.41674254 -0.09824029 1.20329498] [ 0.34507245 0.84472438 -0.40910357 -6.08937601] [ 0.25347683 0.33580706 0.90718417 -1.48937737] [ 0. 0. 0. 1. ]] SLAMing on 59.118001144999994 meters Centerline goodness : 0.872516 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-6.09, Z:-1.49 [[ 0.90507717 -0.41367076 -0.09854857 1.20731437] [ 0.34265185 0.84667644 -0.40709791 -6.09400841] [ 0.25184325 0.33468717 0.90805257 -1.49455426] [ 0. 0. 0. 1. ]] SLAMing on 59.178001144999996 meters Centerline goodness : 0.875856 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-6.10, Z:-1.50 [[ 0.90566908 -0.41218809 -0.09932012 1.21070171] [ 0.34169126 0.84826253 -0.4045958 -6.09887815] [ 0.2510191 0.33249309 0.90908622 -1.4981739 ] [ 0. 0. 0. 1. ]] SLAMing on 59.238001145 meters Centerline goodness : 0.876156 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-6.10, Z:-1.50 [[ 0.90457986 -0.41524425 -0.09647538 1.21404328] [ 0.34448896 0.845321 -0.4083623 -6.10315064] [ 0.25112276 0.3361616 0.90770741 -1.50346105] [ 0. 0. 0. 1. ]] SLAMing on 59.298001145 meters Centerline goodness : 0.879979 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:-6.11, Z:-1.51 [[ 0.90066911 -0.42269638 -0.10061279 1.22472899] [ 0.35078576 0.84401163 -0.40570151 -6.10960765] [ 0.25640693 0.33010928 0.90845107 -1.50817468] [ 0. 0. 0. 1. ]] SLAMing on 59.358001144999996 meters Centerline goodness : 0.879763 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:-6.11, Z:-1.51 [[ 0.89734344 -0.42796292 -0.10780765 1.237527 ] [ 0.354677 0.84467286 -0.40091393 -6.11161914] [ 0.2626385 0.32152059 0.90975026 -1.51133778] [ 0. 0. 0. 1. ]] SLAMing on 59.418001145 meters Centerline goodness : 0.885781 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-6.12, Z:-1.52 [[ 0.89382677 -0.43537015 -0.1073617 1.24519367] [ 0.36134435 0.84109871 -0.40247139 -6.11905811] [ 0.26552581 0.32094516 0.90911509 -1.51751693] [ 0. 0. 0. 1. ]] SLAMing on 59.478001145 meters Centerline goodness : 0.887911 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-6.12, Z:-1.52 [[ 0.8928406 -0.43740793 -0.10728449 1.250437 ] [ 0.36337908 0.8403712 -0.40215902 -6.12332682] [ 0.26606634 0.32007897 0.90926242 -1.52241073] [ 0. 0. 0. 1. ]] SLAMing on 59.538001144999996 meters Centerline goodness : 0.891316 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-6.13, Z:-1.52 [[ 0.89308728 -0.43595092 -0.1110941 1.25645223] [ 0.36226482 0.84330162 -0.39699694 -6.12669513] [ 0.26675701 0.31430743 0.91107164 -1.52458491] [ 0. 0. 0. 1. ]] SLAMing on 59.598001145 meters Centerline goodness : 0.889220 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-6.13, Z:-1.53 [[ 0.89345511 -0.43496788 -0.11198615 1.26074519] [ 0.36125385 0.84406874 -0.3962873 -6.12706916] [ 0.26689626 0.31360948 0.91127135 -1.52763452] [ 0. 0. 0. 1. ]] SLAMing on 59.658001145 meters Centerline goodness : 0.892436 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:-6.13, Z:-1.53 [[ 0.8938322 -0.43364166 -0.11410039 1.26670263] [ 0.36015874 0.84588161 -0.39340817 -6.12818776] [ 0.26711359 0.31054664 0.91225606 -1.53185887] [ 0. 0. 0. 1. ]] SLAMing on 59.718001144999995 meters Centerline goodness : 0.892245 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:-6.13, Z:-1.54 [[ 0.89362201 -0.43354305 -0.11610391 1.27257166] [ 0.36010231 0.84698015 -0.39108944 -6.13057509] [ 0.26789182 0.30767685 0.91299996 -1.53526734] [ 0. 0. 0. 1. ]] SLAMing on 59.778001145 meters Centerline goodness : 0.893954 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:-6.13, Z:-1.54 [[ 0.89296062 -0.43309594 -0.12267534 1.28331585] [ 0.35930311 0.84995746 -0.38532271 -6.12938533] [ 0.27115052 0.30000037 0.91459126 -1.53897064] [ 0. 0. 0. 1. ]] SLAMing on 59.838001145 meters Centerline goodness : 0.897066 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:-6.13, Z:-1.54 [[ 0.89318291 -0.43048203 -0.1300366 1.29242341] [ 0.3565537 0.85414489 -0.37855774 -6.12678465] [ 0.2740324 0.29175627 0.91639758 -1.53952222] [ 0. 0. 0. 1. ]] SLAMing on 59.898001144999995 meters Centerline goodness : 0.895627 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-6.12, Z:-1.54 [[ 0.89324722 -0.42989781 -0.13151913 1.29996842] [ 0.355623 0.85464982 -0.37829349 -6.12307518] [ 0.27503034 0.29113838 0.91629513 -1.5448784 ] [ 0. 0. 0. 1. ]] SLAMing on 59.958001145 meters Centerline goodness : 0.897106 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:-6.12, Z:-1.55 [[ 0.89263201 -0.43026739 -0.13445467 1.3087582 ] [ 0.35554505 0.85535228 -0.37677606 -6.11968402] [ 0.27712056 0.28851768 0.91649427 -1.54995257] [ 0. 0. 0. 1. ]] SLAMing on 60.018001145 meters Centerline goodness : 0.897142 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:-6.12, Z:-1.55 [[ 0.89123835 -0.43029461 -0.14332046 1.32039222] [ 0.35490421 0.85843216 -0.37032043 -6.11625933] [ 0.28237778 0.27917874 0.91778103 -1.5494545 ] [ 0. 0. 0. 1. ]] SLAMing on 60.078001144999995 meters Centerline goodness : 0.896331 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-6.11, Z:-1.55 [[ 0.88885128 -0.43209075 -0.15244994 1.33352067] [ 0.35599991 0.86071844 -0.36390636 -6.11312646] [ 0.28845704 0.26918647 0.91887495 -1.55061373] [ 0. 0. 0. 1. ]] SLAMing on 60.138001145 meters Centerline goodness : 0.895211 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-6.11, Z:-1.55 [[ 0.88796787 -0.43316731 -0.15452878 1.34115467] [ 0.35662118 0.86068464 -0.3633776 -6.11017206] [ 0.29040385 0.26755939 0.91873695 -1.55398623] [ 0. 0. 0. 1. ]] SLAMing on 60.198001145 meters Centerline goodness : 0.896228 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-6.10, Z:-1.55 [[ 0.88639015 -0.43330084 -0.16298124 1.35348788] [ 0.35606181 0.86310126 -0.35815667 -6.10446488] [ 0.2958589 0.25943515 0.91932634 -1.55496376] [ 0. 0. 0. 1. ]] SLAMing on 60.258001144999994 meters Centerline goodness : 0.899138 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-6.10, Z:-1.56 [[ 0.88459335 -0.43282368 -0.17366135 1.3676288 ] [ 0.35500388 0.86642439 -0.35111396 -6.09660732] [ 0.30243486 0.24894263 0.92008734 -1.55557177] [ 0. 0. 0. 1. ]] SLAMing on 60.318001145 meters Centerline goodness : 0.895453 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:-6.09, Z:-1.56 [[ 0.88367908 -0.43341951 -0.1768016 1.37650625] [ 0.35518514 0.86687175 -0.34982408 -6.09196173] [ 0.3048849 0.24633492 0.9199806 -1.55923331] [ 0. 0. 0. 1. ]] SLAMing on 60.378001145 meters Centerline goodness : 0.895285 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:-6.09, Z:-1.56 [[ 0.88139654 -0.43360906 -0.18741217 1.38998494] [ 0.35545698 0.87010435 -0.34142166 -6.08697272] [ 0.31111167 0.23431091 0.92103633 -1.55916613] [ 0. 0. 0. 1. ]] SLAMing on 60.438001144999994 meters Centerline goodness : 0.890674 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:-6.08, Z:-1.56 [[ 0.87922475 -0.43469551 -0.19494526 1.40162881] [ 0.35632434 0.87164333 -0.33655738 -6.08117451] [ 0.31622272 0.22644583 0.92126298 -1.56059761] [ 0. 0. 0. 1. ]] SLAMing on 60.498001144999996 meters Centerline goodness : 0.893945 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-6.07, Z:-1.56 [[ 0.87691993 -0.43599754 -0.20228093 1.41354074] [ 0.35720327 0.87277893 -0.33266012 -6.07480034] [ 0.32158553 0.21946088 0.92109699 -1.5613805 ] [ 0. 0. 0. 1. ]] SLAMing on 60.558001145 meters Centerline goodness : 0.893372 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-6.07, Z:-1.57 [[ 0.87393781 -0.43816717 -0.21033841 1.42848972] [ 0.35877208 0.87351945 -0.32900816 -6.06668218] [ 0.32789527 0.21206911 0.92060382 -1.56512923] [ 0. 0. 0. 1. ]] SLAMing on 60.618001144999994 meters Centerline goodness : 0.894938 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:-6.06, Z:-1.57 [[ 0.87391167 -0.43895408 -0.20880064 1.43963699] [ 0.36349337 0.87533892 -0.31883277 -6.05845658] [ 0.32272427 0.20273403 0.9245258 -1.56751312] [ 0. 0. 0. 1. ]] SLAMing on 60.678001144999996 meters Centerline goodness : 0.891079 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:-6.05, Z:-1.57 [[ 0.87503532 -0.43669507 -0.20883149 1.45024777] [ 0.36524128 0.87876441 -0.30720014 -6.04776166] [ 0.31766647 0.19253709 0.92844897 -1.57125733] [ 0. 0. 0. 1. ]] SLAMing on 60.738001145 meters Centerline goodness : 0.890420 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:-6.04, Z:-1.57 [[ 0.87528156 -0.4359595 -0.20933586 1.4541077 ] [ 0.36415117 0.87896526 -0.30791882 -6.04311558] [ 0.31823909 0.19328577 0.92809724 -1.57369209] [ 0. 0. 0. 1. ]] SLAMing on 60.798001145 meters Centerline goodness : 0.890182 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:-6.04, Z:-1.57 [[ 0.87609879 -0.43322932 -0.21157331 1.45756632] [ 0.36140939 0.88057168 -0.30655632 -6.0370417 ] [ 0.31911465 0.19210904 0.92804092 -1.57481038] [ 0. 0. 0. 1. ]] SLAMing on 60.858001144999996 meters Centerline goodness : 0.887755 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:-6.03, Z:-1.57 [[ 0.87662136 -0.42874186 -0.21843858 1.46503763] [ 0.35780962 0.88434989 -0.2998292 -6.02987609] [ 0.32172546 0.18467725 0.92864796 -1.57414664] [ 0. 0. 0. 1. ]] SLAMing on 60.918001145 meters Centerline goodness : 0.886663 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:-6.02, Z:-1.58 [[ 0.87647818 -0.4279048 -0.22064334 1.47073069] [ 0.3568241 0.88504052 -0.2989646 -6.02456364] [ 0.32320668 0.18330509 0.92840545 -1.57591786] [ 0. 0. 0. 1. ]] SLAMing on 60.978001145 meters Centerline goodness : 0.889849 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:-6.01, Z:-1.58 [[ 0.87657546 -0.42915847 -0.21780373 1.48070542] [ 0.36137794 0.88583529 -0.29103577 -6.01322177] [ 0.3178387 0.17640535 0.93158989 -1.5801576 ] [ 0. 0. 0. 1. ]] SLAMing on 61.038001144999996 meters Centerline goodness : 0.890212 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:-6.00, Z:-1.59 [[ 0.876715 -0.42778116 -0.21994111 1.49306027] [ 0.36257081 0.8881874 -0.28225088 -6.00389947] [ 0.31609053 0.16770935 0.93378817 -1.58603681] [ 0. 0. 0. 1. ]] SLAMing on 61.098001145 meters Centerline goodness : 0.890114 with order 1 Centerline is valid? [False, False] Translation: X:1.50, Y:-6.00, Z:-1.59 [[ 0.87719775 -0.42500573 -0.22337017 1.49747192] [ 0.36015128 0.89011354 -0.27926499 -5.99846951] [ 0.31751403 0.16452357 0.93387196 -1.58643278] [ 0. 0. 0. 1. ]] SLAMing on 61.158001145 meters Centerline goodness : 0.888792 with order 1 Centerline is valid? [False, False] Translation: X:1.50, Y:-5.99, Z:-1.59 [[ 0.87686406 -0.42918715 -0.21658211 1.50476394] [ 0.36727544 0.88876392 -0.27423976 -5.98980603] [ 0.31019055 0.1609257 0.93695504 -1.59080625] [ 0. 0. 0. 1. ]] SLAMing on 61.218001144999995 meters Centerline goodness : 0.888271 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:-5.99, Z:-1.59 [[ 0.87657882 -0.4283466 -0.21938266 1.5090543 ] [ 0.3665373 0.88962262 -0.27243716 -5.98616792] [ 0.31186531 0.15840072 0.93682935 -1.59064236] [ 0. 0. 0. 1. ]] SLAMing on 61.278001145 meters Centerline goodness : 0.887681 with order 1 Centerline is valid? [False, False] Translation: X:1.52, Y:-5.98, Z:-1.60 [[ 0.87855507 -0.42615122 -0.21572232 1.51684542] [ 0.36802308 0.8918482 -0.2629939 -5.9760567 ] [ 0.30446673 0.15166383 0.94037125 -1.59776148] [ 0. 0. 0. 1. ]] SLAMing on 61.338001145 meters Centerline goodness : 0.886195 with order 1 Centerline is valid? [False, False] Translation: X:1.52, Y:-5.97, Z:-1.60 [[ 0.88045249 -0.42819801 -0.20359244 1.52007345] [ 0.37166449 0.8899209 -0.26439799 -5.96831644] [ 0.29439586 0.15712179 0.94267907 -1.600284 ] [ 0. 0. 0. 1. ]] SLAMing on 61.398001144999995 meters Centerline goodness : 0.884343 with order 1 Centerline is valid? [False, False] Translation: X:1.53, Y:-5.96, Z:-1.60 [[ 0.88105551 -0.42907621 -0.19908492 1.52500563] [ 0.37611977 0.89073047 -0.25521198 -5.95889061] [ 0.28683639 0.14997615 0.94616703 -1.6034252 ] [ 0. 0. 0. 1. ]] SLAMing on 61.458001145 meters Centerline goodness : 0.880543 with order 1 Centerline is valid? [False, False] Translation: X:1.54, Y:-5.95, Z:-1.61 [[ 0.88033291 -0.43235953 -0.19513895 1.53564533] [ 0.38188092 0.88999805 -0.24913939 -5.94899603] [ 0.28139108 0.14480576 0.94860442 -1.61067019] [ 0. 0. 0. 1. ]] SLAMing on 61.518001145 meters Centerline goodness : 0.880926 with order 1 Centerline is valid? [False, False] Translation: X:1.55, Y:-5.94, Z:-1.62 [[ 0.87850196 -0.43650683 -0.19415481 1.54845128] [ 0.38804331 0.88903731 -0.24297129 -5.9423725 ] [ 0.27866949 0.13811028 0.95040458 -1.61835296] [ 0. 0. 0. 1. ]] SLAMing on 61.578001144999995 meters Centerline goodness : 0.881899 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:-5.94, Z:-1.62 [[ 0.8767812 -0.44197734 -0.18950136 1.55754663] [ 0.39563188 0.88697809 -0.23821267 -5.93515831] [ 0.27336816 0.13388761 0.95254604 -1.62351381] [ 0. 0. 0. 1. ]] SLAMing on 61.638001145 meters Centerline goodness : 0.881546 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:-5.93, Z:-1.63 [[ 0.875536 -0.44630973 -0.18505228 1.56468159] [ 0.40205617 0.88541764 -0.23320899 -5.92835965] [ 0.267932 0.12978146 0.9546566 -1.6294683 ] [ 0. 0. 0. 1. ]] SLAMing on 61.698001145 meters Centerline goodness : 0.882086 with order 1 Centerline is valid? [False, False] Translation: X:1.57, Y:-5.93, Z:-1.63 [[ 0.87627049 -0.44350888 -0.18828143 1.56982031] [ 0.39951126 0.88724583 -0.23062003 -5.92509528] [ 0.26933394 0.12686497 0.95465413 -1.63094534] [ 0. 0. 0. 1. ]] SLAMing on 61.758001144999994 meters Centerline goodness : 0.885459 with order 1 Centerline is valid? [False, False] Translation: X:1.57, Y:-5.92, Z:-1.63 [[ 0.87743291 -0.44561992 -0.17757923 1.57285429] [ 0.40324247 0.88568924 -0.23010886 -5.91800885] [ 0.2598211 0.1302976 0.95682576 -1.6322927 ] [ 0. 0. 0. 1. ]] SLAMing on 61.818001145 meters Centerline goodness : 0.884550 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:-5.91, Z:-1.63 [[ 0.87804403 -0.44304183 -0.18097684 1.57759815] [ 0.40101623 0.88749332 -0.22702771 -5.91446547] [ 0.26119851 0.12676568 0.95692518 -1.63316896] [ 0. 0. 0. 1. ]] SLAMing on 61.878001145 meters Centerline goodness : 0.885974 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-5.91, Z:-1.64 [[ 0.87770218 -0.44595535 -0.175393 1.58574662] [ 0.40619774 0.88654712 -0.22144434 -5.90645172] [ 0.25424845 0.12311794 0.9592704 -1.63814256] [ 0. 0. 0. 1. ]] SLAMing on 61.938001144999994 meters Centerline goodness : 0.884547 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-5.90, Z:-1.64 [[ 0.8794457 -0.44132279 -0.17835205 1.58997499] [ 0.4023508 0.88942771 -0.21686905 -5.90350667] [ 0.25434051 0.11896447 0.95976995 -1.64124905] [ 0. 0. 0. 1. ]] SLAMing on 61.998001144999996 meters Centerline goodness : 0.882129 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:-5.90, Z:-1.65 [[ 0.88013234 -0.4435685 -0.16915685 1.59462038] [ 0.40732381 0.88861598 -0.21082918 -5.89675979] [ 0.24383267 0.11665596 0.96277568 -1.64971828] [ 0. 0. 0. 1. ]] SLAMing on 62.058001145 meters Centerline goodness : 0.886011 with order 1 Centerline is valid? [False, False] Translation: X:1.60, Y:-5.89, Z:-1.65 [[ 0.87999062 -0.44237326 -0.17298097 1.5993672 ] [ 0.4064224 0.88973771 -0.20781637 -5.89391772] [ 0.2458401 0.11257311 0.96275124 -1.64968069] [ 0. 0. 0. 1. ]] SLAMing on 62.118001144999994 meters Centerline goodness : 0.883369 with order 1 Centerline is valid? [False, False] Translation: X:1.61, Y:-5.89, Z:-1.65 [[ 0.8783107 -0.44451426 -0.17600396 1.60527384] [ 0.40833663 0.88895398 -0.20741748 -5.89122397] [ 0.24865945 0.11030813 0.96228925 -1.64941541] [ 0. 0. 0. 1. ]] SLAMing on 62.178001144999996 meters Centerline goodness : 0.884549 with order 1 Centerline is valid? [False, False] Translation: X:1.61, Y:-5.89, Z:-1.65 [[ 0.87677174 -0.44672905 -0.17805749 1.61068149] [ 0.41052451 0.8881088 -0.20671811 -5.89116329] [ 0.25048141 0.10814764 0.96206193 -1.65063232] [ 0. 0. 0. 1. ]] SLAMing on 62.238001145 meters Centerline goodness : 0.884863 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-5.88, Z:-1.66 [[ 0.87618178 -0.44969712 -0.17343009 1.62031377] [ 0.41562676 0.88714733 -0.20055923 -5.88339341] [ 0.24404895 0.10364415 0.96420848 -1.65880787] [ 0. 0. 0. 1. ]] SLAMing on 62.298001145 meters Centerline goodness : 0.888618 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-5.88, Z:-1.66 [[ 0.87777054 -0.44578948 -0.17547259 1.62260893] [ 0.412181 0.88940105 -0.19766787 -5.87950027] [ 0.24418376 0.10118056 0.96443599 -1.66122931] [ 0. 0. 0. 1. ]] SLAMing on 62.358001144999996 meters Centerline goodness : 0.886355 with order 1 Centerline is valid? [False, False] Translation: X:1.63, Y:-5.87, Z:-1.67 [[ 0.87845852 -0.44580811 -0.17194697 1.63162887] [ 0.4146733 0.89008316 -0.18920367 -5.87035192] [ 0.23739563 0.09490576 0.96676585 -1.66687016] [ 0. 0. 0. 1. ]] SLAMing on 62.418001145 meters Centerline goodness : 0.884489 with order 1 Centerline is valid? [False, False] Translation: X:1.63, Y:-5.87, Z:-1.67 [[ 0.88009502 -0.44275635 -0.17146303 1.63494364] [ 0.41149881 0.89144137 -0.18973932 -5.86870375] [ 0.23685753 0.09643179 0.96674682 -1.67198762] [ 0. 0. 0. 1. ]] SLAMing on 62.478001145 meters Centerline goodness : 0.884761 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:-5.86, Z:-1.68 [[ 0.87971673 -0.44225881 -0.17465859 1.64611498] [ 0.41409713 0.89310527 -0.17574569 -5.86203719] [ 0.23371359 0.0822808 0.96881775 -1.68019821] [ 0. 0. 0. 1. ]] SLAMing on 62.538001144999996 meters Centerline goodness : 0.883986 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:-5.86, Z:-1.68 [[ 0.87956466 -0.44254845 -0.17469083 1.64873672] [ 0.4142845 0.89293355 -0.17617615 -5.86123404] [ 0.23395378 0.08258662 0.96873375 -1.68221463] [ 0. 0. 0. 1. ]] SLAMing on 62.598001145 meters Centerline goodness : 0.887483 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:-5.86, Z:-1.68 [[ 0.87944349 -0.44213443 -0.17634143 1.65356303] [ 0.41375636 0.89320651 -0.17603354 -5.85946211] [ 0.23533981 0.08184916 0.96846058 -1.6840265 ] [ 0. 0. 0. 1. ]] SLAMing on 62.658001145 meters Centerline goodness : 0.888429 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:-5.85, Z:-1.69 [[ 0.87814498 -0.4463929 -0.17203132 1.66294516] [ 0.41992783 0.89152793 -0.1698192 -5.85333917] [ 0.22917681 0.07688514 0.97034358 -1.68744464] [ 0. 0. 0. 1. ]] SLAMing on 62.718001144999995 meters Centerline goodness : 0.881397 with order 1 Centerline is valid? [False, False] Translation: X:1.67, Y:-5.85, Z:-1.69 [[ 0.87621607 -0.44905769 -0.17490737 1.66977881] [ 0.42242329 0.89036214 -0.16974635 -5.85169791] [ 0.2319568 0.07484954 0.96984204 -1.68804521] [ 0. 0. 0. 1. ]] SLAMing on 62.778001145 meters Centerline goodness : 0.881803 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:-5.85, Z:-1.69 [[ 0.87601638 -0.44819597 -0.17808898 1.67572496] [ 0.42175363 0.89103549 -0.16786791 -5.84927546] [ 0.23392132 0.07194536 0.96958995 -1.68895585] [ 0. 0. 0. 1. ]] SLAMing on 62.838001145 meters Centerline goodness : 0.878551 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:-5.84, Z:-1.69 [[ 0.87724007 -0.44464196 -0.18095136 1.6806121 ] [ 0.418423 0.89298937 -0.16580765 -5.84400816] [ 0.23531268 0.0697389 0.96941448 -1.69148161] [ 0. 0. 0. 1. ]] SLAMing on 62.898001144999995 meters Centerline goodness : 0.876457 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:-5.84, Z:-1.69 [[ 0.8780744 -0.44219938 -0.18287992 1.6836999 ] [ 0.41629359 0.89436078 -0.16376339 -5.84158811] [ 0.2359767 0.0676647 0.96940007 -1.69288475] [ 0. 0. 0. 1. ]] SLAMing on 62.958001145 meters Centerline goodness : 0.874663 with order 1 Centerline is valid? [False, False] Translation: X:1.70, Y:-5.83, Z:-1.70 [[ 0.87741632 -0.44378417 -0.18219831 1.6957659 ] [ 0.41999253 0.89413973 -0.15530746 -5.83312421] [ 0.23183374 0.05974737 0.97091883 -1.69675288] [ 0. 0. 0. 1. ]] SLAMing on 63.018001145 meters Centerline goodness : 0.875833 with order 1 Centerline is valid? [False, False] Translation: X:1.70, Y:-5.83, Z:-1.70 [[ 0.87643287 -0.44438643 -0.18543496 1.70088322] [ 0.42075601 0.89403113 -0.1538594 -5.82923146] [ 0.23415766 0.05682457 0.97053653 -1.69675775] [ 0. 0. 0. 1. ]] SLAMing on 63.078001144999995 meters Centerline goodness : 0.875094 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:-5.82, Z:-1.70 [[ 0.87634101 -0.44338787 -0.18823824 1.70642519] [ 0.41981916 0.89464607 -0.15284071 -5.82492565] [ 0.23617432 0.05491456 0.97015776 -1.69792744] [ 0. 0. 0. 1. ]] SLAMing on 63.138001145 meters Centerline goodness : 0.870870 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:-5.82, Z:-1.70 [[ 0.8771482 -0.4406761 -0.19082875 1.71077029] [ 0.41735363 0.89611191 -0.15099465 -5.82030575] [ 0.23754365 0.05280161 0.96994072 -1.69983777] [ 0. 0. 0. 1. ]] SLAMing on 63.198001145 meters Centerline goodness : 0.869731 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:-5.81, Z:-1.71 [[ 0.87740455 -0.44278442 -0.18467056 1.716768 ] [ 0.42154821 0.89532222 -0.14385838 -5.81108497] [ 0.22903791 0.04837445 0.97221477 -1.70572301] [ 0. 0. 0. 1. ]] SLAMing on 63.258001144999994 meters Centerline goodness : 0.867117 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:-5.81, Z:-1.71 [[ 0.87804667 -0.44023126 -0.18769785 1.7228603 ] [ 0.41906044 0.89667135 -0.14271945 -5.80617508] [ 0.23113285 0.04665759 0.9718028 -1.70780897] [ 0. 0. 0. 1. ]] SLAMing on 63.318001145 meters Centerline goodness : 0.867662 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:-5.80, Z:-1.71 [[ 0.87785594 -0.43961149 -0.19002814 1.72927168] [ 0.41844892 0.89704613 -0.14215746 -5.8031883 ] [ 0.23295806 0.0452767 0.97143222 -1.70963849] [ 0. 0. 0. 1. ]] SLAMing on 63.378001145 meters Centerline goodness : 0.862864 with order 1 Centerline is valid? [False, False] Translation: X:1.74, Y:-5.80, Z:-1.71 [[ 0.87844276 -0.44071898 -0.18467566 1.73938111] [ 0.42038161 0.89650583 -0.13984494 -5.79590569] [ 0.22719513 0.04521153 0.9727992 -1.71373155] [ 0. 0. 0. 1. ]] SLAMing on 63.438001144999994 meters Centerline goodness : 0.864413 with order 1 Centerline is valid? [False, False] Translation: X:1.74, Y:-5.79, Z:-1.71 [[ 0.87911066 -0.43726293 -0.18964594 1.74470162] [ 0.41778027 0.89847003 -0.13494911 -5.79363049] [ 0.22939944 0.03940487 0.9725344 -1.71281938] [ 0. 0. 0. 1. ]] SLAMing on 63.498001144999996 meters Centerline goodness : 0.863171 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:-5.79, Z:-1.72 [[ 0.87842191 -0.43836644 -0.19028877 1.75167796] [ 0.41855436 0.89790091 -0.13633125 -5.79316612] [ 0.23062351 0.04011016 0.97221601 -1.71627737] [ 0. 0. 0. 1. ]] SLAMing on 63.558001145 meters Centerline goodness : 0.863721 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:-5.79, Z:-1.71 [[ 0.87648161 -0.44128928 -0.19246757 1.75624171] [ 0.42141074 0.89653696 -0.13650812 -5.79406533] [ 0.23279386 0.03853895 0.9717622 -1.71404054] [ 0. 0. 0. 1. ]] SLAMing on 63.618001144999994 meters Centerline goodness : 0.860129 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:-5.79, Z:-1.71 [[ 0.87343877 -0.44497285 -0.19774701 1.76586753] [ 0.42552854 0.89493176 -0.13424835 -5.79300895] [ 0.23670695 0.03311071 0.97101674 -1.71320173] [ 0. 0. 0. 1. ]] SLAMing on 63.678001144999996 meters Centerline goodness : 0.862013 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:-5.79, Z:-1.71 [[ 0.8722346 -0.44975643 -0.19216126 1.77853682] [ 0.43098393 0.89254276 -0.13274138 -5.78730825] [ 0.23121344 0.03296321 0.97234447 -1.71456789] [ 0. 0. 0. 1. ]] SLAMing on 63.738001145 meters Centerline goodness : 0.867887 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:-5.79, Z:-1.71 [[ 0.87292743 -0.44807938 -0.1929315 1.78066976] [ 0.42942133 0.89340777 -0.13198439 -5.78773636] [ 0.23150599 0.0323639 0.97229499 -1.71487814] [ 0. 0. 0. 1. ]] SLAMing on 63.798001145 meters Centerline goodness : 0.866897 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:-5.79, Z:-1.72 [[ 0.87292688 -0.44713789 -0.19510607 1.78431602] [ 0.42877649 0.89395751 -0.13034835 -5.78637581] [ 0.23270022 0.03012769 0.97208175 -1.71501462] [ 0. 0. 0. 1. ]] SLAMing on 63.858001144999996 meters Centerline goodness : 0.866352 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:-5.78, Z:-1.72 [[ 0.87309454 -0.44643609 -0.19596106 1.78915767] [ 0.42786757 0.89429374 -0.13102689 -5.78404502] [ 0.23374188 0.03055349 0.97181851 -1.71755485] [ 0. 0. 0. 1. ]] SLAMing on 63.918001145 meters Centerline goodness : 0.865482 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:-5.78, Z:-1.72 [[ 0.87255211 -0.44976027 -0.19070529 1.80145743] [ 0.43197958 0.89264681 -0.12874514 -5.77788786] [ 0.22813692 0.02995606 0.97316812 -1.71785713] [ 0. 0. 0. 1. ]] SLAMing on 63.978001145 meters Centerline goodness : 0.865644 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:-5.78, Z:-1.72 [[ 0.87162109 -0.45176894 -0.19021435 1.8016014 ] [ 0.43394158 0.8916278 -0.12920746 -5.78278484] [ 0.22797232 0.03007804 0.97320293 -1.71562188] [ 0. 0. 0. 1. ]] SLAMing on 64.038001145 meters Centerline goodness : 0.865621 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:-5.78, Z:-1.72 [[ 0.87064436 -0.45238906 -0.1931904 1.80965766] [ 0.4349159 0.89141535 -0.12738458 -5.78431041] [ 0.22984028 0.02688509 0.97285695 -1.71670469] [ 0. 0. 0. 1. ]] SLAMing on 64.098001145 meters Centerline goodness : 0.867775 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:-5.79, Z:-1.71 [[ 0.87021572 -0.45217499 -0.19560772 1.81357857] [ 0.43493905 0.89158872 -0.12608562 -5.78728242] [ 0.2314144 0.02464425 0.97254308 -1.71407421] [ 0. 0. 0. 1. ]] SLAMing on 64.158001145 meters Centerline goodness : 0.871346 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:-5.79, Z:-1.71 [[ 0.87138526 -0.4498172 -0.19583722 1.81471852] [ 0.43279607 0.89279569 -0.12491365 -5.79184991] [ 0.23103093 0.02409033 0.97264812 -1.71354067] [ 0. 0. 0. 1. ]] SLAMing on 64.218001145 meters Centerline goodness : 0.872868 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:-5.79, Z:-1.72 [[ 0.87175595 -0.44820864 -0.19786502 1.82244685] [ 0.43142316 0.89364978 -0.12354809 -5.7939154 ] [ 0.23219735 0.02234023 0.97241211 -1.71598314] [ 0. 0. 0. 1. ]] SLAMing on 64.27800114499999 meters Centerline goodness : 0.873754 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:-5.79, Z:-1.71 [[ 0.87062551 -0.45273953 -0.19245295 1.83281842] [ 0.4370415 0.89141191 -0.11991468 -5.79122632] [ 0.22584497 0.02029085 0.97395191 -1.71375757] [ 0. 0. 0. 1. ]] SLAMing on 64.33800114499999 meters Centerline goodness : 0.876992 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:-5.79, Z:-1.71 [[ 0.86979781 -0.45349686 -0.19440258 1.83830277] [ 0.4377524 0.89104906 -0.12001836 -5.79180786] [ 0.22765018 0.01929151 0.97355186 -1.71327174] [ 0. 0. 0. 1. ]] SLAMing on 64.398001145 meters Centerline goodness : 0.875143 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:-5.79, Z:-1.71 [[ 0.86946706 -0.45351822 -0.19582709 1.84302074] [ 0.43789353 0.89106412 -0.11939008 -5.79367713] [ 0.22864007 0.01805432 0.9733436 -1.71349335] [ 0. 0. 0. 1. ]] SLAMing on 64.458001145 meters Centerline goodness : 0.875650 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:-5.80, Z:-1.71 [[ 0.86862206 -0.45541743 -0.19516833 1.84612147] [ 0.43954752 0.89007425 -0.12068891 -5.79700268] [ 0.22867814 0.0190473 0.97331573 -1.71420601] [ 0. 0. 0. 1. ]] SLAMing on 64.518001145 meters Centerline goodness : 0.879218 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:-5.80, Z:-1.71 [[ 0.86767117 -0.45625837 -0.19742099 1.85213955] [ 0.44065245 0.88969111 -0.11947864 -5.79838157] [ 0.23015683 0.01667413 0.97301069 -1.71413594] [ 0. 0. 0. 1. ]] SLAMing on 64.578001145 meters Centerline goodness : 0.880940 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:-5.80, Z:-1.71 [[ 0.86651125 -0.45745144 -0.19974092 1.85875816] [ 0.44217875 0.88912491 -0.11804595 -5.80162457] [ 0.23159492 0.01396695 0.97271204 -1.71400649] [ 0. 0. 0. 1. ]] SLAMing on 64.638001145 meters Centerline goodness : 0.885175 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:-5.80, Z:-1.72 [[ 0.86609316 -0.46157402 -0.1919168 1.86652888] [ 0.44750233 0.88701094 -0.11381235 -5.7983258 ] [ 0.22276513 0.01268888 0.97478956 -1.71615934] [ 0. 0. 0. 1. ]] SLAMing on 64.69800114499999 meters Centerline goodness : 0.886565 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:-5.80, Z:-1.72 [[ 0.8662998 -0.4612595 -0.19174028 1.87061571] [ 0.44715332 0.88717048 -0.11394052 -5.80063856] [ 0.22266246 0.01296935 0.97480933 -1.71901116] [ 0. 0. 0. 1. ]] SLAMing on 64.758001145 meters Centerline goodness : 0.893717 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:-5.80, Z:-1.72 [[ 0.86691131 -0.46008832 -0.19179028 1.87111826] [ 0.44619562 0.88778823 -0.11287834 -5.80375998] [ 0.22220316 0.01227953 0.97492306 -1.71862572] [ 0. 0. 0. 1. ]] SLAMing on 64.818001145 meters Centerline goodness : 0.895199 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-5.80, Z:-1.72 [[ 0.86655095 -0.45856649 -0.19699297 1.87886139] [ 0.44556889 0.8886376 -0.10858903 -5.80258894] [ 0.22485065 0.00632399 0.97437272 -1.71884872] [ 0. 0. 0. 1. ]] SLAMing on 64.878001145 meters Centerline goodness : 0.900082 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-5.80, Z:-1.72 [[ 8.64853985e-01 -4.60913140e-01 -1.98963972e-01 1.88494526e+00] [ 4.48109901e-01 8.87435242e-01 -1.07963921e-01 -5.80347515e+00] [ 2.26329631e-01 4.21530192e-03 9.74041647e-01 -1.71954427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.938001145 meters Centerline goodness : 0.893482 with order 1 Centerline is valid? [False, False] Translation: X:1.89, Y:-5.80, Z:-1.72 [[ 8.63108001e-01 -4.63286441e-01 -2.01023016e-01 1.89153605e+00] [ 4.50778101e-01 8.86206994e-01 -1.06940485e-01 -5.80461916e+00] [ 2.27692080e-01 1.68441475e-03 9.73731729e-01 -1.72046427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.998001145 meters Centerline goodness : 0.896372 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:-5.80, Z:-1.72 [[ 8.60984844e-01 -4.69108191e-01 -1.96577222e-01 1.90247641e+00] [ 4.58321492e-01 8.83132030e-01 -1.00096089e-01 -5.80086813e+00] [ 2.20559537e-01 -3.91434986e-03 9.75365659e-01 -1.72392215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05800114499999 meters Centerline goodness : 0.905736 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-5.80, Z:-1.72 [[ 8.58844515e-01 -4.72646343e-01 -1.97462738e-01 1.90859085e+00] [ 4.61616121e-01 8.81243555e-01 -1.01589141e-01 -5.80164117e+00] [ 2.22028501e-01 -3.90270667e-03 9.75032365e-01 -1.72499637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.118001145 meters Centerline goodness : 0.895998 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-5.80, Z:-1.73 [[ 0.85764516 -0.47390102 -0.19965621 1.91427493] [ 0.46310112 0.88055747 -0.10077644 -5.80096244] [ 0.22356682 -0.00603059 0.97466995 -1.72568425] [ 0. 0. 0. 1. ]] SLAMing on 65.178001145 meters Centerline goodness : 0.894214 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:-5.80, Z:-1.73 [[ 0.85556905 -0.47598668 -0.20356397 1.92321118] [ 0.46547634 0.87940355 -0.0999058 -5.79848637] [ 0.22656871 -0.0092779 0.97395099 -1.72706761] [ 0. 0. 0. 1. ]] SLAMing on 65.238001145 meters Centerline goodness : 0.896770 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:-5.80, Z:-1.73 [[ 0.85443981 -0.47688181 -0.20619492 1.92844789] [ 0.46672973 0.87888573 -0.09860649 -5.79803037] [ 0.22824541 -0.01198399 0.97352987 -1.72672223] [ 0. 0. 0. 1. ]] SLAMing on 65.298001145 meters Centerline goodness : 0.899181 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-5.80, Z:-1.73 [[ 0.85363884 -0.47615494 -0.21113315 1.93548185] [ 0.46689833 0.87918839 -0.09504589 -5.79573932] [ 0.23088239 -0.01744285 0.9728253 -1.72621413] [ 0. 0. 0. 1. ]] SLAMing on 65.358001145 meters Centerline goodness : 0.897540 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:-5.79, Z:-1.73 [[ 0.85229938 -0.47911367 -0.20984721 1.94991003] [ 0.47161134 0.87742168 -0.087829 -5.78817293] [ 0.22620456 -0.02410972 0.9737814 -1.73168404] [ 0. 0. 0. 1. ]] SLAMing on 65.41800114499999 meters Centerline goodness : 0.898526 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:-5.79, Z:-1.73 [[ 0.85172837 -0.47981094 -0.21057122 1.9542059 ] [ 0.47229985 0.87703059 -0.08803526 -5.78686497] [ 0.22691769 -0.02447062 0.97360647 -1.7338196 ] [ 0. 0. 0. 1. ]] SLAMing on 65.478001145 meters Centerline goodness : 0.899271 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-5.78, Z:-1.73 [[ 0.85170724 -0.47811561 -0.21447668 1.95943018] [ 0.47140695 0.87782361 -0.08485983 -5.78349691] [ 0.2288455 -0.02883007 0.97303575 -1.73423121] [ 0. 0. 0. 1. ]] SLAMing on 65.538001145 meters Centerline goodness : 0.898289 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:-5.77, Z:-1.74 [[ 0.85036781 -0.48105992 -0.21320397 1.9712838 ] [ 0.4762717 0.87593836 -0.07679367 -5.77386143] [ 0.22369589 -0.03624015 0.97398501 -1.73883763] [ 0. 0. 0. 1. ]] SLAMing on 65.598001145 meters Centerline goodness : 0.899001 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:-5.77, Z:-1.74 [[ 0.84798667 -0.48390052 -0.21623804 1.9773395 ] [ 0.47926879 0.87428307 -0.07700998 -5.76968048] [ 0.22631843 -0.03833271 0.97329881 -1.73828192] [ 0. 0. 0. 1. ]] SLAMing on 65.658001145 meters Centerline goodness : 0.900579 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:-5.77, Z:-1.74 [[ 0.84646035 -0.48518344 -0.21932147 1.98264945] [ 0.48092545 0.87344928 -0.07613844 -5.76523255] [ 0.22850729 -0.04102911 0.97267725 -1.73824329] [ 0. 0. 0. 1. ]] SLAMing on 65.718001145 meters Centerline goodness : 0.899280 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:-5.76, Z:-1.74 [[ 0.84587642 -0.48943479 -0.21200629 1.98999555] [ 0.4861146 0.87098815 -0.07121969 -5.75918569] [ 0.21951236 -0.04281629 0.97466973 -1.74308171] [ 0. 0. 0. 1. ]] SLAMing on 65.77800114499999 meters Centerline goodness : 0.901679 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:-5.75, Z:-1.74 [[ 0.84440431 -0.48966328 -0.21728147 1.99599742] [ 0.48724014 0.87058396 -0.06841504 -5.75433283] [ 0.2226621 -0.0480983 0.97370845 -1.74140129] [ 0. 0. 0. 1. ]] SLAMing on 65.83800114499999 meters Centerline goodness : 0.907011 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:-5.75, Z:-1.75 [[ 0.84338906 -0.49206097 -0.2158029 2.00722583] [ 0.49054922 0.86903218 -0.06437804 -5.7460827 ] [ 0.21921759 -0.05156621 0.97431236 -1.74570903] [ 0. 0. 0. 1. ]] SLAMing on 65.898001145 meters Centerline goodness : 0.903379 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:-5.74, Z:-1.75 [[ 0.84315723 -0.49144897 -0.21809124 2.0097603 ] [ 0.49030678 0.86925383 -0.06322215 -5.7425229 ] [ 0.22064711 -0.05362541 0.97387842 -1.7456119 ] [ 0. 0. 0. 1. ]] SLAMing on 65.958001145 meters Centerline goodness : 0.903541 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:-5.73, Z:-1.75 [[ 0.84254409 -0.49246399 -0.2181712 2.02022685] [ 0.49348537 0.86809315 -0.05372588 -5.73274577] [ 0.21585099 -0.06239787 0.97443053 -1.74849344] [ 0. 0. 0. 1. ]] SLAMing on 66.018001145 meters Centerline goodness : 0.901572 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-5.73, Z:-1.75 [[ 0.84133548 -0.49362454 -0.22020317 2.02521366] [ 0.49461478 0.86739364 -0.05463054 -5.72699051] [ 0.2179698 -0.06295313 0.97392303 -1.75004849] [ 0. 0. 0. 1. ]] SLAMing on 66.078001145 meters Centerline goodness : 0.898066 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-5.72, Z:-1.75 [[ 0.8396464 -0.49570139 -0.2219776 2.03104294] [ 0.49664424 0.86616776 -0.05565886 -5.72225281] [ 0.21986001 -0.06351013 0.97346188 -1.75197529] [ 0. 0. 0. 1. ]] SLAMing on 66.138001145 meters Centerline goodness : 0.898914 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-5.71, Z:-1.75 [[ 0.83787176 -0.49583028 -0.22830516 2.03719526] [ 0.49805991 0.86558217 -0.05199842 -5.71485538] [ 0.22339927 -0.07014164 0.97220004 -1.75026387] [ 0. 0. 0. 1. ]] SLAMing on 66.19800114499999 meters Centerline goodness : 0.896683 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-5.70, Z:-1.75 [[ 0.83838553 -0.49887871 -0.2196127 2.04123514] [ 0.50058034 0.86412804 -0.05198139 -5.70187435] [ 0.2157059 -0.06635335 0.97420131 -1.750948 ] [ 0. 0. 0. 1. ]] SLAMing on 66.258001145 meters Centerline goodness : 0.894249 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-5.70, Z:-1.75 [[ 0.83990402 -0.49610984 -0.22008241 2.04319753] [ 0.4975845 0.86580903 -0.05276731 -5.69660197] [ 0.21672772 -0.06519012 0.97405305 -1.7542654 ] [ 0. 0. 0. 1. ]] SLAMing on 66.318001145 meters Centerline goodness : 0.889399 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-5.69, Z:-1.75 [[ 0.84153007 -0.49264715 -0.22164372 2.04139122] [ 0.49435042 0.86772106 -0.05174775 -5.69114738] [ 0.2178183 -0.06602238 0.97375368 -1.75400512] [ 0. 0. 0. 1. ]] SLAMing on 66.378001145 meters Centerline goodness : 0.886999 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-5.68, Z:-1.75 [[ 0.84373862 -0.48725149 -0.22514688 2.04017686] [ 0.48966521 0.87053556 -0.04894715 -5.68322983] [ 0.21984793 -0.06894799 0.97309458 -1.75340934] [ 0. 0. 0. 1. ]] SLAMing on 66.438001145 meters Centerline goodness : 0.881626 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-5.68, Z:-1.76 [[ 0.84475548 -0.4861889 -0.22362588 2.03896376] [ 0.4881379 0.87131159 -0.05037369 -5.68080642] [ 0.21933895 -0.06660681 0.97337247 -1.75561275] [ 0. 0. 0. 1. ]] SLAMing on 66.498001145 meters Centerline goodness : 0.884371 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-5.68, Z:-1.76 [[ 0.84634117 -0.48311083 -0.22430015 2.03573089] [ 0.48519422 0.87300079 -0.04955991 -5.67576708] [ 0.21975714 -0.06688454 0.97325909 -1.75530734] [ 0. 0. 0. 1. ]] SLAMing on 66.55800114499999 meters Centerline goodness : 0.882430 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-5.67, Z:-1.76 [[ 0.8474461 -0.47932956 -0.22820665 2.03841958] [ 0.48232454 0.87476979 -0.04626936 -5.66960228] [ 0.22180656 -0.07085888 0.97251266 -1.75585669] [ 0. 0. 0. 1. ]] SLAMing on 66.618001145 meters Centerline goodness : 0.876943 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-5.66, Z:-1.76 [[ 0.84666148 -0.48122175 -0.22713424 2.0375997 ] [ 0.48345526 0.87396695 -0.04952558 -5.66428018] [ 0.2223406 -0.06787784 0.97260334 -1.75679359] [ 0. 0. 0. 1. ]] SLAMing on 66.678001145 meters Centerline goodness : 0.882112 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-5.66, Z:-1.76 [[ 0.84483397 -0.48277674 -0.23061263 2.04338664] [ 0.48551373 0.87287311 -0.04867187 -5.65961314] [ 0.22479321 -0.07084595 0.97182759 -1.75664905] [ 0. 0. 0. 1. ]] SLAMing on 66.738001145 meters Centerline goodness : 0.884400 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-5.65, Z:-1.76 [[ 0.84150338 -0.4883604 -0.23103287 2.05289538] [ 0.49255329 0.86920521 -0.04328454 -5.65020116] [ 0.22195343 -0.07737191 0.97198265 -1.75896348] [ 0. 0. 0. 1. ]] SLAMing on 66.798001145 meters Centerline goodness : 0.875187 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-5.65, Z:-1.76 [[ 0.83901302 -0.49282086 -0.23061821 2.05488806] [ 0.4963048 0.8668817 -0.04687921 -5.64650257] [ 0.22302176 -0.07512466 0.97191439 -1.75851524] [ 0. 0. 0. 1. ]] SLAMing on 66.858001145 meters Centerline goodness : 0.879828 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-5.64, Z:-1.76 [[ 0.83724858 -0.4947068 -0.23298068 2.05909625] [ 0.49838226 0.86567429 -0.04715033 -5.64247376] [ 0.22501098 -0.07663689 0.97133766 -1.75801945] [ 0. 0. 0. 1. ]] SLAMing on 66.91800114499999 meters Centerline goodness : 0.880491 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-5.63, Z:-1.76 [[ 0.83683458 -0.49840474 -0.22649636 2.06565652] [ 0.50198993 0.86366074 -0.04578469 -5.6318189 ] [ 0.21843532 -0.07538468 0.97293533 -1.7572225 ] [ 0. 0. 0. 1. ]] SLAMing on 66.978001145 meters Centerline goodness : 0.878365 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-5.63, Z:-1.76 [[ 0.83800313 -0.49681856 -0.22565919 2.06404576] [ 0.4999642 0.86475769 -0.04722214 -5.6295437 ] [ 0.21860136 -0.07324921 0.97306115 -1.7576624 ] [ 0. 0. 0. 1. ]] SLAMing on 67.038001145 meters Centerline goodness : 0.881267 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-5.63, Z:-1.76 [[ 0.84043817 -0.49088233 -0.22956092 2.06434216] [ 0.49522171 0.867728 -0.04246853 -5.62619343] [ 0.22004349 -0.07799138 0.97236732 -1.75685049] [ 0. 0. 0. 1. ]] SLAMing on 67.098001145 meters Centerline goodness : 0.880633 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-5.62, Z:-1.76 [[ 0.84175928 -0.48744924 -0.23202276 2.06479835] [ 0.4923029 0.86947564 -0.04061975 -5.62210563] [ 0.2215382 -0.08003343 0.97186186 -1.75617122] [ 0. 0. 0. 1. ]] SLAMing on 67.158001145 meters Centerline goodness : 0.880596 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-5.62, Z:-1.76 [[ 0.84392872 -0.48657913 -0.22588729 2.06179567] [ 0.48963155 0.87070111 -0.04626584 -5.62222681] [ 0.21919231 -0.07155647 0.97305416 -1.76127925] [ 0. 0. 0. 1. ]] SLAMing on 67.218001145 meters Centerline goodness : 0.883227 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-5.62, Z:-1.76 [[ 0.8442259 -0.4843431 -0.22955261 2.06435619] [ 0.48809443 0.87167498 -0.04411977 -5.61828256] [ 0.22146437 -0.0747963 0.97229576 -1.75960396] [ 0. 0. 0. 1. ]] SLAMing on 67.27800114499999 meters Centerline goodness : 0.885537 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-5.62, Z:-1.76 [[ 0.84562172 -0.48060775 -0.23225007 2.06371585] [ 0.48519371 0.87345013 -0.04088939 -5.61704944] [ 0.22251061 -0.07810932 0.97179626 -1.75749747] [ 0. 0. 0. 1. ]] SLAMing on 67.33800114499999 meters Centerline goodness : 0.881622 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-5.62, Z:-1.76 [[ 0.84562573 -0.48201145 -0.22930787 2.06341047] [ 0.48558447 0.87305715 -0.04448526 -5.61844465] [ 0.22164128 -0.07373045 0.97233686 -1.75877343] [ 0. 0. 0. 1. ]] SLAMing on 67.398001145 meters Centerline goodness : 0.885932 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-5.62, Z:-1.76 [[ 0.84507159 -0.48208719 -0.2311838 2.06594606] [ 0.48587355 0.87291023 -0.04421115 -5.61834116] [ 0.22311633 -0.0749645 0.97190505 -1.75722942] [ 0. 0. 0. 1. ]] SLAMing on 67.458001145 meters Centerline goodness : 0.886262 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-5.62, Z:-1.76 [[ 0.84422451 -0.48231309 -0.23379275 2.06816327] [ 0.48645717 0.87261556 -0.04360631 -5.61574929] [ 0.22504308 -0.07691665 0.97130811 -1.75517538] [ 0. 0. 0. 1. ]] SLAMing on 67.518001145 meters Centerline goodness : 0.891414 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-5.62, Z:-1.76 [[ 0.84333679 -0.4857085 -0.22993547 2.0685404 ] [ 0.48850675 0.8712053 -0.04860541 -5.6180844 ] [ 0.22392906 -0.0713343 0.97199135 -1.75668349] [ 0. 0. 0. 1. ]] SLAMing on 67.578001145 meters Centerline goodness : 0.891104 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-5.62, Z:-1.76 [[ 0.84254748 -0.48670073 -0.23072957 2.07029693] [ 0.48947342 0.87063367 -0.04912005 -5.6179538 ] [ 0.2247877 -0.07155002 0.97177728 -1.7554252 ] [ 0. 0. 0. 1. ]] SLAMing on 67.638001145 meters Centerline goodness : 0.892861 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-5.61, Z:-1.75 [[ 0.84180178 -0.49177517 -0.2225465 2.07387053] [ 0.49430812 0.86794949 -0.04819916 -5.61106233] [ 0.21686227 -0.06943241 0.97372989 -1.75213701] [ 0. 0. 0. 1. ]] SLAMing on 67.69800114499999 meters Centerline goodness : 0.887630 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-5.61, Z:-1.75 [[ 0.84139925 -0.49277219 -0.22186228 2.07385783] [ 0.49487554 0.8675217 -0.05004302 -5.60999587] [ 0.21713015 -0.06768806 0.97379301 -1.75199406] [ 0. 0. 0. 1. ]] SLAMing on 67.758001145 meters Centerline goodness : 0.884730 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:-5.61, Z:-1.75 [[ 0.84124136 -0.49323364 -0.22143522 2.07544697] [ 0.49495244 0.86738097 -0.05169463 -5.60951309] [ 0.21756623 -0.06611224 0.97380394 -1.75241727] [ 0. 0. 0. 1. ]] SLAMing on 67.818001145 meters Centerline goodness : 0.888967 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-5.61, Z:-1.75 [[ 0.84236951 -0.4914313 -0.22115355 2.07319617] [ 0.49329233 0.86838374 -0.05071832 -5.61099744] [ 0.21697071 -0.06636979 0.97391928 -1.75112973] [ 0. 0. 0. 1. ]] SLAMing on 67.878001145 meters Centerline goodness : 0.892888 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-5.61, Z:-1.75 [[ 0.84260036 -0.49115855 -0.22087987 2.07243895] [ 0.49291203 0.86857863 -0.05107738 -5.61055478] [ 0.21693863 -0.06583653 0.97396262 -1.75047172] [ 0. 0. 0. 1. ]] SLAMing on 67.938001145 meters Centerline goodness : 0.885964 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-5.61, Z:-1.75 [[ 0.84239998 -0.49238975 -0.21889407 2.07360892] [ 0.4932737 0.86816214 -0.05454866 -5.61124637] [ 0.21689475 -0.0620229 0.97422268 -1.75164606] [ 0. 0. 0. 1. ]] SLAMing on 67.998001145 meters Centerline goodness : 0.888188 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:-5.61, Z:-1.75 [[ 0.84152324 -0.49265928 -0.22164268 2.0766264 ] [ 0.49392875 0.86784355 -0.05368396 -5.60909453] [ 0.21879907 -0.06429939 0.97364909 -1.74999576] [ 0. 0. 0. 1. ]] SLAMing on 68.05800114499999 meters Centerline goodness : 0.883802 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:-5.61, Z:-1.75 [[ 0.84044666 -0.49489911 -0.22073579 2.07593006] [ 0.49592082 0.86663526 -0.05482582 -5.61104347] [ 0.21843067 -0.0633893 0.97379148 -1.74805205] [ 0. 0. 0. 1. ]] SLAMing on 68.118001145 meters Centerline goodness : 0.886840 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:-5.61, Z:-1.75 [[ 0.83923304 -0.49736193 -0.21981587 2.0787933 ] [ 0.49792185 0.86534965 -0.05695447 -5.6123341 ] [ 0.21854457 -0.06165305 0.97387739 -1.74874703] [ 0. 0. 0. 1. ]] SLAMing on 68.178001145 meters Centerline goodness : 0.892746 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:-5.61, Z:-1.75 [[ 0.83669741 -0.50077467 -0.22172546 2.08239964] [ 0.50162718 0.86322413 -0.05669454 -5.61458207] [ 0.21978996 -0.06378734 0.97345958 -1.74535675] [ 0. 0. 0. 1. ]] SLAMing on 68.238001145 meters Centerline goodness : 0.890640 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:-5.61, Z:-1.74 [[ 0.83499165 -0.50235945 -0.22455272 2.08428687] [ 0.50367741 0.86209249 -0.05572802 -5.61345207] [ 0.22158071 -0.0665697 0.97286714 -1.74161758] [ 0. 0. 0. 1. ]] SLAMing on 68.298001145 meters Centerline goodness : 0.893532 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-5.62, Z:-1.74 [[ 0.83319926 -0.50598288 -0.22307022 2.0871387 ] [ 0.50663351 0.86015937 -0.05872253 -5.61561064] [ 0.22158853 -0.06408728 0.97303204 -1.74203956] [ 0. 0. 0. 1. ]] SLAMing on 68.358001145 meters Centerline goodness : 0.893610 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-5.62, Z:-1.74 [[ 0.83206776 -0.50767201 -0.22345553 2.0892941 ] [ 0.50812852 0.85919382 -0.05992822 -5.61534588] [ 0.22241549 -0.06367979 0.9728701 -1.74128463] [ 0. 0. 0. 1. ]] SLAMing on 68.41800114499999 meters Centerline goodness : 0.887500 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-5.61, Z:-1.74 [[ 0.8318443 -0.50736684 -0.22497543 2.08892179] [ 0.50806717 0.8592755 -0.05927366 -5.61281327] [ 0.22338936 -0.06499617 0.97255986 -1.73948699] [ 0. 0. 0. 1. ]] SLAMing on 68.478001145 meters Centerline goodness : 0.886830 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-5.61, Z:-1.74 [[ 0.83238361 -0.50909106 -0.21900642 2.08662473] [ 0.50815386 0.85881057 -0.06499282 -5.61440653] [ 0.22117229 -0.05719 0.97355643 -1.74321991] [ 0. 0. 0. 1. ]] SLAMing on 68.538001145 meters Centerline goodness : 0.888500 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-5.61, Z:-1.74 [[ 0.83232364 -0.50714719 -0.22369417 2.08981343] [ 0.50732824 0.85958229 -0.06112563 -5.61262119] [ 0.22328324 -0.06261007 0.97274075 -1.74065496] [ 0. 0. 0. 1. ]] SLAMing on 68.598001145 meters Centerline goodness : 0.887979 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-5.61, Z:-1.74 [[ 0.83264724 -0.50611923 -0.22481526 2.09067073] [ 0.50639019 0.86015031 -0.0609132 -5.61123935] [ 0.22420425 -0.06312503 0.9724956 -1.74001925] [ 0. 0. 0. 1. ]] SLAMing on 68.658001145 meters Centerline goodness : 0.884437 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-5.61, Z:-1.74 [[ 0.83237884 -0.50792633 -0.22171221 2.09132695] [ 0.5070606 0.85943776 -0.06524024 -5.61128349] [ 0.22368508 -0.05811693 0.97292724 -1.74235894] [ 0. 0. 0. 1. ]] SLAMing on 68.718001145 meters Centerline goodness : 0.884725 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-5.61, Z:-1.74 [[ 0.83189078 -0.50812987 -0.22307345 2.0911433 ] [ 0.50761217 0.85919586 -0.06412776 -5.61230776] [ 0.22424901 -0.0598875 0.97269002 -1.73938324] [ 0. 0. 0. 1. ]] SLAMing on 68.77800114499999 meters Centerline goodness : 0.885045 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-5.61, Z:-1.74 [[ 0.83099217 -0.50922279 -0.22392893 2.09331764] [ 0.5085983 0.85854832 -0.06498114 -5.61108796] [ 0.22534368 -0.05989106 0.97243678 -1.73869704] [ 0. 0. 0. 1. ]] SLAMing on 68.83800114499999 meters Centerline goodness : 0.886953 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:-5.61, Z:-1.74 [[ 0.83024453 -0.50983479 -0.22530538 2.09786874] [ 0.50924491 0.85814081 -0.06529909 -5.61024806] [ 0.22663549 -0.0605214 0.97209748 -1.73929808] [ 0. 0. 0. 1. ]] SLAMing on 68.898001145 meters Centerline goodness : 0.886280 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:-5.61, Z:-1.74 [[ 0.82969196 -0.5090445 -0.22909594 2.10108615] [ 0.50921701 0.85832881 -0.06300547 -5.60775587] [ 0.22871223 -0.06438442 0.97136263 -1.73745822] [ 0. 0. 0. 1. ]] SLAMing on 68.958001145 meters Centerline goodness : 0.884721 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:-5.61, Z:-1.74 [[ 0.82874278 -0.51067929 -0.22889312 2.10382833] [ 0.51037733 0.85747546 -0.06519826 -5.60621981] [ 0.22956564 -0.06278927 0.97126573 -1.73828219] [ 0. 0. 0. 1. ]] SLAMing on 69.018001145 meters Centerline goodness : 0.887993 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:-5.61, Z:-1.74 [[ 0.82666158 -0.51447635 -0.22791383 2.10508246] [ 0.51353337 0.85535566 -0.06819222 -5.60680586] [ 0.23003067 -0.06066947 0.97129043 -1.73693345] [ 0. 0. 0. 1. ]] SLAMing on 69.078001145 meters Centerline goodness : 0.887505 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:-5.60, Z:-1.73 [[ 0.82461835 -0.51513745 -0.2337477 2.10973042] [ 0.51534174 0.85450517 -0.06514442 -5.60272173] [ 0.23329695 -0.06674066 0.97011248 -1.73292935] [ 0. 0. 0. 1. ]] SLAMing on 69.138001145 meters Centerline goodness : 0.887675 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:-5.60, Z:-1.73 [[ 0.82282735 -0.5185441 -0.23252348 2.1112832 ] [ 0.51801241 0.85263715 -0.0683595 -5.60208833] [ 0.23370558 -0.06420198 0.97018545 -1.73302964] [ 0. 0. 0. 1. ]] SLAMing on 69.19800114499999 meters Centerline goodness : 0.886367 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:-5.60, Z:-1.73 [[ 0.82180948 -0.51948217 -0.23402447 2.11280797] [ 0.51900559 0.85200543 -0.06870183 -5.60051842] [ 0.2350795 -0.06500019 0.96980029 -1.73111918] [ 0. 0. 0. 1. ]] SLAMing on 69.258001145 meters Centerline goodness : 0.884627 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:-5.60, Z:-1.73 [[ 0.82073744 -0.52020083 -0.23618035 2.11600794] [ 0.5199845 0.8514354 -0.06836578 -5.59624322] [ 0.23665624 -0.06669976 0.96930128 -1.73149581] [ 0. 0. 0. 1. ]] SLAMing on 69.318001145 meters Centerline goodness : 0.883529 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:-5.59, Z:-1.73 [[ 0.8190924 -0.52261288 -0.23656587 2.11662523] [ 0.52187755 0.85006333 -0.07096589 -5.59078174] [ 0.23818366 -0.0653308 0.96902035 -1.73101073] [ 0. 0. 0. 1. ]] SLAMing on 69.378001145 meters Centerline goodness : 0.883388 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:-5.59, Z:-1.73 [[ 0.81888 -0.52241121 -0.23774371 2.12019531] [ 0.5216432 0.85017061 -0.07140239 -5.58759161] [ 0.23942413 -0.0655474 0.96869997 -1.73245482] [ 0. 0. 0. 1. ]] SLAMing on 69.438001145 meters Centerline goodness : 0.882208 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:-5.59, Z:-1.73 [[ 0.8198771 -0.52006193 -0.23945172 2.11988235] [ 0.51976379 0.85146757 -0.06963174 -5.58604095] [ 0.24009819 -0.06736887 0.96840812 -1.73156451] [ 0. 0. 0. 1. ]] SLAMing on 69.498001145 meters Centerline goodness : 0.882251 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-5.58, Z:-1.73 [[ 0.82084111 -0.52107328 -0.23388567 2.12514077] [ 0.52134416 0.85080536 -0.06580658 -5.57594577] [ 0.23328123 -0.06791818 0.97003453 -1.72959714] [ 0. 0. 0. 1. ]] SLAMing on 69.55800114499999 meters Centerline goodness : 0.878185 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-5.57, Z:-1.73 [[ 0.82080318 -0.52078033 -0.23466995 2.12808498] [ 0.52072765 0.85106311 -0.06733719 -5.57168996] [ 0.23478683 -0.06692855 0.96974002 -1.73114775] [ 0. 0. 0. 1. ]] SLAMing on 69.618001145 meters Centerline goodness : 0.878994 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-5.57, Z:-1.73 [[ 0.82031949 -0.52204093 -0.23355769 2.12992708] [ 0.52125917 0.85050495 -0.07021537 -5.57032569] [ 0.23529727 -0.06414506 0.96980442 -1.73244095] [ 0. 0. 0. 1. ]] SLAMing on 69.678001145 meters Centerline goodness : 0.881146 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-5.57, Z:-1.73 [[ 0.81863198 -0.52380988 -0.23550987 2.13244908] [ 0.52310875 0.84932766 -0.07070901 -5.56748704] [ 0.23706313 -0.06531262 0.96929631 -1.7309141 ] [ 0. 0. 0. 1. ]] SLAMing on 69.738001145 meters Centerline goodness : 0.879784 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-5.57, Z:-1.73 [[ 0.81840091 -0.52348787 -0.23702406 2.13478169] [ 0.52300181 0.84943424 -0.07021805 -5.56676849] [ 0.23809465 -0.06649749 0.96896286 -1.73042079] [ 0. 0. 0. 1. ]] SLAMing on 69.798001145 meters Centerline goodness : 0.877603 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-5.57, Z:-1.73 [[ 0.81875845 -0.52265238 -0.23763225 2.13522756] [ 0.52219189 0.84993706 -0.07016135 -5.56635598] [ 0.23864246 -0.06664443 0.96881799 -1.72982501] [ 0. 0. 0. 1. ]] SLAMing on 69.858001145 meters Centerline goodness : 0.879947 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-5.56, Z:-1.73 [[ 0.81911935 -0.5267173 -0.22718355 2.13567685] [ 0.52567236 0.84778362 -0.0702247 -5.55950188] [ 0.22959105 -0.0619017 0.9713167 -1.7277102 ] [ 0. 0. 0. 1. ]] SLAMing on 69.91800114499999 meters Centerline goodness : 0.878195 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-5.56, Z:-1.73 [[ 0.81985178 -0.52557539 -0.22718619 2.13584155] [ 0.52425668 0.84857741 -0.07121309 -5.55706071] [ 0.23021292 -0.0607197 0.97124412 -1.72825959] [ 0. 0. 0. 1. ]] SLAMing on 69.978001145 meters Centerline goodness : 0.880856 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-5.55, Z:-1.73 [[ 0.81877426 -0.5266945 -0.22847671 2.13844793] [ 0.52524253 0.84787636 -0.07229076 -5.55423914] [ 0.23179515 -0.06081587 0.9708617 -1.72787072] [ 0. 0. 0. 1. ]] SLAMing on 70.038001145 meters Centerline goodness : 0.876248 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-5.55, Z:-1.73 [[ 0.81731712 -0.52846404 -0.22960505 2.13936745] [ 0.52683377 0.84677535 -0.07360495 -5.55087839] [ 0.23332146 -0.06080511 0.97049669 -1.72609487] [ 0. 0. 0. 1. ]] SLAMing on 70.098001145 meters Centerline goodness : 0.875451 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-5.55, Z:-1.73 [[ 0.81609597 -0.52992279 -0.23058447 2.14315876] [ 0.52807299 0.84588078 -0.07499752 -5.54796496] [ 0.23478986 -0.06056025 0.97015781 -1.72674125] [ 0. 0. 0. 1. ]] SLAMing on 70.158001145 meters Centerline goodness : 0.876801 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-5.55, Z:-1.73 [[ 0.81458293 -0.53142877 -0.232461 2.14789323] [ 0.5296897 0.84484464 -0.07527524 -5.54557341] [ 0.23639685 -0.06181427 0.96968836 -1.72715448] [ 0. 0. 0. 1. ]] SLAMing on 70.218001145 meters Centerline goodness : 0.879065 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-5.55, Z:-1.72 [[ 0.81262202 -0.53455873 -0.23214741 2.14773423] [ 0.53251857 0.84291757 -0.07690214 -5.5475082 ] [ 0.23678984 -0.06113043 0.96963583 -1.72397972] [ 0. 0. 0. 1. ]] SLAMing on 70.27800114499999 meters Centerline goodness : 0.879404 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-5.55, Z:-1.72 [[ 0.81234189 -0.53380195 -0.23485343 2.15056052] [ 0.53227564 0.84320426 -0.07542697 -5.54591876] [ 0.23829247 -0.06373427 0.96909991 -1.72278914] [ 0. 0. 0. 1. ]] SLAMing on 70.33800114499999 meters Centerline goodness : 0.878851 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-5.55, Z:-1.72 [[ 0.81262412 -0.5335897 -0.23435884 2.15050924] [ 0.53168381 0.84345356 -0.07680123 -5.54514297] [ 0.23865114 -0.06219427 0.96911171 -1.72276915] [ 0. 0. 0. 1. ]] SLAMing on 70.398001145 meters Centerline goodness : 0.875064 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-5.54, Z:-1.72 [[ 0.81323156 -0.53302906 -0.23352613 2.15154 ] [ 0.53064619 0.84395699 -0.07842966 -5.54429657] [ 0.2388913 -0.06013828 0.9691823 -1.72411311] [ 0. 0. 0. 1. ]] SLAMing on 70.458001145 meters Centerline goodness : 0.874694 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-5.54, Z:-1.72 [[ 0.81350058 -0.53220893 -0.23445781 2.15174973] [ 0.52980212 0.84446721 -0.07864384 -5.54271721] [ 0.23984689 -0.06023944 0.96893998 -1.72306397] [ 0. 0. 0. 1. ]] SLAMing on 70.518001145 meters Centerline goodness : 0.873819 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-5.54, Z:-1.72 [[ 0.81410113 -0.53187869 -0.23311886 2.15034178] [ 0.52898397 0.84483151 -0.08022269 -5.5421294 ] [ 0.2396149 -0.05800676 0.96913359 -1.7234144 ] [ 0. 0. 0. 1. ]] SLAMing on 70.578001145 meters Centerline goodness : 0.874377 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-5.54, Z:-1.72 [[ 0.81525301 -0.52895174 -0.23573838 2.15339331] [ 0.52653228 0.84652077 -0.07852606 -5.53966186] [ 0.24109393 -0.06010526 0.96863877 -1.7240248 ] [ 0. 0. 0. 1. ]] SLAMing on 70.63800114499999 meters Centerline goodness : 0.872666 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-5.54, Z:-1.72 [[ 0.8163219 -0.52673249 -0.23700515 2.15414185] [ 0.52463188 0.84781848 -0.07723479 -5.53862028] [ 0.24161942 -0.061292 0.96843345 -1.72409278] [ 0. 0. 0. 1. ]] SLAMing on 70.69800114499999 meters Centerline goodness : 0.873002 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-5.54, Z:-1.72 [[ 0.81632986 -0.52629088 -0.23795686 2.15339432] [ 0.52432145 0.84804154 -0.07689322 -5.53779074] [ 0.2422655 -0.06199565 0.96822723 -1.7220426 ] [ 0. 0. 0. 1. ]] SLAMing on 70.758001145 meters Centerline goodness : 0.871831 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:-5.54, Z:-1.72 [[ 0.81491046 -0.52724316 -0.24069813 2.15812737] [ 0.52554734 0.84730068 -0.07669131 -5.53539792] [ 0.24437866 -0.06400171 0.96756543 -1.72139113] [ 0. 0. 0. 1. ]] SLAMing on 70.818001145 meters Centerline goodness : 0.870064 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:-5.54, Z:-1.72 [[ 0.81288759 -0.53136049 -0.23847387 2.15849832] [ 0.52889077 0.84492877 -0.07981179 -5.5366409 ] [ 0.24390227 -0.06124861 0.96786378 -1.72128671] [ 0. 0. 0. 1. ]] SLAMing on 70.878001145 meters Centerline goodness : 0.872348 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:-5.53, Z:-1.72 [[ 0.81171472 -0.53206238 -0.24089174 2.16324122] [ 0.52983399 0.844357 -0.0796065 -5.53441622] [ 0.24575425 -0.06301486 0.96728174 -1.72118256] [ 0. 0. 0. 1. ]] SLAMing on 70.938001145 meters Centerline goodness : 0.871962 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:-5.54, Z:-1.72 [[ 0.81292577 -0.53057208 -0.24009363 2.16046102] [ 0.52840774 0.84531599 -0.07890587 -5.53704934] [ 0.24482023 -0.06272272 0.96753755 -1.72013319] [ 0. 0. 0. 1. ]] SLAMing on 70.998001145 meters Centerline goodness : 0.869593 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:-5.54, Z:-1.72 [[ 0.8150559 -0.5276608 -0.23928634 2.15882551] [ 0.52536906 0.84722333 -0.07873995 -5.53734753] [ 0.24427696 -0.06153618 0.96775104 -1.72108257] [ 0. 0. 0. 1. ]] SLAMing on 71.05800114499999 meters Centerline goodness : 0.869336 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:-5.54, Z:-1.72 [[ 0.81818896 -0.52341235 -0.23792088 2.15572716] [ 0.52104092 0.84995639 -0.07804167 -5.53870947] [ 0.24307035 -0.06011368 0.96814418 -1.7222341 ] [ 0. 0. 0. 1. ]] SLAMing on 71.118001145 meters Centerline goodness : 0.870116 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:-5.54, Z:-1.72 [[ 0.8196706 -0.52092048 -0.23828963 2.15538494] [ 0.51875118 0.8514555 -0.07694636 -5.5399175 ] [ 0.24297596 -0.06054236 0.96814116 -1.72187733] [ 0. 0. 0. 1. ]] SLAMing on 71.178001145 meters Centerline goodness : 0.871247 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:-5.54, Z:-1.72 [[ 0.81928685 -0.5227039 -0.23568981 2.15501631] [ 0.51986912 0.85056462 -0.07922069 -5.54383107] [ 0.24187838 -0.05762338 0.96859403 -1.72212606] [ 0. 0. 0. 1. ]] SLAMing on 71.238001145 meters Centerline goodness : 0.871003 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:-5.54, Z:-1.72 [[ 0.81611447 -0.53129717 -0.22733344 2.16231841] [ 0.52800837 0.84543197 -0.08032404 -5.53865729] [ 0.23487089 -0.05448035 0.97049861 -1.71911271] [ 0. 0. 0. 1. ]] SLAMing on 71.298001145 meters Centerline goodness : 0.876457 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:-5.54, Z:-1.72 [[ 0.8146287 -0.53254949 -0.22971964 2.16707199] [ 0.52968749 0.84447413 -0.07933859 -5.53897726] [ 0.23624402 -0.05704812 0.97001767 -1.71832901] [ 0. 0. 0. 1. ]] SLAMing on 71.358001145 meters Centerline goodness : 0.881014 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:-5.54, Z:-1.72 [[ 0.81474539 -0.53278843 -0.22874975 2.16587758] [ 0.5298454 0.84436309 -0.07946583 -5.54279029] [ 0.23548632 -0.05645759 0.97023643 -1.71689912] [ 0. 0. 0. 1. ]] SLAMing on 71.41800114499999 meters Centerline goodness : 0.880992 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:-5.54, Z:-1.72 [[ 0.8149772 -0.53193269 -0.22991255 2.16834098] [ 0.52912067 0.8448528 -0.07908894 -5.54148288] [ 0.23631226 -0.0571958 0.96999235 -1.71749783] [ 0. 0. 0. 1. ]] SLAMing on 71.478001145 meters Centerline goodness : 0.883765 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:-5.54, Z:-1.72 [[ 0.81657139 -0.5283893 -0.23241326 2.17008119] [ 0.52619717 0.84690056 -0.07665501 -5.54120113] [ 0.2373346 -0.05970091 0.96959171 -1.7171032 ] [ 0. 0. 0. 1. ]] SLAMing on 71.538001145 meters Centerline goodness : 0.881423 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:-5.54, Z:-1.72 [[ 0.81706509 -0.52753257 -0.23262422 2.17184958] [ 0.52530921 0.84744687 -0.07670745 -5.54134086] [ 0.23760234 -0.05952467 0.96953697 -1.71800208] [ 0. 0. 0. 1. ]] SLAMing on 71.598001145 meters Centerline goodness : 0.886348 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:-5.55, Z:-1.72 [[ 0.8180604 -0.52846302 -0.22694496 2.16922286] [ 0.52488986 0.84730852 -0.08098707 -5.54631701] [ 0.23509107 -0.05286879 0.97053443 -1.7206043 ] [ 0. 0. 0. 1. ]] SLAMing on 71.658001145 meters Centerline goodness : 0.887756 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:-5.55, Z:-1.72 [[ 0.81865849 -0.52600687 -0.23046705 2.17127759] [ 0.52340448 0.84855463 -0.07747763 -5.54719301] [ 0.23631764 -0.05719977 0.9699908 -1.71835366] [ 0. 0. 0. 1. ]] SLAMing on 71.718001145 meters Centerline goodness : 0.888197 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:-5.55, Z:-1.72 [[ 0.81813323 -0.52675706 -0.23061876 2.17051549] [ 0.52421552 0.84806287 -0.07737864 -5.54996033] [ 0.23633895 -0.0575879 0.96996265 -1.71579014] [ 0. 0. 0. 1. ]] SLAMing on 71.77800114499999 meters Centerline goodness : 0.891562 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:-5.55, Z:-1.72 [[ 0.81695946 -0.53080989 -0.2254287 2.17086702] [ 0.52675686 0.84595714 -0.08296822 -5.55411957] [ 0.23474337 -0.05096444 0.97072044 -1.71791113] [ 0. 0. 0. 1. ]] SLAMing on 71.83800114499999 meters Centerline goodness : 0.896306 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:-5.56, Z:-1.72 [[ 0.81527818 -0.53323036 -0.22580273 2.17288008] [ 0.52912807 0.84441252 -0.08361204 -5.55782774] [ 0.23525513 -0.0513115 0.97057826 -1.7154005 ] [ 0. 0. 0. 1. ]] SLAMing on 71.898001145 meters Centerline goodness : 0.897157 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:-5.56, Z:-1.72 [[ 0.81536846 -0.53258223 -0.22700317 2.17798725] [ 0.52884267 0.84472052 -0.08229625 -5.55994548] [ 0.23558376 -0.0529472 0.97041068 -1.71718636] [ 0. 0. 0. 1. ]] SLAMing on 71.958001145 meters Centerline goodness : 0.899824 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:-5.56, Z:-1.72 [[ 0.81627804 -0.53236485 -0.22422718 2.17736776] [ 0.52808872 0.84503913 -0.08385204 -5.56383492] [ 0.23412062 -0.04996527 0.97092276 -1.71863537] [ 0. 0. 0. 1. ]] SLAMing on 72.018001145 meters Centerline goodness : 0.897686 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:-5.57, Z:-1.72 [[ 0.81661463 -0.53143868 -0.22519652 2.17962338] [ 0.52746238 0.84554462 -0.08269057 -5.56642948] [ 0.23435867 -0.05125636 0.97079802 -1.71815874] [ 0. 0. 0. 1. ]] SLAMing on 72.078001145 meters Centerline goodness : 0.900617 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:-5.57, Z:-1.72 [[ 0.81507912 -0.53272082 -0.22771595 2.18346087] [ 0.52918509 0.84456924 -0.08164515 -5.56540045] [ 0.23581596 -0.05395662 0.97029867 -1.71698412] [ 0. 0. 0. 1. ]] SLAMing on 72.13800114499999 meters Centerline goodness : 0.898631 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:-5.57, Z:-1.72 [[ 0.81121815 -0.53960298 -0.22528593 2.18888027] [ 0.53501082 0.84040994 -0.08645553 -5.56622147] [ 0.23598419 -0.05039612 0.97044922 -1.71922802] [ 0. 0. 0. 1. ]] SLAMing on 72.19800114499999 meters Centerline goodness : 0.900636 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:-5.57, Z:-1.72 [[ 0.80975664 -0.54217102 -0.22437639 2.19196946] [ 0.53723946 0.83882305 -0.08803212 -5.56681788] [ 0.23594055 -0.04925925 0.9705182 -1.72066736] [ 0. 0. 0. 1. ]] SLAMing on 72.258001145 meters Centerline goodness : 0.900937 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:-5.56, Z:-1.72 [[ 0.80921214 -0.54076462 -0.22967223 2.19681901] [ 0.53706585 0.83934867 -0.08398864 -5.56499314] [ 0.23819316 -0.05538449 0.96963734 -1.71880446] [ 0. 0. 0. 1. ]] SLAMing on 72.318001145 meters Centerline goodness : 0.905813 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:-5.56, Z:-1.72 [[ 0.80798013 -0.54171731 -0.23175519 2.20138597] [ 0.53831919 0.83860177 -0.08342377 -5.56354548] [ 0.23954241 -0.05735352 0.96919039 -1.71923271] [ 0. 0. 0. 1. ]] SLAMing on 72.378001145 meters Centerline goodness : 0.907562 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:-5.56, Z:-1.72 [[ 0.80676231 -0.54289438 -0.23323863 2.20568802] [ 0.53970587 0.83773906 -0.08313148 -5.56281867] [ 0.24052473 -0.05881291 0.96885959 -1.71971143] [ 0. 0. 0. 1. ]] SLAMing on 72.438001145 meters Centerline goodness : 0.911111 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:-5.56, Z:-1.72 [[ 0.80494415 -0.54392074 -0.23709734 2.21107707] [ 0.54146286 0.83677743 -0.08137264 -5.56075428] [ 0.24265797 -0.06287897 0.96807197 -1.71846817] [ 0. 0. 0. 1. ]] SLAMing on 72.498001145 meters Centerline goodness : 0.912176 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:-5.56, Z:-1.72 [[ 0.80446192 -0.54338457 -0.23994631 2.2153871 ] [ 0.54149563 0.83690689 -0.07980814 -5.5580335 ] [ 0.24417923 -0.06572728 0.96750009 -1.71892715] [ 0. 0. 0. 1. ]] SLAMing on 72.55800114499999 meters Centerline goodness : 0.910281 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:-5.56, Z:-1.72 [[ 0.80605415 -0.54118319 -0.23957769 2.21706611] [ 0.5391423 0.83841069 -0.07995688 -5.55626419] [ 0.24413582 -0.0647169 0.96757916 -1.7225811 ] [ 0. 0. 0. 1. ]] SLAMing on 72.618001145 meters Centerline goodness : 0.915029 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:-5.55, Z:-1.72 [[ 0.80966431 -0.53961556 -0.23077859 2.21801376] [ 0.538166 0.83950729 -0.07486568 -5.5476131 ] [ 0.23413899 -0.06358112 0.97012183 -1.72481819] [ 0. 0. 0. 1. ]] SLAMing on 72.678001145 meters Centerline goodness : 0.909959 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:-5.54, Z:-1.73 [[ 0.80950767 -0.53893543 -0.23290757 2.22134808] [ 0.53776563 0.83982189 -0.07421132 -5.54414295] [ 0.23559599 -0.06517505 0.96966321 -1.7256216 ] [ 0. 0. 0. 1. ]] SLAMing on 72.738001145 meters Centerline goodness : 0.914668 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-5.54, Z:-1.73 [[ 0.80837353 -0.53955788 -0.23539228 2.22557096] [ 0.53873323 0.83925402 -0.07361515 -5.54060059] [ 0.23727355 -0.06730511 0.9691085 -1.72585008] [ 0. 0. 0. 1. ]] SLAMing on 72.798001145 meters Centerline goodness : 0.916311 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-5.54, Z:-1.73 [[ 0.80617448 -0.54182751 -0.23770921 2.23087919] [ 0.54110958 0.83767004 -0.07422486 -5.53651344] [ 0.23933895 -0.06878855 0.96849626 -1.72648112] [ 0. 0. 0. 1. ]] SLAMing on 72.858001145 meters Centerline goodness : 0.913147 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-5.52, Z:-1.72 [[ 0.80451134 -0.54383627 -0.23875429 2.24303129] [ 0.54427685 0.83596635 -0.07016386 -5.52377777] [ 0.23774821 -0.07350081 0.9685419 -1.72481329] [ 0. 0. 0. 1. ]] SLAMing on 72.91800114499999 meters Centerline goodness : 0.912103 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-5.52, Z:-1.73 [[ 0.80460492 -0.54232696 -0.24185202 2.24758642] [ 0.54329971 0.83671728 -0.06877229 -5.51891355] [ 0.23965883 -0.07606361 0.96787291 -1.7264037 ] [ 0. 0. 0. 1. ]] SLAMing on 72.978001145 meters Centerline goodness : 0.912293 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-5.51, Z:-1.73 [[ 0.80549017 -0.5402471 -0.24355424 2.24894441] [ 0.54130636 0.83801826 -0.06864993 -5.51371556] [ 0.24119083 -0.07654062 0.96745466 -1.72770655] [ 0. 0. 0. 1. ]] SLAMing on 73.038001145 meters Centerline goodness : 0.913683 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-5.51, Z:-1.73 [[ 0.80565988 -0.53840605 -0.24704471 2.25246603] [ 0.54004694 0.8389481 -0.06719667 -5.50833522] [ 0.24343678 -0.07927808 0.96667136 -1.72815716] [ 0. 0. 0. 1. ]] SLAMing on 73.098001145 meters Centerline goodness : 0.913920 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-5.50, Z:-1.73 [[ 0.80425097 -0.54268453 -0.24222692 2.2616112 ] [ 0.5443244 0.83625426 -0.06625534 -5.49681452] [ 0.23851904 -0.0785641 0.96795472 -1.72808992] [ 0. 0. 0. 1. ]] SLAMing on 73.158001145 meters Centerline goodness : 0.917629 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-5.49, Z:-1.73 [[ 0.80236053 -0.54464 -0.2441001 2.26548464] [ 0.54639949 0.83486178 -0.06673385 -5.49368664] [ 0.24013577 -0.07983156 0.96745115 -1.72770237] [ 0. 0. 0. 1. ]] SLAMing on 73.218001145 meters Centerline goodness : 0.917200 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-5.49, Z:-1.73 [[ 0.80077888 -0.54496612 -0.24852588 2.27033722] [ 0.54768837 0.83419268 -0.0644982 -5.48955667] [ 0.24246781 -0.08446594 0.96647549 -1.72659897] [ 0. 0. 0. 1. ]] SLAMing on 73.27800114499999 meters Centerline goodness : 0.911974 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-5.49, Z:-1.73 [[ 0.80016623 -0.54608337 -0.24804629 2.27220066] [ 0.54846136 0.8335764 -0.06588265 -5.48778588] [ 0.24274295 -0.08332674 0.96650531 -1.72812479] [ 0. 0. 0. 1. ]] SLAMing on 73.33800114499999 meters Centerline goodness : 0.912406 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-5.49, Z:-1.73 [[ 0.79983469 -0.54639075 -0.24843835 2.2738932 ] [ 0.54856946 0.833427 -0.06686539 -5.48601509] [ 0.24358986 -0.08280443 0.96633711 -1.72843673] [ 0. 0. 0. 1. ]] SLAMing on 73.398001145 meters Centerline goodness : 0.912179 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-5.47, Z:-1.73 [[ 0.80005852 -0.54809094 -0.24393171 2.28199898] [ 0.55108095 0.83212681 -0.06224758 -5.47473769] [ 0.23709945 -0.08462441 0.96779262 -1.73008104] [ 0. 0. 0. 1. ]] SLAMing on 73.458001145 meters Centerline goodness : 0.910609 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-5.47, Z:-1.73 [[ 0.80045112 -0.54576106 -0.24783636 2.28568605] [ 0.54944537 0.83333531 -0.06051493 -5.46770864] [ 0.23955748 -0.08773329 0.96691007 -1.73126415] [ 0. 0. 0. 1. ]] SLAMing on 73.518001145 meters Centerline goodness : 0.912951 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-5.46, Z:-1.73 [[ 0.80016963 -0.54536526 -0.2496103 2.2886895 ] [ 0.54929934 0.8334599 -0.06012341 -5.46405914] [ 0.24082939 -0.08900185 0.96647808 -1.73222449] [ 0. 0. 0. 1. ]] SLAMing on 73.578001145 meters Centerline goodness : 0.910450 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-5.45, Z:-1.74 [[ 0.79850951 -0.54739426 -0.25048369 2.29748902] [ 0.55323912 0.83132905 -0.0530895 -5.45335072] [ 0.23729525 -0.0961849 0.96666407 -1.73517948] [ 0. 0. 0. 1. ]] SLAMing on 73.63800114499999 meters Centerline goodness : 0.908714 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-5.45, Z:-1.74 [[ 0.7966565 -0.54915586 -0.25251983 2.30112401] [ 0.55502245 0.8300705 -0.05415749 -5.4467818 ] [ 0.23935016 -0.09700926 0.96607489 -1.73592779] [ 0. 0. 0. 1. ]] SLAMing on 73.69800114499999 meters Centerline goodness : 0.903318 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-5.44, Z:-1.74 [[ 0.79680961 -0.54889953 -0.25259404 2.30325165] [ 0.55443348 0.83037636 -0.05548534 -5.44334835] [ 0.240204 -0.09583535 0.96598014 -1.73802285] [ 0. 0. 0. 1. ]] SLAMing on 73.758001145 meters Centerline goodness : 0.905648 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.43, Z:-1.74 [[ 0.79862897 -0.5493534 -0.24576943 2.30586233] [ 0.55510891 0.83016404 -0.05178585 -5.43297712] [ 0.23247768 -0.09507112 0.96794401 -1.73723884] [ 0. 0. 0. 1. ]] SLAMing on 73.818001145 meters Centerline goodness : 0.903946 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.43, Z:-1.73 [[ 0.80032287 -0.54480546 -0.25034042 2.30538606] [ 0.55189893 0.83255849 -0.04747565 -5.42989441] [ 0.23428804 -0.10016676 0.96699314 -1.73466023] [ 0. 0. 0. 1. ]] SLAMing on 73.878001145 meters Centerline goodness : 0.900910 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.43, Z:-1.74 [[ 0.8016093 -0.54389443 -0.24819626 2.30526588] [ 0.55013348 0.83358348 -0.04991736 -5.42841583] [ 0.23404207 -0.09652685 0.9674228 -1.73765409] [ 0. 0. 0. 1. ]] SLAMing on 73.938001145 meters Centerline goodness : 0.899153 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.43, Z:-1.74 [[ 0.80073365 -0.54518323 -0.24819523 2.30665215] [ 0.55096132 0.83290722 -0.05203071 -5.42520985] [ 0.23508987 -0.09508324 0.9673117 -1.73798687] [ 0. 0. 0. 1. ]] SLAMing on 73.998001145 meters Centerline goodness : 0.897573 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.42, Z:-1.74 [[ 0.80002596 -0.54415306 -0.25269728 2.30926233] [ 0.5507243 0.83315589 -0.05053713 -5.41795453] [ 0.23803616 -0.09873552 0.96622465 -1.73676793] [ 0. 0. 0. 1. ]] SLAMing on 74.05800114499999 meters Centerline goodness : 0.893125 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.42, Z:-1.74 [[ 0.80015308 -0.54514522 -0.25014343 2.30726478] [ 0.55076355 0.83294536 -0.05349343 -5.41635535] [ 0.23751749 -0.09496695 0.96672991 -1.73803335] [ 0. 0. 0. 1. ]] SLAMing on 74.118001145 meters Centerline goodness : 0.896037 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-5.41, Z:-1.74 [[ 0.79975631 -0.54679317 -0.24780452 2.31864899] [ 0.55300907 0.83165411 -0.0503231 -5.40565432] [ 0.23360397 -0.09679193 0.9675022 -1.73808021] [ 0. 0. 0. 1. ]] SLAMing on 74.178001145 meters Centerline goodness : 0.896524 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-5.40, Z:-1.73 [[ 0.79779098 -0.54670995 -0.2542396 2.32228932] [ 0.55437663 0.83092662 -0.04719633 -5.39902944] [ 0.23705715 -0.10329169 0.96598899 -1.7343699 ] [ 0. 0. 0. 1. ]] SLAMing on 74.238001145 meters Centerline goodness : 0.896458 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:-5.40, Z:-1.73 [[ 0.79589269 -0.54873053 -0.25583127 2.32592801] [ 0.55646635 0.82948351 -0.0479825 -5.39591205] [ 0.23853728 -0.10417257 0.96552993 -1.73391648] [ 0. 0. 0. 1. ]] SLAMing on 74.298001145 meters Centerline goodness : 0.896716 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:-5.39, Z:-1.73 [[ 0.79579896 -0.54770142 -0.25831602 2.32700634] [ 0.55593214 0.82990076 -0.0469487 -5.39221631] [ 0.24009053 -0.10624445 0.96491899 -1.73290812] [ 0. 0. 0. 1. ]] SLAMing on 74.358001145 meters Centerline goodness : 0.894179 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-5.38, Z:-1.73 [[ 0.79639531 -0.54670894 -0.25858047 2.33941617] [ 0.55614209 0.830023 -0.0420451 -5.37924896] [ 0.23761417 -0.11032296 0.96507427 -1.73272433] [ 0. 0. 0. 1. ]] SLAMing on 74.41800114499999 meters Centerline goodness : 0.895811 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-5.38, Z:-1.74 [[ 0.79815633 -0.54504556 -0.25665504 2.33682932] [ 0.55375977 0.83152557 -0.04376478 -5.37601708] [ 0.23726903 -0.1071941 0.9655117 -1.73522335] [ 0. 0. 0. 1. ]] SLAMing on 74.478001145 meters Centerline goodness : 0.892191 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:-5.37, Z:-1.74 [[ 0.79962022 -0.54338389 -0.25561975 2.33448632] [ 0.55159388 0.83289525 -0.04505224 -5.37276107] [ 0.23738514 -0.10497361 0.9657271 -1.7364119 ] [ 0. 0. 0. 1. ]] SLAMing on 74.538001145 meters Centerline goodness : 0.894829 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-5.36, Z:-1.73 [[ 0.80069834 -0.5448639 -0.24900905 2.33807187] [ 0.55318882 0.83200938 -0.04174349 -5.36280698] [ 0.22992239 -0.10432508 0.96760114 -1.7346771 ] [ 0. 0. 0. 1. ]] SLAMing on 74.598001145 meters Centerline goodness : 0.893564 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-5.36, Z:-1.74 [[ 0.80063728 -0.54423202 -0.25058224 2.3404532 ] [ 0.55256278 0.83239441 -0.04235466 -5.35816488] [ 0.23163402 -0.1045517 0.96716835 -1.73544059] [ 0. 0. 0. 1. ]] SLAMing on 74.658001145 meters Centerline goodness : 0.893891 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-5.36, Z:-1.73 [[ 0.79995504 -0.5450876 -0.25090126 2.34049972] [ 0.55322506 0.83189784 -0.04345143 -5.3557353 ] [ 0.23240905 -0.10404567 0.96703698 -1.73454416] [ 0. 0. 0. 1. ]] SLAMing on 74.718001145 meters Centerline goodness : 0.893689 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-5.35, Z:-1.73 [[ 0.79926037 -0.54493703 -0.25342949 2.34315138] [ 0.5535146 0.83173967 -0.04278689 -5.35199928] [ 0.23410352 -0.10607906 0.96640715 -1.73407483] [ 0. 0. 0. 1. ]] SLAMing on 74.77800114499999 meters Centerline goodness : 0.892161 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:-5.35, Z:-1.73 [[ 0.79781118 -0.54595193 -0.25580035 2.34554005] [ 0.55474544 0.8308983 -0.04319156 -5.34710111] [ 0.23612459 -0.10744536 0.96576429 -1.73315648] [ 0. 0. 0. 1. ]] SLAMing on 74.83800114499999 meters Centerline goodness : 0.893209 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:-5.34, Z:-1.73 [[ 0.7958283 -0.54782483 -0.2579637 2.34834846] [ 0.55661862 0.82957364 -0.04453414 -5.34114148] [ 0.23839679 -0.10814587 0.96512768 -1.73233384] [ 0. 0. 0. 1. ]] SLAMing on 74.898001145 meters Centerline goodness : 0.892694 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:-5.34, Z:-1.73 [[ 0.79362198 -0.54991458 -0.26030386 2.35106042] [ 0.55879977 0.82804608 -0.04563447 -5.3359072 ] [ 0.24063865 -0.10924122 0.96444772 -1.73081105] [ 0. 0. 0. 1. ]] SLAMing on 74.958001145 meters Centerline goodness : 0.893460 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:-5.33, Z:-1.73 [[ 0.79197108 -0.55120999 -0.26258208 2.35346362] [ 0.5603179 0.82699628 -0.04605432 -5.33004604] [ 0.24254001 -0.11065575 0.96380996 -1.73050119] [ 0. 0. 0. 1. ]] SLAMing on 75.018001145 meters Centerline goodness : 0.891063 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:-5.32, Z:-1.73 [[ 0.79154162 -0.55053316 -0.26528307 2.35373192] [ 0.55996633 0.82724079 -0.04593896 -5.32394979] [ 0.24474389 -0.11218698 0.96307555 -1.7289653 ] [ 0. 0. 0. 1. ]] SLAMing on 75.078001145 meters Centerline goodness : 0.893345 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:-5.31, Z:-1.73 [[ 0.79043727 -0.55503342 -0.25912704 2.35956494] [ 0.56420527 0.82441785 -0.04480653 -5.31170598] [ 0.23849808 -0.1107841 0.96480337 -1.72722091] [ 0. 0. 0. 1. ]] SLAMing on 75.13800114499999 meters Centerline goodness : 0.891449 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:-5.31, Z:-1.73 [[ 0.78766101 -0.55836146 -0.26042776 2.36102809] [ 0.56723108 0.82220312 -0.04723278 -5.30550487] [ 0.24049748 -0.1105193 0.96433731 -1.72593625] [ 0. 0. 0. 1. ]] SLAMing on 75.19800114499999 meters Centerline goodness : 0.892504 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:-5.30, Z:-1.73 [[ 0.78643342 -0.55941363 -0.26187566 2.36361356] [ 0.56830551 0.82141497 -0.04802388 -5.30240837] [ 0.2419738 -0.1110578 0.96390604 -1.72548872] [ 0. 0. 0. 1. ]] SLAMing on 75.258001145 meters Centerline goodness : 0.893104 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:-5.30, Z:-1.73 [[ 0.78374861 -0.56230268 -0.26373058 2.36714046] [ 0.57109085 0.81937259 -0.04983778 -5.29650662] [ 0.24411753 -0.11155383 0.96330804 -1.72511277] [ 0. 0. 0. 1. ]] SLAMing on 75.318001145 meters Centerline goodness : 0.892465 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:-5.29, Z:-1.72 [[ 0.78261575 -0.56753933 -0.25575711 2.35449315] [ 0.57071892 0.81821818 -0.06927427 -5.29170346] [ 0.24858099 -0.09175029 0.96425587 -1.7159755 ] [ 0. 0. 0. 1. ]] SLAMing on 75.378001145 meters Centerline goodness : 0.893838 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-5.28, Z:-1.71 [[ 0.78499334 -0.56751976 -0.2484085 2.34298266] [ 0.5658301 0.82007752 -0.0854936 -5.28358299] [ 0.25223353 -0.0734451 0.96487515 -1.70640738] [ 0. 0. 0. 1. ]] SLAMing on 75.438001145 meters Centerline goodness : 0.894921 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:-5.25, Z:-1.67 [[ 0.79019259 -0.57125301 -0.22195872 2.351897 ] [ 0.56070442 0.82006872 -0.11444583 -5.25317922] [ 0.24739893 -0.03401899 0.96831631 -1.67411307] [ 0. 0. 0. 1. ]] SLAMing on 75.498001145 meters Centerline goodness : 0.893344 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:-5.25, Z:-1.67 [[ 0.79296434 -0.5685869 -0.21889835 2.33317154] [ 0.55558287 0.82227631 -0.12324504 -5.2545659 ] [ 0.25007044 -0.02388725 0.96793294 -1.67096646] [ 0. 0. 0. 1. ]] SLAMing on 75.55800114499999 meters Centerline goodness : 0.896864 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:-5.25, Z:-1.66 [[ 0.7934564 -0.56876636 -0.21663741 2.33212474] [ 0.55436295 0.82229876 -0.12847751 -5.24809842] [ 0.25121436 -0.01815445 0.96776121 -1.66152747] [ 0. 0. 0. 1. ]] SLAMing on 75.618001145 meters Centerline goodness : 0.893317 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:-5.25, Z:-1.66 [[ 0.7930045 -0.56965563 -0.21595443 2.33072116] [ 0.55510172 0.82169769 -0.12913167 -5.24559213] [ 0.25100984 -0.01747468 0.96782679 -1.66219745] [ 0. 0. 0. 1. ]] SLAMing on 75.678001145 meters Centerline goodness : 0.894324 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:-5.24, Z:-1.66 [[ 0.79274844 -0.57004722 -0.21586125 2.33123215] [ 0.55547524 0.82142674 -0.12924925 -5.24356548] [ 0.25099238 -0.01744344 0.96783188 -1.66352819] [ 0. 0. 0. 1. ]] SLAMing on 75.738001145 meters Centerline goodness : 0.889572 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-5.26, Z:-1.68 [[ 0.79141098 -0.57076499 -0.21885151 2.29661721] [ 0.55738002 0.82079021 -0.12502381 -5.26381154] [ 0.25099039 -0.02303824 0.96771538 -1.67900458] [ 0. 0. 0. 1. ]] SLAMing on 75.798001145 meters Centerline goodness : 0.892413 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-5.27, Z:-1.68 [[ 0.79356044 -0.56761372 -0.2192635 2.27546425] [ 0.55279551 0.82309891 -0.13009728 -5.26997701] [ 0.25432055 -0.01796783 0.96695306 -1.68031683] [ 0. 0. 0. 1. ]] SLAMing on 75.858001145 meters Centerline goodness : 0.887369 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-5.27, Z:-1.68 [[ 0.79591224 -0.56347294 -0.22140903 2.27485614] [ 0.5492406 0.8258883 -0.12744913 -5.26550282] [ 0.25467326 -0.0201685 0.96681682 -1.68038294] [ 0. 0. 0. 1. ]] SLAMing on 75.91800114499999 meters Centerline goodness : 0.884181 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-5.23, Z:-1.64 [[ 0.80133804 -0.5637667 -0.20006115 2.30125397] [ 0.54189073 0.82576007 -0.15644404 -5.22705109] [ 0.25340045 0.01695328 0.9672129 -1.64044301] [ 0. 0. 0. 1. ]] SLAMing on 75.978001145 meters Centerline goodness : 0.881089 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.22, Z:-1.63 [[ 0.80436599 -0.56133331 -0.19467989 2.31383073] [ 0.53721892 0.82710591 -0.16520182 -5.21550362] [ 0.25375417 0.028297 0.96685475 -1.62619059] [ 0. 0. 0. 1. ]] SLAMing on 76.038001145 meters Centerline goodness : 0.882364 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.22, Z:-1.62 [[ 0.80443264 -0.56151527 -0.19387813 2.31328981] [ 0.53720862 0.82694315 -0.16604795 -5.21653 ] [ 0.25356465 0.02942139 0.96687091 -1.62310877] [ 0. 0. 0. 1. ]] SLAMing on 76.098001145 meters Centerline goodness : 0.877370 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-5.22, Z:-1.62 [[ 0.80489305 -0.56094996 -0.19360353 2.31715178] [ 0.53619116 0.82726131 -0.16774313 -5.21816628] [ 0.25425621 0.03120678 0.96663329 -1.6184855 ] [ 0. 0. 0. 1. ]] SLAMing on 76.158001145 meters Centerline goodness : 0.874715 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-5.24, Z:-1.63 [[ 0.80725632 -0.55801991 -0.19222646 2.29497924] [ 0.5349569 0.82938162 -0.16108145 -5.24025585] [ 0.24931575 0.02720115 0.96804016 -1.63168855] [ 0. 0. 0. 1. ]] SLAMing on 76.218001145 meters Centerline goodness : 0.873300 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-5.24, Z:-1.63 [[ 0.80752687 -0.55756007 -0.19242432 2.29828093] [ 0.53438378 0.82967943 -0.16144975 -5.24139804] [ 0.24966843 0.02754658 0.96793949 -1.63034265] [ 0. 0. 0. 1. ]] SLAMing on 76.27800114499999 meters Centerline goodness : 0.871307 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-5.24, Z:-1.63 [[ 0.80774216 -0.55697477 -0.19321417 2.30105526] [ 0.53382895 0.83008882 -0.16118063 -5.24141419] [ 0.25015847 0.02704907 0.96782699 -1.63045487] [ 0. 0. 0. 1. ]] SLAMing on 76.33800114499999 meters Centerline goodness : 0.869984 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-5.24, Z:-1.63 [[ 0.80994536 -0.55294402 -0.19555415 2.30277434] [ 0.53062771 0.83288331 -0.15728835 -5.2445646 ] [ 0.24984544 0.02362852 0.96799739 -1.63057256] [ 0. 0. 0. 1. ]] SLAMing on 76.398001145 meters Centerline goodness : 0.869384 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.24, Z:-1.63 [[ 0.81052905 -0.55203252 -0.19571092 2.30515349] [ 0.52940595 0.83345501 -0.15837325 -5.24378391] [ 0.25054343 0.02475559 0.96778879 -1.62710514] [ 0. 0. 0. 1. ]] SLAMing on 76.458001145 meters Centerline goodness : 0.869327 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.24, Z:-1.62 [[ 0.80998019 -0.55360875 -0.19351861 2.31127449] [ 0.52961808 0.83222253 -0.16404377 -5.2418775 ] [ 0.25186661 0.03038125 0.96728496 -1.62043727] [ 0. 0. 0. 1. ]] SLAMing on 76.518001145 meters Centerline goodness : 0.871828 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.25, Z:-1.62 [[ 0.80990594 -0.55361498 -0.19381131 2.31274414] [ 0.52986878 0.83225447 -0.16306925 -5.24587638] [ 0.25157791 0.0293762 0.96739113 -1.62080568] [ 0. 0. 0. 1. ]] SLAMing on 76.578001145 meters Centerline goodness : 0.870658 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.25, Z:-1.62 [[ 0.80790484 -0.55718567 -0.19192161 2.31485775] [ 0.53286896 0.82978108 -0.16587355 -5.25046763] [ 0.25167529 0.03174097 0.96729109 -1.61891202] [ 0. 0. 0. 1. ]] SLAMing on 76.63800114499999 meters Centerline goodness : 0.868425 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-5.26, Z:-1.62 [[ 0.80781405 -0.55704094 -0.19272222 2.31859923] [ 0.53314206 0.82994824 -0.16415074 -5.25667184] [ 0.25138815 0.02985495 0.9674258 -1.62066045] [ 0. 0. 0. 1. ]] SLAMing on 76.69800114499999 meters Centerline goodness : 0.867307 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-5.28, Z:-1.64 [[ 0.8085237 -0.55581253 -0.19329214 2.29879027] [ 0.53368858 0.83096573 -0.15707467 -5.28291727] [ 0.24792322 0.02384079 0.96848629 -1.63531285] [ 0. 0. 0. 1. ]] SLAMing on 76.758001145 meters Centerline goodness : 0.862573 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-5.31, Z:-1.65 [[ 0.80900756 -0.55540438 -0.19243892 2.28433206] [ 0.5338745 0.83127646 -0.15478199 -5.30572036] [ 0.24593654 0.02248157 0.96902518 -1.64556149] [ 0. 0. 0. 1. ]] SLAMing on 76.818001145 meters Centerline goodness : 0.865111 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-5.33, Z:-1.66 [[ 0.80942991 -0.55427683 -0.19390827 2.26264416] [ 0.5339695 0.83214562 -0.14970049 -5.32901784] [ 0.24433544 0.01763095 0.96953048 -1.66064456] [ 0. 0. 0. 1. ]] SLAMing on 76.878001145 meters Centerline goodness : 0.865597 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-5.33, Z:-1.66 [[ 0.81058851 -0.55197149 -0.19563676 2.27266946] [ 0.53158517 0.83368373 -0.14962838 -5.33273154] [ 0.24568978 0.01728944 0.96919431 -1.65868752] [ 0. 0. 0. 1. ]] SLAMing on 76.938001145 meters Centerline goodness : 0.865479 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-5.34, Z:-1.66 [[ 0.81196674 -0.54957777 -0.19665781 2.27269868] [ 0.52970211 0.83530044 -0.14727136 -5.33795943] [ 0.24520542 0.01540938 0.96934867 -1.65653731] [ 0. 0. 0. 1. ]] SLAMing on 76.998001145 meters Centerline goodness : 0.866363 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-5.32, Z:-1.62 [[ 0.81622616 -0.55387582 -0.16430588 2.28319076] [ 0.5270471 0.83035671 -0.18091181 -5.31801975] [ 0.23663517 0.06106801 0.96967752 -1.61682394] [ 0. 0. 0. 1. ]] SLAMing on 77.05800114499999 meters Centerline goodness : 0.866698 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-5.32, Z:-1.62 [[ 0.81710851 -0.54838162 -0.17779562 2.29174125] [ 0.51961655 0.83417007 -0.18482137 -5.32186646] [ 0.24966443 0.05863357 0.96655563 -1.61609504] [ 0. 0. 0. 1. ]] SLAMing on 77.118001145 meters Centerline goodness : 0.870167 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-5.32, Z:-1.61 [[ 0.81745642 -0.54291969 -0.19236221 2.301819 ] [ 0.51201223 0.83791087 -0.18907364 -5.32392822] [ 0.26383419 0.05606766 0.96293714 -1.61344251] [ 0. 0. 0. 1. ]] SLAMing on 77.178001145 meters Centerline goodness : 0.869512 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-5.33, Z:-1.62 [[ 0.81821703 -0.53829179 -0.20189809 2.30278948] [ 0.50637662 0.8410631 -0.19025136 -5.33113454] [ 0.27221978 0.05343043 0.96075053 -1.61645285] [ 0. 0. 0. 1. ]] SLAMing on 77.238001145 meters Centerline goodness : 0.869364 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-5.34, Z:-1.62 [[ 0.81838769 -0.53870777 -0.20008883 2.30281134] [ 0.50676542 0.84071403 -0.19075829 -5.33735336] [ 0.27098046 0.05471613 0.96102848 -1.61631516] [ 0. 0. 0. 1. ]] SLAMing on 77.298001145 meters Centerline goodness : 0.871740 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-5.34, Z:-1.62 [[ 0.81750271 -0.54128101 -0.19673379 2.30311958] [ 0.50904435 0.83887756 -0.19276484 -5.34404643] [ 0.26937551 0.05743955 0.96132072 -1.61739692] [ 0. 0. 0. 1. ]] SLAMing on 77.358001145 meters Centerline goodness : 0.874202 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.35, Z:-1.62 [[ 0.81699091 -0.54112104 -0.19928341 2.309789 ] [ 0.50920502 0.83916889 -0.19106495 -5.34649057] [ 0.2706217 0.05462221 0.96113491 -1.61782759] [ 0. 0. 0. 1. ]] SLAMing on 77.41800114499999 meters Centerline goodness : 0.875283 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.36, Z:-1.62 [[ 0.81604538 -0.54315435 -0.19761908 2.31421842] [ 0.51125687 0.83781163 -0.19154133 -5.35631918] [ 0.26960407 0.05527231 0.9613837 -1.61918303] [ 0. 0. 0. 1. ]] SLAMing on 77.478001145 meters Centerline goodness : 0.875284 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-5.36, Z:-1.62 [[ 0.81547512 -0.54456338 -0.19608941 2.31604077] [ 0.51253542 0.83681796 -0.19246595 -5.36238405] [ 0.26890105 0.05644843 0.96151225 -1.61943358] [ 0. 0. 0. 1. ]] SLAMing on 77.538001145 meters Centerline goodness : 0.879647 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-5.37, Z:-1.62 [[ 0.81525032 -0.54574551 -0.1937234 2.31761784] [ 0.5135253 0.8359064 -0.19378402 -5.37095602] [ 0.26769139 0.05850062 0.96172709 -1.61957783] [ 0. 0. 0. 1. ]] SLAMing on 77.598001145 meters Centerline goodness : 0.881985 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-5.38, Z:-1.62 [[ 0.81554237 -0.54598334 -0.19181458 2.31866414] [ 0.51360288 0.83561846 -0.19481752 -5.37583502] [ 0.26665092 0.06036542 0.96190088 -1.62069546] [ 0. 0. 0. 1. ]] SLAMing on 77.658001145 meters Centerline goodness : 0.881335 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-5.39, Z:-1.62 [[ 0.81626192 -0.54746233 -0.18439489 2.31804064] [ 0.51423996 0.83403834 -0.19984323 -5.38773317] [ 0.26319905 0.06830119 0.96232074 -1.62446588] [ 0. 0. 0. 1. ]] SLAMing on 77.718001145 meters Centerline goodness : 0.884148 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-5.39, Z:-1.63 [[ 0.81664971 -0.54600429 -0.18698279 2.32359582] [ 0.51344407 0.83528971 -0.19663747 -5.39197978] [ 0.2635497 0.06457873 0.96248176 -1.62534389] [ 0. 0. 0. 1. ]] SLAMing on 77.77800114499999 meters Centerline goodness : 0.886036 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:-5.40, Z:-1.63 [[ 0.81885806 -0.54202355 -0.18889669 2.32892898] [ 0.51042083 0.83814119 -0.19232763 -5.40069595] [ 0.2625682 0.06107222 0.96297878 -1.62710491] [ 0. 0. 0. 1. ]] SLAMing on 77.83800114499999 meters Centerline goodness : 0.892412 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:-5.41, Z:-1.63 [[ 0.82029655 -0.54084738 -0.18600454 2.33095813] [ 0.50933469 0.83873924 -0.19259973 -5.4132124 ] [ 0.26017637 0.06325033 0.96348724 -1.628992 ] [ 0. 0. 0. 1. ]] SLAMing on 77.898001145 meters Centerline goodness : 0.896041 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-5.42, Z:-1.63 [[ 0.81984701 -0.54049052 -0.18899967 2.33664963] [ 0.50966546 0.83928747 -0.18930836 -5.41741075] [ 0.26094443 0.05887729 0.96355668 -1.62891686] [ 0. 0. 0. 1. ]] SLAMing on 77.958001145 meters Centerline goodness : 0.898579 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-5.42, Z:-1.63 [[ 0.8172954 -0.54382683 -0.19047469 2.34350035] [ 0.51336266 0.83733879 -0.18794288 -5.42453721] [ 0.26170022 0.05582226 0.96353353 -1.62885081] [ 0. 0. 0. 1. ]] SLAMing on 78.018001145 meters Centerline goodness : 0.903532 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:-5.43, Z:-1.63 [[ 0.81391655 -0.54841675 -0.19177829 2.35330197] [ 0.5180885 0.83450341 -0.18758559 -5.42870951] [ 0.26291472 0.0533209 0.96334456 -1.63319559] [ 0. 0. 0. 1. ]] SLAMing on 78.078001145 meters Centerline goodness : 0.907648 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:-5.44, Z:-1.63 [[ 0.81033843 -0.55368483 -0.19179346 2.35906037] [ 0.52321568 0.83107155 -0.18858799 -5.43506246] [ 0.26381239 0.05247075 0.96314581 -1.63237145] [ 0. 0. 0. 1. ]] SLAMing on 78.13800114499999 meters Centerline goodness : 0.904840 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:-5.44, Z:-1.63 [[ 0.80924023 -0.55469916 -0.19349185 2.36480565] [ 0.52442715 0.83052541 -0.18762653 -5.43666873] [ 0.26477617 0.05036255 0.96299387 -1.63322241] [ 0. 0. 0. 1. ]] SLAMing on 78.19800114499999 meters Centerline goodness : 0.906783 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:-5.44, Z:-1.64 [[ 0.807217 -0.55590121 -0.19843024 2.37753154] [ 0.52616526 0.83003775 -0.18489851 -5.43838069] [ 0.26748989 0.04484612 0.96251648 -1.63834015] [ 0. 0. 0. 1. ]] SLAMing on 78.258001145 meters Centerline goodness : 0.905469 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:-5.44, Z:-1.64 [[ 0.80516729 -0.5556925 -0.20715085 2.3903595 ] [ 0.52711394 0.83063967 -0.17941192 -5.43685901] [ 0.27176557 0.03526451 0.96171716 -1.63964556] [ 0. 0. 0. 1. ]] SLAMing on 78.318001145 meters Centerline goodness : 0.903908 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:-5.43, Z:-1.64 [[ 0.80116598 -0.55738535 -0.21784088 2.40484488] [ 0.53022096 0.82992175 -0.1734809 -5.43487215] [ 0.2774866 0.0234832 0.96044246 -1.6392892 ] [ 0. 0. 0. 1. ]] SLAMing on 78.378001145 meters Centerline goodness : 0.906440 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:-5.43, Z:-1.64 [[ 0.79748646 -0.56025127 -0.22390594 2.41751949] [ 0.53377959 0.82815104 -0.17101231 -5.43337023] [ 0.2812378 0.01686358 0.95948993 -1.64166221] [ 0. 0. 0. 1. ]] SLAMing on 78.438001145 meters Centerline goodness : 0.905934 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:-5.42, Z:-1.65 [[ 0.79490848 -0.56212405 -0.22833542 2.43338542] [ 0.53820165 0.82702992 -0.16235918 -5.42493637] [ 0.28010622 0.00617019 0.95994918 -1.64747077] [ 0. 0. 0. 1. ]] SLAMing on 78.498001145 meters Centerline goodness : 0.905270 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:-5.42, Z:-1.65 [[ 0.79301259 -0.56185979 -0.2354668 2.44877868] [ 0.54121653 0.82719739 -0.15109317 -5.415032 ] [ 0.2796707 -0.00761974 0.96006575 -1.6521427 ] [ 0. 0. 0. 1. ]] SLAMing on 78.55800114499999 meters Centerline goodness : 0.903347 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:-5.41, Z:-1.66 [[ 0.79315335 -0.56205354 -0.23452842 2.46085381] [ 0.54339678 0.82699764 -0.14420416 -5.40685432] [ 0.27500491 -0.01306598 0.96135403 -1.65972703] [ 0. 0. 0. 1. ]] SLAMing on 78.618001145 meters Centerline goodness : 0.905757 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:-5.40, Z:-1.67 [[ 0.79413341 -0.55910036 -0.23824128 2.47303306] [ 0.54295069 0.82880856 -0.13520696 -5.39702037] [ 0.27305068 -0.0219809 0.9617485 -1.66538945] [ 0. 0. 0. 1. ]] SLAMing on 78.678001145 meters Centerline goodness : 0.905124 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:-5.39, Z:-1.67 [[ 0.79543252 -0.55658731 -0.23978675 2.4812088 ] [ 0.54394886 0.83013288 -0.12247055 -5.38618521] [ 0.26722042 -0.03301467 0.96306972 -1.66893919] [ 0. 0. 0. 1. ]] SLAMing on 78.738001145 meters Centerline goodness : 0.904548 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:-5.38, Z:-1.68 [[ 0.79747544 -0.55446873 -0.23790197 2.4896874 ] [ 0.54399335 0.83131246 -0.11397734 -5.37686736] [ 0.26096774 -0.03852296 0.96457857 -1.67744072] [ 0. 0. 0. 1. ]] SLAMing on 78.798001145 meters Centerline goodness : 0.904910 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:-5.37, Z:-1.68 [[ 0.79816237 -0.55375116 -0.2372688 2.49175478] [ 0.54290019 0.83186425 -0.11515753 -5.37388033] [ 0.26114404 -0.03689887 0.96459435 -1.6809356 ] [ 0. 0. 0. 1. ]] SLAMing on 78.858001145 meters Centerline goodness : 0.903506 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:-5.37, Z:-1.68 [[ 0.79729915 -0.5520692 -0.2439952 2.49558182] [ 0.54270851 0.83261997 -0.11050547 -5.36785314] [ 0.26416195 -0.04431235 0.96345985 -1.67760484] [ 0. 0. 0. 1. ]] SLAMing on 78.91800114499999 meters Centerline goodness : 0.902795 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:-5.36, Z:-1.68 [[ 0.79649586 -0.55096887 -0.24905352 2.50011824] [ 0.5425368 0.83307494 -0.10788864 -5.36214365] [ 0.26692353 -0.04918784 0.96246163 -1.67619917] [ 0. 0. 0. 1. ]] SLAMing on 78.978001145 meters Centerline goodness : 0.899103 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:-5.36, Z:-1.68 [[ 0.79554398 -0.55469349 -0.24377224 2.50089005] [ 0.54447507 0.83099263 -0.11400943 -5.36040881] [ 0.26581322 -0.04202839 0.96310796 -1.68160084] [ 0. 0. 0. 1. ]] SLAMing on 79.038001145 meters Centerline goodness : 0.898417 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:-5.35, Z:-1.69 [[ 0.7953509 -0.55790533 -0.23697804 2.50913746] [ 0.54897527 0.82875249 -0.10860693 -5.35395194] [ 0.25698852 -0.04371446 0.96542527 -1.68771294] [ 0. 0. 0. 1. ]] SLAMing on 79.098001145 meters Centerline goodness : 0.900460 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:-5.35, Z:-1.68 [[ 0.79559546 -0.55441235 -0.24424333 2.50999365] [ 0.54739268 0.83059758 -0.10231773 -5.34954622] [ 0.25959413 -0.05229349 0.96430093 -1.68264669] [ 0. 0. 0. 1. ]] SLAMing on 79.158001145 meters Centerline goodness : 0.899841 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:-5.34, Z:-1.69 [[ 0.79580224 -0.55550286 -0.2410713 2.51864323] [ 0.55015667 0.82958367 -0.0954912 -5.34157184] [ 0.25303445 -0.05663487 0.96579815 -1.68877476] [ 0. 0. 0. 1. ]] SLAMing on 79.218001145 meters Centerline goodness : 0.897738 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:-5.34, Z:-1.69 [[ 0.79675519 -0.55549552 -0.23791994 2.5198427 ] [ 0.54942557 0.82982889 -0.09754776 -5.3441028 ] [ 0.25162018 -0.05299762 0.96637391 -1.69291191] [ 0. 0. 0. 1. ]] SLAMing on 79.27800114499999 meters Centerline goodness : 0.897971 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:-5.34, Z:-1.69 [[ 0.79711659 -0.55278627 -0.242966 2.52386083] [ 0.54803351 0.83124369 -0.09323731 -5.34094951] [ 0.25350426 -0.0588325 0.96554354 -1.69190651] [ 0. 0. 0. 1. ]] SLAMing on 79.33800114499999 meters Centerline goodness : 0.894679 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:-5.34, Z:-1.69 [[ 0.79684768 -0.55130809 -0.24717029 2.52791024] [ 0.54748241 0.83190584 -0.09053004 -5.33730171] [ 0.25553235 -0.06318273 0.96473372 -1.69128927] [ 0. 0. 0. 1. ]] SLAMing on 79.398001145 meters Centerline goodness : 0.895090 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:-5.34, Z:-1.69 [[ 0.79596978 -0.55339633 -0.24532553 2.53119365] [ 0.54876334 0.83073716 -0.09345891 -5.33605573] [ 0.25552085 -0.06023519 0.96492529 -1.69467492] [ 0. 0. 0. 1. ]] SLAMing on 79.458001145 meters Centerline goodness : 0.894935 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:-5.33, Z:-1.69 [[ 0.79489726 -0.55377716 -0.24792983 2.53524635] [ 0.54957802 0.8303012 -0.09254142 -5.33255169] [ 0.25710376 -0.06269586 0.96434791 -1.69471933] [ 0. 0. 0. 1. ]] SLAMing on 79.518001145 meters Centerline goodness : 0.893862 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:-5.32, Z:-1.70 [[ 0.79085713 -0.55607394 -0.25559102 2.55132409] [ 0.55497152 0.82766816 -0.08349865 -5.32334401] [ 0.25797597 -0.07581024 0.96317247 -1.69883385] [ 0. 0. 0. 1. ]] SLAMing on 79.578001145 meters Centerline goodness : 0.893344 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:-5.32, Z:-1.70 [[ 0.78910411 -0.55773718 -0.257379 2.55575711] [ 0.55682025 0.82640998 -0.0836526 -5.32069039] [ 0.25935674 -0.07730323 0.96268286 -1.69905427] [ 0. 0. 0. 1. ]] SLAMing on 79.63800114499999 meters Centerline goodness : 0.892900 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:-5.32, Z:-1.70 [[ 0.78797193 -0.55885612 -0.2584184 2.55965001] [ 0.55805089 0.82556842 -0.08376151 -5.31945816] [ 0.2601527 -0.0782089 0.9623949 -1.69998143] [ 0. 0. 0. 1. ]] SLAMing on 79.69800114499999 meters Centerline goodness : 0.892965 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:-5.31, Z:-1.70 [[ 0.78842395 -0.55943424 -0.2557753 2.56667932] [ 0.56124603 0.82441198 -0.07312856 -5.31097467] [ 0.25177484 -0.08589656 0.9639664 -1.70462108] [ 0. 0. 0. 1. ]] SLAMing on 79.758001145 meters Centerline goodness : 0.890295 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:-5.30, Z:-1.71 [[ 0.78914868 -0.55863479 -0.25528716 2.57779004] [ 0.56230412 0.8243223 -0.06562632 -5.30078811] [ 0.24710005 -0.0917601 0.9646355 -1.7123184 ] [ 0. 0. 0. 1. ]] SLAMing on 79.818001145 meters Centerline goodness : 0.887352 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:-5.30, Z:-1.72 [[ 0.78887699 -0.55888764 -0.25557326 2.5817176 ] [ 0.56233935 0.82421783 -0.06662898 -5.29721243] [ 0.24788616 -0.09115683 0.964491 -1.71548208] [ 0. 0. 0. 1. ]] SLAMing on 79.878001145 meters Centerline goodness : 0.888692 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:-5.29, Z:-1.72 [[ 0.78894054 -0.55668707 -0.26013905 2.58536964] [ 0.56115781 0.8252241 -0.06408667 -5.29071734] [ 0.25034923 -0.09541849 0.96344204 -1.71569733] [ 0. 0. 0. 1. ]] SLAMing on 79.938001145 meters Centerline goodness : 0.885560 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:-5.28, Z:-1.72 [[ 0.78935172 -0.55784737 -0.25637895 2.5926758 ] [ 0.56394197 0.82388751 -0.05638106 -5.28068068] [ 0.24267945 -0.10007837 0.96493057 -1.72245113] [ 0. 0. 0. 1. ]] SLAMing on 79.998001145 meters Centerline goodness : 0.887075 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:-5.28, Z:-1.72 [[ 0.78908289 -0.55712873 -0.25875813 2.59660445] [ 0.56362905 0.82414938 -0.05567849 -5.27598671] [ 0.24427544 -0.10190865 0.96433611 -1.72403431] [ 0. 0. 0. 1. ]] SLAMing on 80.05800114499999 meters Centerline goodness : 0.890414 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:-5.26, Z:-1.73 [[ 0.7883698 -0.55746305 -0.26020762 2.60314838] [ 0.56661493 0.82270692 -0.04583497 -5.26352911] [ 0.23962591 -0.11130261 0.96446418 -1.7260935 ] [ 0. 0. 0. 1. ]] SLAMing on 80.118001145 meters Centerline goodness : 0.885857 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:-5.25, Z:-1.73 [[ 0.78679883 -0.55899279 -0.26167662 2.61666966] [ 0.56940342 0.82099725 -0.04175229 -5.25118672] [ 0.23817502 -0.11614892 0.96425209 -1.7305508 ] [ 0. 0. 0. 1. ]] SLAMing on 80.178001145 meters Centerline goodness : 0.887163 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:-5.25, Z:-1.73 [[ 0.7853548 -0.5605537 -0.26267354 2.620571 ] [ 0.57079209 0.8199559 -0.04322857 -5.24616449] [ 0.23961265 -0.11598221 0.96391592 -1.73233173] [ 0. 0. 0. 1. ]] SLAMing on 80.238001145 meters Centerline goodness : 0.888688 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:-5.23, Z:-1.73 [[ 0.7833192 -0.56143663 -0.26683316 2.63536937] [ 0.57392492 0.81809376 -0.03650744 -5.23092141] [ 0.23879115 -0.12454522 0.96305102 -1.73243532] [ 0. 0. 0. 1. ]] SLAMing on 80.298001145 meters Centerline goodness : 0.890043 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:-5.23, Z:-1.73 [[ 0.78288999 -0.56086176 -0.26929046 2.63719422] [ 0.57375721 0.81822894 -0.03611177 -5.22569127] [ 0.24059496 -0.1262358 0.96238173 -1.73241321] [ 0. 0. 0. 1. ]] SLAMing on 80.358001145 meters Centerline goodness : 0.889470 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:-5.22, Z:-1.73 [[ 0.78493395 -0.55686287 -0.27162924 2.63810345] [ 0.57011273 0.82080951 -0.03525945 -5.21877575] [ 0.24259054 -0.12718295 0.96175586 -1.73477799] [ 0. 0. 0. 1. ]] SLAMing on 80.41800114499999 meters Centerline goodness : 0.888544 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:-5.21, Z:-1.73 [[ 0.78678283 -0.55763094 -0.26461391 2.64084988] [ 0.57078453 0.82047993 -0.03190129 -5.20691811] [ 0.23489955 -0.12593814 0.96382664 -1.73453941] [ 0. 0. 0. 1. ]] SLAMing on 80.478001145 meters Centerline goodness : 0.885006 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:-5.20, Z:-1.74 [[ 0.78759609 -0.55441142 -0.26892447 2.64313318] [ 0.56855344 0.82210882 -0.02973345 -5.19896211] [ 0.23756974 -0.12947998 0.96270221 -1.73540534] [ 0. 0. 0. 1. ]] SLAMing on 80.538001145 meters Centerline goodness : 0.883451 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:-5.18, Z:-1.74 [[ 0.78537366 -0.55760955 -0.26881184 2.65557043] [ 0.57172578 0.81988349 -0.03034278 -5.18280919] [ 0.23731382 -0.12985624 0.96271466 -1.73560812] [ 0. 0. 0. 1. ]] SLAMing on 80.598001145 meters Centerline goodness : 0.885880 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:-5.17, Z:-1.73 [[ 0.78367225 -0.56176181 -0.26510654 2.66276413] [ 0.57619233 0.81684667 -0.02763915 -5.16879683] [ 0.23207801 -0.13109232 0.96382291 -1.73329593] [ 0. 0. 0. 1. ]] SLAMing on 80.658001145 meters Centerline goodness : 0.881264 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:-5.16, Z:-1.73 [[ 0.78334653 -0.56064544 -0.26841183 2.66461705] [ 0.57566623 0.81724026 -0.02695815 -5.16172715] [ 0.23447092 -0.13339806 0.96292697 -1.73344433] [ 0. 0. 0. 1. ]] SLAMing on 80.718001145 meters Centerline goodness : 0.879565 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:-5.16, Z:-1.73 [[ 0.78294637 -0.56035204 -0.27018618 2.66576914] [ 0.57545798 0.8173652 -0.02760882 -5.15603816] [ 0.23631143 -0.13386457 0.96241217 -1.73347258] [ 0. 0. 0. 1. ]] SLAMing on 80.77800114499999 meters Centerline goodness : 0.876100 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:-5.15, Z:-1.73 [[ 0.7828511 -0.55802149 -0.2752384 2.66612525] [ 0.57421041 0.81830037 -0.02582468 -5.14633324] [ 0.23963841 -0.13782787 0.96102909 -1.73228149] [ 0. 0. 0. 1. ]] SLAMing on 80.83800114499999 meters Centerline goodness : 0.876438 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:-5.14, Z:-1.73 [[ 0.78269677 -0.55733433 -0.27706355 2.66721879] [ 0.57363828 0.81868527 -0.02633539 -5.13934325] [ 0.24150546 -0.13832163 0.96049062 -1.73335967] [ 0. 0. 0. 1. ]] SLAMing on 80.898001145 meters Centerline goodness : 0.875149 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:-5.13, Z:-1.73 [[ 0.78198168 -0.55759236 -0.27855951 2.66838452] [ 0.57390124 0.81847077 -0.02725734 -5.13394806] [ 0.2431913 -0.13855091 0.9600321 -1.73331085] [ 0. 0. 0. 1. ]] SLAMing on 80.958001145 meters Centerline goodness : 0.873115 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:-5.13, Z:-1.73 [[ 0.78090454 -0.55828957 -0.28018005 2.66833003] [ 0.57467849 0.81789887 -0.02803687 -5.12844418] [ 0.24481164 -0.13911932 0.95953795 -1.73218562] [ 0. 0. 0. 1. ]] SLAMing on 81.018001145 meters Centerline goodness : 0.875497 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:-5.12, Z:-1.73 [[ 0.78051216 -0.55708038 -0.28365863 2.67030223] [ 0.57424712 0.81824125 -0.02686075 -5.12292325] [ 0.2470648 -0.14192501 0.95854905 -1.7313377 ] [ 0. 0. 0. 1. ]] SLAMing on 81.078001145 meters Centerline goodness : 0.874896 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:-5.12, Z:-1.73 [[ 0.78063715 -0.55557668 -0.28625199 2.67172757] [ 0.57321246 0.81898361 -0.02633083 -5.11788322] [ 0.24906448 -0.14352838 0.95779251 -1.73104983] [ 0. 0. 0. 1. ]] SLAMing on 81.13800114499999 meters Centerline goodness : 0.874313 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:-5.10, Z:-1.72 [[ 0.78284077 -0.56001869 -0.27118148 2.660583 ] [ 0.56972059 0.82034929 -0.04945185 -5.10200137] [ 0.2501575 -0.11578475 0.96125705 -1.71627703] [ 0. 0. 0. 1. ]] SLAMing on 81.19800114499999 meters Centerline goodness : 0.874253 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:-5.10, Z:-1.72 [[ 0.7834495 -0.55824835 -0.27306713 2.66257712] [ 0.56795382 0.82153891 -0.05002287 -5.09521597] [ 0.25226046 -0.11589913 0.96069353 -1.71769205] [ 0. 0. 0. 1. ]] SLAMing on 81.258001145 meters Centerline goodness : 0.869151 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:-5.08, Z:-1.70 [[ 0.78803272 -0.56169983 -0.25198756 2.6592996 ] [ 0.56284456 0.82317531 -0.07475571 -5.07669244] [ 0.2494202 -0.08291988 0.96483877 -1.69730266] [ 0. 0. 0. 1. ]] SLAMing on 81.318001145 meters Centerline goodness : 0.868912 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:-5.06, Z:-1.67 [[ 0.7892964 -0.57062636 -0.22670851 2.64345314] [ 0.5624877 0.82002431 -0.10567742 -5.06119415] [ 0.24620881 -0.04410994 0.96821255 -1.67215965] [ 0. 0. 0. 1. ]] SLAMing on 81.378001145 meters Centerline goodness : 0.867018 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:-5.06, Z:-1.63 [[ 0.79728679 -0.57789645 -0.17426836 2.59680363] [ 0.55780236 0.81573154 -0.15309664 -5.05679073] [ 0.2306302 0.02485462 0.97272399 -1.63406431] [ 0. 0. 0. 1. ]] SLAMing on 81.438001145 meters Centerline goodness : 0.867051 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:-5.05, Z:-1.63 [[ 0.79760367 -0.57786562 -0.1729153 2.59481294] [ 0.55744846 0.81568756 -0.15461249 -5.0543352 ] [ 0.2303901 0.02692812 0.9727257 -1.63061991] [ 0. 0. 0. 1. ]] SLAMing on 81.498001145 meters Centerline goodness : 0.864863 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:-5.04, Z:-1.56 [[ 0.80469318 -0.58609718 -0.09465191 2.5354058 ] [ 0.5545737 0.79897226 -0.23257544 -5.03982343] [ 0.21193606 0.13466041 0.96796161 -1.55903799] [ 0. 0. 0. 1. ]] SLAMing on 81.55800114499999 meters Centerline goodness : 0.866429 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:-5.03, Z:-1.48 [[ 0.80911274 -0.58741494 -0.01674133 2.47530415] [ 0.55470885 0.77284748 -0.30822859 -5.03498902] [ 0.19399657 0.24010511 0.951165 -1.4835553 ] [ 0. 0. 0. 1. ]] SLAMing on 81.618001145 meters Centerline goodness : 0.864816 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:-5.04, Z:-1.40 [[ 0.8110116 -0.58162361 0.06304094 2.4222905 ] [ 0.55836267 0.73737344 -0.38014674 -5.04003851] [ 0.1746176 0.34350312 0.92277532 -1.40340008] [ 0. 0. 0. 1. ]] SLAMing on 81.678001145 meters Centerline goodness : 0.866557 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:-5.08, Z:-1.37 [[ 0.81008125 -0.57691665 0.10457315 2.36180945] [ 0.56312709 0.71589981 -0.41276548 -5.07632659] [ 0.16326738 0.39326156 0.90481441 -1.36772689] [ 0. 0. 0. 1. ]] SLAMing on 81.738001145 meters Centerline goodness : 0.866716 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-5.09, Z:-1.28 [[ 0.80944203 -0.55806746 0.18265899 2.32340617] [ 0.56867584 0.66749968 -0.48067865 -5.09285963] [ 0.1463263 0.49295526 0.85766178 -1.28084111] [ 0. 0. 0. 1. ]] SLAMing on 81.798001145 meters Centerline goodness : 0.869741 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.11, Z:-1.30 [[ 0.81085112 -0.56132377 0.16563843 2.30698062] [ 0.56383863 0.67338565 -0.47816082 -5.10858584] [ 0.15686449 0.48111058 0.86251153 -1.2995452 ] [ 0. 0. 0. 1. ]] SLAMing on 81.858001145 meters Centerline goodness : 0.874560 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-5.12, Z:-1.31 [[ 0.81409161 -0.56221901 0.14548071 2.29817265] [ 0.55615663 0.68266518 -0.47398107 -5.12116567] [ 0.16716656 0.46677407 0.86843382 -1.31325082] [ 0. 0. 0. 1. ]] SLAMing on 81.91800114499999 meters Centerline goodness : 0.873594 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-5.13, Z:-1.33 [[ 0.81863034 -0.56041491 0.12561647 2.29387356] [ 0.54607574 0.69177599 -0.47249049 -5.13093028] [ 0.17789226 0.45539116 0.8723378 -1.32632534] [ 0. 0. 0. 1. ]] SLAMing on 81.978001145 meters Centerline goodness : 0.875061 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-5.14, Z:-1.34 [[ 0.82484565 -0.55544553 0.10540357 2.28844027] [ 0.53338951 0.70275579 -0.47077588 -5.14255244] [ 0.18741739 0.44453859 0.87593388 -1.33976403] [ 0. 0. 0. 1. ]] SLAMing on 82.038001145 meters Centerline goodness : 0.874604 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-5.14, Z:-1.35 [[ 0.82965106 -0.55078684 0.0911755 2.29268754] [ 0.52383921 0.71153893 -0.46829994 -5.14421257] [ 0.19305852 0.43628685 0.87885277 -1.34882714] [ 0. 0. 0. 1. ]] SLAMing on 82.098001145 meters Centerline goodness : 0.875902 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-5.16, Z:-1.36 [[ 0.83697115 -0.54279477 0.06966438 2.29391542] [ 0.50735321 0.72193034 -0.4705415 -5.15654526] [ 0.20511464 0.4291741 0.87962354 -1.35963778] [ 0. 0. 0. 1. ]] SLAMing on 82.158001145 meters Centerline goodness : 0.879526 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-5.16, Z:-1.37 [[ 0.83972524 -0.5402165 0.05502415 2.29888167] [ 0.49999071 0.7296879 -0.46643848 -5.16403462] [ 0.21182731 0.41919172 0.88284058 -1.36888759] [ 0. 0. 0. 1. ]] SLAMing on 82.218001145 meters Centerline goodness : 0.878510 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.17, Z:-1.38 [[ 0.8405546 -0.54022236 0.04034564 2.305156 ] [ 0.49457865 0.73487855 -0.4640533 -5.16852476] [ 0.22104282 0.41001623 0.88488799 -1.37674487] [ 0. 0. 0. 1. ]] SLAMing on 82.27800114499999 meters Centerline goodness : 0.879517 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.18, Z:-1.38 [[ 0.84279445 -0.53795267 0.01744815 2.30887532] [ 0.48266253 0.74103249 -0.46680589 -5.17881157] [ 0.23818983 0.40184298 0.88418766 -1.38420836] [ 0. 0. 0. 1. ]] SLAMing on 82.33800114499999 meters Centerline goodness : 0.882823 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-5.19, Z:-1.39 [[ 8.43609979e-01 -5.36948581e-01 -2.90266068e-03 2.31125388e+00] [ 4.72464610e-01 7.44844972e-01 -4.71150889e-01 -5.19366005e+00] [ 2.55145833e-01 3.96096187e-01 8.82047853e-01 -1.39261093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.398001145 meters Centerline goodness : 0.888046 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-5.20, Z:-1.40 [[ 0.84472717 -0.53489292 -0.01804382 2.31796298] [ 0.46493732 0.75011425 -0.47027853 -5.1982108 ] [ 0.26508358 0.38886781 0.88233357 -1.39596645] [ 0. 0. 0. 1. ]] SLAMing on 82.458001145 meters Centerline goodness : 0.886404 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-5.21, Z:-1.40 [[ 0.84709253 -0.53043638 -0.03273367 2.32294942] [ 0.45600585 0.75709884 -0.46782476 -5.20697646] [ 0.2729339 0.38136411 0.88321487 -1.40020331] [ 0. 0. 0. 1. ]] SLAMing on 82.518001145 meters Centerline goodness : 0.891301 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:-5.22, Z:-1.40 [[ 0.84732023 -0.52913194 -0.04547336 2.32931344] [ 0.44962331 0.7602905 -0.46882538 -5.21538465] [ 0.28264344 0.37679934 0.88211957 -1.40497484] [ 0. 0. 0. 1. ]] SLAMing on 82.578001145 meters Centerline goodness : 0.895491 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-5.22, Z:-1.41 [[ 0.84781552 -0.52663579 -0.06215775 2.33794138] [ 0.44203299 0.76659039 -0.46577464 -5.2186446 ] [ 0.29294313 0.3674152 0.88271762 -1.40884592] [ 0. 0. 0. 1. ]] SLAMing on 82.63800114499999 meters Centerline goodness : 0.898201 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:-5.22, Z:-1.41 [[ 0.84798298 -0.52448338 -0.07643329 2.34590682] [ 0.43471695 0.77073356 -0.46582288 -5.22417622] [ 0.30322606 0.36178303 0.88157076 -1.41272696] [ 0. 0. 0. 1. ]] SLAMing on 82.69800114499999 meters Centerline goodness : 0.897745 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:-5.22, Z:-1.42 [[ 0.84694347 -0.52546219 -0.08109411 2.35587459] [ 0.43510794 0.77265122 -0.46226742 -5.22075536] [ 0.30556152 0.35622968 0.88302467 -1.41921973] [ 0. 0. 0. 1. ]] SLAMing on 82.758001145 meters Centerline goodness : 0.900950 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:-5.23, Z:-1.42 [[ 0.84727189 -0.52230862 -0.09656114 2.36234732] [ 0.42704698 0.77794928 -0.46089672 -5.22653461] [ 0.31585 0.34926869 0.88218488 -1.42105603] [ 0. 0. 0. 1. ]] SLAMing on 82.818001145 meters Centerline goodness : 0.901681 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:-5.22, Z:-1.42 [[ 0.84703931 -0.52163384 -0.10209086 2.37094854] [ 0.42582259 0.7809036 -0.45701716 -5.22326502] [ 0.31811873 0.34363891 0.88357952 -1.42286817] [ 0. 0. 0. 1. ]] SLAMing on 82.878001145 meters Centerline goodness : 0.899776 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:-5.22, Z:-1.43 [[ 0.84526605 -0.52305509 -0.10926424 2.38279531] [ 0.42637291 0.78346623 -0.45209159 -5.22005266] [ 0.32207365 0.33555036 0.88525393 -1.42737776] [ 0. 0. 0. 1. ]] SLAMing on 82.938001145 meters Centerline goodness : 0.900286 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:-5.21, Z:-1.43 [[ 0.84347169 -0.52437413 -0.11656447 2.39549404] [ 0.42668243 0.7858419 -0.44765457 -5.21459348] [ 0.32633972 0.32784794 0.88657663 -1.43208143] [ 0. 0. 0. 1. ]] SLAMing on 82.998001145 meters Centerline goodness : 0.901070 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:-5.21, Z:-1.44 [[ 0.84114276 -0.52596285 -0.12586473 2.40948103] [ 0.42718424 0.78889018 -0.44177585 -5.20884961] [ 0.33165114 0.31782913 0.88825231 -1.43531296] [ 0. 0. 0. 1. ]] SLAMing on 83.05800114499999 meters Centerline goodness : 0.903566 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:-5.20, Z:-1.44 [[ 0.8391006 -0.52729131 -0.1336939 2.4250626 ] [ 0.42968439 0.79318949 -0.43153419 -5.1994715 ] [ 0.33358883 0.30465442 0.89213462 -1.44057156] [ 0. 0. 0. 1. ]] SLAMing on 83.118001145 meters Centerline goodness : 0.902070 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:-5.19, Z:-1.44 [[ 0.83623786 -0.52936353 -0.14311006 2.43822003] [ 0.43051284 0.79540981 -0.4265934 -5.19320087] [ 0.33965414 0.29512284 0.89304959 -1.44133428] [ 0. 0. 0. 1. ]] SLAMing on 83.178001145 meters Centerline goodness : 0.902825 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:-5.18, Z:-1.45 [[ 0.83311425 -0.53249114 -0.14957886 2.45525167] [ 0.43461938 0.79752088 -0.41840941 -5.18325498] [ 0.34209157 0.28357297 0.89585698 -1.44723351] [ 0. 0. 0. 1. ]] SLAMing on 83.238001145 meters Centerline goodness : 0.901909 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:-5.17, Z:-1.45 [[ 0.82793326 -0.53866969 -0.15608167 2.47522043] [ 0.44150728 0.7976502 -0.41088377 -5.16999676] [ 0.34582921 0.27127315 0.89822772 -1.45134353] [ 0. 0. 0. 1. ]] SLAMing on 83.298001145 meters Centerline goodness : 0.902578 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:-5.16, Z:-1.46 [[ 0.82440428 -0.54202891 -0.16297931 2.49332929] [ 0.44622748 0.79956116 -0.40197386 -5.1572573 ] [ 0.34819338 0.25866312 0.90102983 -1.45545866] [ 0. 0. 0. 1. ]] SLAMing on 83.358001145 meters Centerline goodness : 0.901237 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:-5.14, Z:-1.46 [[ 0.82041013 -0.54585933 -0.17019049 2.5120832 ] [ 0.45126282 0.80093233 -0.39353434 -5.14251261] [ 0.35112545 0.24605892 0.90341902 -1.46001003] [ 0. 0. 0. 1. ]] SLAMing on 83.41800114499999 meters Centerline goodness : 0.901250 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:-5.13, Z:-1.46 [[ 0.81865549 -0.54596918 -0.17810349 2.53039399] [ 0.45374719 0.80503399 -0.38214364 -5.1284496 ] [ 0.35201801 0.23203003 0.90677747 -1.46464719] [ 0. 0. 0. 1. ]] SLAMing on 83.478001145 meters Centerline goodness : 0.900146 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:-5.11, Z:-1.47 [[ 0.81776369 -0.54409351 -0.18768269 2.54796458] [ 0.45426141 0.8103867 -0.37002699 -5.11221138] [ 0.35342484 0.21733764 0.9098655 -1.46777948] [ 0. 0. 0. 1. ]] SLAMing on 83.538001145 meters Centerline goodness : 0.895828 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:-5.10, Z:-1.47 [[ 0.81673396 -0.54377216 -0.19302196 2.56548133] [ 0.45606267 0.81327351 -0.36137659 -5.09727983] [ 0.35348617 0.20711842 0.91222228 -1.47432565] [ 0. 0. 0. 1. ]] SLAMing on 83.598001145 meters Centerline goodness : 0.895188 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:-5.08, Z:-1.48 [[ 0.81507933 -0.54429752 -0.1984588 2.58141751] [ 0.45877249 0.8155829 -0.35263628 -5.08170417] [ 0.35379865 0.1963791 0.91447349 -1.47850796] [ 0. 0. 0. 1. ]] SLAMing on 83.658001145 meters Centerline goodness : 0.896041 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:-5.07, Z:-1.48 [[ 0.81358425 -0.54463549 -0.20359974 2.59663735] [ 0.461961 0.81810996 -0.34247356 -5.06900342] [ 0.35309022 0.18457596 0.91720173 -1.4839148 ] [ 0. 0. 0. 1. ]] SLAMing on 83.718001145 meters Centerline goodness : 0.895597 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:-5.05, Z:-1.49 [[ 0.81252674 -0.54492974 -0.20700695 2.61197714] [ 0.46525362 0.8201893 -0.33290929 -5.05303982] [ 0.35119705 0.17418697 0.91995627 -1.48948802] [ 0. 0. 0. 1. ]] SLAMing on 83.77800114499999 meters Centerline goodness : 0.892143 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:-5.04, Z:-1.49 [[ 0.81387198 -0.54083419 -0.212393 2.62752285] [ 0.46334468 0.82466298 -0.32441127 -5.03503191] [ 0.35060535 0.16561808 0.92176273 -1.49274435] [ 0. 0. 0. 1. ]] SLAMing on 83.83800114499999 meters Centerline goodness : 0.889305 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:-5.02, Z:-1.50 [[ 0.81584602 -0.53655685 -0.21564326 2.64156668] [ 0.46231967 0.82921108 -0.31411704 -5.01933486] [ 0.34735543 0.15657502 0.92456934 -1.4971989 ] [ 0. 0. 0. 1. ]] SLAMing on 83.898001145 meters Centerline goodness : 0.885315 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:-5.00, Z:-1.50 [[ 0.81883512 -0.53163104 -0.21651209 2.65337002] [ 0.46001117 0.83334177 -0.30648199 -5.00186522] [ 0.34336391 0.15136024 0.92692573 -1.50334664] [ 0. 0. 0. 1. ]] SLAMing on 83.958001145 meters Centerline goodness : 0.885061 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:-4.99, Z:-1.51 [[ 0.81997385 -0.52881582 -0.21908155 2.66665968] [ 0.45984147 0.8364942 -0.29803234 -4.98684847] [ 0.34086466 0.14363594 0.92907481 -1.50743458] [ 0. 0. 0. 1. ]] SLAMing on 84.018001145 meters Centerline goodness : 0.885009 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:-4.97, Z:-1.51 [[ 0.82079015 -0.52425732 -0.22684311 2.68280251] [ 0.4581638 0.84136341 -0.28669415 -4.96834961] [ 0.341159 0.13138443 0.93077853 -1.51001267] [ 0. 0. 0. 1. ]] SLAMing on 84.078001145 meters Centerline goodness : 0.882082 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:-4.95, Z:-1.52 [[ 0.82240706 -0.52091578 -0.22867745 2.6945086 ] [ 0.45654093 0.84414834 -0.28104085 -4.95256916] [ 0.33943631 0.12672936 0.93205293 -1.51520657] [ 0. 0. 0. 1. ]] SLAMing on 84.13800114499999 meters Centerline goodness : 0.881563 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:-4.94, Z:-1.52 [[ 0.82375845 -0.5182119 -0.22995312 2.70619679] [ 0.45639325 0.84676569 -0.27330032 -4.93843567] [ 0.33634389 0.1201844 0.93403881 -1.52037192] [ 0. 0. 0. 1. ]] SLAMing on 84.19800114499999 meters Centerline goodness : 0.877832 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:-4.92, Z:-1.52 [[ 0.82738447 -0.51006013 -0.23510339 2.7190577 ] [ 0.45157824 0.85305142 -0.26149641 -4.92013369] [ 0.33393417 0.11019049 0.93613355 -1.52377255] [ 0. 0. 0. 1. ]] SLAMing on 84.258001145 meters Centerline goodness : 0.878581 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:-4.91, Z:-1.53 [[ 0.82990071 -0.50846947 -0.22961623 2.72692412] [ 0.45272124 0.85427322 -0.25546181 -4.90639623] [ 0.32604953 0.10805579 0.93915688 -1.53315497] [ 0. 0. 0. 1. ]] SLAMing on 84.318001145 meters Centerline goodness : 0.875530 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:-4.90, Z:-1.54 [[ 0.83399109 -0.49999531 -0.23337427 2.72922883] [ 0.44484851 0.85950135 -0.2517285 -4.89797062] [ 0.32644857 0.10612313 0.93923864 -1.53547689] [ 0. 0. 0. 1. ]] SLAMing on 84.378001145 meters Centerline goodness : 0.871282 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:-4.88, Z:-1.54 [[ 0.83602361 -0.49790747 -0.23054864 2.73669822] [ 0.44614039 0.86144724 -0.24262606 -4.88418232] [ 0.31941082 0.09998406 0.94232686 -1.54250325] [ 0. 0. 0. 1. ]] SLAMing on 84.438001145 meters Centerline goodness : 0.869109 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:-4.87, Z:-1.55 [[ 0.83861321 -0.49647703 -0.22413932 2.74005711] [ 0.44785683 0.86263621 -0.23512343 -4.87164921] [ 0.31008408 0.09679529 0.94576875 -1.55151897] [ 0. 0. 0. 1. ]] SLAMing on 84.49800114499999 meters Centerline goodness : 0.869307 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:-4.86, Z:-1.56 [[ 0.83792626 -0.4991398 -0.22076922 2.74783851] [ 0.45377849 0.861889 -0.22634583 -4.8585526 ] [ 0.30325678 0.08948079 0.94869833 -1.55820703] [ 0. 0. 0. 1. ]] SLAMing on 84.55800114499999 meters Centerline goodness : 0.870957 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:-4.84, Z:-1.56 [[ 0.835049 -0.50455351 -0.21936027 2.75835446] [ 0.46089546 0.85926565 -0.22189619 -4.84271282] [ 0.30044724 0.08419204 0.95007534 -1.56318883] [ 0. 0. 0. 1. ]] SLAMing on 84.618001145 meters Centerline goodness : 0.870939 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:-4.84, Z:-1.56 [[ 0.83215272 -0.51178226 -0.21354336 2.75473305] [ 0.46617587 0.85415158 -0.23044551 -4.84142355] [ 0.30033633 0.0922171 0.9493651 -1.55663133] [ 0. 0. 0. 1. ]] SLAMing on 84.678001145 meters Centerline goodness : 0.871667 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:-4.84, Z:-1.56 [[ 0.83127708 -0.51357106 -0.21265745 2.75156899] [ 0.46769384 0.85297329 -0.23173055 -4.83853218] [ 0.30040123 0.09317372 0.94925116 -1.55522602] [ 0. 0. 0. 1. ]] SLAMing on 84.738001145 meters Centerline goodness : 0.869497 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:-4.84, Z:-1.56 [[ 0.83132858 -0.51296808 -0.21390779 2.75535339] [ 0.46699806 0.8533961 -0.23157703 -4.83744861] [ 0.3013397 0.09262207 0.94900766 -1.55509819] [ 0. 0. 0. 1. ]] SLAMing on 84.798001145 meters Centerline goodness : 0.870497 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:-4.81, Z:-1.52 [[ 0.83344399 -0.51746304 -0.19391525 2.76928877] [ 0.46494429 0.84629581 -0.26001965 -4.81146394] [ 0.29866022 0.12655203 0.94593164 -1.5192002 ] [ 0. 0. 0. 1. ]] SLAMing on 84.858001145 meters Centerline goodness : 0.871306 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:-4.81, Z:-1.52 [[ 0.83556427 -0.51292303 -0.19683068 2.77196316] [ 0.46116276 0.84953988 -0.25614627 -4.8100583 ] [ 0.29859883 0.1232557 0.94638616 -1.52002772] [ 0. 0. 0. 1. ]] SLAMing on 84.91800114499999 meters Centerline goodness : 0.869296 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:-4.79, Z:-1.50 [[ 0.83982791 -0.51064075 -0.18421483 2.78724405] [ 0.45547025 0.84746191 -0.27268143 -4.78981202] [ 0.2953573 0.1451011 0.94430384 -1.49505991] [ 0. 0. 0. 1. ]] SLAMing on 84.978001145 meters Centerline goodness : 0.866145 with order 1 Centerline is valid? [False, False] Translation: X:2.80, Y:-4.77, Z:-1.47 [[ 0.84284618 -0.50982189 -0.17231357 2.79996449] [ 0.4516136 0.84420315 -0.28873206 -4.77473174] [ 0.29266958 0.16553756 0.94177589 -1.47064821] [ 0. 0. 0. 1. ]] SLAMing on 85.038001145 meters Centerline goodness : 0.867814 with order 1 Centerline is valid? [False, False] Translation: X:2.80, Y:-4.77, Z:-1.47 [[ 0.84533161 -0.50499815 -0.17433112 2.80343353] [ 0.4470448 0.84730792 -0.28674071 -4.77279649] [ 0.29251566 0.16445716 0.94201297 -1.46787498] [ 0. 0. 0. 1. ]] SLAMing on 85.098001145 meters Centerline goodness : 0.864129 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:-4.76, Z:-1.45 [[ 0.84622622 -0.50681313 -0.16444342 2.81327722] [ 0.44572464 0.84244048 -0.30269388 -4.76201426] [ 0.29194302 0.18285102 0.93879432 -1.44627694] [ 0. 0. 0. 1. ]] SLAMing on 85.158001145 meters Centerline goodness : 0.866301 with order 1 Centerline is valid? [False, False] Translation: X:2.80, Y:-4.76, Z:-1.43 [[ 0.84403496 -0.5136449 -0.1541879 2.80427977] [ 0.45080812 0.83527353 -0.31478591 -4.76000055] [ 0.29047725 0.19618116 0.93655535 -1.43076377] [ 0. 0. 0. 1. ]] SLAMing on 85.218001145 meters Centerline goodness : 0.866032 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:-4.76, Z:-1.44 [[ 0.84354812 -0.5121069 -0.161781 2.8158703 ] [ 0.45337678 0.84051422 -0.29662323 -4.7601048 ] [ 0.28788204 0.17686821 0.94119157 -1.44230353] [ 0. 0. 0. 1. ]] SLAMing on 85.27800114499999 meters Centerline goodness : 0.863549 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:-4.76, Z:-1.45 [[ 0.84235154 -0.51179974 -0.16883395 2.82563228] [ 0.45714397 0.84446593 -0.27909976 -4.76131894] [ 0.28541771 0.15791869 0.94530335 -1.45354954] [ 0. 0. 0. 1. ]] SLAMing on 85.33800114499999 meters Centerline goodness : 0.860021 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-4.76, Z:-1.46 [[ 0.84030725 -0.51241429 -0.17696135 2.83501989] [ 0.46165041 0.84751266 -0.26191827 -4.76482387] [ 0.28418765 0.13839754 0.94872731 -1.4646156 ] [ 0. 0. 0. 1. ]] SLAMing on 85.398001145 meters Centerline goodness : 0.857567 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:-4.78, Z:-1.48 [[ 0.83740345 -0.51343897 -0.18744571 2.81889383] [ 0.46502217 0.84946316 -0.24933257 -4.78087025] [ 0.28724528 0.12162554 0.95010388 -1.48163907] [ 0. 0. 0. 1. ]] SLAMing on 85.458001145 meters Centerline goodness : 0.855724 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:-4.81, Z:-1.50 [[ 0.83672863 -0.51256008 -0.19278841 2.78520749] [ 0.46673465 0.85162991 -0.23850631 -4.80707742] [ 0.28643319 0.10958403 0.95181268 -1.50449741] [ 0. 0. 0. 1. ]] SLAMing on 85.518001145 meters Centerline goodness : 0.854868 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:-4.82, Z:-1.52 [[ 0.83542069 -0.51046288 -0.20371527 2.76542559] [ 0.46787782 0.85500848 -0.22372046 -4.82287658] [ 0.28837928 0.09158685 0.95312604 -1.51920581] [ 0. 0. 0. 1. ]] SLAMing on 85.578001145 meters Centerline goodness : 0.853165 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:-4.82, Z:-1.51 [[ 0.83859145 -0.50427713 -0.20607997 2.7713683 ] [ 0.4617569 0.85871005 -0.22225574 -4.82383523] [ 0.28904143 0.09122292 0.95296035 -1.51313836] [ 0. 0. 0. 1. ]] SLAMing on 85.63800114499999 meters Centerline goodness : 0.851442 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:-4.83, Z:-1.52 [[ 0.84063954 -0.49929027 -0.20984375 2.7768469 ] [ 0.45819526 0.86221585 -0.21596513 -4.82930884] [ 0.2887599 0.08539942 0.95358516 -1.51801042] [ 0. 0. 0. 1. ]] SLAMing on 85.69800114499999 meters Centerline goodness : 0.847013 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:-4.83, Z:-1.52 [[ 0.84099391 -0.4982063 -0.21099696 2.78121949] [ 0.45733523 0.86296659 -0.21478629 -4.83213834] [ 0.28909121 0.08413762 0.95359694 -1.51881061] [ 0. 0. 0. 1. ]] SLAMing on 85.758001145 meters Centerline goodness : 0.843500 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:-4.84, Z:-1.52 [[ 0.84318506 -0.49339185 -0.21354962 2.78373165] [ 0.45360795 0.8660997 -0.21002651 -4.83662665] [ 0.28858063 0.08022341 0.95408879 -1.51920759] [ 0. 0. 0. 1. ]] SLAMing on 85.818001145 meters Centerline goodness : 0.846207 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:-4.84, Z:-1.52 [[ 0.84522054 -0.48898592 -0.21562701 2.78514412] [ 0.45014054 0.86888664 -0.20593569 -4.84091505] [ 0.28805508 0.07699862 0.95451322 -1.51848477] [ 0. 0. 0. 1. ]] SLAMing on 85.878001145 meters Centerline goodness : 0.841098 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:-4.82, Z:-1.46 [[ 0.85047239 -0.49504842 -0.17783074 2.79473727] [ 0.44726943 0.85850074 -0.25085164 -4.81918138] [ 0.27685153 0.13380414 0.9515512 -1.464591 ] [ 0. 0. 0. 1. ]] SLAMing on 85.938001145 meters Centerline goodness : 0.844113 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:-4.81, Z:-1.43 [[ 0.85198376 -0.49713208 -0.16426617 2.81013128] [ 0.44491207 0.85282512 -0.27339087 -4.80801308] [ 0.27600169 0.15984058 0.94777321 -1.4326259 ] [ 0. 0. 0. 1. ]] SLAMing on 85.99800114499999 meters Centerline goodness : 0.844033 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:-4.81, Z:-1.44 [[ 0.85308031 -0.49391541 -0.16823068 2.81634596] [ 0.44221921 0.85552014 -0.26930924 -4.80880271] [ 0.27694071 0.15534757 0.94824626 -1.43508472] [ 0. 0. 0. 1. ]] SLAMing on 86.05800114499999 meters Centerline goodness : 0.844151 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:-4.81, Z:-1.44 [[ 0.85283682 -0.49365937 -0.17020512 2.82062401] [ 0.44211788 0.8560848 -0.2676763 -4.8101727 ] [ 0.27785093 0.15303348 0.94835627 -1.43615797] [ 0. 0. 0. 1. ]] SLAMing on 86.118001145 meters Centerline goodness : 0.841896 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:-4.83, Z:-1.44 [[ 0.85452062 -0.49265894 -0.16456512 2.81009338] [ 0.44125986 0.85568117 -0.27036915 -4.82839785] [ 0.27401506 0.15842003 0.94858781 -1.44082105] [ 0. 0. 0. 1. ]] SLAMing on 86.178001145 meters Centerline goodness : 0.845751 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:-4.83, Z:-1.44 [[ 0.85371928 -0.49342213 -0.16642712 2.81500762] [ 0.44201804 0.85562 -0.26932224 -4.82943966] [ 0.27528792 0.1563618 0.94856078 -1.44218874] [ 0. 0. 0. 1. ]] SLAMing on 86.238001145 meters Centerline goodness : 0.846421 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:-4.83, Z:-1.43 [[ 0.85332369 -0.49581429 -0.16126644 2.8189169 ] [ 0.44303595 0.85261115 -0.27708009 -4.83299874] [ 0.27487783 0.16499217 0.94721685 -1.43141585] [ 0. 0. 0. 1. ]] SLAMing on 86.298001145 meters Centerline goodness : 0.844611 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:-4.84, Z:-1.43 [[ 0.85275889 -0.49708589 -0.16033683 2.82376873] [ 0.44395155 0.85155365 -0.27886092 -4.83571455] [ 0.27515324 0.16661934 0.94685199 -1.43485065] [ 0. 0. 0. 1. ]] SLAMing on 86.358001145 meters Centerline goodness : 0.847227 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:-4.85, Z:-1.44 [[ 0.85344067 -0.49710443 -0.15660847 2.80549158] [ 0.44355992 0.85053493 -0.28256844 -4.85302899] [ 0.273667 0.17169016 0.9463767 -1.43806717] [ 0. 0. 0. 1. ]] SLAMing on 86.41800114499999 meters Centerline goodness : 0.847731 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:-4.86, Z:-1.44 [[ 0.85302061 -0.49735475 -0.15809517 2.80958638] [ 0.44413713 0.85091376 -0.28051378 -4.86160761] [ 0.27404022 0.1690681 0.94674069 -1.43989482] [ 0. 0. 0. 1. ]] SLAMing on 86.478001145 meters Centerline goodness : 0.848547 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:-4.86, Z:-1.41 [[ 0.8502565 -0.50639029 -0.14364106 2.81589097] [ 0.44919662 0.84031005 -0.30348217 -4.86039929] [ 0.27438345 0.19351461 0.94194789 -1.41304426] [ 0. 0. 0. 1. ]] SLAMing on 86.538001145 meters Centerline goodness : 0.853262 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:-4.87, Z:-1.42 [[ 0.84867718 -0.50776081 -0.14807436 2.8078861 ] [ 0.45228558 0.8418424 -0.29451507 -4.87420756] [ 0.27419849 0.18297632 0.94410532 -1.42441526] [ 0. 0. 0. 1. ]] SLAMing on 86.598001145 meters Centerline goodness : 0.853272 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:-4.89, Z:-1.43 [[ 0.84651523 -0.50767811 -0.16023391 2.81114306] [ 0.45325501 0.84517408 -0.28326783 -4.88635139] [ 0.27923443 0.16716371 0.94556038 -1.43351116] [ 0. 0. 0. 1. ]] SLAMing on 86.658001145 meters Centerline goodness : 0.853615 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:-4.88, Z:-1.41 [[ 0.84662672 -0.51202328 -0.14510466 2.82026042] [ 0.45431749 0.83736352 -0.30400322 -4.87878478] [ 0.27716207 0.19145366 0.94155546 -1.4068169 ] [ 0. 0. 0. 1. ]] SLAMing on 86.718001145 meters Centerline goodness : 0.856390 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:-4.88, Z:-1.40 [[ 0.84475697 -0.51607523 -0.14160519 2.8199864 ] [ 0.45752864 0.83373849 -0.30910786 -4.88272308] [ 0.2775846 0.19633259 0.9404256 -1.40191169] [ 0. 0. 0. 1. ]] SLAMing on 86.77800114499999 meters Centerline goodness : 0.857630 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:-4.89, Z:-1.41 [[ 0.84679327 -0.50876245 -0.15524796 2.82434892] [ 0.44839748 0.8397542 -0.30619045 -4.89239163] [ 0.28614833 0.18966721 0.939226 -1.4053236 ] [ 0. 0. 0. 1. ]] SLAMing on 86.83800114499999 meters Centerline goodness : 0.858698 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:-4.89, Z:-1.41 [[ 0.84827731 -0.50600264 -0.15616317 2.82703648] [ 0.44601687 0.84166481 -0.30441632 -4.89368596] [ 0.28547251 0.18857805 0.93965087 -1.40754852] [ 0. 0. 0. 1. ]] SLAMing on 86.898001145 meters Centerline goodness : 0.860455 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:-4.90, Z:-1.41 [[ 0.84993427 -0.50337221 -0.15565394 2.83060282] [ 0.44358056 0.84303657 -0.30418025 -4.89594485] [ 0.28433785 0.18948816 0.9398118 -1.41164118] [ 0. 0. 0. 1. ]] SLAMing on 86.958001145 meters Centerline goodness : 0.862984 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:-4.90, Z:-1.41 [[ 0.85027682 -0.50203334 -0.15808813 2.83495548] [ 0.44261596 0.84454737 -0.30138157 -4.89834371] [ 0.28481652 0.18628543 0.94030702 -1.41265785] [ 0. 0. 0. 1. ]] SLAMing on 87.018001145 meters Centerline goodness : 0.861430 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-4.90, Z:-1.41 [[ 0.84942973 -0.50330018 -0.15861294 2.8394671 ] [ 0.44368242 0.84388303 -0.30167423 -4.89794927] [ 0.28568346 0.18587729 0.94012477 -1.41479991] [ 0. 0. 0. 1. ]] SLAMing on 87.078001145 meters Centerline goodness : 0.864666 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-4.90, Z:-1.42 [[ 0.8478271 -0.50627558 -0.15771574 2.84392273] [ 0.44645941 0.84199836 -0.30284114 -4.90158336] [ 0.28611747 0.18634325 0.93990052 -1.4175396 ] [ 0. 0. 0. 1. ]] SLAMing on 87.13800114499999 meters Centerline goodness : 0.863620 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:-4.90, Z:-1.42 [[ 0.84614327 -0.50809788 -0.16086675 2.84885036] [ 0.44850464 0.84190465 -0.30006692 -4.90441099] [ 0.28789783 0.18175012 0.94025621 -1.41645218] [ 0. 0. 0. 1. ]] SLAMing on 87.19800114499999 meters Centerline goodness : 0.864749 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:-4.91, Z:-1.42 [[ 0.84550921 -0.5088333 -0.16187295 2.85264863] [ 0.44932871 0.84179598 -0.29913749 -4.90526905] [ 0.28847512 0.18018934 0.94037966 -1.4177921 ] [ 0. 0. 0. 1. ]] SLAMing on 87.258001145 meters Centerline goodness : 0.866398 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:-4.91, Z:-1.42 [[ 0.84567701 -0.50836177 -0.16247676 2.8563262 ] [ 0.44909687 0.8423273 -0.29798779 -4.9076007 ] [ 0.28834421 0.17903362 0.94064052 -1.41994733] [ 0. 0. 0. 1. ]] SLAMing on 87.318001145 meters Centerline goodness : 0.868968 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:-4.91, Z:-1.42 [[ 0.84567557 -0.50784046 -0.16410638 2.85898017] [ 0.4487431 0.84305955 -0.29644599 -4.90806907] [ 0.28889872 0.17705553 0.94084476 -1.42008641] [ 0. 0. 0. 1. ]] SLAMing on 87.378001145 meters Centerline goodness : 0.866778 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:-4.91, Z:-1.42 [[ 0.84617063 -0.50689288 -0.16448366 2.86182244] [ 0.44802039 0.8437785 -0.29549208 -4.90926373] [ 0.28857061 0.17634469 0.94107893 -1.42235415] [ 0. 0. 0. 1. ]] SLAMing on 87.438001145 meters Centerline goodness : 0.868864 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:-4.91, Z:-1.42 [[ 0.8455444 -0.50768892 -0.1652472 2.86512291] [ 0.44865248 0.84342051 -0.29555507 -4.90826654] [ 0.28942291 0.17576637 0.94092538 -1.42353178] [ 0. 0. 0. 1. ]] SLAMing on 87.49800114499999 meters Centerline goodness : 0.870082 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:-4.90, Z:-1.43 [[ 0.84389482 -0.50815573 -0.17210255 2.87609163] [ 0.44935877 0.84471788 -0.29073769 -4.90414644] [ 0.29311813 0.16801624 0.94119727 -1.42711093] [ 0. 0. 0. 1. ]] SLAMing on 87.55800114499999 meters Centerline goodness : 0.871324 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:-4.90, Z:-1.43 [[ 0.84099833 -0.51210423 -0.17455965 2.88360246] [ 0.4529533 0.84287905 -0.29049649 -4.9028278 ] [ 0.29589715 0.16523969 0.94081918 -1.42832382] [ 0. 0. 0. 1. ]] SLAMing on 87.618001145 meters Centerline goodness : 0.869185 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:-4.90, Z:-1.43 [[ 0.83915944 -0.51445324 -0.17649163 2.88857209] [ 0.45510964 0.84186858 -0.29005604 -4.90160043] [ 0.29780303 0.16308022 0.9405946 -1.42848335] [ 0. 0. 0. 1. ]] SLAMing on 87.678001145 meters Centerline goodness : 0.869131 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:-4.90, Z:-1.43 [[ 0.83767563 -0.51565821 -0.17998929 2.8942646 ] [ 0.4564369 0.84192604 -0.2877949 -4.90031172] [ 0.29994148 0.15892502 0.94062636 -1.4280278 ] [ 0. 0. 0. 1. ]] SLAMing on 87.738001145 meters Centerline goodness : 0.870563 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:-4.90, Z:-1.43 [[ 0.83713192 -0.51619324 -0.18098256 2.89719278] [ 0.45686795 0.84175797 -0.2876025 -4.89939795] [ 0.30080198 0.1580761 0.94049461 -1.42868376] [ 0. 0. 0. 1. ]] SLAMing on 87.798001145 meters Centerline goodness : 0.874532 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:-4.89, Z:-1.44 [[ 0.83614627 -0.51602484 -0.18595101 2.91233655] [ 0.45880427 0.84377439 -0.2784662 -4.889038 ] [ 0.30059618 0.14752335 0.94227321 -1.43695333] [ 0. 0. 0. 1. ]] SLAMing on 87.858001145 meters Centerline goodness : 0.871870 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-4.88, Z:-1.44 [[ 0.83435826 -0.51804442 -0.18835145 2.91916991] [ 0.46027911 0.84277849 -0.2790476 -4.88400356] [ 0.3032976 0.14613143 0.94162422 -1.43832198] [ 0. 0. 0. 1. ]] SLAMing on 87.91800114499999 meters Centerline goodness : 0.872592 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:-4.87, Z:-1.45 [[ 0.83248022 -0.5192053 -0.19339736 2.93542752] [ 0.46343835 0.84382842 -0.27051522 -4.87154127] [ 0.30364713 0.13557081 0.94309012 -1.44556459] [ 0. 0. 0. 1. ]] SLAMing on 87.978001145 meters Centerline goodness : 0.873571 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:-4.87, Z:-1.45 [[ 0.8320743 -0.51966903 -0.19389806 2.9390032 ] [ 0.46348627 0.84345448 -0.27159716 -4.86757058] [ 0.30468482 0.13611993 0.94267626 -1.44738264] [ 0. 0. 0. 1. ]] SLAMing on 88.038001145 meters Centerline goodness : 0.873883 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:-4.85, Z:-1.45 [[ 0.83048257 -0.51914218 -0.20196559 2.95466902] [ 0.46569595 0.84599643 -0.25964846 -4.85431043] [ 0.30565664 0.12157897 0.9443477 -1.45269432] [ 0. 0. 0. 1. ]] SLAMing on 88.098001145 meters Centerline goodness : 0.874830 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:-4.84, Z:-1.46 [[ 0.83042857 -0.51877665 -0.20312358 2.96754834] [ 0.46785526 0.84731914 -0.25131998 -4.84175089] [ 0.30248943 0.11367085 0.9463504 -1.45761952] [ 0. 0. 0. 1. ]] SLAMing on 88.158001145 meters Centerline goodness : 0.872502 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:-4.84, Z:-1.46 [[ 0.83200041 -0.51632427 -0.2029398 2.96941193] [ 0.46517637 0.84860745 -0.25194513 -4.83735066] [ 0.30230161 0.11521565 0.94622359 -1.46115508] [ 0. 0. 0. 1. ]] SLAMing on 88.218001145 meters Centerline goodness : 0.868612 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:-4.82, Z:-1.47 [[ 0.8333536 -0.51269866 -0.20654749 2.97948992] [ 0.46460335 0.85216537 -0.24074451 -4.82478973] [ 0.299442 0.10466265 0.94835659 -1.46577186] [ 0. 0. 0. 1. ]] SLAMing on 88.27800114499999 meters Centerline goodness : 0.867327 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:-4.81, Z:-1.47 [[ 0.83424285 -0.51236233 -0.20377368 2.98828871] [ 0.4670488 0.85304137 -0.23277854 -4.81420137] [ 0.29309433 0.09902158 0.95094187 -1.47339006] [ 0. 0. 0. 1. ]] SLAMing on 88.33800114499999 meters Centerline goodness : 0.866107 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:-4.81, Z:-1.48 [[ 0.83517616 -0.51106432 -0.20320937 2.99080265] [ 0.4653398 0.85358206 -0.23421473 -4.81009966] [ 0.29315466 0.10104915 0.95070995 -1.4771306 ] [ 0. 0. 0. 1. ]] SLAMing on 88.398001145 meters Centerline goodness : 0.864709 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:-4.80, Z:-1.48 [[ 0.83440009 -0.51337429 -0.20055754 2.99928784] [ 0.4702567 0.85290299 -0.22674905 -4.8007282 ] [ 0.28746326 0.0948859 0.95308003 -1.48321826] [ 0. 0. 0. 1. ]] SLAMing on 88.458001145 meters Centerline goodness : 0.865815 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:-4.79, Z:-1.49 [[ 0.83256937 -0.51616232 -0.20100923 3.00905963] [ 0.47537025 0.85207857 -0.21905531 -4.79085776] [ 0.28434376 0.08682493 0.95478273 -1.48882166] [ 0. 0. 0. 1. ]] SLAMing on 88.518001145 meters Centerline goodness : 0.863027 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:-4.79, Z:-1.49 [[ 0.83144667 -0.51785141 -0.20131157 3.01328851] [ 0.47660414 0.85098534 -0.22061834 -4.78810155] [ 0.28556071 0.08748646 0.95435905 -1.49062046] [ 0. 0. 0. 1. ]] SLAMing on 88.578001145 meters Centerline goodness : 0.868039 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:-4.78, Z:-1.50 [[ 0.82952428 -0.52055023 -0.20227933 3.0247871 ] [ 0.48150791 0.85013087 -0.21313759 -4.77874228] [ 0.28291273 0.07940371 0.95585325 -1.49577582] [ 0. 0. 0. 1. ]] SLAMing on 88.63800114499999 meters Centerline goodness : 0.857660 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-4.77, Z:-1.50 [[ 0.82721937 -0.52226462 -0.20723843 3.04103566] [ 0.48562799 0.8500705 -0.20382737 -4.76721494] [ 0.28261911 0.06796917 0.95682111 -1.50057134] [ 0. 0. 0. 1. ]] SLAMing on 88.69800114499999 meters Centerline goodness : 0.856106 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-4.76, Z:-1.50 [[ 0.82458744 -0.52606636 -0.20810991 3.04528795] [ 0.48871499 0.84768278 -0.20637724 -4.76233876] [ 0.28497931 0.06846965 0.95608509 -1.50091373] [ 0. 0. 0. 1. ]] SLAMing on 88.758001145 meters Centerline goodness : 0.859860 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-4.76, Z:-1.50 [[ 0.82308574 -0.5277908 -0.20968245 3.04998741] [ 0.49010638 0.84666142 -0.20726835 -4.75910782] [ 0.28692436 0.06783292 0.95554859 -1.50137071] [ 0. 0. 0. 1. ]] SLAMing on 88.818001145 meters Centerline goodness : 0.858141 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-4.75, Z:-1.50 [[ 0.81992484 -0.5310851 -0.21370978 3.06520674] [ 0.4953058 0.84530281 -0.20033803 -4.74611127] [ 0.28704602 0.05841043 0.9561343 -1.49987985] [ 0. 0. 0. 1. ]] SLAMing on 88.878001145 meters Centerline goodness : 0.859264 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-4.74, Z:-1.50 [[ 0.81782648 -0.53319236 -0.21648499 3.06907674] [ 0.49731037 0.84412693 -0.20033003 -4.74290333] [ 0.28955525 0.05617498 0.95551145 -1.49831073] [ 0. 0. 0. 1. ]] SLAMing on 88.938001145 meters Centerline goodness : 0.861247 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-4.74, Z:-1.50 [[ 0.8168766 -0.53272645 -0.22116769 3.07351897] [ 0.49732788 0.84471406 -0.19779568 -4.73955915] [ 0.29219445 0.05158181 0.95496687 -1.49638035] [ 0. 0. 0. 1. ]] SLAMing on 88.99800114499999 meters Centerline goodness : 0.858608 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-4.73, Z:-1.50 [[ 0.81664207 -0.53146334 -0.22503878 3.0780833 ] [ 0.49635592 0.84569854 -0.19602242 -4.73455338] [ 0.29449369 0.04838082 0.95442798 -1.49638948] [ 0. 0. 0. 1. ]] SLAMing on 89.05800114499999 meters Centerline goodness : 0.860335 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-4.73, Z:-1.50 [[ 0.81728034 -0.52894126 -0.22863506 3.08228299] [ 0.49424709 0.84744389 -0.19380062 -4.73023802] [ 0.29626453 0.04538722 0.9540269 -1.49690174] [ 0. 0. 0. 1. ]] SLAMing on 89.118001145 meters Centerline goodness : 0.862942 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-4.72, Z:-1.50 [[ 0.81901 -0.52486795 -0.23181081 3.08500082] [ 0.49063348 0.85009796 -0.19134328 -4.72492588] [ 0.29749186 0.04297792 0.95375652 -1.49801429] [ 0. 0. 0. 1. ]] SLAMing on 89.178001145 meters Centerline goodness : 0.863730 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-4.72, Z:-1.50 [[ 0.8202071 -0.52109844 -0.23604389 3.08821734] [ 0.4873666 0.85257264 -0.18866291 -4.71904842] [ 0.29955652 0.03970275 0.95325211 -1.49772732] [ 0. 0. 0. 1. ]] SLAMing on 89.238001145 meters Centerline goodness : 0.858987 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-4.71, Z:-1.50 [[ 0.82193235 -0.51888374 -0.23491885 3.09140612] [ 0.48439114 0.853754 -0.19096945 -4.71254284] [ 0.29965385 0.04317136 0.95307072 -1.50320433] [ 0. 0. 0. 1. ]] SLAMing on 89.298001145 meters Centerline goodness : 0.861992 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-4.71, Z:-1.50 [[ 0.82349329 -0.51454971 -0.23895063 3.09458337] [ 0.48076925 0.85654564 -0.1875913 -4.70805407] [ 0.30119717 0.03960006 0.95273926 -1.50333707] [ 0. 0. 0. 1. ]] SLAMing on 89.358001145 meters Centerline goodness : 0.862436 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-4.70, Z:-1.51 [[ 0.82641684 -0.51352377 -0.23092973 3.09482747] [ 0.48270288 0.85730134 -0.17897581 -4.69822954] [ 0.2898847 0.03643818 0.95636767 -1.51002149] [ 0. 0. 0. 1. ]] SLAMing on 89.41800114499999 meters Centerline goodness : 0.862797 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-4.69, Z:-1.51 [[ 0.82784549 -0.51011308 -0.23335913 3.09798748] [ 0.47944514 0.85938444 -0.17773783 -4.69211529] [ 0.2912116 0.03525656 0.95600878 -1.51210563] [ 0. 0. 0. 1. ]] SLAMing on 89.478001145 meters Centerline goodness : 0.860745 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-4.68, Z:-1.52 [[ 0.82753308 -0.51432858 -0.22506689 3.10194943] [ 0.48580869 0.85695505 -0.17209867 -4.68349746] [ 0.28138748 0.03307789 0.95902395 -1.51851537] [ 0. 0. 0. 1. ]] SLAMing on 89.538001145 meters Centerline goodness : 0.862420 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-4.68, Z:-1.52 [[ 0.82760204 -0.51274979 -0.22839115 3.10475676] [ 0.48488172 0.85803535 -0.16930755 -4.68036322] [ 0.28278009 0.02937658 0.95873481 -1.51858001] [ 0. 0. 0. 1. ]] SLAMing on 89.598001145 meters Centerline goodness : 0.863700 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-4.68, Z:-1.52 [[ 0.82647031 -0.514899 -0.22765291 3.09893189] [ 0.48791565 0.85683654 -0.16664174 -4.68468224] [ 0.280865 0.02664903 0.95937724 -1.52357045] [ 0. 0. 0. 1. ]] SLAMing on 89.658001145 meters Centerline goodness : 0.868161 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-4.69, Z:-1.53 [[ 0.82602825 -0.51418814 -0.2308417 3.09756508] [ 0.48883698 0.8574466 -0.16069764 -4.68996044] [ 0.28056325 0.01989683 0.95962929 -1.53099865] [ 0. 0. 0. 1. ]] SLAMing on 89.718001145 meters Centerline goodness : 0.867569 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-4.70, Z:-1.54 [[ 0.82569552 -0.51374537 -0.23300772 3.09407032] [ 0.49011822 0.85783734 -0.15459377 -4.69587706] [ 0.27930456 0.01344605 0.96010841 -1.53887087] [ 0. 0. 0. 1. ]] SLAMing on 89.77800114499999 meters Centerline goodness : 0.868751 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-4.70, Z:-1.54 [[ 0.8277173 -0.50979486 -0.23450643 3.09279358] [ 0.48690993 0.86022352 -0.15144044 -4.69513938] [ 0.2789315 0.01116636 0.96024608 -1.53845433] [ 0. 0. 0. 1. ]] SLAMing on 89.83800114499999 meters Centerline goodness : 0.868393 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-4.70, Z:-1.54 [[ 0.82985822 -0.50530539 -0.23664699 3.09342116] [ 0.48335642 0.8629031 -0.14752899 -4.69524494] [ 0.27875062 0.00804331 0.96032984 -1.53924566] [ 0. 0. 0. 1. ]] SLAMing on 89.898001145 meters Centerline goodness : 0.869516 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-4.69, Z:-1.54 [[ 0.83186509 -0.50103953 -0.23866264 3.09416878] [ 0.4796753 0.86540335 -0.14487458 -4.69420889] [ 0.27912735 0.00603553 0.96023513 -1.53762945] [ 0. 0. 0. 1. ]] SLAMing on 89.958001145 meters Centerline goodness : 0.871838 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-4.68, Z:-1.52 [[ 0.83460259 -0.50184066 -0.22714416 3.10180127] [ 0.47631358 0.86458765 -0.16004238 -4.68058279] [ 0.27670181 0.02537994 0.96062062 -1.51663761] [ 0. 0. 0. 1. ]] SLAMing on 90.018001145 meters Centerline goodness : 0.870390 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-4.67, Z:-1.50 [[ 0.83654924 -0.50250319 -0.21834814 3.11402635] [ 0.47300392 0.86349795 -0.17503881 -4.66783758] [ 0.27650074 0.04314906 0.96004453 -1.49595689] [ 0. 0. 0. 1. ]] SLAMing on 90.078001145 meters Centerline goodness : 0.867512 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-4.66, Z:-1.47 [[ 0.84123494 -0.50619864 -0.18996502 3.09219807] [ 0.4690599 0.85802834 -0.20921325 -4.66031909] [ 0.26889884 0.08689253 0.9592409 -1.4666351 ] [ 0. 0. 0. 1. ]] SLAMing on 90.13800114499999 meters Centerline goodness : 0.871319 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-4.66, Z:-1.45 [[ 0.84511141 -0.50799094 -0.16652901 3.06102701] [ 0.46612054 0.85273513 -0.23574232 -4.66391738] [ 0.2617601 0.12160593 0.9574412 -1.44948673] [ 0. 0. 0. 1. ]] SLAMing on 90.19800114499999 meters Centerline goodness : 0.869873 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:-4.68, Z:-1.42 [[ 0.84755575 -0.51555609 -0.12590142 2.99189287] [ 0.46914334 0.83875332 -0.27640078 -4.68090603] [ 0.24810034 0.17519926 0.95275991 -1.4239205 ] [ 0. 0. 0. 1. ]] SLAMing on 90.258001145 meters Centerline goodness : 0.873242 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:-4.68, Z:-1.38 [[ 0.85163838 -0.51639381 -0.089719 2.9674688 ] [ 0.46649093 0.82483572 -0.31942486 -4.68107624] [ 0.23895246 0.23018137 0.94335479 -1.38064165] [ 0. 0. 0. 1. ]] SLAMing on 90.318001145 meters Centerline goodness : 0.872792 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:-4.68, Z:-1.38 [[ 0.85444983 -0.50887457 -0.10470038 2.97558909] [ 0.45556109 0.83074659 -0.31988154 -4.68346839] [ 0.24975906 0.22562531 0.94165473 -1.38366694] [ 0. 0. 0. 1. ]] SLAMing on 90.378001145 meters Centerline goodness : 0.871155 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-4.71, Z:-1.38 [[ 0.85624884 -0.50810606 -0.09309213 2.92129416] [ 0.45573496 0.82789557 -0.32694735 -4.71446241] [ 0.24319449 0.23752295 0.94044632 -1.3849188 ] [ 0. 0. 0. 1. ]] SLAMing on 90.438001145 meters Centerline goodness : 0.866106 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-4.74, Z:-1.33 [[ 0.85911924 -0.5109481 -0.029089 2.84385372] [ 0.46122842 0.79764461 -0.38862761 -4.73600139] [ 0.22177122 0.32046078 0.92093562 -1.33059709] [ 0. 0. 0. 1. ]] SLAMing on 90.49800114499999 meters Centerline goodness : 0.863907 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:-4.76, Z:-1.34 [[ 0.85750016 -0.51362288 -0.02974936 2.81209935] [ 0.46423499 0.79737946 -0.38557991 -4.76274879] [ 0.22176419 0.31682413 0.92219473 -1.34019037] [ 0. 0. 0. 1. ]] SLAMing on 90.55800114499999 meters Centerline goodness : 0.864983 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:-4.77, Z:-1.34 [[ 0.85884813 -0.51022316 -0.04530144 2.82088359] [ 0.45586747 0.80168129 -0.38664191 -4.76534853] [ 0.23359097 0.31141523 0.92111661 -1.34280607] [ 0. 0. 0. 1. ]] SLAMing on 90.618001145 meters Centerline goodness : 0.866873 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:-4.78, Z:-1.35 [[ 0.85944954 -0.50905623 -0.04699191 2.81991746] [ 0.4558631 0.80474265 -0.38023428 -4.7772588 ] [ 0.23137702 0.3053703 0.92369565 -1.34862925] [ 0. 0. 0. 1. ]] SLAMing on 90.678001145 meters Centerline goodness : 0.869682 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:-4.78, Z:-1.35 [[ 0.86117966 -0.50441619 -0.06272081 2.82823214] [ 0.44666439 0.80986575 -0.38027411 -4.78099916] [ 0.24261185 0.29946917 0.92274466 -1.35088258] [ 0. 0. 0. 1. ]] SLAMing on 90.738001145 meters Centerline goodness : 0.869954 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:-4.79, Z:-1.35 [[ 0.86146435 -0.50157735 -0.07936833 2.83475298] [ 0.43950853 0.81471391 -0.37825058 -4.78627735] [ 0.2543844 0.29096633 0.92229451 -1.3514225 ] [ 0. 0. 0. 1. ]] SLAMing on 90.798001145 meters Centerline goodness : 0.869551 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-4.79, Z:-1.35 [[ 0.86219668 -0.49784936 -0.09361038 2.84064375] [ 0.43192305 0.81903372 -0.3776589 -4.79198834] [ 0.2646873 0.28518377 0.92120077 -1.354244 ] [ 0. 0. 0. 1. ]] SLAMing on 90.858001145 meters Centerline goodness : 0.863341 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:-4.79, Z:-1.36 [[ 0.86172011 -0.49827265 -0.09572259 2.84678954] [ 0.43228412 0.819765 -0.37565381 -4.79289241] [ 0.26564805 0.28232909 0.92180334 -1.35824159] [ 0. 0. 0. 1. ]] SLAMing on 90.91800114499999 meters Centerline goodness : 0.865186 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:-4.79, Z:-1.36 [[ 0.86112671 -0.49895818 -0.09747571 2.85268142] [ 0.43248198 0.81974848 -0.37546208 -4.79176531] [ 0.26724544 0.28116394 0.92169774 -1.36090205] [ 0. 0. 0. 1. ]] SLAMing on 90.978001145 meters Centerline goodness : 0.862966 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:-4.79, Z:-1.36 [[ 0.86119701 -0.49799798 -0.10167457 2.85998168] [ 0.43128697 0.82183559 -0.37226041 -4.78963325] [ 0.26894471 0.27673864 0.92254239 -1.3637535 ] [ 0. 0. 0. 1. ]] SLAMing on 91.038001145 meters Centerline goodness : 0.862782 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:-4.79, Z:-1.37 [[ 0.86084389 -0.49793526 -0.10492032 2.8656697 ] [ 0.43105878 0.8231208 -0.36967619 -4.79048829] [ 0.27043691 0.27300666 0.92321787 -1.36504666] [ 0. 0. 0. 1. ]] SLAMing on 91.098001145 meters Centerline goodness : 0.864542 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:-4.80, Z:-1.37 [[ 0.86191675 -0.49276663 -0.11950133 2.87084937] [ 0.42248988 0.82825874 -0.36808935 -4.79649951] [ 0.28036017 0.26677427 0.92207899 -1.36747137] [ 0. 0. 0. 1. ]] SLAMing on 91.158001145 meters Centerline goodness : 0.866343 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:-4.80, Z:-1.37 [[ 0.8637651 -0.48602755 -0.13299273 2.87578435] [ 0.41259188 0.83369218 -0.36704944 -4.80126979] [ 0.28927114 0.26217278 0.92064523 -1.37170275] [ 0. 0. 0. 1. ]] SLAMing on 91.218001145 meters Centerline goodness : 0.867915 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:-4.80, Z:-1.37 [[ 0.86466398 -0.48388152 -0.13496249 2.87937344] [ 0.41042458 0.83538248 -0.36563339 -4.80012655] [ 0.28966854 0.2607581 0.92092201 -1.37292528] [ 0. 0. 0. 1. ]] SLAMing on 91.27800114499999 meters Centerline goodness : 0.865516 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:-4.80, Z:-1.38 [[ 0.86486591 -0.4832502 -0.13592722 2.88292494] [ 0.40977072 0.83600861 -0.36493501 -4.80032095] [ 0.28999124 0.25992085 0.92105713 -1.37507669] [ 0. 0. 0. 1. ]] SLAMing on 91.33800114499999 meters Centerline goodness : 0.867448 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:-4.80, Z:-1.38 [[ 0.863959 -0.48450958 -0.13720538 2.88835235] [ 0.41080846 0.83573119 -0.36440333 -4.80173241] [ 0.29122372 0.2584644 0.92107812 -1.37742935] [ 0. 0. 0. 1. ]] SLAMing on 91.398001145 meters Centerline goodness : 0.866175 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:-4.80, Z:-1.38 [[ 0.8634479 -0.48511716 -0.13827172 2.89260303] [ 0.4111829 0.83565109 -0.36416463 -4.80221387] [ 0.29220943 0.25758222 0.92101306 -1.37895709] [ 0. 0. 0. 1. ]] SLAMing on 91.458001145 meters Centerline goodness : 0.870611 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:-4.80, Z:-1.38 [[ 0.86360077 -0.48436852 -0.13993157 2.89567868] [ 0.4103631 0.83653747 -0.3630526 -4.8016977 ] [ 0.29290925 0.25610976 0.92120137 -1.3795483 ] [ 0. 0. 0. 1. ]] SLAMing on 91.518001145 meters Centerline goodness : 0.866908 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:-4.80, Z:-1.38 [[ 0.86447439 -0.48280318 -0.13994684 2.89879952] [ 0.40895547 0.83738038 -0.36269756 -4.80268256] [ 0.29230027 0.25631072 0.9213389 -1.38290821] [ 0. 0. 0. 1. ]] SLAMing on 91.578001145 meters Centerline goodness : 0.869055 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:-4.80, Z:-1.38 [[ 0.86451678 -0.48242686 -0.14097894 2.90231822] [ 0.40848435 0.83784362 -0.36215826 -4.80244825] [ 0.29283318 0.2555042 0.92139369 -1.38450271] [ 0. 0. 0. 1. ]] SLAMing on 91.63800114499999 meters Centerline goodness : 0.871462 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:-4.80, Z:-1.39 [[ 0.86462814 -0.4818196 -0.1423659 2.9052818 ] [ 0.4079347 0.83866842 -0.3608664 -4.80343297] [ 0.29327029 0.25393925 0.92168725 -1.38558545] [ 0. 0. 0. 1. ]] SLAMing on 91.69800114499999 meters Centerline goodness : 0.868357 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:-4.81, Z:-1.39 [[ 0.8646765 -0.48151351 -0.14310588 2.90906293] [ 0.40778063 0.83920262 -0.35979705 -4.80538828] [ 0.29334197 0.25275225 0.92199067 -1.38813738] [ 0. 0. 0. 1. ]] SLAMing on 91.758001145 meters Centerline goodness : 0.871589 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:-4.81, Z:-1.39 [[ 0.86429189 -0.48175213 -0.14461815 2.91310676] [ 0.4078646 0.8395026 -0.35900119 -4.80556842] [ 0.2943569 0.25129719 0.92206493 -1.38928179] [ 0. 0. 0. 1. ]] SLAMing on 91.818001145 meters Centerline goodness : 0.875590 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-4.81, Z:-1.39 [[ 0.86302509 -0.48343841 -0.14654352 2.91795743] [ 0.40917173 0.83910181 -0.35845034 -4.80551766] [ 0.2962536 0.24939017 0.92197524 -1.39005411] [ 0. 0. 0. 1. ]] SLAMing on 91.878001145 meters Centerline goodness : 0.873513 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-4.81, Z:-1.39 [[ 0.86280073 -0.48374824 -0.1468419 2.92198278] [ 0.40947322 0.83905918 -0.35820577 -4.80636835] [ 0.29649046 0.24893237 0.92202282 -1.39305617] [ 0. 0. 0. 1. ]] SLAMing on 91.938001145 meters Centerline goodness : 0.878675 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:-4.81, Z:-1.39 [[ 0.8621076 -0.48434332 -0.14893637 2.92656822] [ 0.41012051 0.83955613 -0.35629577 -4.80872171] [ 0.29760991 0.24608343 0.92242684 -1.39390776] [ 0. 0. 0. 1. ]] SLAMing on 91.99800114499999 meters Centerline goodness : 0.878780 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:-4.81, Z:-1.39 [[ 0.86185589 -0.48361606 -0.15270866 2.93097479] [ 0.40956815 0.84129792 -0.35280554 -4.8090765 ] [ 0.2990959 0.24152292 0.9231513 -1.39314222] [ 0. 0. 0. 1. ]] SLAMing on 92.05800114499999 meters Centerline goodness : 0.882409 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:-4.81, Z:-1.40 [[ 0.8624592 -0.48305838 -0.15105869 2.93379971] [ 0.40899738 0.84099134 -0.35419588 -4.81026056] [ 0.29813633 0.24369689 0.92289033 -1.39771925] [ 0. 0. 0. 1. ]] SLAMing on 92.118001145 meters Centerline goodness : 0.880185 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:-4.81, Z:-1.40 [[ 0.86391062 -0.47936915 -0.15447867 2.93821002] [ 0.40583367 0.84421853 -0.3501344 -4.81050905] [ 0.29825739 0.23979218 0.9238735 -1.39913098] [ 0. 0. 0. 1. ]] SLAMing on 92.178001145 meters Centerline goodness : 0.887390 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:-4.81, Z:-1.40 [[ 0.86424543 -0.47758207 -0.15809871 2.94427584] [ 0.4040875 0.84622082 -0.34730911 -4.80782118] [ 0.29965502 0.2362746 0.92432742 -1.4006672 ] [ 0. 0. 0. 1. ]] SLAMing on 92.238001145 meters Centerline goodness : 0.892795 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:-4.81, Z:-1.40 [[ 0.8631271 -0.47934573 -0.15886874 2.95080227] [ 0.40552294 0.84540839 -0.34761445 -4.80891775] [ 0.30093647 0.23561053 0.92408058 -1.4043246 ] [ 0. 0. 0. 1. ]] SLAMing on 92.298001145 meters Centerline goodness : 0.892262 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:-4.81, Z:-1.40 [[ 0.86151709 -0.4809939 -0.16258283 2.95772615] [ 0.40694515 0.84563509 -0.34539389 -4.80894165] [ 0.3036181 0.23140044 0.92426721 -1.40465325] [ 0. 0. 0. 1. ]] SLAMing on 92.358001145 meters Centerline goodness : 0.892773 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:-4.81, Z:-1.40 [[ 0.86083039 -0.4814672 -0.16480406 2.9623086 ] [ 0.40724094 0.84595639 -0.34425659 -4.80791969] [ 0.3051653 0.22923158 0.92429812 -1.40480519] [ 0. 0. 0. 1. ]] SLAMing on 92.41800114499999 meters Centerline goodness : 0.894114 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:-4.81, Z:-1.40 [[ 0.85946917 -0.48297927 -0.16746275 2.96797736] [ 0.40847073 0.84583837 -0.34308761 -4.80820072] [ 0.30735062 0.2264696 0.9242549 -1.40497256] [ 0. 0. 0. 1. ]] SLAMing on 92.478001145 meters Centerline goodness : 0.896719 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:-4.81, Z:-1.41 [[ 0.86029793 -0.48174309 -0.16676651 2.97168253] [ 0.40727528 0.84623454 -0.34353158 -4.80957703] [ 0.30661755 0.22761963 0.92421587 -1.40944498] [ 0. 0. 0. 1. ]] SLAMing on 92.538001145 meters Centerline goodness : 0.894502 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:-4.81, Z:-1.41 [[ 0.86108459 -0.47780791 -0.17387619 2.98030411] [ 0.40400686 0.85057458 -0.33660264 -4.80720675] [ 0.30872607 0.21959617 0.92545434 -1.41064843] [ 0. 0. 0. 1. ]] SLAMing on 92.598001145 meters Centerline goodness : 0.890853 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:-4.80, Z:-1.41 [[ 0.86146131 -0.47498769 -0.17964159 2.98899957] [ 0.40149068 0.85364932 -0.33179524 -4.8040377 ] [ 0.31094957 0.21370434 0.92608899 -1.4132474 ] [ 0. 0. 0. 1. ]] SLAMing on 92.658001145 meters Centerline goodness : 0.891335 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:-4.80, Z:-1.41 [[ 0.86075942 -0.4759857 -0.18036304 2.99291428] [ 0.40206585 0.85309065 -0.33253479 -4.80193484] [ 0.31214783 0.21371464 0.92568341 -1.414597 ] [ 0. 0. 0. 1. ]] SLAMing on 92.718001145 meters Centerline goodness : 0.891791 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:-4.80, Z:-1.42 [[ 0.85971804 -0.47687518 -0.1829616 3.00062603] [ 0.40254866 0.85308508 -0.33196449 -4.79954739] [ 0.31438744 0.21174491 0.9253781 -1.41683158] [ 0. 0. 0. 1. ]] SLAMing on 92.77800114499999 meters Centerline goodness : 0.894606 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:-4.80, Z:-1.42 [[ 0.85760112 -0.47682551 -0.19276349 3.01297166] [ 0.4025693 0.8555976 -0.32540852 -4.79531589] [ 0.32009106 0.20147004 0.92571677 -1.41660666] [ 0. 0. 0. 1. ]] SLAMing on 92.83800114499999 meters Centerline goodness : 0.892996 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:-4.79, Z:-1.42 [[ 0.8560637 -0.47755717 -0.19772226 3.02154147] [ 0.4031332 0.85631066 -0.32282454 -4.79218957] [ 0.32347885 0.19664997 0.92557562 -1.41698975] [ 0. 0. 0. 1. ]] SLAMing on 92.898001145 meters Centerline goodness : 0.890669 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-4.79, Z:-1.42 [[ 0.85313324 -0.48037896 -0.20346922 3.03244921] [ 0.40580359 0.85616579 -0.31984933 -4.79042066] [ 0.32785228 0.19030556 0.925363 -1.41916124] [ 0. 0. 0. 1. ]] SLAMing on 92.958001145 meters Centerline goodness : 0.893249 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-4.79, Z:-1.42 [[ 0.85082924 -0.47999272 -0.2137676 3.0450017 ] [ 0.40579112 0.8586982 -0.31300315 -4.78580013] [ 0.33380108 0.17956724 0.92538232 -1.41854947] [ 0. 0. 0. 1. ]] SLAMing on 93.018001145 meters Centerline goodness : 0.892088 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-4.78, Z:-1.42 [[ 0.85037772 -0.47875376 -0.2182947 3.04955782] [ 0.40479871 0.86030351 -0.3098643 -4.78121614] [ 0.3361484 0.17513628 0.92538183 -1.41680519] [ 0. 0. 0. 1. ]] SLAMing on 93.078001145 meters Centerline goodness : 0.892321 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-4.77, Z:-1.42 [[ 0.84902445 -0.48010187 -0.22058939 3.05902066] [ 0.40541455 0.85970703 -0.31071347 -4.77456439] [ 0.33881636 0.17437318 0.92455258 -1.42156094] [ 0. 0. 0. 1. ]] SLAMing on 93.13800114499999 meters Centerline goodness : 0.894747 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-4.76, Z:-1.42 [[ 0.84841562 -0.47975785 -0.223659 3.07038463] [ 0.40834364 0.8620627 -0.30017225 -4.76362315] [ 0.33681807 0.16334109 0.92729352 -1.42345769] [ 0. 0. 0. 1. ]] SLAMing on 93.19800114499999 meters Centerline goodness : 0.893073 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-4.75, Z:-1.43 [[ 0.84760233 -0.48012091 -0.22595177 3.0834871 ] [ 0.41159415 0.8636245 -0.29110647 -4.75098288] [ 0.33490379 0.15374209 0.9296251 -1.42672713] [ 0. 0. 0. 1. ]] SLAMing on 93.258001145 meters Centerline goodness : 0.889245 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-4.75, Z:-1.43 [[ 0.84596777 -0.48238628 -0.22724877 3.0895186 ] [ 0.41327312 0.86243746 -0.29224469 -4.74675802] [ 0.33696268 0.15331378 0.92895158 -1.42832774] [ 0. 0. 0. 1. ]] SLAMing on 93.318001145 meters Centerline goodness : 0.891475 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-4.74, Z:-1.43 [[ 0.84267351 -0.48458438 -0.23468988 3.10627897] [ 0.41857265 0.86376065 -0.28056101 -4.73514567] [ 0.33867137 0.13818656 0.93070198 -1.43127265] [ 0. 0. 0. 1. ]] SLAMing on 93.378001145 meters Centerline goodness : 0.889315 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:-4.72, Z:-1.43 [[ 0.84171926 -0.48537734 -0.23646886 3.11892614] [ 0.42194336 0.86461133 -0.2727839 -4.72254088] [ 0.33685678 0.12983099 0.93256175 -1.43418948] [ 0. 0. 0. 1. ]] SLAMing on 93.438001145 meters Centerline goodness : 0.890664 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:-4.72, Z:-1.44 [[ 0.84248469 -0.48371133 -0.23715584 3.1216937 ] [ 0.41984942 0.86538225 -0.27356905 -4.71539807] [ 0.33755891 0.130908 0.93215722 -1.43666725] [ 0. 0. 0. 1. ]] SLAMing on 93.49800114499999 meters Centerline goodness : 0.890125 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:-4.70, Z:-1.44 [[ 0.84440205 -0.4790837 -0.23971648 3.13136587] [ 0.41898725 0.86944773 -0.2617448 -4.70078535] [ 0.33381861 0.1205797 0.9348934 -1.43970591] [ 0. 0. 0. 1. ]] SLAMing on 93.55800114499999 meters Centerline goodness : 0.891843 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:-4.69, Z:-1.44 [[ 0.84557922 -0.47518276 -0.2433046 3.13408248] [ 0.41554035 0.87197188 -0.25882668 -4.69400331] [ 0.33514474 0.11775558 0.93477892 -1.43961359] [ 0. 0. 0. 1. ]] SLAMing on 93.618001145 meters Centerline goodness : 0.883568 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-4.69, Z:-1.44 [[ 0.84637572 -0.47220894 -0.24630645 3.13890637] [ 0.41267849 0.87381804 -0.25717407 -4.68609361] [ 0.33666692 0.11602051 0.93444884 -1.44147011] [ 0. 0. 0. 1. ]] SLAMing on 93.678001145 meters Centerline goodness : 0.886459 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-4.68, Z:-1.44 [[ 0.84701 -0.46956105 -0.2491716 3.14233216] [ 0.41005602 0.87543955 -0.25585086 -4.6785889 ] [ 0.33827227 0.11453392 0.93405238 -1.44206946] [ 0. 0. 0. 1. ]] SLAMing on 93.738001145 meters Centerline goodness : 0.885857 with order 1 Centerline is valid? [False, False] Translation: X:3.15, Y:-4.67, Z:-1.45 [[ 0.84686445 -0.47102746 -0.24688811 3.15042804] [ 0.41475536 0.87555376 -0.24775713 -4.66798891] [ 0.33286422 0.10741854 0.93683652 -1.44673582] [ 0. 0. 0. 1. ]] SLAMing on 93.798001145 meters Centerline goodness : 0.882089 with order 1 Centerline is valid? [False, False] Translation: X:3.15, Y:-4.66, Z:-1.45 [[ 0.84656624 -0.47051524 -0.24887953 3.15355443] [ 0.41407757 0.8759437 -0.24751241 -4.66129894] [ 0.33446281 0.10648022 0.93637417 -1.44729678] [ 0. 0. 0. 1. ]] SLAMing on 93.858001145 meters Centerline goodness : 0.879440 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:-4.65, Z:-1.45 [[ 0.84700202 -0.47259374 -0.24339831 3.15936406] [ 0.41953774 0.87546487 -0.23989444 -4.65089545] [ 0.32645928 0.1010763 0.93979142 -1.45261072] [ 0. 0. 0. 1. ]] SLAMing on 93.91800114499999 meters Centerline goodness : 0.880412 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:-4.64, Z:-1.46 [[ 0.84793949 -0.47486414 -0.23559004 3.16228544] [ 0.4247058 0.87453243 -0.23413244 -4.63876749] [ 0.31721223 0.09847369 0.94322814 -1.46029136] [ 0. 0. 0. 1. ]] SLAMing on 93.978001145 meters Centerline goodness : 0.880403 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:-4.63, Z:-1.46 [[ 0.84871044 -0.47215073 -0.23825255 3.16613776] [ 0.42191287 0.87611444 -0.23326596 -4.63219874] [ 0.31887319 0.09745344 0.94277395 -1.46135194] [ 0. 0. 0. 1. ]] SLAMing on 94.038001145 meters Centerline goodness : 0.880807 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:-4.62, Z:-1.47 [[ 0.84895618 -0.4749886 -0.23164462 3.17131351] [ 0.42766308 0.87500742 -0.22686188 -4.62212397] [ 0.31044757 0.09352994 0.94597804 -1.46712494] [ 0. 0. 0. 1. ]] SLAMing on 94.098001145 meters Centerline goodness : 0.878872 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:-4.61, Z:-1.47 [[ 0.84955535 -0.47815657 -0.22275994 3.17426356] [ 0.43361957 0.87350729 -0.221267 -4.61399268] [ 0.3003827 0.09138549 0.94943084 -1.47246818] [ 0. 0. 0. 1. ]] SLAMing on 94.158001145 meters Centerline goodness : 0.879621 with order 1 Centerline is valid? [False, False] Translation: X:3.18, Y:-4.61, Z:-1.48 [[ 0.85074441 -0.47914065 -0.21600505 3.17917048] [ 0.43747308 0.87333991 -0.2142305 -4.60613606] [ 0.29129237 0.08775901 0.95260018 -1.47884402] [ 0. 0. 0. 1. ]] SLAMing on 94.218001145 meters Centerline goodness : 0.878894 with order 1 Centerline is valid? [False, False] Translation: X:3.19, Y:-4.60, Z:-1.48 [[ 0.85059311 -0.48068201 -0.21315759 3.18786686] [ 0.44165968 0.87310112 -0.20647316 -4.5972933 ] [ 0.28535606 0.08148153 0.95495166 -1.48235915] [ 0. 0. 0. 1. ]] SLAMing on 94.27800114499999 meters Centerline goodness : 0.878871 with order 1 Centerline is valid? [False, False] Translation: X:3.20, Y:-4.59, Z:-1.49 [[ 0.84990025 -0.4824951 -0.21182078 3.19751181] [ 0.44514336 0.87251895 -0.20139036 -4.58931377] [ 0.28198751 0.0768711 0.95633356 -1.48655271] [ 0. 0. 0. 1. ]] SLAMing on 94.33800114499999 meters Centerline goodness : 0.875045 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-4.58, Z:-1.49 [[ 0.84877221 -0.48557003 -0.20930237 3.20919588] [ 0.44913127 0.87096458 -0.19925313 -4.58091814] [ 0.2790463 0.07511628 0.95733521 -1.4890555 ] [ 0. 0. 0. 1. ]] SLAMing on 94.398001145 meters Centerline goodness : 0.875894 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-4.57, Z:-1.49 [[ 0.84835539 -0.48868816 -0.20365904 3.21717636] [ 0.45441416 0.86951206 -0.19353693 -4.57275001] [ 0.2716632 0.07164255 0.95972207 -1.49431631] [ 0. 0. 0. 1. ]] SLAMing on 94.458001145 meters Centerline goodness : 0.877739 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-4.57, Z:-1.50 [[ 0.84975578 -0.48563419 -0.20512082 3.21808694] [ 0.45177612 0.87135663 -0.19140524 -4.5711504 ] [ 0.27168632 0.06997902 0.95983826 -1.4953297 ] [ 0. 0. 0. 1. ]] SLAMing on 94.518001145 meters Centerline goodness : 0.883223 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-4.56, Z:-1.50 [[ 0.85120217 -0.48633875 -0.19730557 3.22150123] [ 0.45497931 0.87117514 -0.18452019 -4.56420405] [ 0.26162703 0.06729403 0.96282024 -1.50337898] [ 0. 0. 0. 1. ]] SLAMing on 94.578001145 meters Centerline goodness : 0.880265 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-4.56, Z:-1.50 [[ 0.85204193 -0.48487639 -0.1972801 3.22148789] [ 0.45368452 0.87200578 -0.18378323 -4.56456655] [ 0.26114154 0.06708809 0.9629664 -1.50409946] [ 0. 0. 0. 1. ]] SLAMing on 94.63800114499999 meters Centerline goodness : 0.879246 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-4.57, Z:-1.51 [[ 0.85286653 -0.48283078 -0.19872877 3.22393224] [ 0.451958 0.87326445 -0.18205266 -4.56508221] [ 0.2614434 0.06544956 0.96299725 -1.5050075 ] [ 0. 0. 0. 1. ]] SLAMing on 94.69800114499999 meters Centerline goodness : 0.886701 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:-4.56, Z:-1.51 [[ 0.85361129 -0.48584998 -0.18787645 3.22629584] [ 0.45624202 0.87136865 -0.1804436 -4.55985927] [ 0.25137817 0.06831156 0.9654753 -1.50625699] [ 0. 0. 0. 1. ]] SLAMing on 94.758001145 meters Centerline goodness : 0.885229 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:-4.56, Z:-1.51 [[ 0.85364265 -0.48527072 -0.18922619 3.23016506] [ 0.4556555 0.87175621 -0.18005325 -4.55924179] [ 0.25233368 0.06747918 0.96528456 -1.50769723] [ 0. 0. 0. 1. ]] SLAMing on 94.818001145 meters Centerline goodness : 0.884334 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:-4.56, Z:-1.51 [[ 0.85302423 -0.48584961 -0.19052513 3.23377626] [ 0.45608887 0.87147786 -0.18030332 -4.55880336] [ 0.25363872 0.06690671 0.96498233 -1.50805341] [ 0. 0. 0. 1. ]] SLAMing on 94.878001145 meters Centerline goodness : 0.887329 with order 1 Centerline is valid? [False, False] Translation: X:3.24, Y:-4.56, Z:-1.51 [[ 0.85204559 -0.48671572 -0.19268141 3.23830672] [ 0.45714269 0.87117496 -0.17909427 -4.55921819] [ 0.25502721 0.06451358 0.96477931 -1.50846299] [ 0. 0. 0. 1. ]] SLAMing on 94.938001145 meters Centerline goodness : 0.887588 with order 1 Centerline is valid? [False, False] Translation: X:3.24, Y:-4.56, Z:-1.51 [[ 0.85110397 -0.48751647 -0.19480688 3.24268352] [ 0.45800807 0.87086704 -0.1783794 -4.55876698] [ 0.25661379 0.0625963 0.96448487 -1.50856042] [ 0. 0. 0. 1. ]] SLAMing on 94.99800114499999 meters Centerline goodness : 0.890446 with order 1 Centerline is valid? [False, False] Translation: X:3.25, Y:-4.56, Z:-1.51 [[ 0.85014359 -0.48854595 -0.19641469 3.24731366] [ 0.4591858 0.8704224 -0.17751968 -4.55924448] [ 0.25769027 0.06072638 0.96431739 -1.50960572] [ 0. 0. 0. 1. ]] SLAMing on 95.05800114499999 meters Centerline goodness : 0.888115 with order 1 Centerline is valid? [False, False] Translation: X:3.25, Y:-4.56, Z:-1.51 [[ 0.84839181 -0.48976647 -0.20089833 3.25231592] [ 0.46100058 0.87009577 -0.17438982 -4.56052974] [ 0.26021108 0.05533665 0.96396476 -1.50689466] [ 0. 0. 0. 1. ]] SLAMing on 95.118001145 meters Centerline goodness : 0.888645 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:-4.56, Z:-1.51 [[ 0.84679907 -0.49146921 -0.20344373 3.25821291] [ 0.46291265 0.86930963 -0.17324158 -4.5611842 ] [ 0.2619985 0.05252413 0.9636379 -1.50733127] [ 0. 0. 0. 1. ]] SLAMing on 95.178001145 meters Centerline goodness : 0.887062 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:-4.56, Z:-1.51 [[ 0.84599043 -0.49225176 -0.20491071 3.2628138 ] [ 0.46364109 0.8689259 -0.17321873 -4.56031311] [ 0.26331945 0.05153637 0.96333113 -1.50851696] [ 0. 0. 0. 1. ]] SLAMing on 95.238001145 meters Centerline goodness : 0.890176 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:-4.56, Z:-1.51 [[ 0.84486341 -0.49365481 -0.20618135 3.26678626] [ 0.46501628 0.86819281 -0.17320828 -4.55973964] [ 0.26451026 0.05045965 0.96306186 -1.50917286] [ 0. 0. 0. 1. ]] SLAMing on 95.298001145 meters Centerline goodness : 0.890846 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:-4.56, Z:-1.51 [[ 0.84495008 -0.49297633 -0.20744564 3.27041594] [ 0.46444859 0.86863919 -0.17249191 -4.55907358] [ 0.26522985 0.04939922 0.96291892 -1.510606 ] [ 0. 0. 0. 1. ]] SLAMing on 95.358001145 meters Centerline goodness : 0.889389 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:-4.56, Z:-1.51 [[ 0.84679307 -0.4906438 -0.20545111 3.26821874] [ 0.46222426 0.8698725 -0.17225145 -4.56235258] [ 0.26323038 0.05089685 0.96338947 -1.51195676] [ 0. 0. 0. 1. ]] SLAMing on 95.41800114499999 meters Centerline goodness : 0.894568 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:-4.56, Z:-1.51 [[ 0.8485846 -0.48702662 -0.20666218 3.2693095 ] [ 0.45940153 0.87205338 -0.16873986 -4.56397049] [ 0.26240126 0.04824913 0.96375184 -1.51338934] [ 0. 0. 0. 1. ]] SLAMing on 95.478001145 meters Centerline goodness : 0.894519 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:-4.56, Z:-1.52 [[ 0.8485405 -0.49192796 -0.19489971 3.27118036] [ 0.46616326 0.86927126 -0.16449707 -4.56174867] [ 0.25034143 0.04872734 0.96693062 -1.51985255] [ 0. 0. 0. 1. ]] SLAMing on 95.538001145 meters Centerline goodness : 0.896487 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:-4.56, Z:-1.52 [[ 0.84818035 -0.49199438 -0.19629475 3.27564121] [ 0.46641711 0.86932183 -0.16350731 -4.56264212] [ 0.25108799 0.04712846 0.96681629 -1.52138006] [ 0. 0. 0. 1. ]] SLAMing on 95.598001145 meters Centerline goodness : 0.898998 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:-4.56, Z:-1.52 [[ 0.84640371 -0.49417148 -0.1984825 3.28071946] [ 0.46872166 0.86821045 -0.16282083 -4.56306015] [ 0.25278599 0.04477911 0.96648542 -1.52111521] [ 0. 0. 0. 1. ]] SLAMing on 95.658001145 meters Centerline goodness : 0.895790 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:-4.56, Z:-1.52 [[ 0.8449417 -0.49608295 -0.19993806 3.28491765] [ 0.47063118 0.86718859 -0.16275823 -4.56327472] [ 0.25412559 0.04342413 0.96619591 -1.52120198] [ 0. 0. 0. 1. ]] SLAMing on 95.718001145 meters Centerline goodness : 0.898199 with order 1 Centerline is valid? [False, False] Translation: X:3.29, Y:-4.56, Z:-1.52 [[ 0.8437022 -0.49729373 -0.20215227 3.28883214] [ 0.47205903 0.86661371 -0.16168165 -4.56298512] [ 0.2555912 0.04098336 0.96591589 -1.5207064 ] [ 0. 0. 0. 1. ]] SLAMing on 95.77800114499999 meters Centerline goodness : 0.897725 with order 1 Centerline is valid? [False, False] Translation: X:3.29, Y:-4.56, Z:-1.52 [[ 0.8422743 -0.49905426 -0.20376174 3.29405344] [ 0.4737575 0.86565732 -0.16183708 -4.56123882] [ 0.25715333 0.03977756 0.96555161 -1.52200288] [ 0. 0. 0. 1. ]] SLAMing on 95.83800114499999 meters Centerline goodness : 0.896099 with order 1 Centerline is valid? [False, False] Translation: X:3.30, Y:-4.56, Z:-1.52 [[ 0.84111276 -0.50018814 -0.20576964 3.29816904] [ 0.47500465 0.86508851 -0.16122176 -4.55944667] [ 0.25865017 0.03786414 0.96522868 -1.52235586] [ 0. 0. 0. 1. ]] SLAMing on 95.898001145 meters Centerline goodness : 0.897751 with order 1 Centerline is valid? [False, False] Translation: X:3.30, Y:-4.56, Z:-1.52 [[ 0.84034268 -0.50071945 -0.20761557 3.30142881] [ 0.47562932 0.86484979 -0.16065987 -4.55765653] [ 0.2600018 0.03626129 0.96492704 -1.52225498] [ 0. 0. 0. 1. ]] SLAMing on 95.958001145 meters Centerline goodness : 0.897107 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:-4.55, Z:-1.53 [[ 0.83899843 -0.50424807 -0.20448843 3.30912453] [ 0.48139214 0.86303846 -0.15305627 -4.55152444] [ 0.25365971 0.02997484 0.96682897 -1.52793664] [ 0. 0. 0. 1. ]] SLAMing on 96.018001145 meters Centerline goodness : 0.895886 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:-4.55, Z:-1.53 [[ 0.83878146 -0.50325473 -0.2077988 3.31307813] [ 0.48098196 0.86374184 -0.15035422 -4.5489407 ] [ 0.25515099 0.02616686 0.96654709 -1.52808868] [ 0. 0. 0. 1. ]] SLAMing on 96.078001145 meters Centerline goodness : 0.890006 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:-4.54, Z:-1.53 [[ 0.83828533 -0.50417912 -0.20755992 3.31630867] [ 0.481479 0.86315898 -0.15210045 -4.54485387] [ 0.25584308 0.02756784 0.96632517 -1.53114739] [ 0. 0. 0. 1. ]] SLAMing on 96.13800114499999 meters Centerline goodness : 0.891100 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:-4.54, Z:-1.53 [[ 0.83723958 -0.50452542 -0.21091225 3.31994099] [ 0.48210361 0.86304839 -0.15074343 -4.53926236] [ 0.25808137 0.02452681 0.96581181 -1.53062335] [ 0. 0. 0. 1. ]] SLAMing on 96.19800114499999 meters Centerline goodness : 0.888344 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:-4.53, Z:-1.53 [[ 0.83666083 -0.50442355 -0.21343743 3.32328736] [ 0.48215928 0.86316287 -0.1499076 -4.53406694] [ 0.25984819 0.02251097 0.96538706 -1.53101396] [ 0. 0. 0. 1. ]] SLAMing on 96.258001145 meters Centerline goodness : 0.886726 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:-4.53, Z:-1.53 [[ 0.83724901 -0.50305183 -0.21436642 3.32554515] [ 0.4807168 0.86396395 -0.14992548 -4.53009314] [ 0.26062514 0.02247543 0.96517842 -1.53298357] [ 0. 0. 0. 1. ]] SLAMing on 96.318001145 meters Centerline goodness : 0.881871 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:-4.53, Z:-1.53 [[ 0.8398374 -0.49732086 -0.21758931 3.32696215] [ 0.47582279 0.86735902 -0.14588013 -4.52543156] [ 0.26127728 0.01898164 0.96507714 -1.53453208] [ 0. 0. 0. 1. ]] SLAMing on 96.378001145 meters Centerline goodness : 0.881602 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:-4.52, Z:-1.54 [[ 0.84160487 -0.49324383 -0.22002674 3.32842917] [ 0.47226664 0.86973112 -0.14328989 -4.52044602] [ 0.26204096 0.01668218 0.96491256 -1.53598522] [ 0. 0. 0. 1. ]] SLAMing on 96.438001145 meters Centerline goodness : 0.882601 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:-4.52, Z:-1.54 [[ 0.84474387 -0.48862054 -0.21830659 3.32607543] [ 0.46740254 0.87228103 -0.14373822 -4.51659871] [ 0.26065814 0.01938492 0.96523653 -1.53986352] [ 0. 0. 0. 1. ]] SLAMing on 96.49800114499999 meters Centerline goodness : 0.882298 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:-4.51, Z:-1.55 [[ 0.84600831 -0.4905513 -0.20887643 3.32784785] [ 0.47154312 0.87125052 -0.13627042 -4.50927022] [ 0.24883133 0.01679167 0.96840126 -1.54806527] [ 0. 0. 0. 1. ]] SLAMing on 96.55800114499999 meters Centerline goodness : 0.878448 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:-4.50, Z:-1.55 [[ 0.8467564 -0.48967529 -0.20789832 3.33559525] [ 0.47219255 0.87182071 -0.1302415 -4.49732012] [ 0.24502611 0.01211479 0.96944079 -1.54932286] [ 0. 0. 0. 1. ]] SLAMing on 96.618001145 meters Centerline goodness : 0.876687 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:-4.49, Z:-1.55 [[ 0.84738807 -0.4891321 -0.20659925 3.33706567] [ 0.47099778 0.87207637 -0.13283033 -4.49391194] [ 0.2451419 0.01525105 0.96936724 -1.55251867] [ 0. 0. 0. 1. ]] SLAMing on 96.678001145 meters Centerline goodness : 0.875656 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:-4.49, Z:-1.55 [[ 0.84957124 -0.48457826 -0.20835697 3.33835169] [ 0.4667033 0.87463268 -0.13117049 -4.48897956] [ 0.24579818 0.0141978 0.96921704 -1.55459456] [ 0. 0. 0. 1. ]] SLAMing on 96.738001145 meters Centerline goodness : 0.872419 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:-4.48, Z:-1.56 [[ 0.85107055 -0.48696085 -0.19633658 3.33788018] [ 0.46948864 0.87321652 -0.13066492 -4.48178505] [ 0.23507304 0.01902727 0.97179145 -1.55593457] [ 0. 0. 0. 1. ]] SLAMing on 96.798001145 meters Centerline goodness : 0.868068 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:-4.48, Z:-1.56 [[ 0.8519535 -0.48534119 -0.19651757 3.34014615] [ 0.46770209 0.87409983 -0.13116496 -4.47993286] [ 0.23543573 0.01983476 0.9716875 -1.55820863] [ 0. 0. 0. 1. ]] SLAMing on 96.858001145 meters Centerline goodness : 0.871914 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:-4.48, Z:-1.56 [[ 0.8499694 -0.48755624 -0.19960191 3.34409762] [ 0.47018556 0.87293192 -0.13005921 -4.47835934] [ 0.23765006 0.01669641 0.97120733 -1.55648437] [ 0. 0. 0. 1. ]] SLAMing on 96.91800114499999 meters Centerline goodness : 0.872741 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:-4.48, Z:-1.56 [[ 0.84779601 -0.49063912 -0.20128382 3.34864748] [ 0.47327553 0.87123082 -0.13025795 -4.47729232] [ 0.23927431 0.01516946 0.9708335 -1.55639441] [ 0. 0. 0. 1. ]] SLAMing on 96.978001145 meters Centerline goodness : 0.874751 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:-4.48, Z:-1.56 [[ 0.84371195 -0.49731787 -0.20205217 3.35359963] [ 0.47948915 0.86743531 -0.13283874 -4.47647332] [ 0.24133027 0.01519581 0.97032406 -1.55555019] [ 0. 0. 0. 1. ]] SLAMing on 97.038001145 meters Centerline goodness : 0.878545 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:-4.48, Z:-1.55 [[ 0.84175932 -0.4996254 -0.2044889 3.35789473] [ 0.48195543 0.86614658 -0.13232185 -4.475254 ] [ 0.24322872 0.01282861 0.96988413 -1.55446104] [ 0. 0. 0. 1. ]] SLAMing on 97.098001145 meters Centerline goodness : 0.876957 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:-4.47, Z:-1.55 [[ 0.83996233 -0.50146503 -0.20735504 3.36032219] [ 0.48412697 0.86512333 -0.13108281 -4.47403902] [ 0.24512112 0.00971845 0.96944375 -1.55154911] [ 0. 0. 0. 1. ]] SLAMing on 97.158001145 meters Centerline goodness : 0.878272 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:-4.47, Z:-1.55 [[ 0.83886862 -0.5028904 -0.2083283 3.36421116] [ 0.48547423 0.86430131 -0.13152192 -4.47282034] [ 0.24619953 0.00919159 0.96917558 -1.55239905] [ 0. 0. 0. 1. ]] SLAMing on 97.218001145 meters Centerline goodness : 0.877608 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:-4.47, Z:-1.55 [[ 0.83806627 -0.50347474 -0.21013832 3.3673923 ] [ 0.48622964 0.86397747 -0.13085746 -4.47102673] [ 0.2474382 0.00749174 0.96887471 -1.55243168] [ 0. 0. 0. 1. ]] SLAMing on 97.27800114499999 meters Centerline goodness : 0.878924 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:-4.47, Z:-1.55 [[ 0.83825221 -0.50215477 -0.21254132 3.3712357 ] [ 0.485365 0.86476415 -0.12885567 -4.46883506] [ 0.2485036 0.00485343 0.96861881 -1.55352341] [ 0. 0. 0. 1. ]] SLAMing on 97.33800114499999 meters Centerline goodness : 0.876120 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:-4.47, Z:-1.56 [[ 0.83849199 -0.50166924 -0.21274199 3.37365868] [ 0.48456748 0.86503926 -0.13000554 -4.46653069] [ 0.24924995 0.00592075 0.96842109 -1.55519497] [ 0. 0. 0. 1. ]] SLAMing on 97.398001145 meters Centerline goodness : 0.875718 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:-4.46, Z:-1.56 [[ 0.8383785 -0.50128324 -0.21409484 3.37655744] [ 0.48426458 0.86526892 -0.12960517 -4.46463537] [ 0.25021852 0.00497964 0.96817658 -1.55592091] [ 0. 0. 0. 1. ]] SLAMing on 97.458001145 meters Centerline goodness : 0.877212 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:-4.46, Z:-1.55 [[ 8.37758322e-01 -5.00592730e-01 -2.18100694e-01 3.37924738e+00] [ 4.84238720e-01 8.65682631e-01 -1.26911168e-01 -4.46081852e+00] [ 2.52336791e-01 7.08086449e-04 9.67639211e-01 -1.55406227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.518001145 meters Centerline goodness : 0.877552 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:-4.46, Z:-1.56 [[ 8.37204634e-01 -5.01804125e-01 -2.17441995e-01 3.38297067e+00] [ 4.84897026e-01 8.64977006e-01 -1.29188442e-01 -4.45873022e+00] [ 2.52909619e-01 2.72018604e-03 9.67486085e-01 -1.55675631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.578001145 meters Centerline goodness : 0.877332 with order 1 Centerline is valid? [False, False] Translation: X:3.39, Y:-4.46, Z:-1.56 [[ 8.36153569e-01 -5.03226206e-01 -2.18198521e-01 3.38640664e+00] [ 4.86217797e-01 8.64151398e-01 -1.29748279e-01 -4.45739552e+00] [ 2.53849291e-01 2.39748194e-03 9.67240813e-01 -1.55758088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63800114499999 meters Centerline goodness : 0.878911 with order 1 Centerline is valid? [False, False] Translation: X:3.39, Y:-4.45, Z:-1.56 [[ 8.35167484e-01 -5.06792354e-01 -2.13674481e-01 3.39344812e+00] [ 4.91269921e-01 8.62067559e-01 -1.24472439e-01 -4.44922083e+00] [ 2.47283519e-01 -1.01651178e-03 9.68942634e-01 -1.55626937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69800114499999 meters Centerline goodness : 0.879456 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:-4.45, Z:-1.56 [[ 8.34201755e-01 -5.08550746e-01 -2.13268777e-01 3.39713277e+00] [ 4.92726259e-01 8.61032016e-01 -1.25875736e-01 -4.44974147e+00] [ 2.47645445e-01 -7.73671128e-05 9.68850725e-01 -1.55780164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.758001145 meters Centerline goodness : 0.879275 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:-4.45, Z:-1.56 [[ 8.32960868e-01 -5.09538351e-01 -2.15747218e-01 3.40060430e+00] [ 4.94020760e-01 8.60443974e-01 -1.24818491e-01 -4.44933800e+00] [ 2.49238202e-01 -2.61468616e-03 9.68438683e-01 -1.55628233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.818001145 meters Centerline goodness : 0.875926 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:-4.45, Z:-1.56 [[ 8.33130800e-01 -5.08418098e-01 -2.17724843e-01 3.40373405e+00] [ 4.93102210e-01 8.61100499e-01 -1.23919896e-01 -4.44670571e+00] [ 2.50486089e-01 -4.11911940e-03 9.68111436e-01 -1.55681338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.878001145 meters Centerline goodness : 0.874504 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:-4.44, Z:-1.56 [[ 8.34820250e-01 -5.05725881e-01 -2.17523525e-01 3.40641067e+00] [ 4.90126982e-01 8.62690479e-01 -1.24662256e-01 -4.44461044e+00] [ 2.50700403e-01 -2.54357352e-03 9.68061381e-01 -1.56004121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.938001145 meters Centerline goodness : 0.878084 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:-4.44, Z:-1.56 [[ 0.83599396 -0.50264547 -0.22014004 3.40993022] [ 0.48749775 0.86447901 -0.12256421 -4.44230455] [ 0.25191279 -0.00485484 0.96773776 -1.56083066] [ 0. 0. 0. 1. ]] SLAMing on 97.99800114499999 meters Centerline goodness : 0.875073 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:-4.43, Z:-1.56 [[ 8.38090153e-01 -5.02529841e-01 -2.12293790e-01 3.41488039e+00] [ 4.88206506e-01 8.64551703e-01 -1.19183723e-01 -4.43351240e+00] [ 2.43432335e-01 -3.75650459e-03 9.69910608e-01 -1.56209162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05800114499999 meters Centerline goodness : 0.880057 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:-4.43, Z:-1.56 [[ 8.38672498e-01 -5.01262015e-01 -2.12990217e-01 3.41670741e+00] [ 4.86875321e-01 8.65287824e-01 -1.19287062e-01 -4.43233282e+00] [ 2.44091915e-01 -3.65690247e-03 9.69745206e-01 -1.56257147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.118001145 meters Centerline goodness : 0.873324 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:-4.43, Z:-1.56 [[ 8.39950873e-01 -4.99055096e-01 -2.13135032e-01 3.41761792e+00] [ 4.84578313e-01 8.66565007e-01 -1.19368952e-01 -4.43130281e+00] [ 2.44267045e-01 -3.01655851e-03 9.69703311e-01 -1.56356226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.178001145 meters Centerline goodness : 0.875961 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:-4.43, Z:-1.56 [[ 0.84203708 -0.49428923 -0.21599006 3.41947784] [ 0.48042999 0.86927829 -0.11637127 -4.43047341] [ 0.24527654 -0.00577918 0.96943593 -1.56292995] [ 0. 0. 0. 1. ]] SLAMing on 98.238001145 meters Centerline goodness : 0.873754 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:-4.42, Z:-1.57 [[ 0.84259744 -0.49586795 -0.21010603 3.42792533] [ 0.48310528 0.86836868 -0.11200498 -4.42295497] [ 0.23798917 -0.00712822 0.97124165 -1.56511674] [ 0. 0. 0. 1. ]] SLAMing on 98.298001145 meters Centerline goodness : 0.870615 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:-4.42, Z:-1.56 [[ 0.8416139 -0.49723612 -0.21081339 3.43085937] [ 0.4843714 0.86758426 -0.11261394 -4.42287719] [ 0.2388941 -0.00733452 0.97101793 -1.56480966] [ 0. 0. 0. 1. ]] SLAMing on 98.358001145 meters Centerline goodness : 0.872345 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:-4.42, Z:-1.56 [[ 0.83965144 -0.5003477 -0.21127623 3.43366857] [ 0.48717008 0.86579654 -0.11428759 -4.42296457] [ 0.24010576 -0.00696571 0.97072174 -1.56337033] [ 0. 0. 0. 1. ]] SLAMing on 98.41800114499999 meters Centerline goodness : 0.877058 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:-4.42, Z:-1.56 [[ 0.83636324 -0.50387969 -0.21587446 3.44235337] [ 0.49107244 0.863702 -0.11343148 -4.42201341] [ 0.24360702 -0.01114008 0.96981004 -1.56142071] [ 0. 0. 0. 1. ]] SLAMing on 98.478001145 meters Centerline goodness : 0.876675 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:-4.42, Z:-1.56 [[ 0.83603752 -0.50499905 -0.21451626 3.44411831] [ 0.491629 0.86307622 -0.11575989 -4.42361286] [ 0.24360252 -0.0086828 0.96983629 -1.56191242] [ 0. 0. 0. 1. ]] SLAMing on 98.538001145 meters Centerline goodness : 0.881615 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:-4.43, Z:-1.56 [[ 0.8375001 -0.50376955 -0.21168328 3.44219717] [ 0.49003692 0.86381879 -0.11696544 -4.42685181] [ 0.24177963 -0.00577405 0.97031401 -1.5635539 ] [ 0. 0. 0. 1. ]] SLAMing on 98.598001145 meters Centerline goodness : 0.879529 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:-4.43, Z:-1.56 [[ 0.83792493 -0.50150272 -0.21535283 3.44660219] [ 0.48845297 0.86510268 -0.11406597 -4.42569151] [ 0.2435067 -0.00961101 0.96985159 -1.56292197] [ 0. 0. 0. 1. ]] SLAMing on 98.658001145 meters Centerline goodness : 0.883056 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:-4.43, Z:-1.56 [[ 0.83846782 -0.50084168 -0.2147774 3.44895992] [ 0.48757665 0.86549766 -0.11481639 -4.4272176 ] [ 0.24339418 -0.0084506 0.96989064 -1.5644551 ] [ 0. 0. 0. 1. ]] SLAMing on 98.718001145 meters Centerline goodness : 0.886959 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:-4.43, Z:-1.56 [[ 0.83892114 -0.50016623 -0.21458112 3.44906071] [ 0.48695205 0.86588849 -0.11451995 -4.42924579] [ 0.24308234 -0.00841751 0.96996914 -1.56423723] [ 0. 0. 0. 1. ]] SLAMing on 98.77800114499999 meters Centerline goodness : 0.886623 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:-4.43, Z:-1.57 [[ 0.83994432 -0.4991123 -0.21302689 3.44867386] [ 0.4855221 0.86651563 -0.1158402 -4.4307243 ] [ 0.2424084 -0.00612994 0.97015493 -1.56506787] [ 0. 0. 0. 1. ]] SLAMing on 98.83800114499999 meters Centerline goodness : 0.887847 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:-4.43, Z:-1.57 [[ 8.40350918e-01 -4.99316410e-01 -2.10934722e-01 3.44822574e+00] [ 4.85129464e-01 8.66414566e-01 -1.18216763e-01 -4.43238915e+00] [ 2.41784485e-01 -2.98708311e-03 9.70325379e-01 -1.56584062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.898001145 meters Centerline goodness : 0.888131 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:-4.44, Z:-1.57 [[ 8.41220583e-01 -4.97666587e-01 -2.11366739e-01 3.44885822e+00] [ 4.83755620e-01 8.67359632e-01 -1.16909232e-01 -4.43528638e+00] [ 2.41512795e-01 -3.90339532e-03 9.70389784e-01 -1.56544912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.958001145 meters Centerline goodness : 0.893008 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:-4.44, Z:-1.57 [[ 8.42071259e-01 -4.96705033e-01 -2.10238211e-01 3.44799620e+00] [ 4.82848049e-01 8.67912888e-01 -1.16554621e-01 -4.43931951e+00] [ 2.40361720e-01 -3.36581345e-03 9.70677555e-01 -1.56533915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.018001145 meters Centerline goodness : 0.885231 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:-4.44, Z:-1.57 [[ 8.41605510e-01 -4.96980461e-01 -2.11448782e-01 3.45308225e+00] [ 4.83195493e-01 8.67751191e-01 -1.16318466e-01 -4.43845762e+00] [ 2.41292937e-01 -4.27683632e-03 9.70442903e-01 -1.56729705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.078001145 meters Centerline goodness : 0.884797 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:-4.44, Z:-1.57 [[ 8.40377833e-01 -4.99198070e-01 -2.11107519e-01 3.45541018e+00] [ 4.85052996e-01 8.66481983e-01 -1.18036286e-01 -4.43962326e+00] [ 2.41844348e-01 -3.20325583e-03 9.70309770e-01 -1.56690946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13800114499999 meters Centerline goodness : 0.887184 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:-4.44, Z:-1.57 [[ 0.83607879 -0.5044683 -0.21560149 3.46463074] [ 0.49068163 0.86339631 -0.1173812 -4.43954747] [ 0.24536462 -0.00765176 0.96940067 -1.56528829] [ 0. 0. 0. 1. ]] SLAMing on 99.19800114499999 meters Centerline goodness : 0.887004 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:-4.44, Z:-1.56 [[ 0.83350434 -0.50734198 -0.2188027 3.47046259] [ 0.49387492 0.86167645 -0.11662448 -4.43847568] [ 0.24770563 -0.01085416 0.96877454 -1.56371395] [ 0. 0. 0. 1. ]] SLAMing on 99.258001145 meters Centerline goodness : 0.891688 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:-4.44, Z:-1.56 [[ 0.83147238 -0.5112879 -0.21734387 3.4725876 ] [ 0.4972955 0.85936212 -0.11913828 -4.43997429] [ 0.24769105 -0.00902394 0.96879704 -1.56408644] [ 0. 0. 0. 1. ]] SLAMing on 99.318001145 meters Centerline goodness : 0.889172 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:-4.44, Z:-1.57 [[ 0.83044612 -0.51300847 -0.21721313 3.47695061] [ 0.49862365 0.85834706 -0.12089157 -4.43928155] [ 0.24846265 -0.00791367 0.96860915 -1.56595768] [ 0. 0. 0. 1. ]] SLAMing on 99.378001145 meters Centerline goodness : 0.890167 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:-4.43, Z:-1.56 [[ 0.83049375 -0.51640437 -0.20882209 3.48093537] [ 0.50267385 0.8563196 -0.11847255 -4.43332961] [ 0.23999819 -0.00657869 0.97075104 -1.56462852] [ 0. 0. 0. 1. ]] SLAMing on 99.438001145 meters Centerline goodness : 0.892258 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:-4.43, Z:-1.57 [[ 0.83133823 -0.51460042 -0.20991226 3.48403205] [ 0.50098521 0.85739971 -0.11781157 -4.43276824] [ 0.24060459 -0.00722168 0.97059635 -1.56613336] [ 0. 0. 0. 1. ]] SLAMing on 99.49800114499999 meters Centerline goodness : 0.890376 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:-4.43, Z:-1.57 [[ 0.83179939 -0.51328447 -0.21130268 3.48667419] [ 0.49988344 0.85817694 -0.11682841 -4.43235257] [ 0.2413013 -0.00844891 0.97041347 -1.56668218] [ 0. 0. 0. 1. ]] SLAMing on 99.55800114499999 meters Centerline goodness : 0.894144 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:-4.43, Z:-1.56 [[ 0.83260736 -0.51460929 -0.20479811 3.49204161] [ 0.50216339 0.85737873 -0.11284342 -4.42516627] [ 0.23365982 -0.00888785 0.97227779 -1.56498668] [ 0. 0. 0. 1. ]] SLAMing on 99.618001145 meters Centerline goodness : 0.895386 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:-4.42, Z:-1.57 [[ 0.83247776 -0.51426129 -0.20619431 3.49553812] [ 0.50187097 0.85757843 -0.11262665 -4.42288102] [ 0.23474732 -0.00972376 0.97200779 -1.56630801] [ 0. 0. 0. 1. ]] SLAMing on 99.678001145 meters Centerline goodness : 0.894530 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:-4.42, Z:-1.57 [[ 0.83140805 -0.51504559 -0.20853943 3.49984095] [ 0.50272228 0.85708886 -0.11255662 -4.41984789] [ 0.23670861 -0.01125693 0.97151547 -1.56616701] [ 0. 0. 0. 1. ]] SLAMing on 99.738001145 meters Centerline goodness : 0.896157 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:-4.42, Z:-1.57 [[ 0.83071792 -0.51520282 -0.21088808 3.50369276] [ 0.50327858 0.85695611 -0.11107157 -4.41883459] [ 0.23794622 -0.01386631 0.97117935 -1.5660811 ] [ 0. 0. 0. 1. ]] SLAMing on 99.798001145 meters Centerline goodness : 0.894968 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:-4.42, Z:-1.57 [[ 0.82919316 -0.51491402 -0.21749081 3.51379059] [ 0.50417309 0.85698098 -0.10673846 -4.41642073] [ 0.24134661 -0.02114622 0.97020856 -1.56784801] [ 0. 0. 0. 1. ]] SLAMing on 99.858001145 meters Centerline goodness : 0.893577 with order 1 Centerline is valid? [False, False] Translation: X:3.52, Y:-4.42, Z:-1.57 [[ 0.8283528 -0.51580871 -0.2185704 3.51664671] [ 0.50506624 0.85642668 -0.10696467 -4.41558455] [ 0.24236283 -0.02178804 0.969941 -1.5675976 ] [ 0. 0. 0. 1. ]] SLAMing on 99.91800114499999 meters Centerline goodness : 0.895962 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:-4.41, Z:-1.57 [[ 0.82570474 -0.51791367 -0.22355563 3.53254511] [ 0.50757572 0.85504309 -0.10615179 -4.40698697] [ 0.24612716 -0.02582137 0.96889353 -1.56587834] [ 0. 0. 0. 1. ]] SLAMing on 99.978001145 meters Centerline goodness : 0.894289 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:-4.40, Z:-1.56 [[ 0.82452724 -0.51934045 -0.22458922 3.54591011] [ 0.50958567 0.85409028 -0.10417405 -4.39879856] [ 0.24592127 -0.02855311 0.96886916 -1.564791 ] [ 0. 0. 0. 1. ]] SLAMing on 100.038001145 meters Centerline goodness : 0.891380 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:-4.40, Z:-1.57 [[ 0.82412949 -0.51949447 -0.22569024 3.54908506] [ 0.50998719 0.85394984 -0.10335733 -4.39975859] [ 0.24642171 -0.02991931 0.96870077 -1.56501934] [ 0. 0. 0. 1. ]] SLAMing on 100.098001145 meters Centerline goodness : 0.894568 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:-4.39, Z:-1.57 [[ 0.82480266 -0.5223902 -0.21635399 3.55369268] [ 0.5131945 0.85226543 -0.1013659 -4.39323709] [ 0.23734358 -0.02742482 0.97103857 -1.56543001] [ 0. 0. 0. 1. ]] SLAMing on 100.158001145 meters Centerline goodness : 0.892909 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:-4.39, Z:-1.57 [[ 0.82660318 -0.51949522 -0.21645299 3.55534413] [ 0.51021723 0.85405653 -0.10132039 -4.39128194] [ 0.23749855 -0.02668629 0.97102126 -1.56838271] [ 0. 0. 0. 1. ]] SLAMing on 100.218001145 meters Centerline goodness : 0.890728 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:-4.39, Z:-1.57 [[ 0.82743066 -0.51769317 -0.21760578 3.55766255] [ 0.50845711 0.85513892 -0.10103858 -4.38790733] [ 0.23839016 -0.02704079 0.97079294 -1.57008781] [ 0. 0. 0. 1. ]] SLAMing on 100.27800114499999 meters Centerline goodness : 0.889801 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:-4.39, Z:-1.57 [[ 0.82673504 -0.51858779 -0.21811897 3.55988056] [ 0.50921891 0.85459984 -0.10176064 -4.38712863] [ 0.23917626 -0.02694122 0.97060233 -1.57014392] [ 0. 0. 0. 1. ]] SLAMing on 100.33800114499999 meters Centerline goodness : 0.896728 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:-4.39, Z:-1.57 [[ 0.82586263 -0.51914056 -0.22009997 3.56300588] [ 0.51010141 0.8541942 -0.10074132 -4.3867601 ] [ 0.24030702 -0.02907482 0.9702614 -1.56926163] [ 0. 0. 0. 1. ]] SLAMing on 100.398001145 meters Centerline goodness : 0.894749 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:-4.39, Z:-1.57 [[ 0.82600151 -0.51893387 -0.22006623 3.56456219] [ 0.5098951 0.85432142 -0.10070696 -4.38759328] [ 0.24026755 -0.02902659 0.97027262 -1.56993727] [ 0. 0. 0. 1. ]] SLAMing on 100.458001145 meters Centerline goodness : 0.896336 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:-4.39, Z:-1.57 [[ 0.82542257 -0.51970204 -0.22042541 3.56651561] [ 0.51059739 0.85385258 -0.1011241 -4.38863271] [ 0.2407652 -0.02907853 0.9701477 -1.56953774] [ 0. 0. 0. 1. ]] SLAMing on 100.518001145 meters Centerline goodness : 0.898627 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:-4.39, Z:-1.57 [[ 0.82510408 -0.51888717 -0.22351592 3.57103643] [ 0.51045632 0.85421909 -0.09871213 -4.3870169 ] [ 0.24215202 -0.03264733 0.96968889 -1.56957478] [ 0. 0. 0. 1. ]] SLAMing on 100.578001145 meters Centerline goodness : 0.895232 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:-4.39, Z:-1.57 [[ 0.82556331 -0.51896556 -0.22163025 3.57287931] [ 0.50994076 0.854277 -0.10085249 -4.38796892] [ 0.24167259 -0.02975818 0.96990144 -1.57239893] [ 0. 0. 0. 1. ]] SLAMing on 100.63800114499999 meters Centerline goodness : 0.893070 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:-4.38, Z:-1.57 [[ 0.82471914 -0.52066699 -0.22078095 3.58632204] [ 0.51291609 0.85307396 -0.09582225 -4.37981765] [ 0.23823396 -0.03421566 0.9706049 -1.57279014] [ 0. 0. 0. 1. ]] SLAMing on 100.69800114499999 meters Centerline goodness : 0.895073 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:-4.38, Z:-1.57 [[ 0.82436171 -0.5204894 -0.22252766 3.5881526 ] [ 0.51324999 0.85307756 -0.0939847 -4.38208435] [ 0.23875139 -0.03673493 0.97038565 -1.57099158] [ 0. 0. 0. 1. ]] SLAMing on 100.758001145 meters Centerline goodness : 0.896622 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:-4.38, Z:-1.57 [[ 0.82382239 -0.52201017 -0.22095711 3.59196544] [ 0.51419656 0.8522498 -0.0962921 -4.38271842] [ 0.23857611 -0.0342878 0.97051831 -1.57412239] [ 0. 0. 0. 1. ]] SLAMing on 100.818001145 meters Centerline goodness : 0.897775 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:-4.38, Z:-1.57 [[ 0.82340951 -0.52273055 -0.22079301 3.59160882] [ 0.51490101 0.85180837 -0.09643365 -4.3847112 ] [ 0.23848215 -0.03428216 0.9705416 -1.57269266] [ 0. 0. 0. 1. ]] SLAMing on 100.878001145 meters Centerline goodness : 0.897149 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:-4.39, Z:-1.57 [[ 0.82245661 -0.5239273 -0.22150692 3.59249456] [ 0.51623138 0.85103301 -0.09616638 -4.38626612] [ 0.2388939 -0.03525615 0.97040544 -1.5708068 ] [ 0. 0. 0. 1. ]] SLAMing on 100.938001145 meters Centerline goodness : 0.894664 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:-4.39, Z:-1.57 [[ 0.820289 -0.52727928 -0.22159088 3.59655267] [ 0.51928848 0.84897888 -0.09784855 -4.38597956] [ 0.23971949 -0.03480551 0.97021809 -1.57117586] [ 0. 0. 0. 1. ]] SLAMing on 100.99800114499999 meters Centerline goodness : 0.896297 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:-4.39, Z:-1.57 [[ 0.81792714 -0.53038087 -0.22291553 3.60132183] [ 0.52255477 0.8469747 -0.09782831 -4.38665409] [ 0.24069008 -0.03646914 0.96991664 -1.57088203] [ 0. 0. 0. 1. ]] SLAMing on 101.05800114499999 meters Centerline goodness : 0.899945 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:-4.39, Z:-1.57 [[ 0.81664682 -0.53164893 -0.22458267 3.60511932] [ 0.52397583 0.84611551 -0.09766208 -4.38619714] [ 0.24194482 -0.03792046 0.96954873 -1.5701346 ] [ 0. 0. 0. 1. ]] SLAMing on 101.118001145 meters Centerline goodness : 0.899360 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:-4.39, Z:-1.57 [[ 0.81615666 -0.53196957 -0.22560293 3.60840196] [ 0.52441703 0.84587308 -0.0973936 -4.38709255] [ 0.24264188 -0.03882158 0.96933885 -1.57020303] [ 0. 0. 0. 1. ]] SLAMing on 101.178001145 meters Centerline goodness : 0.904722 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:-4.39, Z:-1.57 [[ 0.81669758 -0.53117182 -0.22552508 3.6099667 ] [ 0.52362024 0.8463818 -0.09726092 -4.38801687] [ 0.24254259 -0.03865674 0.96937029 -1.57133085] [ 0. 0. 0. 1. ]] SLAMing on 101.238001145 meters Centerline goodness : 0.902034 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:-4.39, Z:-1.57 [[ 0.81723174 -0.52995479 -0.22645132 3.6102188 ] [ 0.52269862 0.84708845 -0.09605892 -4.38901357] [ 0.24273118 -0.0398634 0.9692742 -1.5702376 ] [ 0. 0. 0. 1. ]] SLAMing on 101.298001145 meters Centerline goodness : 0.898897 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:-4.39, Z:-1.57 [[ 0.81752138 -0.52884997 -0.22798357 3.61339568] [ 0.52179507 0.84772431 -0.09535927 -4.38647884] [ 0.24369796 -0.04100247 0.96898406 -1.57163179] [ 0. 0. 0. 1. ]] SLAMing on 101.35800114499999 meters Centerline goodness : 0.900395 with order 1 Centerline is valid? [False, False] Translation: X:3.62, Y:-4.39, Z:-1.57 [[ 0.81796215 -0.52854435 -0.22710964 3.61624273] [ 0.52117549 0.84798615 -0.09641367 -4.38588809] [ 0.24354473 -0.03950124 0.96908494 -1.57492815] [ 0. 0. 0. 1. ]] SLAMing on 101.41800114499999 meters Centerline goodness : 0.901274 with order 1 Centerline is valid? [False, False] Translation: X:3.62, Y:-4.38, Z:-1.58 [[ 0.81729647 -0.52849004 -0.22961872 3.61975346] [ 0.52156118 0.84789795 -0.09509469 -4.3829618 ] [ 0.24494984 -0.04203965 0.96862389 -1.57514117] [ 0. 0. 0. 1. ]] SLAMing on 101.478001145 meters Centerline goodness : 0.901528 with order 1 Centerline is valid? [False, False] Translation: X:3.62, Y:-4.38, Z:-1.57 [[ 0.81577714 -0.53071075 -0.22989944 3.62151422] [ 0.52370262 0.84649889 -0.09578724 -4.38234863] [ 0.24544494 -0.0422579 0.96848906 -1.57475143] [ 0. 0. 0. 1. ]] SLAMing on 101.538001145 meters Centerline goodness : 0.898413 with order 1 Centerline is valid? [False, False] Translation: X:3.62, Y:-4.38, Z:-1.57 [[ 0.81429907 -0.53318819 -0.22940657 3.62271257] [ 0.52588061 0.84498059 -0.09724909 -4.38165223] [ 0.24569617 -0.04145062 0.96846024 -1.57462928] [ 0. 0. 0. 1. ]] SLAMing on 101.598001145 meters Centerline goodness : 0.902635 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:-4.38, Z:-1.58 [[ 0.81439515 -0.53252389 -0.2306054 3.62638778] [ 0.52538453 0.8453521 -0.09670016 -4.38058435] [ 0.2464379 -0.04240437 0.96823046 -1.5762738 ] [ 0. 0. 0. 1. ]] SLAMing on 101.658001145 meters Centerline goodness : 0.900909 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:-4.38, Z:-1.58 [[ 0.81522626 -0.53013361 -0.23316195 3.6302612 ] [ 0.52357169 0.84671921 -0.09454768 -4.37771639] [ 0.24754561 -0.04499924 0.96783069 -1.57813755] [ 0. 0. 0. 1. ]] SLAMing on 101.718001145 meters Centerline goodness : 0.898388 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:-4.37, Z:-1.58 [[ 0.81702204 -0.53032509 -0.22634107 3.63809004] [ 0.52423865 0.84665263 -0.09139569 -4.36814666] [ 0.24010169 -0.04398445 0.96975077 -1.58292751] [ 0. 0. 0. 1. ]] SLAMing on 101.77800114499999 meters Centerline goodness : 0.899469 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:-4.36, Z:-1.58 [[ 0.81780761 -0.52818001 -0.22850948 3.64078689] [ 0.52235611 0.84791784 -0.09044024 -4.36348017] [ 0.24152599 -0.0454006 0.96933172 -1.58469328] [ 0. 0. 0. 1. ]] SLAMing on 101.83800114499999 meters Centerline goodness : 0.899312 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:-4.36, Z:-1.59 [[ 0.81760386 -0.52673649 -0.23253516 3.64577114] [ 0.52161607 0.84860605 -0.0882295 -4.35912139] [ 0.24380445 -0.0491573 0.9685778 -1.58509147] [ 0. 0. 0. 1. ]] SLAMing on 101.898001145 meters Centerline goodness : 0.899303 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:-4.35, Z:-1.59 [[ 0.81710744 -0.52995151 -0.2269071 3.65295582] [ 0.52622337 0.8463992 -0.08183745 -4.35235427] [ 0.23542387 -0.05253383 0.97047195 -1.59050094] [ 0. 0. 0. 1. ]] SLAMing on 101.958001145 meters Centerline goodness : 0.902883 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-4.35, Z:-1.59 [[ 0.81559 -0.53191373 -0.22777343 3.65646573] [ 0.52795636 0.84517942 -0.08326962 -4.34845441] [ 0.23680167 -0.05234056 0.97014712 -1.59185981] [ 0. 0. 0. 1. ]] SLAMing on 102.018001145 meters Centerline goodness : 0.900808 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-4.34, Z:-1.59 [[ 0.81532293 -0.53186164 -0.22884869 3.66015766] [ 0.52776865 0.84521829 -0.08406124 -4.34416305] [ 0.23813605 -0.05224211 0.96982575 -1.59418518] [ 0. 0. 0. 1. ]] SLAMing on 102.078001145 meters Centerline goodness : 0.899877 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-4.33, Z:-1.60 [[ 0.81595134 -0.52986079 -0.23123786 3.67062624] [ 0.52776035 0.84596894 -0.0761943 -4.33298181] [ 0.23599242 -0.05986733 0.96990901 -1.59849152] [ 0. 0. 0. 1. ]] SLAMing on 102.13800114499999 meters Centerline goodness : 0.900547 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-4.33, Z:-1.60 [[ 0.8162487 -0.52803092 -0.23435318 3.67297813] [ 0.5265101 0.84690901 -0.07437904 -4.32769221] [ 0.23775025 -0.06267752 0.96930199 -1.5990173 ] [ 0. 0. 0. 1. ]] SLAMing on 102.19800114499999 meters Centerline goodness : 0.895892 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-4.32, Z:-1.60 [[ 0.81613456 -0.52779904 -0.23527125 3.67668155] [ 0.52615785 0.84706578 -0.07508312 -4.32417227] [ 0.23891902 -0.06251189 0.96902527 -1.60137095] [ 0. 0. 0. 1. ]] SLAMing on 102.258001145 meters Centerline goodness : 0.896054 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-4.32, Z:-1.60 [[ 0.81629457 -0.52538284 -0.24007507 3.68050096] [ 0.52469452 0.84822235 -0.07221148 -4.31754925] [ 0.24157572 -0.06702023 0.9680648 -1.60143653] [ 0. 0. 0. 1. ]] SLAMing on 102.318001145 meters Centerline goodness : 0.894526 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:-4.31, Z:-1.61 [[ 0.81570054 -0.52935618 -0.2332695 3.68824794] [ 0.52923443 0.84570486 -0.06851424 -4.30923207] [ 0.23354559 -0.06756715 0.96999543 -1.60615834] [ 0. 0. 0. 1. ]] SLAMing on 102.378001145 meters Centerline goodness : 0.895046 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:-4.31, Z:-1.61 [[ 0.81535848 -0.52925538 -0.23468979 3.69086078] [ 0.52932258 0.84567957 -0.06814446 -4.30770856] [ 0.23453818 -0.06866444 0.96967883 -1.6065419 ] [ 0. 0. 0. 1. ]] SLAMing on 102.438001145 meters Centerline goodness : 0.893918 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:-4.31, Z:-1.61 [[ 0.81605921 -0.52781069 -0.23550635 3.69082922] [ 0.52807202 0.84652308 -0.06736929 -4.30723315] [ 0.23491979 -0.06938698 0.96953501 -1.60597944] [ 0. 0. 0. 1. ]] SLAMing on 102.49800114499999 meters Centerline goodness : 0.894979 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:-4.30, Z:-1.60 [[ 0.81656198 -0.52871983 -0.2316935 3.6997904 ] [ 0.52980258 0.84578716 -0.06287529 -4.29926214] [ 0.2292068 -0.07141024 0.97075477 -1.60435566] [ 0. 0. 0. 1. ]] SLAMing on 102.55800114499999 meters Centerline goodness : 0.891285 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:-4.30, Z:-1.61 [[ 0.8163916 -0.52965572 -0.23015121 3.70023314] [ 0.53014226 0.84540946 -0.06505405 -4.29979855] [ 0.22902826 -0.0689033 0.97097806 -1.60519015] [ 0. 0. 0. 1. ]] SLAMing on 102.618001145 meters Centerline goodness : 0.890713 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:-4.30, Z:-1.61 [[ 0.81737176 -0.52799449 -0.23048912 3.70124776] [ 0.52850052 0.84645422 -0.06482635 -4.29975353] [ 0.22932644 -0.06882639 0.97091313 -1.60597942] [ 0. 0. 0. 1. ]] SLAMing on 102.678001145 meters Centerline goodness : 0.894634 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:-4.30, Z:-1.61 [[ 0.81889787 -0.52699084 -0.2273476 3.69909392] [ 0.52673946 0.84738672 -0.06694246 -4.3013886 ] [ 0.2279294 -0.06493392 0.97151005 -1.60809438] [ 0. 0. 0. 1. ]] SLAMing on 102.738001145 meters Centerline goodness : 0.893075 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:-4.30, Z:-1.61 [[ 0.81982208 -0.52529738 -0.22793514 3.70121264] [ 0.52516614 0.84840897 -0.06635316 -4.30162098] [ 0.22823736 -0.06530604 0.9714128 -1.60939011] [ 0. 0. 0. 1. ]] SLAMing on 102.798001145 meters Centerline goodness : 0.900988 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:-4.30, Z:-1.61 [[ 0.82042052 -0.52454929 -0.2275043 3.70128407] [ 0.52440131 0.84889496 -0.06618624 -4.30336585] [ 0.2278452 -0.065003 0.97152518 -1.60966559] [ 0. 0. 0. 1. ]] SLAMing on 102.85800114499999 meters Centerline goodness : 0.892685 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:-4.30, Z:-1.61 [[ 0.81975713 -0.52462807 -0.22970336 3.7049814 ] [ 0.52491661 0.84866803 -0.06500096 -4.30341057] [ 0.22904323 -0.06729011 0.97108766 -1.60898933] [ 0. 0. 0. 1. ]] SLAMing on 102.91800114499999 meters Centerline goodness : 0.894223 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:-4.30, Z:-1.61 [[ 0.81780199 -0.52708041 -0.23105444 3.7093208 ] [ 0.52753133 0.84703785 -0.06509669 -4.30465895] [ 0.23002304 -0.06865225 0.97076067 -1.60816536] [ 0. 0. 0. 1. ]] SLAMing on 102.978001145 meters Centerline goodness : 0.898257 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:-4.31, Z:-1.61 [[ 0.8159376 -0.53013421 -0.23065895 3.71179245] [ 0.53039676 0.84515842 -0.06623078 -4.30643037] [ 0.23005456 -0.06830057 0.970778 -1.60782197] [ 0. 0. 0. 1. ]] SLAMing on 103.038001145 meters Centerline goodness : 0.901921 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:-4.31, Z:-1.61 [[ 0.81522169 -0.53043184 -0.23249874 3.71555208] [ 0.53110884 0.84479869 -0.06510433 -4.30650649] [ 0.23094803 -0.07040768 0.97041525 -1.60776441] [ 0. 0. 0. 1. ]] SLAMing on 103.098001145 meters Centerline goodness : 0.904232 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:-4.31, Z:-1.61 [[ 0.81506977 -0.53002865 -0.23394637 3.71700683] [ 0.53107783 0.84490684 -0.06394348 -4.3065435 ] [ 0.23155477 -0.07212533 0.97014449 -1.60704231] [ 0. 0. 0. 1. ]] SLAMing on 103.158001145 meters Centerline goodness : 0.901460 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:-4.31, Z:-1.61 [[ 0.81519107 -0.52949361 -0.23473397 3.71970756] [ 0.53068079 0.84518678 -0.06353898 -4.30581518] [ 0.23203753 -0.07277241 0.9699808 -1.60838035] [ 0. 0. 0. 1. ]] SLAMing on 103.218001145 meters Centerline goodness : 0.906084 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:-4.31, Z:-1.61 [[ 0.81585842 -0.52879278 -0.23399408 3.72154491] [ 0.52976542 0.84571927 -0.06408991 -4.30700022] [ 0.23178359 -0.07167368 0.97012332 -1.61039476] [ 0. 0. 0. 1. ]] SLAMing on 103.27800114499999 meters Centerline goodness : 0.901614 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:-4.31, Z:-1.61 [[ 0.81604912 -0.52714399 -0.23702964 3.72311288] [ 0.52885777 0.84646206 -0.06173685 -4.30518878] [ 0.23318081 -0.07497467 0.96953881 -1.60880523] [ 0. 0. 0. 1. ]] SLAMing on 103.33800114499999 meters Centerline goodness : 0.904347 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:-4.31, Z:-1.61 [[ 0.81656188 -0.52695819 -0.23567303 3.72484985] [ 0.52819715 0.84676371 -0.06323768 -4.30634411] [ 0.23288297 -0.07284434 0.96977277 -1.6110226 ] [ 0. 0. 0. 1. ]] SLAMing on 103.398001145 meters Centerline goodness : 0.907736 with order 1 Centerline is valid? [False, False] Translation: X:3.73, Y:-4.31, Z:-1.61 [[ 0.81687708 -0.52602753 -0.23665772 3.72795679] [ 0.52747417 0.8472652 -0.06255137 -4.30679802] [ 0.2334156 -0.07373405 0.96957746 -1.61205536] [ 0. 0. 0. 1. ]] SLAMing on 103.458001145 meters Centerline goodness : 0.903052 with order 1 Centerline is valid? [False, False] Translation: X:3.73, Y:-4.31, Z:-1.61 [[ 0.81650091 -0.52475243 -0.2407512 3.73169731] [ 0.52727215 0.84762509 -0.05929413 -4.30547362] [ 0.2351815 -0.07852769 0.968774 -1.61046179] [ 0. 0. 0. 1. ]] SLAMing on 103.518001145 meters Centerline goodness : 0.900745 with order 1 Centerline is valid? [False, False] Translation: X:3.73, Y:-4.31, Z:-1.61 [[ 0.8153987 -0.5272505 -0.23902276 3.7310477 ] [ 0.52907528 0.84630978 -0.06196049 -4.3055715 ] [ 0.234956 -0.07593853 0.9690351 -1.61016393] [ 0. 0. 0. 1. ]] SLAMing on 103.578001145 meters Centerline goodness : 0.899726 with order 1 Centerline is valid? [False, False] Translation: X:3.74, Y:-4.31, Z:-1.61 [[ 0.81298731 -0.53222021 -0.236206 3.73509612] [ 0.53296116 0.84353907 -0.06628908 -4.30703735] [ 0.23452938 -0.07199645 0.96943926 -1.6127093 ] [ 0. 0. 0. 1. ]] SLAMing on 103.63800114499999 meters Centerline goodness : 0.900441 with order 1 Centerline is valid? [False, False] Translation: X:3.74, Y:-4.30, Z:-1.61 [[ 0.81117432 -0.53267796 -0.24135121 3.7400077 ] [ 0.53464217 0.84272459 -0.06303184 -4.30473058] [ 0.23696827 -0.07790673 0.96838865 -1.60989816] [ 0. 0. 0. 1. ]] SLAMing on 103.69800114499999 meters Centerline goodness : 0.900431 with order 1 Centerline is valid? [False, False] Translation: X:3.74, Y:-4.31, Z:-1.61 [[ 0.81106045 -0.53326741 -0.24043048 3.73890205] [ 0.53498546 0.84244739 -0.06381965 -4.30539487] [ 0.23658297 -0.07686521 0.96856607 -1.6095719 ] [ 0. 0. 0. 1. ]] SLAMing on 103.758001145 meters Centerline goodness : 0.901405 with order 1 Centerline is valid? [False, False] Translation: X:3.74, Y:-4.31, Z:-1.61 [[ 0.81090996 -0.53355366 -0.24030299 3.74058397] [ 0.5351461 0.84230607 -0.06433617 -4.30641558] [ 0.23673546 -0.07642636 0.96856354 -1.60990832] [ 0. 0. 0. 1. ]] SLAMing on 103.818001145 meters Centerline goodness : 0.902212 with order 1 Centerline is valid? [False, False] Translation: X:3.74, Y:-4.30, Z:-1.61 [[ 0.81072646 -0.53221778 -0.24385824 3.74456373] [ 0.53472997 0.8427752 -0.06159402 -4.30439175] [ 0.23829911 -0.0804624 0.96785295 -1.60937929] [ 0. 0. 0. 1. ]] SLAMing on 103.878001145 meters Centerline goodness : 0.902783 with order 1 Centerline is valid? [False, False] Translation: X:3.75, Y:-4.30, Z:-1.61 [[ 0.81079216 -0.53522979 -0.23694965 3.74858378] [ 0.53915354 0.84049573 -0.05366919 -4.29974479] [ 0.22788053 -0.08423768 0.97003839 -1.61254098] [ 0. 0. 0. 1. ]] SLAMing on 103.938001145 meters Centerline goodness : 0.902744 with order 1 Centerline is valid? [False, False] Translation: X:3.75, Y:-4.30, Z:-1.61 [[ 0.81042507 -0.53563829 -0.23728216 3.74884075] [ 0.5394975 0.84024514 -0.05413458 -4.29983346] [ 0.22837173 -0.08414111 0.96993125 -1.61133587] [ 0. 0. 0. 1. ]] SLAMing on 103.99800114499999 meters Centerline goodness : 0.900510 with order 1 Centerline is valid? [False, False] Translation: X:3.75, Y:-4.30, Z:-1.61 [[ 0.81036264 -0.53533809 -0.23817121 3.75225773] [ 0.53928446 0.84038681 -0.05405815 -4.29817151] [ 0.22909533 -0.08463533 0.96971758 -1.61310044] [ 0. 0. 0. 1. ]] SLAMing on 104.05800114499999 meters Centerline goodness : 0.900194 with order 1 Centerline is valid? [False, False] Translation: X:3.76, Y:-4.29, Z:-1.61 [[ 0.81104706 -0.53260258 -0.24194453 3.75534416] [ 0.537461 0.84172946 -0.05125602 -4.29428916] [ 0.23095092 -0.0884647 0.96893533 -1.61323563] [ 0. 0. 0. 1. ]] SLAMing on 104.118001145 meters Centerline goodness : 0.900509 with order 1 Centerline is valid? [False, False] Translation: X:3.76, Y:-4.29, Z:-1.61 [[ 0.8115741 -0.53160057 -0.2423805 3.75599568] [ 0.536383 0.84239655 -0.05158807 -4.29307489] [ 0.23160474 -0.08814124 0.96880874 -1.61336176] [ 0. 0. 0. 1. ]] SLAMing on 104.178001145 meters Centerline goodness : 0.903774 with order 1 Centerline is valid? [False, False] Translation: X:3.76, Y:-4.29, Z:-1.61 [[ 0.81119066 -0.53177916 -0.24327069 3.75908679] [ 0.53653949 0.84226785 -0.05206 -4.29182344] [ 0.23258351 -0.08829375 0.96856034 -1.61399071] [ 0. 0. 0. 1. ]] SLAMing on 104.238001145 meters Centerline goodness : 0.899076 with order 1 Centerline is valid? [False, False] Translation: X:3.76, Y:-4.29, Z:-1.61 [[ 0.81005909 -0.53199399 -0.24654952 3.76360274] [ 0.53740533 0.84179831 -0.05070613 -4.28904955] [ 0.23452033 -0.09142207 0.96780278 -1.61314549] [ 0. 0. 0. 1. ]] SLAMing on 104.298001145 meters Centerline goodness : 0.901479 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:-4.28, Z:-1.61 [[ 0.80900833 -0.53482575 -0.24385847 3.77636362] [ 0.54063179 0.83986514 -0.04841284 -4.27945481] [ 0.23070066 -0.09267125 0.9686017 -1.61245519] [ 0. 0. 0. 1. ]] SLAMing on 104.35800114499999 meters Centerline goodness : 0.903083 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:-4.28, Z:-1.61 [[ 0.80881132 -0.53446524 -0.24529809 3.77832803] [ 0.54036105 0.84002972 -0.04857987 -4.27638955] [ 0.23202193 -0.09325759 0.96822975 -1.61232388] [ 0. 0. 0. 1. ]] SLAMing on 104.41800114499999 meters Centerline goodness : 0.904285 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:-4.28, Z:-1.61 [[ 0.80963027 -0.53372287 -0.24421041 3.77640962] [ 0.53925369 0.8406853 -0.04953456 -4.27513302] [ 0.23174182 -0.09158669 0.9684563 -1.61292924] [ 0. 0. 0. 1. ]] SLAMing on 104.478001145 meters Centerline goodness : 0.906155 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:-4.27, Z:-1.61 [[ 0.81151032 -0.53016958 -0.24570553 3.77722985] [ 0.53595121 0.84285277 -0.04853357 -4.27100966] [ 0.23282462 -0.09230068 0.96812875 -1.6147796 ] [ 0. 0. 0. 1. ]] SLAMing on 104.538001145 meters Centerline goodness : 0.904458 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:-4.27, Z:-1.62 [[ 0.81159908 -0.52928943 -0.24730474 3.77968959] [ 0.53527804 0.84329993 -0.04819387 -4.26694009] [ 0.23406058 -0.09326269 0.96773845 -1.61599943] [ 0. 0. 0. 1. ]] SLAMing on 104.598001145 meters Centerline goodness : 0.906372 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:-4.26, Z:-1.62 [[ 0.80932921 -0.53268635 -0.24744994 3.78388589] [ 0.53817708 0.84129604 -0.05085671 -4.2629904 ] [ 0.23526933 -0.09201206 0.96756505 -1.61767764] [ 0. 0. 0. 1. ]] SLAMing on 104.658001145 meters Centerline goodness : 0.903206 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:-4.26, Z:-1.62 [[ 0.8073008 -0.53665876 -0.24548483 3.78287288] [ 0.54121909 0.83911079 -0.05454329 -4.26147473] [ 0.2352601 -0.08882824 0.96786478 -1.61690126] [ 0. 0. 0. 1. ]] SLAMing on 104.718001145 meters Centerline goodness : 0.903850 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:-4.26, Z:-1.62 [[ 0.80651166 -0.53696218 -0.24740767 3.78293749] [ 0.5420152 0.83867462 -0.05333293 -4.25832248] [ 0.2361323 -0.09108509 0.96744253 -1.61563659] [ 0. 0. 0. 1. ]] SLAMing on 104.77800114499999 meters Centerline goodness : 0.906629 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:-4.26, Z:-1.62 [[ 0.80647787 -0.53693889 -0.24756834 3.78416127] [ 0.54192108 0.83871308 -0.0536834 -4.25634525] [ 0.23646351 -0.09086803 0.96738204 -1.61680695] [ 0. 0. 0. 1. ]] SLAMing on 104.83800114499999 meters Centerline goodness : 0.902553 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:-4.25, Z:-1.62 [[ 0.80716165 -0.53643241 -0.24643526 3.78162434] [ 0.54102759 0.8392217 -0.05473649 -4.25381592] [ 0.23617624 -0.08914708 0.96761231 -1.61771274] [ 0. 0. 0. 1. ]] SLAMing on 104.898001145 meters Centerline goodness : 0.904751 with order 1 Centerline is valid? [False, False] Translation: X:3.79, Y:-4.24, Z:-1.62 [[ 0.80904181 -0.53490905 -0.24356448 3.78773637] [ 0.54164226 0.83943643 -0.04438626 -4.24436701] [ 0.22819951 -0.09601448 0.96886852 -1.62306184] [ 0. 0. 0. 1. ]] SLAMing on 104.958001145 meters Centerline goodness : 0.905101 with order 1 Centerline is valid? [False, False] Translation: X:3.79, Y:-4.24, Z:-1.62 [[ 0.80949805 -0.53422016 -0.24356052 3.78840745] [ 0.54066205 0.84000799 -0.04550955 -4.24139375] [ 0.2289049 -0.09484404 0.9688174 -1.62407383] [ 0. 0. 0. 1. ]] SLAMing on 105.018001145 meters Centerline goodness : 0.903590 with order 1 Centerline is valid? [False, False] Translation: X:3.79, Y:-4.24, Z:-1.62 [[ 0.80779767 -0.53600337 -0.24528212 3.79167361] [ 0.54242256 0.83881067 -0.04663065 -4.23609454] [ 0.23073945 -0.09537843 0.96832962 -1.6244417 ] [ 0. 0. 0. 1. ]] SLAMing on 105.078001145 meters Centerline goodness : 0.903255 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:-4.23, Z:-1.62 [[ 0.80555176 -0.53737654 -0.24962537 3.79778295] [ 0.54448758 0.83751431 -0.04585917 -4.23017878] [ 0.23370846 -0.09897598 0.96725597 -1.62366383] [ 0. 0. 0. 1. ]] SLAMing on 105.13800114499999 meters Centerline goodness : 0.905932 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:-4.23, Z:-1.62 [[ 0.80405226 -0.53845728 -0.25211847 3.80182305] [ 0.54590204 0.83659811 -0.04576649 -4.22608384] [ 0.23556513 -0.10083334 0.96661353 -1.62359487] [ 0. 0. 0. 1. ]] SLAMing on 105.19800114499999 meters Centerline goodness : 0.906717 with order 1 Centerline is valid? [False, False] Translation: X:3.81, Y:-4.22, Z:-1.62 [[ 0.80210053 -0.54107298 -0.25273459 3.81474088] [ 0.54919068 0.834553 -0.04371365 -4.21511909] [ 0.23457269 -0.10373674 0.96654764 -1.62258536] [ 0. 0. 0. 1. ]] SLAMing on 105.258001145 meters Centerline goodness : 0.905784 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:-4.21, Z:-1.62 [[ 0.80137596 -0.54082355 -0.2555513 3.81740224] [ 0.54939997 0.83444743 -0.04309465 -4.2111928 ] [ 0.23655073 -0.10586486 0.96583455 -1.62156126] [ 0. 0. 0. 1. ]] SLAMing on 105.318001145 meters Centerline goodness : 0.899175 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:-4.21, Z:-1.62 [[ 0.80083534 -0.54020656 -0.25853362 3.82170611] [ 0.54921336 0.83459369 -0.0426386 -4.20580437] [ 0.23880418 -0.10784362 0.96506078 -1.62265435] [ 0. 0. 0. 1. ]] SLAMing on 105.378001145 meters Centerline goodness : 0.898798 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-4.20, Z:-1.62 [[ 0.80093051 -0.5437929 -0.2505985 3.8277511 ] [ 0.55233091 0.83259514 -0.04142341 -4.19668724] [ 0.23117284 -0.10523602 0.96720447 -1.62282534] [ 0. 0. 0. 1. ]] SLAMing on 105.438001145 meters Centerline goodness : 0.897006 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-4.19, Z:-1.62 [[ 0.79921397 -0.54399526 -0.25558988 3.83303007] [ 0.55344647 0.83192081 -0.04005959 -4.19026921] [ 0.23442276 -0.10943913 0.96595499 -1.62193643] [ 0. 0. 0. 1. ]] SLAMing on 105.49800114499999 meters Centerline goodness : 0.895065 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-4.19, Z:-1.62 [[ 0.79817762 -0.54399081 -0.25881748 3.83713777] [ 0.55395386 0.83160793 -0.03953945 -4.1857958 ] [ 0.23674377 -0.11181344 0.96511665 -1.62157101] [ 0. 0. 0. 1. ]] SLAMing on 105.55800114499999 meters Centerline goodness : 0.890955 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-4.17, Z:-1.62 [[ 0.79771946 -0.5475459 -0.25266015 3.84326619] [ 0.55724372 0.82947032 -0.0381893 -4.17323185] [ 0.23048449 -0.11032893 0.96680113 -1.62110216] [ 0. 0. 0. 1. ]] SLAMing on 105.618001145 meters Centerline goodness : 0.889426 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-4.17, Z:-1.62 [[ 0.79780135 -0.54585504 -0.25603766 3.84696462] [ 0.55600033 0.83032543 -0.03772691 -4.16703551] [ 0.233188 -0.11225845 0.96593033 -1.62181692] [ 0. 0. 0. 1. ]] SLAMing on 105.678001145 meters Centerline goodness : 0.888126 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-4.16, Z:-1.62 [[ 0.79761205 -0.54538065 -0.2576334 3.84866935] [ 0.5557328 0.83051058 -0.03759306 -4.16459345] [ 0.23446979 -0.11319065 0.96551116 -1.62146195] [ 0. 0. 0. 1. ]] SLAMing on 105.738001145 meters Centerline goodness : 0.890544 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-4.15, Z:-1.62 [[ 0.79728625 -0.54769658 -0.2536988 3.8557769 ] [ 0.55836745 0.82886984 -0.03464929 -4.15235693] [ 0.22926059 -0.11403175 0.96666248 -1.6186596 ] [ 0. 0. 0. 1. ]] SLAMing on 105.798001145 meters Centerline goodness : 0.884392 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-4.15, Z:-1.62 [[ 0.79705095 -0.54636809 -0.25727744 3.8590385 ] [ 0.55772087 0.82935503 -0.03343151 -4.14688299] [ 0.23164025 -0.11684239 0.96575911 -1.61895137] [ 0. 0. 0. 1. ]] SLAMing on 105.85800114499999 meters Centerline goodness : 0.882496 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-4.13, Z:-1.62 [[ 0.79524535 -0.54720958 -0.26104884 3.8725135 ] [ 0.55899483 0.82848314 -0.03377097 -4.13250919] [ 0.23475436 -0.11906875 0.96473469 -1.61604103] [ 0. 0. 0. 1. ]] SLAMing on 105.91800114499999 meters Centerline goodness : 0.881732 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-4.13, Z:-1.62 [[ 0.79500478 -0.54657565 -0.26310161 3.87587571] [ 0.55848024 0.82881017 -0.03425673 -4.12742926] [ 0.23678518 -0.11970279 0.96415975 -1.61701965] [ 0. 0. 0. 1. ]] SLAMing on 105.978001145 meters Centerline goodness : 0.878830 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-4.12, Z:-1.62 [[ 0.79555776 -0.54434718 -0.26603381 3.87838361] [ 0.55669703 0.83003521 -0.03361483 -4.12161146] [ 0.23911557 -0.12135769 0.96337742 -1.61773083] [ 0. 0. 0. 1. ]] SLAMing on 106.038001145 meters Centerline goodness : 0.882028 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-4.11, Z:-1.62 [[ 0.79552382 -0.54768702 -0.25919256 3.88299003] [ 0.55964003 0.8281111 -0.03217194 -4.11116903] [ 0.23226039 -0.11946099 0.96528969 -1.61556193] [ 0. 0. 0. 1. ]] SLAMing on 106.098001145 meters Centerline goodness : 0.877103 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-4.10, Z:-1.61 [[ 0.79252649 -0.55039841 -0.26260875 3.88568455] [ 0.56261987 0.82604228 -0.03336222 -4.10383666] [ 0.23528845 -0.12130845 0.96432547 -1.61314891] [ 0. 0. 0. 1. ]] SLAMing on 106.158001145 meters Centerline goodness : 0.874053 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-4.10, Z:-1.61 [[ 0.78902062 -0.55499074 -0.26349903 3.88974653] [ 0.56670321 0.82310357 -0.03671492 -4.0995096 ] [ 0.23726343 -0.12035692 0.96396072 -1.61220999] [ 0. 0. 0. 1. ]] SLAMing on 106.218001145 meters Centerline goodness : 0.876022 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-4.09, Z:-1.61 [[ 0.78454652 -0.56085719 -0.26443519 3.89266868] [ 0.57204094 0.81923038 -0.04038237 -4.09363083] [ 0.23928208 -0.11958591 0.96355762 -1.61058214] [ 0. 0. 0. 1. ]] SLAMing on 106.27800114499999 meters Centerline goodness : 0.873239 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-4.09, Z:-1.61 [[ 0.78346097 -0.56152755 -0.26622492 3.89370069] [ 0.57284283 0.81864372 -0.04090904 -4.08993287] [ 0.24091491 -0.1204544 0.96304244 -1.60912725] [ 0. 0. 0. 1. ]] SLAMing on 106.33800114499999 meters Centerline goodness : 0.874565 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-4.09, Z:-1.61 [[ 0.78450431 -0.5591013 -0.26825122 3.89426927] [ 0.57079318 0.82011736 -0.04003328 -4.08610577] [ 0.24238014 -0.12170969 0.96251681 -1.60909541] [ 0. 0. 0. 1. ]] SLAMing on 106.398001145 meters Centerline goodness : 0.876294 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-4.08, Z:-1.61 [[ 0.78527352 -0.55619761 -0.27201052 3.89615241] [ 0.56874349 0.82163097 -0.03812346 -4.08075278] [ 0.24469644 -0.12476687 0.96153881 -1.60871114] [ 0. 0. 0. 1. ]] SLAMing on 106.458001145 meters Centerline goodness : 0.872345 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-4.07, Z:-1.61 [[ 0.78622899 -0.5534769 -0.27478591 3.89669253] [ 0.56640924 0.82326604 -0.03759789 -4.07485747] [ 0.24703147 -0.12608072 0.96077006 -1.6081696 ] [ 0. 0. 0. 1. ]] SLAMing on 106.518001145 meters Centerline goodness : 0.871214 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-4.07, Z:-1.61 [[ 0.78596464 -0.55357819 -0.27533755 3.89801913] [ 0.56616837 0.82335527 -0.03923618 -4.07080305] [ 0.24842092 -0.12504917 0.96054659 -1.6087028 ] [ 0. 0. 0. 1. ]] SLAMing on 106.578001145 meters Centerline goodness : 0.871585 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-4.07, Z:-1.61 [[ 0.78609004 -0.55326197 -0.27561501 3.8981333 ] [ 0.56534077 0.82382317 -0.04129413 -4.06513086] [ 0.2499045 -0.1233555 0.96038074 -1.60942566] [ 0. 0. 0. 1. ]] SLAMing on 106.63800114499999 meters Centerline goodness : 0.873629 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-4.06, Z:-1.61 [[ 0.78776268 -0.54950823 -0.27833554 3.89528313] [ 0.56205684 0.82612048 -0.0402126 -4.05843176] [ 0.25203585 -0.12476241 0.95964174 -1.60771642] [ 0. 0. 0. 1. ]] SLAMing on 106.69800114499999 meters Centerline goodness : 0.870914 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-4.05, Z:-1.61 [[ 0.78924096 -0.54618153 -0.28068565 3.89686446] [ 0.55896112 0.82823155 -0.03993707 -4.05305883] [ 0.2542856 -0.12537239 0.95896851 -1.60844165] [ 0. 0. 0. 1. ]] SLAMing on 106.758001145 meters Centerline goodness : 0.872245 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-4.04, Z:-1.61 [[ 0.79199614 -0.54733435 -0.27049441 3.89323431] [ 0.55889291 0.8282936 -0.03960345 -4.04175322] [ 0.24572512 -0.11981163 0.96190662 -1.60700729] [ 0. 0. 0. 1. ]] SLAMing on 106.818001145 meters Centerline goodness : 0.870529 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-4.04, Z:-1.61 [[ 0.79276319 -0.54636453 -0.27020792 3.8912278 ] [ 0.55752204 0.82915635 -0.04085251 -4.03786318] [ 0.24636498 -0.11826051 0.9619349 -1.60707435] [ 0. 0. 0. 1. ]] SLAMing on 106.878001145 meters Centerline goodness : 0.869111 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-4.02, Z:-1.61 [[ 0.79453788 -0.54761879 -0.26234179 3.89429863] [ 0.55810431 0.82881594 -0.03979605 -4.0245053 ] [ 0.23922612 -0.11479461 0.96415406 -1.60844552] [ 0. 0. 0. 1. ]] SLAMing on 106.938001145 meters Centerline goodness : 0.871490 with order 1 Centerline is valid? [False, False] Translation: X:3.81, Y:-4.04, Z:-1.57 [[ 0.80567162 -0.5582142 -0.19821742 3.80677767] [ 0.55022774 0.82916876 -0.09863362 -4.0355345 ] [ 0.21941438 -0.02959841 0.97518268 -1.57290322] [ 0. 0. 0. 1. ]] SLAMing on 106.99800114499999 meters Centerline goodness : 0.868662 with order 1 Centerline is valid? [False, False] Translation: X:3.81, Y:-4.04, Z:-1.57 [[ 0.80664678 -0.5508612 -0.21417964 3.81209327] [ 0.54216869 0.83394073 -0.10293675 -4.03553459] [ 0.23531699 -0.0330879 0.97135529 -1.56535222] [ 0. 0. 0. 1. ]] SLAMing on 107.05800114499999 meters Centerline goodness : 0.869022 with order 1 Centerline is valid? [False, False] Translation: X:3.81, Y:-4.04, Z:-1.57 [[ 0.80751778 -0.54909732 -0.21542322 3.81357175] [ 0.54056926 0.83506951 -0.10219481 -4.03542133] [ 0.23600826 -0.03392704 0.97115862 -1.56520435] [ 0. 0. 0. 1. ]] SLAMing on 107.118001145 meters Centerline goodness : 0.868632 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:-4.03, Z:-1.56 [[ 0.80780932 -0.54815661 -0.21672202 3.81607317] [ 0.53963589 0.83566914 -0.10222616 -4.03480644] [ 0.23714385 -0.03437174 0.9708663 -1.56481927] [ 0. 0. 0. 1. ]] SLAMing on 107.178001145 meters Centerline goodness : 0.867726 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:-4.04, Z:-1.57 [[ 0.80891727 -0.54660403 -0.2165107 3.81710807] [ 0.53806798 0.83670244 -0.10203858 -4.03708722] [ 0.23692973 -0.0339567 0.97093318 -1.56515449] [ 0. 0. 0. 1. ]] SLAMing on 107.238001145 meters Centerline goodness : 0.869419 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:-4.04, Z:-1.56 [[ 0.80910619 -0.54624608 -0.21670808 3.81755523] [ 0.53770439 0.83693591 -0.10204056 -4.03799017] [ 0.23711003 -0.03396323 0.97088894 -1.56433364] [ 0. 0. 0. 1. ]] SLAMing on 107.298001145 meters Centerline goodness : 0.866579 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:-4.04, Z:-1.56 [[ 0.81003583 -0.54430519 -0.2181142 3.81941458] [ 0.53620595 0.83812246 -0.10016942 -4.04138784] [ 0.23732915 -0.03581331 0.97076891 -1.56315436] [ 0. 0. 0. 1. ]] SLAMing on 107.35800114499999 meters Centerline goodness : 0.864787 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:-4.05, Z:-1.56 [[ 0.80985541 -0.54513337 -0.2167114 3.82005948] [ 0.53668464 0.83765544 -0.10150352 -4.04524598] [ 0.23686244 -0.03410251 0.97094449 -1.56226661] [ 0. 0. 0. 1. ]] SLAMing on 107.41800114499999 meters Centerline goodness : 0.864025 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:-4.05, Z:-1.56 [[ 0.80847733 -0.54839774 -0.2135985 3.82132232] [ 0.53890661 0.83569462 -0.10580253 -4.04771978] [ 0.23652499 -0.0295707 0.97117532 -1.56260187] [ 0. 0. 0. 1. ]] SLAMing on 107.478001145 meters Centerline goodness : 0.864355 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:-4.05, Z:-1.56 [[ 0.8070776 -0.55060352 -0.21321707 3.82458165] [ 0.54077459 0.83427728 -0.10744426 -4.05034207] [ 0.23704135 -0.02858652 0.97107889 -1.56190005] [ 0. 0. 0. 1. ]] SLAMing on 107.538001145 meters Centerline goodness : 0.864589 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-4.05, Z:-1.56 [[ 0.80691095 -0.55044249 -0.21426102 3.827199 ] [ 0.54082048 0.83434204 -0.10670791 -4.05261584] [ 0.23750355 -0.02977297 0.97093029 -1.56124168] [ 0. 0. 0. 1. ]] SLAMing on 107.598001145 meters Centerline goodness : 0.866105 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-4.05, Z:-1.56 [[ 0.80663493 -0.55045592 -0.21526349 3.82938737] [ 0.540841 0.83431546 -0.10681163 -4.05322698] [ 0.23839275 -0.03026533 0.97069712 -1.56021937] [ 0. 0. 0. 1. ]] SLAMing on 107.658001145 meters Centerline goodness : 0.865274 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-4.06, Z:-1.56 [[ 0.80642872 -0.55184379 -0.21246446 3.82873337] [ 0.54175573 0.8334927 -0.10858474 -4.05874291] [ 0.2370094 -0.02753798 0.97111699 -1.55978735] [ 0. 0. 0. 1. ]] SLAMing on 107.718001145 meters Centerline goodness : 0.868050 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-4.06, Z:-1.56 [[ 0.80623027 -0.55212577 -0.21248503 3.83139831] [ 0.54194627 0.83331456 -0.10900041 -4.06119914] [ 0.2372488 -0.02727604 0.97106592 -1.5598969 ] [ 0. 0. 0. 1. ]] SLAMing on 107.77800114499999 meters Centerline goodness : 0.867806 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-4.06, Z:-1.56 [[ 0.80631835 -0.55142392 -0.21396818 3.83510815] [ 0.54124158 0.83376035 -0.10909276 -4.0599102 ] [ 0.23855454 -0.02784499 0.97072982 -1.5604957 ] [ 0. 0. 0. 1. ]] SLAMing on 107.83800114499999 meters Centerline goodness : 0.869142 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-4.06, Z:-1.56 [[ 0.80750256 -0.55068614 -0.21138683 3.83424458] [ 0.54008643 0.83433733 -0.11039865 -4.06390136] [ 0.23716293 -0.02501997 0.97114764 -1.5613988 ] [ 0. 0. 0. 1. ]] SLAMing on 107.898001145 meters Centerline goodness : 0.870532 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-4.06, Z:-1.56 [[ 0.80763598 -0.55006288 -0.21249693 3.83732607] [ 0.53954429 0.83472687 -0.11010457 -4.06473316] [ 0.23794134 -0.02572709 0.97093874 -1.56147449] [ 0. 0. 0. 1. ]] SLAMing on 107.958001145 meters Centerline goodness : 0.872566 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-4.07, Z:-1.56 [[ 0.80664877 -0.5519453 -0.21136259 3.83909737] [ 0.54106659 0.83352758 -0.1117082 -4.06927564] [ 0.23783336 -0.02425196 0.97100316 -1.56041053] [ 0. 0. 0. 1. ]] SLAMing on 108.018001145 meters Centerline goodness : 0.875625 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-4.07, Z:-1.56 [[ 0.80558567 -0.55340647 -0.21159634 3.84180761] [ 0.54234394 0.83256595 -0.11268095 -4.07084751] [ 0.23852628 -0.02398383 0.97083984 -1.5598398 ] [ 0. 0. 0. 1. ]] SLAMing on 108.078001145 meters Centerline goodness : 0.871933 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-4.08, Z:-1.56 [[ 0.80392098 -0.55719109 -0.20796429 3.84358597] [ 0.54515401 0.83015634 -0.11682276 -4.07506594] [ 0.23773548 -0.0194563 0.97113505 -1.56076163] [ 0. 0. 0. 1. ]] SLAMing on 108.13800114499999 meters Centerline goodness : 0.873328 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-4.08, Z:-1.56 [[ 0.80246367 -0.55894011 -0.20889713 3.84771301] [ 0.54685089 0.82896518 -0.11734923 -4.07611703] [ 0.23875964 -0.02006709 0.97087133 -1.56042148] [ 0. 0. 0. 1. ]] SLAMing on 108.19800114499999 meters Centerline goodness : 0.873966 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-4.08, Z:-1.56 [[ 0.80150235 -0.5604554 -0.20852753 3.85067269] [ 0.5480636 0.82796416 -0.11875037 -4.07913772] [ 0.2392076 -0.01910765 0.97078042 -1.56000503] [ 0. 0. 0. 1. ]] SLAMing on 108.258001145 meters Centerline goodness : 0.872889 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-4.08, Z:-1.56 [[ 0.80166075 -0.56038353 -0.20811136 3.8517646 ] [ 0.5478414 0.82802971 -0.1193172 -4.08185407] [ 0.23918578 -0.0183601 0.97080022 -1.55950869] [ 0. 0. 0. 1. ]] SLAMing on 108.318001145 meters Centerline goodness : 0.872847 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-4.08, Z:-1.56 [[ 0.80142177 -0.56082243 -0.20784933 3.85508239] [ 0.54790478 0.8277614 -0.1208777 -4.08145871] [ 0.23984058 -0.01700762 0.9706633 -1.5608945 ] [ 0. 0. 0. 1. ]] SLAMing on 108.378001145 meters Centerline goodness : 0.874122 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-4.08, Z:-1.56 [[ 0.80083336 -0.56222328 -0.20632718 3.85923947] [ 0.54864371 0.82686379 -0.12363804 -4.08328431] [ 0.24011666 -0.01418664 0.97064037 -1.56293037] [ 0. 0. 0. 1. ]] SLAMing on 108.438001145 meters Centerline goodness : 0.876474 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-4.08, Z:-1.56 [[ 0.79875862 -0.56355069 -0.21070191 3.86610883] [ 0.55041712 0.82587956 -0.12232721 -4.08142377] [ 0.24295198 -0.01826403 0.96986636 -1.5613093 ] [ 0. 0. 0. 1. ]] SLAMing on 108.49800114499999 meters Centerline goodness : 0.877603 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-4.09, Z:-1.56 [[ 0.79532984 -0.56821086 -0.211156 3.87022413] [ 0.55501527 0.82265956 -0.12324484 -4.08530159] [ 0.24373856 -0.0191745 0.96965141 -1.55885755] [ 0. 0. 0. 1. ]] SLAMing on 108.55800114499999 meters Centerline goodness : 0.878163 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-4.09, Z:-1.56 [[ 0.79324345 -0.57017651 -0.21369039 3.87652882] [ 0.55726683 0.82123216 -0.12260273 -4.0852694 ] [ 0.24539462 -0.02182876 0.96917748 -1.5584251 ] [ 0. 0. 0. 1. ]] SLAMing on 108.618001145 meters Centerline goodness : 0.881473 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-4.09, Z:-1.56 [[ 0.79157501 -0.57225848 -0.2143111 3.88143837] [ 0.55917916 0.81977858 -0.12361933 -4.08629986] [ 0.24642985 -0.02198433 0.96891125 -1.5583231 ] [ 0. 0. 0. 1. ]] SLAMing on 108.678001145 meters Centerline goodness : 0.882611 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-4.08, Z:-1.56 [[ 0.79048987 -0.57103202 -0.22146826 3.89147853] [ 0.55899662 0.82042117 -0.12013275 -4.08195291] [ 0.2502969 -0.02883629 0.9677396 -1.55858685] [ 0. 0. 0. 1. ]] SLAMing on 108.738001145 meters Centerline goodness : 0.883789 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-4.08, Z:-1.56 [[ 0.79058303 -0.57058319 -0.22229104 3.89743981] [ 0.55846372 0.8207317 -0.12048965 -4.08073443] [ 0.25119067 -0.0288844 0.96750656 -1.56115758] [ 0. 0. 0. 1. ]] SLAMing on 108.798001145 meters Centerline goodness : 0.885039 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-4.08, Z:-1.56 [[ 0.79125301 -0.56889929 -0.2242148 3.89944426] [ 0.55701345 0.82184979 -0.11957816 -4.07874679] [ 0.25229882 -0.03027408 0.96717568 -1.5608542 ] [ 0. 0. 0. 1. ]] SLAMing on 108.85800114499999 meters Centerline goodness : 0.883313 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-4.08, Z:-1.56 [[ 0.79230087 -0.56581947 -0.22827103 3.90426367] [ 0.55474314 0.82381628 -0.11656241 -4.07557721] [ 0.25400667 -0.03427929 0.96659482 -1.56131335] [ 0. 0. 0. 1. ]] SLAMing on 108.91800114499999 meters Centerline goodness : 0.882044 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:-4.06, Z:-1.56 [[ 0.79138047 -0.56504449 -0.23332739 3.92018545] [ 0.55487469 0.82411769 -0.11377219 -4.0638527 ] [ 0.25657558 -0.03943037 0.96571953 -1.5606059 ] [ 0. 0. 0. 1. ]] SLAMing on 108.978001145 meters Centerline goodness : 0.878485 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:-4.06, Z:-1.56 [[ 0.79016804 -0.56617334 -0.23469603 3.92750417] [ 0.55588279 0.82332027 -0.11462134 -4.05938586] [ 0.25812554 -0.03989337 0.96528738 -1.5637357 ] [ 0. 0. 0. 1. ]] SLAMing on 109.038001145 meters Centerline goodness : 0.877649 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:-4.06, Z:-1.56 [[ 0.78997344 -0.56494824 -0.23827599 3.93021253] [ 0.55549114 0.8239554 -0.11192446 -4.0564059 ] [ 0.25956032 -0.04394285 0.96472663 -1.5628453 ] [ 0. 0. 0. 1. ]] SLAMing on 109.098001145 meters Centerline goodness : 0.877939 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:-4.05, Z:-1.57 [[ 0.78987781 -0.56534179 -0.23765881 3.9427942 ] [ 0.55773871 0.82335922 -0.10491487 -4.04629266] [ 0.25499133 -0.04968159 0.96566617 -1.56772315] [ 0. 0. 0. 1. ]] SLAMing on 109.158001145 meters Centerline goodness : 0.876960 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:-4.04, Z:-1.57 [[ 0.7896457 -0.56513392 -0.23892116 3.94660028] [ 0.55747664 0.82348206 -0.10534276 -4.04317955] [ 0.25628006 -0.05000951 0.96530802 -1.56864658] [ 0. 0. 0. 1. ]] SLAMing on 109.218001145 meters Centerline goodness : 0.874882 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:-4.04, Z:-1.57 [[ 0.78896835 -0.56531228 -0.24073009 3.94923151] [ 0.55758777 0.82332337 -0.105993 -4.03919235] [ 0.25811785 -0.05060304 0.96478729 -1.56789668] [ 0. 0. 0. 1. ]] SLAMing on 109.27800114499999 meters Centerline goodness : 0.869806 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:-4.03, Z:-1.57 [[ 0.78900309 -0.56409338 -0.24346002 3.95266008] [ 0.55652182 0.82407053 -0.10578859 -4.03284161] [ 0.26030287 -0.05202329 0.96412447 -1.56844608] [ 0. 0. 0. 1. ]] SLAMing on 109.33800114499999 meters Centerline goodness : 0.873623 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:-4.03, Z:-1.57 [[ 0.78905758 -0.56426254 -0.24289077 3.95411862] [ 0.55623834 0.82405679 -0.10737463 -4.02927205] [ 0.26074327 -0.05038039 0.96409272 -1.57035433] [ 0. 0. 0. 1. ]] SLAMing on 109.398001145 meters Centerline goodness : 0.869670 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:-4.03, Z:-1.57 [[ 0.78829181 -0.56593491 -0.2414823 3.95419865] [ 0.55714275 0.82307102 -0.11020914 -4.02557467] [ 0.26112828 -0.04766316 0.96412667 -1.57162276] [ 0. 0. 0. 1. ]] SLAMing on 109.458001145 meters Centerline goodness : 0.872532 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:-4.02, Z:-1.57 [[ 0.78739148 -0.56663353 -0.24277787 3.95580875] [ 0.55788675 0.82254067 -0.11040484 -4.02249694] [ 0.26225376 -0.04851072 0.96377885 -1.57119541] [ 0. 0. 0. 1. ]] SLAMing on 109.518001145 meters Centerline goodness : 0.865029 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:-4.02, Z:-1.57 [[ 0.78653992 -0.56736957 -0.243817 3.95703066] [ 0.55865686 0.82199119 -0.11060291 -4.02086421] [ 0.26316815 -0.04921643 0.96349378 -1.56996379] [ 0. 0. 0. 1. ]] SLAMing on 109.578001145 meters Centerline goodness : 0.867876 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:-4.02, Z:-1.57 [[ 0.78469186 -0.56935523 -0.24513936 3.95996399] [ 0.56059949 0.82056663 -0.11134907 -4.01668762] [ 0.26455035 -0.05005029 0.96307221 -1.57007413] [ 0. 0. 0. 1. ]] SLAMing on 109.63800114499999 meters Centerline goodness : 0.864914 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:-4.01, Z:-1.58 [[ 0.7835341 -0.57467564 -0.23626728 3.96549665] [ 0.56691831 0.81683232 -0.10671733 -4.01050196] [ 0.25431861 -0.05032758 0.96581012 -1.57642049] [ 0. 0. 0. 1. ]] SLAMing on 109.69800114499999 meters Centerline goodness : 0.862725 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:-4.01, Z:-1.58 [[ 0.78219757 -0.57440392 -0.24130294 3.97092461] [ 0.56772405 0.81666214 -0.10369355 -4.00655391] [ 0.25662496 -0.05588464 0.96489406 -1.57522662] [ 0. 0. 0. 1. ]] SLAMing on 109.758001145 meters Centerline goodness : 0.865218 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-4.00, Z:-1.57 [[ 0.77853003 -0.57758268 -0.24553868 3.97749693] [ 0.57159351 0.8140918 -0.10264209 -4.00272878] [ 0.25917532 -0.06043836 0.96393742 -1.57376828] [ 0. 0. 0. 1. ]] SLAMing on 109.818001145 meters Centerline goodness : 0.864654 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:-4.00, Z:-1.58 [[ 0.77632688 -0.5831989 -0.23915604 3.9859778 ] [ 0.57853227 0.80987599 -0.09696026 -3.99650099] [ 0.25023386 -0.06308663 0.96612789 -1.5791017 ] [ 0. 0. 0. 1. ]] SLAMing on 109.878001145 meters Centerline goodness : 0.866821 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-3.99, Z:-1.58 [[ 0.77399208 -0.58215377 -0.24906475 3.9960739 ] [ 0.57957347 0.80975459 -0.09160834 -3.99042861] [ 0.25501147 -0.0734472 0.96414452 -1.57708978] [ 0. 0. 0. 1. ]] SLAMing on 109.938001145 meters Centerline goodness : 0.868956 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-3.99, Z:-1.58 [[ 0.77365469 -0.58161456 -0.25136213 3.99885369] [ 0.57952798 0.80992813 -0.09035351 -3.98753872] [ 0.25613618 -0.07576897 0.9636666 -1.57713315] [ 0. 0. 0. 1. ]] SLAMing on 109.99800114499999 meters Centerline goodness : 0.865065 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:-3.98, Z:-1.58 [[ 0.77444309 -0.58463078 -0.24175349 4.00556219] [ 0.58244665 0.80805971 -0.08829158 -3.98082443] [ 0.24696923 -0.07243171 0.9663125 -1.58150582] [ 0. 0. 0. 1. ]] SLAMing on 110.05800114499999 meters Centerline goodness : 0.865561 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:-3.98, Z:-1.58 [[ 0.77419634 -0.58295201 -0.24655017 4.01088042] [ 0.58170082 0.80885642 -0.0858804 -3.97672058] [ 0.24948784 -0.07693014 0.96531734 -1.58066816] [ 0. 0. 0. 1. ]] SLAMing on 110.118001145 meters Centerline goodness : 0.861287 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:-3.97, Z:-1.58 [[ 0.77494935 -0.58027886 -0.25045949 4.0138265 ] [ 0.5798042 0.81044457 -0.08370601 -3.97327531] [ 0.25155636 -0.08034955 0.9645016 -1.57987073] [ 0. 0. 0. 1. ]] SLAMing on 110.178001145 meters Centerline goodness : 0.863598 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:-3.97, Z:-1.58 [[ 0.7761686 -0.57879625 -0.25011439 4.01528345] [ 0.57808159 0.81161774 -0.08425155 -3.97269023] [ 0.25176176 -0.07919312 0.96454366 -1.5814184 ] [ 0. 0. 0. 1. ]] SLAMing on 110.238001145 meters Centerline goodness : 0.860593 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:-3.96, Z:-1.58 [[ 0.77791182 -0.57913344 -0.2438394 4.01933668] [ 0.57851112 0.81155371 -0.08188688 -3.96261508] [ 0.24531221 -0.07736303 0.96635236 -1.57948757] [ 0. 0. 0. 1. ]] SLAMing on 110.298001145 meters Centerline goodness : 0.861088 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:-3.96, Z:-1.58 [[ 0.77804728 -0.57781476 -0.24652085 4.02173427] [ 0.57757781 0.81230319 -0.08103952 -3.95836347] [ 0.24707551 -0.0793324 0.96574327 -1.57935278] [ 0. 0. 0. 1. ]] SLAMing on 110.35800114499999 meters Centerline goodness : 0.859067 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:-3.96, Z:-1.58 [[ 0.77861756 -0.57774232 -0.24488469 4.02583459] [ 0.57680711 0.81263047 -0.08321822 -3.95816121] [ 0.24707945 -0.07645606 0.96597423 -1.58333569] [ 0. 0. 0. 1. ]] SLAMing on 110.41800114499999 meters Centerline goodness : 0.860742 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:-3.95, Z:-1.58 [[ 0.77766239 -0.58098557 -0.24020193 4.03341369] [ 0.58061257 0.81023975 -0.08000369 -3.94942476] [ 0.24110214 -0.0772484 0.96742051 -1.58002977] [ 0. 0. 0. 1. ]] SLAMing on 110.478001145 meters Centerline goodness : 0.858761 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:-3.95, Z:-1.58 [[ 0.77632885 -0.58165691 -0.242876 4.03839179] [ 0.58164779 0.80954008 -0.07956578 -3.94915282] [ 0.24289784 -0.07949908 0.96678877 -1.57851907] [ 0. 0. 0. 1. ]] SLAMing on 110.538001145 meters Centerline goodness : 0.864014 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:-3.95, Z:-1.58 [[ 0.77477579 -0.58468049 -0.24056433 4.04167307] [ 0.58363113 0.80771969 -0.08344828 -3.9492795 ] [ 0.24309913 -0.07574713 0.96703939 -1.58015358] [ 0. 0. 0. 1. ]] SLAMing on 110.598001145 meters Centerline goodness : 0.866345 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:-3.95, Z:-1.58 [[ 0.77580187 -0.58250928 -0.2425168 4.04265856] [ 0.58196245 0.80909863 -0.08172591 -3.94980554] [ 0.24382611 -0.07773255 0.96669875 -1.57887393] [ 0. 0. 0. 1. ]] SLAMing on 110.658001145 meters Centerline goodness : 0.867106 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:-3.95, Z:-1.58 [[ 0.77873465 -0.57911157 -0.2412512 4.04095731] [ 0.57845925 0.81166449 -0.08115207 -3.95190773] [ 0.24281113 -0.07635806 0.9670637 -1.58040443] [ 0. 0. 0. 1. ]] SLAMing on 110.718001145 meters Centerline goodness : 0.866173 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:-3.95, Z:-1.58 [[ 0.78043406 -0.57689757 -0.24106402 4.04289187] [ 0.57607561 0.81333378 -0.08139437 -3.95167739] [ 0.24302173 -0.07534816 0.96709001 -1.58280237] [ 0. 0. 0. 1. ]] SLAMing on 110.77800114499999 meters Centerline goodness : 0.867294 with order 1 Centerline is valid? [False, False] Translation: X:4.05, Y:-3.95, Z:-1.58 [[ 0.78146775 -0.57447765 -0.2434822 4.04626668] [ 0.57408023 0.81487252 -0.08009156 -3.94946598] [ 0.24441777 -0.07718935 0.96659286 -1.58374668] [ 0. 0. 0. 1. ]] SLAMing on 110.83800114499999 meters Centerline goodness : 0.867567 with order 1 Centerline is valid? [False, False] Translation: X:4.05, Y:-3.95, Z:-1.58 [[ 0.78244999 -0.57262764 -0.24468264 4.04678606] [ 0.57263516 0.81603595 -0.07857674 -3.9509657 ] [ 0.24466504 -0.07863151 0.96641404 -1.58271195] [ 0. 0. 0. 1. ]] SLAMing on 110.898001145 meters Centerline goodness : 0.869074 with order 1 Centerline is valid? [False, False] Translation: X:4.05, Y:-3.95, Z:-1.58 [[ 0.7823661 -0.57169956 -0.24710909 4.05028722] [ 0.57224704 0.81644748 -0.07711567 -3.95023126] [ 0.24583859 -0.08107476 0.96591422 -1.58246017] [ 0. 0. 0. 1. ]] SLAMing on 110.958001145 meters Centerline goodness : 0.871973 with order 1 Centerline is valid? [False, False] Translation: X:4.05, Y:-3.95, Z:-1.58 [[ 0.78140006 -0.57856597 -0.23382764 4.0529358 ] [ 0.57773483 0.81235609 -0.07937281 -3.94769727] [ 0.23587371 -0.07306845 0.96903281 -1.58135493] [ 0. 0. 0. 1. ]] SLAMing on 111.018001145 meters Centerline goodness : 0.875017 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-3.95, Z:-1.58 [[ 0.77938947 -0.58069218 -0.23526293 4.05655815] [ 0.58000762 0.81071408 -0.07958543 -3.94785458] [ 0.23694561 -0.07442624 0.96866791 -1.58000603] [ 0. 0. 0. 1. ]] SLAMing on 111.078001145 meters Centerline goodness : 0.875105 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-3.95, Z:-1.58 [[ 0.77866015 -0.57996687 -0.23943016 4.05999297] [ 0.58041368 0.81074304 -0.07626064 -3.94896263] [ 0.23834498 -0.07958742 0.967914 -1.57695542] [ 0. 0. 0. 1. ]] SLAMing on 111.13800114499999 meters Centerline goodness : 0.876819 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-3.95, Z:-1.58 [[ 0.78045163 -0.5776625 -0.23916792 4.06045788] [ 0.57831003 0.81236525 -0.07496801 -3.95264074] [ 0.23759791 -0.0798043 0.9680798 -1.57746231] [ 0. 0. 0. 1. ]] SLAMing on 111.19800114499999 meters Centerline goodness : 0.876838 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-3.95, Z:-1.58 [[ 0.7815997 -0.57610582 -0.23917357 4.06263656] [ 0.57670234 0.8135119 -0.07491866 -3.95346914] [ 0.23773162 -0.07937556 0.96808223 -1.57917256] [ 0. 0. 0. 1. ]] SLAMing on 111.258001145 meters Centerline goodness : 0.881119 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-3.96, Z:-1.58 [[ 0.78306815 -0.5741256 -0.23913191 4.06132329] [ 0.57486321 0.81489646 -0.07400035 -3.95547119] [ 0.23735324 -0.07952082 0.96816315 -1.57863797] [ 0. 0. 0. 1. ]] SLAMing on 111.318001145 meters Centerline goodness : 0.883007 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-3.96, Z:-1.58 [[ 0.78325186 -0.57454551 -0.23751628 4.06025525] [ 0.57511298 0.81470161 -0.07420478 -3.9613095 ] [ 0.23613892 -0.07847766 0.96854513 -1.57709621] [ 0. 0. 0. 1. ]] SLAMing on 111.378001145 meters Centerline goodness : 0.885114 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-3.96, Z:-1.58 [[ 0.78142712 -0.57716941 -0.23716476 4.06401266] [ 0.57746804 0.81290377 -0.0756183 -3.96364694] [ 0.2364367 -0.07786488 0.96852194 -1.57671644] [ 0. 0. 0. 1. ]] SLAMing on 111.438001145 meters Centerline goodness : 0.887396 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:-3.97, Z:-1.58 [[ 0.77970789 -0.58004422 -0.23580565 4.0687788 ] [ 0.57986942 0.81100809 -0.07757147 -3.9671104 ] [ 0.23623518 -0.0762534 0.96869931 -1.57780217] [ 0. 0. 0. 1. ]] SLAMing on 111.49800114499999 meters Centerline goodness : 0.889405 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:-3.97, Z:-1.58 [[ 0.77887767 -0.58173552 -0.23437867 4.07127452] [ 0.58114169 0.80994959 -0.0790949 -3.97094847] [ 0.23584722 -0.07460196 0.96892241 -1.57796429] [ 0. 0. 0. 1. ]] SLAMing on 111.55800114499999 meters Centerline goodness : 0.889850 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:-3.98, Z:-1.58 [[ 0.77870312 -0.58135552 -0.2358966 4.07599151] [ 0.58127689 0.81001404 -0.07742376 -3.97573824] [ 0.23609028 -0.07683111 0.96868899 -1.57709479] [ 0. 0. 0. 1. ]] SLAMing on 111.618001145 meters Centerline goodness : 0.893984 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:-3.98, Z:-1.58 [[ 0.77749029 -0.58358974 -0.23437549 4.07982901] [ 0.58308544 0.80855773 -0.07903015 -3.97943687] [ 0.2356273 -0.07521576 0.96892846 -1.57819436] [ 0. 0. 0. 1. ]] SLAMing on 111.678001145 meters Centerline goodness : 0.896418 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:-3.98, Z:-1.58 [[ 0.774947 -0.58776157 -0.23236497 4.08426839] [ 0.58656417 0.80575018 -0.08190925 -3.9843267 ] [ 0.23537123 -0.07282164 0.96917356 -1.57804716] [ 0. 0. 0. 1. ]] SLAMing on 111.738001145 meters Centerline goodness : 0.898054 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:-3.99, Z:-1.58 [[ 0.77334633 -0.58893506 -0.23471462 4.09072069] [ 0.58831356 0.80461535 -0.08050653 -3.98613887] [ 0.2362681 -0.07582637 0.9687248 -1.57780697] [ 0. 0. 0. 1. ]] SLAMing on 111.798001145 meters Centerline goodness : 0.896847 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:-3.99, Z:-1.58 [[ 0.77250856 -0.59023525 -0.23420689 4.09432762] [ 0.58964154 0.80364954 -0.08043807 -3.99185517] [ 0.23569764 -0.07595901 0.96885337 -1.57737793] [ 0. 0. 0. 1. ]] SLAMing on 111.85800114499999 meters Centerline goodness : 0.899656 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:-3.99, Z:-1.58 [[ 0.77245154 -0.58962121 -0.23593526 4.09903583] [ 0.58950687 0.80389536 -0.078955 -3.9937042 ] [ 0.23622081 -0.07809655 0.96855597 -1.57774462] [ 0. 0. 0. 1. ]] SLAMing on 111.91800114499999 meters Centerline goodness : 0.902309 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:-4.00, Z:-1.58 [[ 0.77153368 -0.59083398 -0.2359046 4.10303016] [ 0.5905972 0.80302616 -0.07964877 -3.99517988] [ 0.23649677 -0.07787289 0.96850663 -1.57851569] [ 0. 0. 0. 1. ]] SLAMing on 111.978001145 meters Centerline goodness : 0.904701 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:-4.00, Z:-1.58 [[ 0.77003757 -0.59324038 -0.23475093 4.1071757 ] [ 0.5924851 0.80141937 -0.08178263 -3.99564975] [ 0.2366507 -0.07611073 0.96860911 -1.58020785] [ 0. 0. 0. 1. ]] SLAMing on 112.038001145 meters Centerline goodness : 0.907691 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:-4.00, Z:-1.58 [[ 0.76769909 -0.59488368 -0.23822577 4.1127863 ] [ 0.59503012 0.79975436 -0.07957464 -3.99769559] [ 0.23785975 -0.08066212 0.9679444 -1.57721701] [ 0. 0. 0. 1. ]] SLAMing on 112.098001145 meters Centerline goodness : 0.908052 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:-4.01, Z:-1.58 [[ 0.76453521 -0.59478387 -0.24843121 4.11320632] [ 0.59545193 0.79928334 -0.08113662 -4.00811663] [ 0.24682568 -0.08589704 0.96524545 -1.5758981 ] [ 0. 0. 0. 1. ]] SLAMing on 112.158001145 meters Centerline goodness : 0.910760 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:-4.01, Z:-1.58 [[ 0.76332549 -0.595357 -0.25076728 4.11821268] [ 0.59657115 0.79856599 -0.07997013 -4.00805051] [ 0.247865 -0.08855728 0.96473859 -1.57531245] [ 0. 0. 0. 1. ]] SLAMing on 112.218001145 meters Centerline goodness : 0.913989 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:-4.01, Z:-1.57 [[ 0.7624502 -0.59606295 -0.25175118 4.12029772] [ 0.59762298 0.79786364 -0.07912254 -4.00866903] [ 0.24802513 -0.0901253 0.96455221 -1.5746974 ] [ 0. 0. 0. 1. ]] SLAMing on 112.27800114499999 meters Centerline goodness : 0.912543 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:-4.01, Z:-1.58 [[ 0.76115107 -0.59854203 -0.24979291 4.12299826] [ 0.59941888 0.79627623 -0.0814934 -4.00958394] [ 0.24768138 -0.0877018 0.96486389 -1.57651142] [ 0. 0. 0. 1. ]] SLAMing on 112.33800114499999 meters Centerline goodness : 0.913780 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:-4.01, Z:-1.58 [[ 0.75991786 -0.59921152 -0.2519333 4.12718044] [ 0.60066995 0.79546872 -0.08015691 -4.01063942] [ 0.24843601 -0.0904161 0.96441924 -1.57533542] [ 0. 0. 0. 1. ]] SLAMing on 112.398001145 meters Centerline goodness : 0.915629 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:-4.01, Z:-1.57 [[ 0.75944469 -0.5979468 -0.25632671 4.13131202] [ 0.6005706 0.79584256 -0.07713345 -4.00819038] [ 0.2501174 -0.0953637 0.96350768 -1.57401606] [ 0. 0. 0. 1. ]] SLAMing on 112.458001145 meters Centerline goodness : 0.911129 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:-4.01, Z:-1.58 [[ 0.75880656 -0.59983625 -0.25378946 4.1337402 ] [ 0.60168325 0.7947706 -0.07947934 -4.00974204] [ 0.24937899 -0.09239142 0.96398856 -1.57678475] [ 0. 0. 0. 1. ]] SLAMing on 112.518001145 meters Centerline goodness : 0.913281 with order 1 Centerline is valid? [False, False] Translation: X:4.14, Y:-4.01, Z:-1.58 [[ 0.757383 -0.60116681 -0.25489107 4.13893494] [ 0.60308811 0.79366627 -0.07986604 -4.00819712] [ 0.25031126 -0.09323259 0.96366589 -1.57805099] [ 0. 0. 0. 1. ]] SLAMing on 112.578001145 meters Centerline goodness : 0.914241 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:-4.00, Z:-1.57 [[ 0.75396193 -0.59978922 -0.26794459 4.15035627] [ 0.60474026 0.79302332 -0.07350665 -4.00038685] [ 0.25657481 -0.10661567 0.96062608 -1.57370965] [ 0. 0. 0. 1. ]] SLAMing on 112.63800114499999 meters Centerline goodness : 0.916522 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:-4.00, Z:-1.57 [[ 0.7524591 -0.60110605 -0.26921519 4.15356059] [ 0.60611256 0.79191853 -0.0741121 -3.9968197 ] [ 0.25774573 -0.10740839 0.96022423 -1.57416072] [ 0. 0. 0. 1. ]] SLAMing on 112.69800114499999 meters Centerline goodness : 0.918585 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:-3.99, Z:-1.58 [[ 0.75201424 -0.60162525 -0.26929844 4.15679506] [ 0.60633752 0.79162998 -0.07534445 -3.99351024] [ 0.25851384 -0.10662565 0.96010498 -1.57679882] [ 0. 0. 0. 1. ]] SLAMing on 112.758001145 meters Centerline goodness : 0.914960 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.98, Z:-1.58 [[ 0.75193893 -0.60092623 -0.27106367 4.16640259] [ 0.60836809 0.79092406 -0.06578294 -3.98427425] [ 0.25392147 -0.11544173 0.96031094 -1.58058383] [ 0. 0. 0. 1. ]] SLAMing on 112.818001145 meters Centerline goodness : 0.916256 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.97, Z:-1.59 [[ 0.75175539 -0.59999351 -0.27362681 4.17865658] [ 0.61029562 0.79019328 -0.05598067 -3.97297016] [ 0.24980611 -0.12490948 0.96020546 -1.58538919] [ 0. 0. 0. 1. ]] SLAMing on 112.878001145 meters Centerline goodness : 0.916647 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.97, Z:-1.59 [[ 0.75202391 -0.59813744 -0.27693256 4.18169446] [ 0.60927876 0.79110472 -0.05415457 -3.96847441] [ 0.25147453 -0.12800359 0.9593621 -1.58605115] [ 0. 0. 0. 1. ]] SLAMing on 112.938001145 meters Centerline goodness : 0.919024 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.96, Z:-1.59 [[ 0.752561 -0.59675807 -0.27844522 4.18318102] [ 0.60815295 0.79199963 -0.05372682 -3.96409641] [ 0.25259042 -0.12890457 0.95894822 -1.58777995] [ 0. 0. 0. 1. ]] SLAMing on 112.99800114499999 meters Centerline goodness : 0.917028 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.96, Z:-1.59 [[ 0.75391911 -0.5996314 -0.26841788 4.18483237] [ 0.61043452 0.79041155 -0.05117894 -3.95516728] [ 0.2428491 -0.12526676 0.96194208 -1.58940945] [ 0. 0. 0. 1. ]] SLAMing on 113.05800114499999 meters Centerline goodness : 0.917894 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-3.95, Z:-1.59 [[ 0.75535565 -0.59592942 -0.27259122 4.18727775] [ 0.60792353 0.79254002 -0.04805526 -3.95158788] [ 0.24467699 -0.12941581 0.96092909 -1.58943898] [ 0. 0. 0. 1. ]] SLAMing on 113.118001145 meters Centerline goodness : 0.915006 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-3.95, Z:-1.59 [[ 0.75695749 -0.59312011 -0.27426975 4.18847805] [ 0.60550967 0.79445503 -0.0468961 -3.94728672] [ 0.24571001 -0.13057463 0.96050865 -1.59210635] [ 0. 0. 0. 1. ]] SLAMing on 113.178001145 meters Centerline goodness : 0.915099 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-3.94, Z:-1.60 [[ 0.75839296 -0.59499596 -0.26612013 4.19286635] [ 0.60795101 0.79294901 -0.04034153 -3.9404673 ] [ 0.23502274 -0.13119327 0.96309534 -1.59815423] [ 0. 0. 0. 1. ]] SLAMing on 113.238001145 meters Centerline goodness : 0.912387 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.93, Z:-1.60 [[ 0.75783657 -0.59376993 -0.27040895 4.19567092] [ 0.60758552 0.79328978 -0.03912995 -3.93211145] [ 0.23774684 -0.13464245 0.96195002 -1.59866902] [ 0. 0. 0. 1. ]] SLAMing on 113.298001145 meters Centerline goodness : 0.911995 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.93, Z:-1.60 [[ 0.75719583 -0.59404578 -0.27159545 4.19810894] [ 0.6079348 0.79299936 -0.03958914 -3.92888259] [ 0.23889278 -0.1351356 0.96159691 -1.59935262] [ 0. 0. 0. 1. ]] SLAMing on 113.35800114499999 meters Centerline goodness : 0.910290 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.92, Z:-1.60 [[ 0.75518727 -0.59582187 -0.27329196 4.20166151] [ 0.60971755 0.7915625 -0.04090613 -3.92304292] [ 0.24070043 -0.13573912 0.96106097 -1.60021534] [ 0. 0. 0. 1. ]] SLAMing on 113.41800114499999 meters Centerline goodness : 0.911542 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.92, Z:-1.60 [[ 0.75506254 -0.59451151 -0.27647174 4.20516112] [ 0.60913592 0.79207417 -0.03964779 -3.91802804] [ 0.24255719 -0.13847231 0.96020385 -1.6011994 ] [ 0. 0. 0. 1. ]] SLAMing on 113.478001145 meters Centerline goodness : 0.912830 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.91, Z:-1.61 [[ 0.75674276 -0.59416448 -0.27259671 4.21119095] [ 0.61029837 0.79156082 -0.03110255 -3.90722563] [ 0.2342569 -0.1428287 0.96162553 -1.60671277] [ 0. 0. 0. 1. ]] SLAMing on 113.538001145 meters Centerline goodness : 0.915002 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.89, Z:-1.61 [[ 0.75655571 -0.59520575 -0.27083865 4.22251009] [ 0.61136662 0.79077632 -0.03006109 -3.89468477] [ 0.23206532 -0.14283882 0.96215527 -1.60686107] [ 0. 0. 0. 1. ]] SLAMing on 113.598001145 meters Centerline goodness : 0.908814 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.89, Z:-1.61 [[ 0.75797675 -0.59255476 -0.27267215 4.22440851] [ 0.60907706 0.79257148 -0.02925032 -3.88969177] [ 0.23344459 -0.14390729 0.96166227 -1.60982418] [ 0. 0. 0. 1. ]] SLAMing on 113.658001145 meters Centerline goodness : 0.908401 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.89, Z:-1.61 [[ 0.75922264 -0.59004195 -0.27464793 4.22508793] [ 0.60707915 0.79415004 -0.0279398 -3.88642414] [ 0.23459732 -0.1455205 0.96113885 -1.61088862] [ 0. 0. 0. 1. ]] SLAMing on 113.718001145 meters Centerline goodness : 0.908624 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.88, Z:-1.61 [[ 0.76305317 -0.58925581 -0.26557004 4.22375202] [ 0.60600854 0.79512479 -0.02302654 -3.87713215] [ 0.22472985 -0.14336724 0.96381654 -1.61310299] [ 0. 0. 0. 1. ]] SLAMing on 113.77800114499999 meters Centerline goodness : 0.905505 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.87, Z:-1.61 [[ 0.76552836 -0.58556895 -0.26659958 4.22171209] [ 0.60265186 0.79771091 -0.02163413 -3.8747553 ] [ 0.22533767 -0.14410519 0.96356454 -1.61398868] [ 0. 0. 0. 1. ]] SLAMing on 113.83800114499999 meters Centerline goodness : 0.908981 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.87, Z:-1.62 [[ 0.77008612 -0.57968925 -0.26632263 4.21774812] [ 0.59681803 0.80212225 -0.02020246 -3.8734961 ] [ 0.22533446 -0.14338851 0.9636722 -1.61628103] [ 0. 0. 0. 1. ]] SLAMing on 113.898001145 meters Centerline goodness : 0.908875 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.87, Z:-1.62 [[ 0.77238337 -0.57604157 -0.26758184 4.2163218 ] [ 0.59357311 0.80456346 -0.01867089 -3.87101499] [ 0.22604178 -0.1444083 0.96335422 -1.61717782] [ 0. 0. 0. 1. ]] SLAMing on 113.958001145 meters Centerline goodness : 0.906029 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.87, Z:-1.62 [[ 0.77371974 -0.57517835 -0.26557038 4.21300871] [ 0.59189539 0.80574977 -0.02066748 -3.86817156] [ 0.22587076 -0.14119904 0.96386992 -1.61912528] [ 0. 0. 0. 1. ]] SLAMing on 114.018001145 meters Centerline goodness : 0.909035 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.87, Z:-1.62 [[ 0.77293852 -0.57616692 -0.26570233 4.21174995] [ 0.59284579 0.80503978 -0.02109107 -3.8675928 ] [ 0.22605292 -0.14121841 0.96382438 -1.61744388] [ 0. 0. 0. 1. ]] SLAMing on 114.078001145 meters Centerline goodness : 0.905503 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.86, Z:-1.61 [[ 0.77194615 -0.58090576 -0.25816204 4.21542449] [ 0.59709921 0.80194065 -0.0190714 -3.8584523 ] [ 0.21810932 -0.13942626 0.96591337 -1.61444536] [ 0. 0. 0. 1. ]] SLAMing on 114.13800114499999 meters Centerline goodness : 0.908455 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.86, Z:-1.61 [[ 0.77003999 -0.58293321 -0.25928226 4.2183023 ] [ 0.59925209 0.80032012 -0.01961223 -3.85773617] [ 0.21894143 -0.14027324 0.96560244 -1.61331747] [ 0. 0. 0. 1. ]] SLAMing on 114.19800114499999 meters Centerline goodness : 0.906450 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.86, Z:-1.61 [[ 0.76837185 -0.58460939 -0.26045453 4.22054707] [ 0.60115444 0.79889024 -0.01969092 -3.85761884] [ 0.21958608 -0.14144344 0.9652853 -1.61173094] [ 0. 0. 0. 1. ]] SLAMing on 114.258001145 meters Centerline goodness : 0.905778 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.86, Z:-1.61 [[ 0.76642546 -0.58667037 -0.26155286 4.22425369] [ 0.60335642 0.79721653 -0.02017028 -3.85655831] [ 0.22034757 -0.14235057 0.96497837 -1.61145619] [ 0. 0. 0. 1. ]] SLAMing on 114.318001145 meters Centerline goodness : 0.907589 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.86, Z:-1.61 [[ 0.76379826 -0.58919208 -0.26356198 4.2265541 ] [ 0.60629288 0.79498581 -0.02016185 -3.85575151] [ 0.22140724 -0.14439617 0.96443174 -1.60842081] [ 0. 0. 0. 1. ]] SLAMing on 114.378001145 meters Centerline goodness : 0.907426 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.86, Z:-1.61 [[ 0.76216203 -0.59057811 -0.26519149 4.23059151] [ 0.60809844 0.79361724 -0.01969682 -3.85550857] [ 0.22209305 -0.14625036 0.96399456 -1.60790694] [ 0. 0. 0. 1. ]] SLAMing on 114.438001145 meters Centerline goodness : 0.912671 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.86, Z:-1.60 [[ 0.75903582 -0.5941203 -0.26624369 4.23432093] [ 0.61184344 0.79072145 -0.02017916 -3.8575393 ] [ 0.22251345 -0.14758275 0.9636945 -1.60497339] [ 0. 0. 0. 1. ]] SLAMing on 114.49800114499999 meters Centerline goodness : 0.912668 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:-3.86, Z:-1.60 [[ 0.75693589 -0.59600576 -0.26800223 4.23801935] [ 0.61415004 0.78893778 -0.01992243 -3.85730032] [ 0.22331097 -0.14951358 0.96321228 -1.60354987] [ 0. 0. 0. 1. ]] SLAMing on 114.55800114499999 meters Centerline goodness : 0.912483 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:-3.86, Z:-1.60 [[ 0.75608212 -0.5980793 -0.26578371 4.23964832] [ 0.6154392 0.78787298 -0.02215317 -3.85967345] [ 0.22265315 -0.14682409 0.96377812 -1.60431585] [ 0. 0. 0. 1. ]] SLAMing on 114.618001145 meters Centerline goodness : 0.911530 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:-3.86, Z:-1.60 [[ 0.75545846 -0.59810407 -0.26749584 4.241679 ] [ 0.61594935 0.7874993 -0.02124291 -3.86042681] [ 0.22335826 -0.14871576 0.96332482 -1.60257805] [ 0. 0. 0. 1. ]] SLAMing on 114.678001145 meters Centerline goodness : 0.912638 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:-3.86, Z:-1.60 [[ 0.75446097 -0.59943043 -0.26734211 4.24348329] [ 0.61714955 0.7865404 -0.02192326 -3.86108688] [ 0.22341684 -0.14844982 0.96335225 -1.6022726 ] [ 0. 0. 0. 1. ]] SLAMing on 114.738001145 meters Centerline goodness : 0.912202 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:-3.86, Z:-1.60 [[ 0.75333594 -0.60179907 -0.26518454 4.24464624] [ 0.61872414 0.7852323 -0.02430361 -3.86272336] [ 0.22285736 -0.1457673 0.96389133 -1.60292787] [ 0. 0. 0. 1. ]] SLAMing on 114.798001145 meters Centerline goodness : 0.911625 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-3.86, Z:-1.60 [[ 0.75392222 -0.60057673 -0.2662872 4.24783281] [ 0.61785482 0.78594665 -0.02330864 -3.86322014] [ 0.22328616 -0.14695392 0.96361187 -1.60402458] [ 0. 0. 0. 1. ]] SLAMing on 114.85800114499999 meters Centerline goodness : 0.910700 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-3.86, Z:-1.60 [[ 0.75419258 -0.59857853 -0.26999499 4.24947829] [ 0.61680515 0.78682408 -0.02143053 -3.85888016] [ 0.22526642 -0.15037155 0.96262321 -1.60324176] [ 0. 0. 0. 1. ]] SLAMing on 114.91800114499999 meters Centerline goodness : 0.906408 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-3.86, Z:-1.60 [[ 0.75383802 -0.59888148 -0.27031316 4.25214263] [ 0.61699544 0.78665386 -0.02218836 -3.85719727] [ 0.22593109 -0.15005556 0.96251674 -1.60479867] [ 0. 0. 0. 1. ]] SLAMing on 114.978001145 meters Centerline goodness : 0.907187 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.85, Z:-1.60 [[ 0.75259846 -0.59938622 -0.27263845 4.25513541] [ 0.61796237 0.78590155 -0.02193759 -3.85381875] [ 0.22741607 -0.15197011 0.96186642 -1.60438747] [ 0. 0. 0. 1. ]] SLAMing on 115.038001145 meters Centerline goodness : 0.907759 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.85, Z:-1.60 [[ 0.75018314 -0.60124501 -0.27519029 4.25749805] [ 0.62030128 0.78405357 -0.02205287 -3.84957813] [ 0.22902311 -0.15415719 0.96113681 -1.60275718] [ 0. 0. 0. 1. ]] SLAMing on 115.098001145 meters Centerline goodness : 0.905368 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.85, Z:-1.60 [[ 0.74836562 -0.60277716 -0.27678259 4.25918051] [ 0.62199071 0.7826924 -0.0228072 -3.8463001 ] [ 0.23038329 -0.15508808 0.96066187 -1.60143405] [ 0. 0. 0. 1. ]] SLAMing on 115.158001145 meters Centerline goodness : 0.904875 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.84, Z:-1.60 [[ 0.74584994 -0.60476669 -0.27922233 4.26118956] [ 0.62431468 0.78081871 -0.02352275 -3.84111251] [ 0.23224779 -0.15677816 0.95993832 -1.5998092 ] [ 0. 0. 0. 1. ]] SLAMing on 115.21800114499999 meters Centerline goodness : 0.904457 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.84, Z:-1.60 [[ 0.74492215 -0.60509703 -0.28097788 4.26407436] [ 0.6249773 0.78029032 -0.02346063 -3.83795358] [ 0.23344027 -0.15812846 0.95942745 -1.60005303] [ 0. 0. 0. 1. ]] SLAMing on 115.27800114499999 meters Centerline goodness : 0.902809 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.83, Z:-1.60 [[ 0.74325024 -0.60651636 -0.28234196 4.26707224] [ 0.62646396 0.77906744 -0.02443015 -3.8338158 ] [ 0.23478071 -0.15871935 0.9590027 -1.60054406] [ 0. 0. 0. 1. ]] SLAMing on 115.33800114499999 meters Centerline goodness : 0.904361 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.83, Z:-1.60 [[ 0.74188222 -0.607327 -0.2841913 4.26975367] [ 0.62758204 0.77816007 -0.02465123 -3.82988452] [ 0.23611768 -0.16006505 0.95845064 -1.60060774] [ 0. 0. 0. 1. ]] SLAMing on 115.398001145 meters Centerline goodness : 0.902036 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.82, Z:-1.60 [[ 0.74189365 -0.60529687 -0.2884606 4.2703552 ] [ 0.62676091 0.77888884 -0.02242606 -3.82407322] [ 0.23825316 -0.16415808 0.9572291 -1.59935294] [ 0. 0. 0. 1. ]] SLAMing on 115.458001145 meters Centerline goodness : 0.904791 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.82, Z:-1.60 [[ 0.74302469 -0.60244317 -0.29150737 4.27310656] [ 0.62462444 0.78063762 -0.02119475 -3.81782125] [ 0.24033025 -0.16633441 0.95633375 -1.60192233] [ 0. 0. 0. 1. ]] SLAMing on 115.518001145 meters Centerline goodness : 0.897458 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.81, Z:-1.60 [[ 0.74429362 -0.60646864 -0.27968338 4.27397772] [ 0.62672949 0.77894775 -0.02122624 -3.80926737] [ 0.23073179 -0.15948727 0.95985762 -1.60386975] [ 0. 0. 0. 1. ]] SLAMing on 115.578001145 meters Centerline goodness : 0.896386 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.80, Z:-1.60 [[ 0.74497336 -0.60399803 -0.28319794 4.27378813] [ 0.62520004 0.78022323 -0.01940665 -3.80429482] [ 0.23267919 -0.16259793 0.95886512 -1.60291163] [ 0. 0. 0. 1. ]] SLAMing on 115.63800114499999 meters Centerline goodness : 0.896428 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.80, Z:-1.60 [[ 0.74456153 -0.60379336 -0.28471339 4.27344003] [ 0.62523405 0.78019377 -0.01949538 -3.80018409] [ 0.23390279 -0.16349699 0.95841443 -1.60231656] [ 0. 0. 0. 1. ]] SLAMing on 115.69800114499999 meters Centerline goodness : 0.893835 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.80, Z:-1.60 [[ 0.74520868 -0.60183006 -0.2871665 4.2745766 ] [ 0.62390115 0.78128808 -0.01833815 -3.79593035] [ 0.23539621 -0.16549776 0.95770513 -1.60317629] [ 0. 0. 0. 1. ]] SLAMing on 115.758001145 meters Centerline goodness : 0.891540 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-3.79, Z:-1.60 [[ 0.74541234 -0.59917973 -0.29213714 4.27524615] [ 0.62259418 0.78237972 -0.01607699 -3.78912806] [ 0.23819518 -0.16989889 0.9562413 -1.60163569] [ 0. 0. 0. 1. ]] SLAMing on 115.818001145 meters Centerline goodness : 0.889478 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.79, Z:-1.60 [[ 0.74659462 -0.59816386 -0.29119833 4.27233612] [ 0.62103 0.78359415 -0.01737663 -3.78674805] [ 0.23857538 -0.1678696 0.95650488 -1.60224912] [ 0. 0. 0. 1. ]] SLAMing on 115.878001145 meters Centerline goodness : 0.892404 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.78, Z:-1.60 [[ 0.75004894 -0.59905372 -0.28028777 4.27096391] [ 0.62053115 0.78403516 -0.01516459 -3.77962831] [ 0.22883987 -0.16255311 0.95979623 -1.60346579] [ 0. 0. 0. 1. ]] SLAMing on 115.938001145 meters Centerline goodness : 0.889682 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.78, Z:-1.60 [[ 0.75137675 -0.5959049 -0.28342607 4.27080722] [ 0.61830928 0.78582676 -0.01303619 -3.77642941] [ 0.23049212 -0.16544988 0.95890548 -1.60262419] [ 0. 0. 0. 1. ]] SLAMing on 115.99800114499999 meters Centerline goodness : 0.891846 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.77, Z:-1.61 [[ 0.75279581 -0.59458622 -0.28242821 4.27113793] [ 0.61638326 0.78731157 -0.0145661 -3.77463554] [ 0.2310198 -0.16311872 0.95917784 -1.60509454] [ 0. 0. 0. 1. ]] SLAMing on 116.05800114499999 meters Centerline goodness : 0.888899 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.77, Z:-1.61 [[ 0.75358857 -0.59410583 -0.28132282 4.27028707] [ 0.61547598 0.78800448 -0.01543562 -3.77461487] [ 0.23085403 -0.16151533 0.95948904 -1.60602108] [ 0. 0. 0. 1. ]] SLAMing on 116.118001145 meters Centerline goodness : 0.890174 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.77, Z:-1.61 [[ 0.75439136 -0.59225418 -0.28307006 4.26941927] [ 0.61409854 0.789098 -0.01439909 -3.77218899] [ 0.23189794 -0.16297036 0.95899114 -1.60523868] [ 0. 0. 0. 1. ]] SLAMing on 116.178001145 meters Centerline goodness : 0.889475 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.77, Z:-1.61 [[ 0.75499515 -0.59200143 -0.28198693 4.26815653] [ 0.61354176 0.78952327 -0.01481576 -3.77337879] [ 0.23140619 -0.16182493 0.95930384 -1.60539281] [ 0. 0. 0. 1. ]] SLAMing on 116.238001145 meters Centerline goodness : 0.890080 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.78, Z:-1.60 [[ 0.75623275 -0.5925349 -0.27751472 4.26288883] [ 0.61284023 0.79002771 -0.01682483 -3.77786194] [ 0.22921362 -0.1573487 0.96057405 -1.60495432] [ 0. 0. 0. 1. ]] SLAMing on 116.298001145 meters Centerline goodness : 0.892084 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.78, Z:-1.60 [[ 0.75653929 -0.5913452 -0.27921167 4.26260727] [ 0.61217103 0.79057057 -0.01564644 -3.77844354] [ 0.22998897 -0.15908815 0.9601021 -1.60241591] [ 0. 0. 0. 1. ]] SLAMing on 116.35800114499999 meters Centerline goodness : 0.888306 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.78, Z:-1.60 [[ 0.75671594 -0.59062794 -0.28024922 4.2642647 ] [ 0.61179248 0.79087888 -0.01485122 -3.77936264] [ 0.23041474 -0.16021621 0.95981238 -1.60185681] [ 0. 0. 0. 1. ]] SLAMing on 116.41800114499999 meters Centerline goodness : 0.892136 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.78, Z:-1.60 [[ 0.75797964 -0.58976519 -0.27864654 4.26267547] [ 0.61062546 0.79178126 -0.01479781 -3.78301926] [ 0.22935434 -0.15893223 0.96027972 -1.60179262] [ 0. 0. 0. 1. ]] SLAMing on 116.478001145 meters Centerline goodness : 0.892207 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.78, Z:-1.60 [[ 0.75801158 -0.58977898 -0.27853043 4.26223698] [ 0.61062582 0.79178146 -0.01477262 -3.7839206 ] [ 0.22924781 -0.15888005 0.96031379 -1.60098539] [ 0. 0. 0. 1. ]] SLAMing on 116.538001145 meters Centerline goodness : 0.893034 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.78, Z:-1.60 [[ 0.75708049 -0.59052861 -0.27947289 4.26495 ] [ 0.61145025 0.79113529 -0.01528221 -3.78250688] [ 0.23012545 -0.15931391 0.96003196 -1.60118689] [ 0. 0. 0. 1. ]] SLAMing on 116.598001145 meters Centerline goodness : 0.888615 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.78, Z:-1.60 [[ 0.75538099 -0.59356262 -0.2776382 4.26532001] [ 0.61366303 0.78936367 -0.01796358 -3.78288284] [ 0.22982002 -0.15680696 0.96051775 -1.6007881 ] [ 0. 0. 0. 1. ]] SLAMing on 116.658001145 meters Centerline goodness : 0.893250 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.78, Z:-1.60 [[ 0.75441757 -0.59414037 -0.27901856 4.26769094] [ 0.61452929 0.78869192 -0.01785548 -3.78228044] [ 0.23066835 -0.15799459 0.96011969 -1.59989976] [ 0. 0. 0. 1. ]] SLAMing on 116.71800114499999 meters Centerline goodness : 0.890596 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.78, Z:-1.60 [[ 0.75261794 -0.59570746 -0.28053318 4.2694385 ] [ 0.61640647 0.78722346 -0.01795268 -3.78121773] [ 0.23153684 -0.15941096 0.95967642 -1.59795749] [ 0. 0. 0. 1. ]] SLAMing on 116.77800114499999 meters Centerline goodness : 0.889271 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.78, Z:-1.60 [[ 0.75033346 -0.59917138 -0.2792729 4.26831069] [ 0.61916314 0.78499098 -0.02064399 -3.77975055] [ 0.23159599 -0.15742561 0.95998983 -1.59645944] [ 0. 0. 0. 1. ]] SLAMing on 116.83800114499999 meters Centerline goodness : 0.887562 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.78, Z:-1.60 [[ 0.74902362 -0.60059967 -0.27972068 4.27043911] [ 0.62044234 0.78394755 -0.02185276 -3.77738323] [ 0.2324111 -0.15718232 0.95983269 -1.59681975] [ 0. 0. 0. 1. ]] SLAMing on 116.898001145 meters Centerline goodness : 0.884840 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.78, Z:-1.60 [[ 0.74797588 -0.60154471 -0.28049251 4.27183423] [ 0.62141772 0.78315754 -0.02245626 -3.77564099] [ 0.23317827 -0.15750627 0.95959349 -1.59636555] [ 0. 0. 0. 1. ]] SLAMing on 116.958001145 meters Centerline goodness : 0.887360 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.77, Z:-1.59 [[ 0.74727337 -0.60230866 -0.28072545 4.27028735] [ 0.62216003 0.78255633 -0.02285804 -3.77440648] [ 0.23345108 -0.15757495 0.95951588 -1.59478874] [ 0. 0. 0. 1. ]] SLAMing on 117.018001145 meters Centerline goodness : 0.883623 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.77, Z:-1.59 [[ 0.74764762 -0.60091525 -0.28270814 4.27002734] [ 0.62133838 0.78324319 -0.02164996 -3.77257205] [ 0.23443902 -0.15947088 0.95896162 -1.59361636] [ 0. 0. 0. 1. ]] SLAMing on 117.078001145 meters Centerline goodness : 0.879815 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.77, Z:-1.59 [[ 0.74886725 -0.60020735 -0.2809786 4.26739255] [ 0.620047 0.78423686 -0.02267732 -3.77189468] [ 0.23396486 -0.15723764 0.95944607 -1.59486059] [ 0. 0. 0. 1. ]] SLAMing on 117.13800114499999 meters Centerline goodness : 0.884093 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.77, Z:-1.60 [[ 0.74912247 -0.59994866 -0.28085072 4.26754036] [ 0.61959525 0.78457473 -0.02332849 -3.77103485] [ 0.23434428 -0.15653788 0.9594679 -1.59517622] [ 0. 0. 0. 1. ]] SLAMing on 117.19800114499999 meters Centerline goodness : 0.879654 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.77, Z:-1.60 [[ 0.75126951 -0.59768541 -0.27993977 4.26381164] [ 0.61709236 0.78654752 -0.02323824 -3.7706874 ] [ 0.23407509 -0.15529051 0.95973627 -1.59546204] [ 0. 0. 0. 1. ]] SLAMing on 117.258001145 meters Centerline goodness : 0.880724 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.77, Z:-1.59 [[ 0.75273376 -0.59558052 -0.28049194 4.26127513] [ 0.61517652 0.78806991 -0.02244254 -3.77010006] [ 0.2344136 -0.15565879 0.95959398 -1.5944571 ] [ 0. 0. 0. 1. ]] SLAMing on 117.318001145 meters Centerline goodness : 0.875459 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.77, Z:-1.60 [[ 0.75402741 -0.59416087 -0.28002771 4.26101225] [ 0.6133993 0.78942883 -0.02331138 -3.76827641] [ 0.23491265 -0.15419138 0.95970884 -1.59608904] [ 0. 0. 0. 1. ]] SLAMing on 117.378001145 meters Centerline goodness : 0.881181 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.77, Z:-1.60 [[ 0.75372551 -0.59458359 -0.27994322 4.26169409] [ 0.61353272 0.78928867 -0.02451505 -3.76628581] [ 0.23553226 -0.1532767 0.9597035 -1.59661842] [ 0. 0. 0. 1. ]] SLAMing on 117.438001145 meters Centerline goodness : 0.874976 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.76, Z:-1.59 [[ 0.75278114 -0.59481456 -0.28198615 4.26134496] [ 0.61408902 0.78885226 -0.02463303 -3.7618957 ] [ 0.2370975 -0.15462132 0.9591022 -1.59498009] [ 0. 0. 0. 1. ]] SLAMing on 117.49800114499999 meters Centerline goodness : 0.867281 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.76, Z:-1.60 [[ 0.75330687 -0.59488292 -0.28043373 4.26039237] [ 0.61365613 0.7891576 -0.02562101 -3.76221616] [ 0.23654791 -0.15278939 0.95953139 -1.59615711] [ 0. 0. 0. 1. ]] SLAMing on 117.55800114499999 meters Centerline goodness : 0.867657 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.76, Z:-1.60 [[ 0.75366065 -0.59420079 -0.2809289 4.2594422 ] [ 0.61298504 0.78967384 -0.02577917 -3.76114011] [ 0.23716021 -0.15277647 0.9593823 -1.59525358] [ 0. 0. 0. 1. ]] SLAMing on 117.618001145 meters Centerline goodness : 0.863719 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.76, Z:-1.59 [[ 0.75450206 -0.59117148 -0.28503145 4.26055417] [ 0.61134581 0.7910467 -0.02239253 -3.76051252] [ 0.23871101 -0.15735757 0.95825657 -1.5927095 ] [ 0. 0. 0. 1. ]] SLAMing on 117.678001145 meters Centerline goodness : 0.862255 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.76, Z:-1.59 [[ 0.75355181 -0.59147425 -0.28691093 4.26354767] [ 0.6120731 0.79049358 -0.02205494 -3.75915949] [ 0.23984618 -0.15899092 0.95770335 -1.59209 ] [ 0. 0. 0. 1. ]] SLAMing on 117.738001145 meters Centerline goodness : 0.860601 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.76, Z:-1.59 [[ 0.75173049 -0.5944624 -0.28550958 4.26564888] [ 0.61427366 0.78870269 -0.02481826 -3.75900774] [ 0.2399357 -0.15672437 0.95805445 -1.59248273] [ 0. 0. 0. 1. ]] SLAMing on 117.798001145 meters Centerline goodness : 0.858124 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.76, Z:-1.59 [[ 0.75205679 -0.59343172 -0.28679154 4.2649054 ] [ 0.61356641 0.78927201 -0.02420664 -3.75834046] [ 0.24072152 -0.15776088 0.95768714 -1.5907994 ] [ 0. 0. 0. 1. ]] SLAMing on 117.85800114499999 meters Centerline goodness : 0.858039 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.76, Z:-1.59 [[ 0.75290006 -0.59350498 -0.28441755 4.2644693 ] [ 0.61276866 0.7898321 -0.02607341 -3.75979945] [ 0.24011681 -0.15465149 0.95834589 -1.59218577] [ 0. 0. 0. 1. ]] SLAMing on 117.91800114499999 meters Centerline goodness : 0.858483 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.76, Z:-1.59 [[ 0.75352791 -0.59414492 -0.28140275 4.26371444] [ 0.61247778 0.78999512 -0.02790481 -3.76303014] [ 0.2388863 -0.15132588 0.95918393 -1.59319715] [ 0. 0. 0. 1. ]] SLAMing on 117.978001145 meters Centerline goodness : 0.859543 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.76, Z:-1.59 [[ 0.75412216 -0.59236176 -0.28356183 4.26320921] [ 0.61148854 0.79083191 -0.02581985 -3.76449488] [ 0.23954444 -0.15392349 0.95860629 -1.59018977] [ 0. 0. 0. 1. ]] SLAMing on 118.038001145 meters Centerline goodness : 0.859446 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.77, Z:-1.59 [[ 0.75498432 -0.59273089 -0.28047953 4.26363461] [ 0.6109299 0.79120495 -0.02755682 -3.76827913] [ 0.23825057 -0.15054837 0.95946436 -1.59197537] [ 0. 0. 0. 1. ]] SLAMing on 118.098001145 meters Centerline goodness : 0.861515 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.77, Z:-1.59 [[ 0.75363791 -0.59580543 -0.27757123 4.26320065] [ 0.61314335 0.78941257 -0.02971568 -3.77263745] [ 0.23682298 -0.14779609 0.96024538 -1.59101646] [ 0. 0. 0. 1. ]] SLAMing on 118.158001145 meters Centerline goodness : 0.864740 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.78, Z:-1.59 [[ 0.75135105 -0.59898191 -0.27693369 4.26443538] [ 0.61599391 0.78713145 -0.03123429 -3.77506734] [ 0.236692 -0.14712155 0.96038125 -1.58854103] [ 0. 0. 0. 1. ]] SLAMing on 118.21800114499999 meters Centerline goodness : 0.862034 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.78, Z:-1.59 [[ 0.75115647 -0.60049392 -0.27417331 4.26543869] [ 0.61661261 0.78655885 -0.03337763 -3.77853145] [ 0.23569651 -0.1439869 0.96110089 -1.58943599] [ 0. 0. 0. 1. ]] SLAMing on 118.27800114499999 meters Centerline goodness : 0.863457 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.78, Z:-1.59 [[ 0.75310413 -0.59841728 -0.27336959 4.2646243 ] [ 0.61465646 0.78814669 -0.0319724 -3.78376531] [ 0.23458817 -0.14394984 0.96137757 -1.58896618] [ 0. 0. 0. 1. ]] SLAMing on 118.33800114499999 meters Centerline goodness : 0.866561 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.79, Z:-1.59 [[ 0.75470228 -0.5963752 -0.27342473 4.26379943] [ 0.61280648 0.78963133 -0.0308315 -3.78633279] [ 0.23429188 -0.14428784 0.96139915 -1.5883507 ] [ 0. 0. 0. 1. ]] SLAMing on 118.398001145 meters Centerline goodness : 0.868154 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.79, Z:-1.59 [[ 0.75685141 -0.59448433 -0.27159587 4.26394169] [ 0.61056637 0.79136839 -0.03073718 -3.79041369] [ 0.23320516 -0.14256383 0.96192043 -1.59007239] [ 0. 0. 0. 1. ]] SLAMing on 118.458001145 meters Centerline goodness : 0.868624 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.79, Z:-1.59 [[ 0.75732378 -0.59365469 -0.27209337 4.26539786] [ 0.60990669 0.79189763 -0.03019887 -3.79196574] [ 0.23339779 -0.14308125 0.96179687 -1.58984355] [ 0. 0. 0. 1. ]] SLAMing on 118.518001145 meters Centerline goodness : 0.870505 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.80, Z:-1.59 [[ 0.75653194 -0.59496041 -0.27144342 4.26739872] [ 0.61103828 0.79100372 -0.03074644 -3.79510493] [ 0.23300567 -0.14260166 0.96196316 -1.58925237] [ 0. 0. 0. 1. ]] SLAMing on 118.578001145 meters Centerline goodness : 0.867743 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.80, Z:-1.59 [[ 0.7549273 -0.5978247 -0.26961157 4.27049855] [ 0.61332114 0.78916374 -0.03252343 -3.79918259] [ 0.23221099 -0.14080565 0.96241978 -1.58936445] [ 0. 0. 0. 1. ]] SLAMing on 118.63800114499999 meters Centerline goodness : 0.866923 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-3.80, Z:-1.59 [[ 0.75319262 -0.59895239 -0.27195019 4.27508438] [ 0.61505268 0.7878472 -0.03173309 -3.79907096] [ 0.23326181 -0.14336256 0.96178797 -1.58818414] [ 0. 0. 0. 1. ]] SLAMing on 118.69800114499999 meters Centerline goodness : 0.871409 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-3.80, Z:-1.59 [[ 0.75050655 -0.60335468 -0.26963504 4.27724952] [ 0.6187164 0.78487222 -0.03414103 -3.80342655] [ 0.2322282 -0.14120455 0.96235718 -1.58709373] [ 0. 0. 0. 1. ]] SLAMing on 118.758001145 meters Centerline goodness : 0.873126 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-3.81, Z:-1.59 [[ 0.74842914 -0.60621258 -0.26899838 4.28068225] [ 0.62128957 0.78277827 -0.03546052 -3.80548488] [ 0.2320627 -0.1405862 0.96248762 -1.58678339] [ 0. 0. 0. 1. ]] SLAMing on 118.818001145 meters Centerline goodness : 0.872760 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-3.81, Z:-1.58 [[ 0.74540567 -0.60993984 -0.26896798 4.283689 ] [ 0.6250468 0.77975539 -0.03602825 -3.80998177] [ 0.23170429 -0.14126191 0.96247503 -1.58354966] [ 0. 0. 0. 1. ]] SLAMing on 118.878001145 meters Centerline goodness : 0.874172 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-3.81, Z:-1.58 [[ 0.74406217 -0.61090482 -0.2704936 4.28815247] [ 0.62645795 0.7786536 -0.03534124 -3.81070614] [ 0.23221095 -0.14315679 0.96207287 -1.58321676] [ 0. 0. 0. 1. ]] SLAMing on 118.938001145 meters Centerline goodness : 0.876410 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-3.81, Z:-1.59 [[ 0.74405166 -0.61170778 -0.26870191 4.29141921] [ 0.62666641 0.7784176 -0.03681375 -3.81258216] [ 0.23168155 -0.14099513 0.96251963 -1.58591075] [ 0. 0. 0. 1. ]] SLAMing on 118.99800114499999 meters Centerline goodness : 0.879194 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.81, Z:-1.59 [[ 0.7439579 -0.61007336 -0.27264838 4.29543874] [ 0.62620631 0.77890772 -0.03418219 -3.81073039] [ 0.23322157 -0.14530402 0.96150634 -1.58525032] [ 0. 0. 0. 1. ]] SLAMing on 119.05800114499999 meters Centerline goodness : 0.879533 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.81, Z:-1.59 [[ 0.74437624 -0.60785208 -0.27644145 4.29991935] [ 0.62516699 0.77985923 -0.0313976 -3.80901766] [ 0.23467051 -0.14945044 0.96051773 -1.58547409] [ 0. 0. 0. 1. ]] SLAMing on 119.118001145 meters Centerline goodness : 0.881853 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.81, Z:-1.59 [[ 0.74452129 -0.60734586 -0.27716251 4.30213327] [ 0.62484924 0.78012936 -0.03100988 -3.80859632] [ 0.23505633 -0.15009726 0.96032251 -1.58633867] [ 0. 0. 0. 1. ]] SLAMing on 119.178001145 meters Centerline goodness : 0.881026 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.81, Z:-1.59 [[ 0.74421043 -0.60719775 -0.27831948 4.30513379] [ 0.62508296 0.77997389 -0.03019959 -3.80925227] [ 0.23541905 -0.15149792 0.96001367 -1.58642496] [ 0. 0. 0. 1. ]] SLAMing on 119.238001145 meters Centerline goodness : 0.880298 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.81, Z:-1.59 [[ 0.74384011 -0.60708744 -0.27954738 4.30801127] [ 0.62529735 0.77982174 -0.02968633 -3.80880771] [ 0.23601932 -0.15271835 0.95967285 -1.58670007] [ 0. 0. 0. 1. ]] SLAMing on 119.298001145 meters Centerline goodness : 0.881216 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.81, Z:-1.59 [[ 0.74363227 -0.6068413 -0.28063263 4.31051248] [ 0.6252708 0.77985072 -0.02948368 -3.80754467] [ 0.23674348 -0.15354637 0.95936231 -1.58727683] [ 0. 0. 0. 1. ]] SLAMing on 119.35800114499999 meters Centerline goodness : 0.879993 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.81, Z:-1.59 [[ 0.74455919 -0.60583286 -0.28035364 4.3121545 ] [ 0.62426995 0.78066785 -0.0290644 -3.80901221] [ 0.23647124 -0.15337618 0.95945667 -1.58877538] [ 0. 0. 0. 1. ]] SLAMing on 119.41800114499999 meters Centerline goodness : 0.881504 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.81, Z:-1.59 [[ 0.74476868 -0.60475015 -0.28212918 4.31351834] [ 0.62381176 0.78108943 -0.02753522 -3.80954575] [ 0.23702005 -0.15548813 0.9589812 -1.58768143] [ 0. 0. 0. 1. ]] SLAMing on 119.478001145 meters Centerline goodness : 0.881080 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.81, Z:-1.59 [[ 0.744368 -0.60496638 -0.2827224 4.31502257] [ 0.6242525 0.78075319 -0.02707899 -3.8098641 ] [ 0.2371183 -0.15633343 0.95881947 -1.58757384] [ 0. 0. 0. 1. ]] SLAMing on 119.538001145 meters Centerline goodness : 0.886015 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.81, Z:-1.59 [[ 0.7431788 -0.60764813 -0.28008753 4.31492185] [ 0.62609951 0.77919688 -0.02918247 -3.81171024] [ 0.23597601 -0.15367488 0.9595308 -1.58824871] [ 0. 0. 0. 1. ]] SLAMing on 119.598001145 meters Centerline goodness : 0.885016 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.81, Z:-1.59 [[ 0.74136869 -0.60823288 -0.28359343 4.31804374] [ 0.62759738 0.77803388 -0.02801456 -3.80787806] [ 0.23768468 -0.15721337 0.95853531 -1.58666856] [ 0. 0. 0. 1. ]] SLAMing on 119.658001145 meters Centerline goodness : 0.887539 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.80, Z:-1.59 [[ 0.73902972 -0.61049423 -0.28483656 4.32161317] [ 0.62989514 0.77613169 -0.02918405 -3.80386749] [ 0.23888738 -0.15784928 0.95813174 -1.58718661] [ 0. 0. 0. 1. ]] SLAMing on 119.71800114499999 meters Centerline goodness : 0.887727 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.80, Z:-1.59 [[ 0.73726683 -0.61163191 -0.2869565 4.32377447] [ 0.63144515 0.774869 -0.02924152 -3.79977775] [ 0.24023874 -0.15963849 0.95749721 -1.58645165] [ 0. 0. 0. 1. ]] SLAMing on 119.77800114499999 meters Centerline goodness : 0.886595 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.80, Z:-1.58 [[ 0.73435995 -0.6142215 -0.28887265 4.32636595] [ 0.6343309 0.77248181 -0.02993611 -3.79608134] [ 0.24153627 -0.16125696 0.95689938 -1.58499509] [ 0. 0. 0. 1. ]] SLAMing on 119.83800114499999 meters Centerline goodness : 0.883774 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.79, Z:-1.58 [[ 0.73199574 -0.61523131 -0.29269895 4.33000594] [ 0.63626721 0.77091595 -0.02919978 -3.79101254] [ 0.24361091 -0.16486063 0.9557587 -1.58342475] [ 0. 0. 0. 1. ]] SLAMing on 119.898001145 meters Centerline goodness : 0.886224 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.79, Z:-1.58 [[ 0.72940886 -0.61776422 -0.29381981 4.33372107] [ 0.63874516 0.7688039 -0.03074387 -3.78605987] [ 0.24488228 -0.16525113 0.95536628 -1.5842896 ] [ 0. 0. 0. 1. ]] SLAMing on 119.958001145 meters Centerline goodness : 0.884779 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.78, Z:-1.58 [[ 0.72859429 -0.61679009 -0.29785961 4.336765 ] [ 0.63901711 0.76866072 -0.0285977 -3.78236745] [ 0.24659176 -0.16950126 0.95418123 -1.58312463] [ 0. 0. 0. 1. ]] SLAMing on 120.018001145 meters Centerline goodness : 0.881972 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.78, Z:-1.59 [[ 0.72938657 -0.61557641 -0.29843075 4.33743601] [ 0.63786493 0.76962016 -0.0285155 -3.77945585] [ 0.24723179 -0.16955969 0.95400522 -1.58504544] [ 0. 0. 0. 1. ]] SLAMing on 120.078001145 meters Centerline goodness : 0.885686 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.78, Z:-1.59 [[ 0.73057266 -0.6150395 -0.29663109 4.33583622] [ 0.63663528 0.77058968 -0.02978367 -3.77858862] [ 0.24689899 -0.16708668 0.9545276 -1.58730967] [ 0. 0. 0. 1. ]] SLAMing on 120.13800114499999 meters Centerline goodness : 0.889917 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.77, Z:-1.59 [[ 0.73406804 -0.61566852 -0.28652467 4.33184961] [ 0.636749 0.77067686 -0.02465542 -3.77073348] [ 0.23599749 -0.16434554 0.95775557 -1.58913861] [ 0. 0. 0. 1. ]] SLAMing on 120.19800114499999 meters Centerline goodness : 0.889530 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.77, Z:-1.59 [[ 0.73562839 -0.61215652 -0.29002632 4.33393314] [ 0.63426078 0.77279513 -0.02238191 -3.76573252] [ 0.23783217 -0.16748755 0.95675691 -1.59072483] [ 0. 0. 0. 1. ]] SLAMing on 120.258001145 meters Centerline goodness : 0.892206 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.76, Z:-1.59 [[ 0.73644573 -0.61136182 -0.28962805 4.33460632] [ 0.63307737 0.77373206 -0.02348915 -3.76145463] [ 0.23845488 -0.16605848 0.95685101 -1.59419175] [ 0. 0. 0. 1. ]] SLAMing on 120.318001145 meters Centerline goodness : 0.895744 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.76, Z:-1.59 [[ 0.73702368 -0.60934583 -0.29239317 4.33225191] [ 0.63186072 0.77477207 -0.02191509 -3.75638466] [ 0.23989193 -0.16859982 0.95604705 -1.59307139] [ 0. 0. 0. 1. ]] SLAMing on 120.378001145 meters Centerline goodness : 0.899584 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.75, Z:-1.60 [[ 0.738491 -0.61299055 -0.2808445 4.33126794] [ 0.63425221 0.77288851 -0.01917003 -3.74881767] [ 0.22881254 -0.16396935 0.95956181 -1.59565275] [ 0. 0. 0. 1. ]] SLAMing on 120.438001145 meters Centerline goodness : 0.898047 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.74, Z:-1.60 [[ 0.74070498 -0.60875918 -0.2841978 4.33396847] [ 0.63088881 0.7756816 -0.01724433 -3.7434981 ] [ 0.23094465 -0.16652425 0.95861058 -1.59836848] [ 0. 0. 0. 1. ]] SLAMing on 120.49800114499999 meters Centerline goodness : 0.901147 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.74, Z:-1.60 [[ 0.74218784 -0.60593483 -0.28635676 4.33341726] [ 0.62868884 0.77749762 -0.01574147 -3.74067744] [ 0.23218001 -0.16834617 0.95799374 -1.59837607] [ 0. 0. 0. 1. ]] SLAMing on 120.55800114499999 meters Centerline goodness : 0.903086 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.73, Z:-1.60 [[ 0.74492009 -0.59983684 -0.2920442 4.33409709] [ 0.62426791 0.78111769 -0.01203058 -3.73404548] [ 0.23533728 -0.173352 0.95632915 -1.59834376] [ 0. 0. 0. 1. ]] SLAMing on 120.618001145 meters Centerline goodness : 0.904499 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.73, Z:-1.60 [[ 0.74695431 -0.60209503 -0.28202985 4.33521004] [ 0.62507599 0.78049016 -0.01072952 -3.725689 ] [ 0.22658171 -0.16827563 0.95934563 -1.59909837] [ 0. 0. 0. 1. ]] SLAMing on 120.678001145 meters Centerline goodness : 0.907135 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.72, Z:-1.60 [[ 0.74778943 -0.5997388 -0.28482334 4.33673679] [ 0.62324515 0.78195953 -0.01023557 -3.71958892] [ 0.228859 -0.16986072 0.95852538 -1.60038353] [ 0. 0. 0. 1. ]] SLAMing on 120.738001145 meters Centerline goodness : 0.901016 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.72, Z:-1.60 [[ 0.74684136 -0.60075923 -0.28516018 4.33695467] [ 0.62406669 0.7812861 -0.01152342 -3.71662825] [ 0.22971449 -0.16935281 0.9584106 -1.60016354] [ 0. 0. 0. 1. ]] SLAMing on 120.798001145 meters Centerline goodness : 0.902262 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.71, Z:-1.60 [[ 0.74521778 -0.6024932 -0.28574886 4.3401215 ] [ 0.62565988 0.77998934 -0.01289735 -3.71397346] [ 0.23065163 -0.16917027 0.95821774 -1.60099632] [ 0. 0. 0. 1. ]] SLAMing on 120.85800114499999 meters Centerline goodness : 0.900723 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.71, Z:-1.60 [[ 0.7442502 -0.60133789 -0.29066197 4.34307242] [ 0.62590735 0.77982421 -0.01068657 -3.71029507] [ 0.23309148 -0.17397398 0.95676612 -1.59851438] [ 0. 0. 0. 1. ]] SLAMing on 120.91800114499999 meters Centerline goodness : 0.903268 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.70, Z:-1.60 [[ 0.74477326 -0.60455688 -0.282531 4.34729114] [ 0.62831988 0.77791117 -0.00826704 -3.70207399] [ 0.22478192 -0.17136278 0.95922254 -1.59783033] [ 0. 0. 0. 1. ]] SLAMing on 120.978001145 meters Centerline goodness : 0.903194 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.70, Z:-1.60 [[ 0.74457024 -0.6048535 -0.28243123 4.34655398] [ 0.62841414 0.77782564 -0.00910695 -3.70103791] [ 0.22519063 -0.17070301 0.95924432 -1.59726047] [ 0. 0. 0. 1. ]] SLAMing on 121.038001145 meters Centerline goodness : 0.902936 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.70, Z:-1.60 [[ 0.74410406 -0.60491856 -0.28351839 4.34865953] [ 0.62863663 0.77764342 -0.00931109 -3.69956058] [ 0.22610866 -0.17130162 0.95892159 -1.59742422] [ 0. 0. 0. 1. ]] SLAMing on 121.098001145 meters Centerline goodness : 0.902497 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.70, Z:-1.60 [[ 0.74376128 -0.60417652 -0.28598933 4.34991446] [ 0.62857918 0.77770195 -0.00823946 -3.69814192] [ 0.22739255 -0.17363874 0.95819738 -1.59563316] [ 0. 0. 0. 1. ]] SLAMing on 121.158001145 meters Centerline goodness : 0.905214 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.70, Z:-1.60 [[ 0.74405469 -0.60405899 -0.28547391 4.35018409] [ 0.62817374 0.77802083 -0.00901958 -3.69779154] [ 0.22755301 -0.17261615 0.95834404 -1.59627124] [ 0. 0. 0. 1. ]] SLAMing on 121.21800114499999 meters Centerline goodness : 0.901561 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.70, Z:-1.60 [[ 0.74401198 -0.60413732 -0.28541948 4.35109702] [ 0.62802176 0.77813204 -0.00996041 -3.69672243] [ 0.22811149 -0.17183898 0.95835093 -1.59662971] [ 0. 0. 0. 1. ]] SLAMing on 121.27800114499999 meters Centerline goodness : 0.905199 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.70, Z:-1.59 [[ 0.74281885 -0.60481849 -0.2870797 4.35208675] [ 0.62902486 0.77732018 -0.01005329 -3.69541201] [ 0.22923326 -0.1731125 0.95785394 -1.59438036] [ 0. 0. 0. 1. ]] SLAMing on 121.33800114499999 meters Centerline goodness : 0.907575 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.70, Z:-1.59 [[ 0.7402599 -0.60814556 -0.28666053 4.35335242] [ 0.6319828 0.77489085 -0.01191274 -3.69598019] [ 0.2293753 -0.172346 0.95795816 -1.59234397] [ 0. 0. 0. 1. ]] SLAMing on 121.398001145 meters Centerline goodness : 0.906819 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.70, Z:-1.59 [[ 0.73856663 -0.6110672 -0.28480909 4.35324715] [ 0.63406392 0.77314372 -0.01455122 -3.69649022] [ 0.22909014 -0.16984012 0.95847381 -1.59145783] [ 0. 0. 0. 1. ]] SLAMing on 121.458001145 meters Centerline goodness : 0.907865 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.70, Z:-1.59 [[ 0.73814582 -0.61279816 -0.28216867 4.35310041] [ 0.63469124 0.772568 -0.01748443 -3.69665644] [ 0.22870891 -0.16618392 0.95920547 -1.59263762] [ 0. 0. 0. 1. ]] SLAMing on 121.518001145 meters Centerline goodness : 0.908583 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.69, Z:-1.59 [[ 0.73872119 -0.61088694 -0.28479493 4.35189713] [ 0.63362692 0.77348192 -0.01557741 -3.69471158] [ 0.22979977 -0.16894637 0.95846189 -1.59067396] [ 0. 0. 0. 1. ]] SLAMing on 121.578001145 meters Centerline goodness : 0.908571 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.69, Z:-1.59 [[ 0.73907977 -0.61035913 -0.28499619 4.35054022] [ 0.63304804 0.7739504 -0.01584125 -3.69351 ] [ 0.23024177 -0.16870833 0.95839774 -1.59003252] [ 0. 0. 0. 1. ]] SLAMing on 121.63800114499999 meters Centerline goodness : 0.906785 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.69, Z:-1.59 [[ 0.73857999 -0.61126942 -0.28434011 4.35183447] [ 0.63356215 0.77350132 -0.01716738 -3.6931865 ] [ 0.23043134 -0.16746765 0.95856976 -1.59065104] [ 0. 0. 0. 1. ]] SLAMing on 121.69800114499999 meters Centerline goodness : 0.908613 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.69, Z:-1.59 [[ 0.73750495 -0.61193583 -0.28569388 4.35263875] [ 0.63446953 0.77275357 -0.01733034 -3.6918435 ] [ 0.23137602 -0.16848285 0.95816422 -1.58888411] [ 0. 0. 0. 1. ]] SLAMing on 121.758001145 meters Centerline goodness : 0.912021 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.69, Z:-1.59 [[ 0.73643922 -0.61243587 -0.28736663 4.35334856] [ 0.6353565 0.77202937 -0.01711069 -3.69029947] [ 0.23233468 -0.16997928 0.95766781 -1.58708842] [ 0. 0. 0. 1. ]] SLAMing on 121.818001145 meters Centerline goodness : 0.915163 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.69, Z:-1.59 [[ 0.73627882 -0.61392477 -0.2845872 4.35275067] [ 0.63584198 0.77157447 -0.01943761 -3.69201276] [ 0.23151345 -0.16664099 0.95845308 -1.5878533 ] [ 0. 0. 0. 1. ]] SLAMing on 121.878001145 meters Centerline goodness : 0.920196 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.69, Z:-1.59 [[ 0.73607192 -0.61264954 -0.28785181 4.35375687] [ 0.635628 0.77180191 -0.01728722 -3.69144182] [ 0.23275559 -0.17024203 0.95751892 -1.58513736] [ 0. 0. 0. 1. ]] SLAMing on 121.938001145 meters Centerline goodness : 0.922777 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.69, Z:-1.58 [[ 0.73423706 -0.61555816 -0.28632866 4.35271855] [ 0.63774645 0.7699877 -0.01996004 -3.69090151] [ 0.23275611 -0.16794969 0.95792353 -1.58374233] [ 0. 0. 0. 1. ]] SLAMing on 121.99800114499999 meters Centerline goodness : 0.923537 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.69, Z:-1.58 [[ 0.73162742 -0.61871953 -0.2861948 4.35606886] [ 0.64056558 0.76759106 -0.021902 -3.6892276 ] [ 0.23323177 -0.16730244 0.9579211 -1.58404483] [ 0. 0. 0. 1. ]] SLAMing on 122.05800114499999 meters Centerline goodness : 0.924972 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.68, Z:-1.58 [[ 0.7291666 -0.62038487 -0.28885755 4.35908089] [ 0.64275079 0.76575578 -0.02212473 -3.6846877 ] [ 0.23492019 -0.1695308 0.9571164 -1.58299407] [ 0. 0. 0. 1. ]] SLAMing on 122.118001145 meters Centerline goodness : 0.921234 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.68, Z:-1.58 [[ 0.72910465 -0.62077339 -0.28817842 4.35927854] [ 0.64275297 0.76572015 -0.02326518 -3.68356854] [ 0.23510643 -0.16826479 0.95729407 -1.58375722] [ 0. 0. 0. 1. ]] SLAMing on 122.178001145 meters Centerline goodness : 0.925836 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.68, Z:-1.58 [[ 0.72886585 -0.6212803 -0.28768969 4.35826691] [ 0.64298394 0.76549957 -0.02412585 -3.68276528] [ 0.23521525 -0.16739534 0.95741975 -1.58338877] [ 0. 0. 0. 1. ]] SLAMing on 122.238001145 meters Centerline goodness : 0.926645 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.68, Z:-1.58 [[ 0.72751962 -0.62148759 -0.29063444 4.36076079] [ 0.64397408 0.76469524 -0.02320723 -3.67971053] [ 0.23666978 -0.17027733 0.95655269 -1.58203664] [ 0. 0. 0. 1. ]] SLAMing on 122.298001145 meters Centerline goodness : 0.928403 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.68, Z:-1.58 [[ 0.72508349 -0.62582635 -0.28739399 4.36044739] [ 0.64712938 0.76192056 -0.02646934 -3.68171989] [ 0.2355366 -0.16678862 0.95744664 -1.5813329 ] [ 0. 0. 0. 1. ]] SLAMing on 122.35800114499999 meters Centerline goodness : 0.926605 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.68, Z:-1.58 [[ 0.7237444 -0.62687211 -0.28848813 4.3605722 ] [ 0.64855112 0.76072774 -0.02597601 -3.68266608] [ 0.23574456 -0.1682993 0.95713105 -1.57855374] [ 0. 0. 0. 1. ]] SLAMing on 122.41800114499999 meters Centerline goodness : 0.933906 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.68, Z:-1.57 [[ 0.72348625 -0.62590374 -0.29122526 4.36010366] [ 0.64862762 0.76073954 -0.02361252 -3.6836203 ] [ 0.23632574 -0.17181342 0.95636306 -1.57484746] [ 0. 0. 0. 1. ]] SLAMing on 122.478001145 meters Centerline goodness : 0.930194 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.68, Z:-1.58 [[ 0.72600099 -0.62436722 -0.28825014 4.35921171] [ 0.6461029 0.76283916 -0.02504916 -3.68493046] [ 0.23552837 -0.16805353 0.95722745 -1.57822002] [ 0. 0. 0. 1. ]] SLAMing on 122.538001145 meters Centerline goodness : 0.929407 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.68, Z:-1.58 [[ 0.72730235 -0.62286557 -0.28821829 4.35970474] [ 0.64444259 0.76423205 -0.02536001 -3.6834424 ] [ 0.23606153 -0.16729574 0.95722886 -1.579825 ] [ 0. 0. 0. 1. ]] SLAMing on 122.598001145 meters Centerline goodness : 0.927988 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.68, Z:-1.58 [[ 0.72966531 -0.61914971 -0.29024501 4.35762622] [ 0.64153816 0.76675137 -0.02282814 -3.6828633 ] [ 0.2366798 -0.16954635 0.95668004 -1.57889121] [ 0. 0. 0. 1. ]] SLAMing on 122.658001145 meters Centerline goodness : 0.930260 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.69, Z:-1.58 [[ 0.73002833 -0.62028637 -0.28688578 4.35633321] [ 0.64156301 0.76666079 -0.02506248 -3.68560459] [ 0.23548999 -0.16575899 0.95763689 -1.57974365] [ 0. 0. 0. 1. ]] SLAMing on 122.71800114499999 meters Centerline goodness : 0.924897 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.69, Z:-1.58 [[ 0.73039186 -0.62033957 -0.28584357 4.35750387] [ 0.64119926 0.76693375 -0.02600246 -3.68695834] [ 0.23535343 -0.1642907 0.95792345 -1.58062494] [ 0. 0. 0. 1. ]] SLAMing on 122.77800114499999 meters Centerline goodness : 0.924663 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.69, Z:-1.58 [[ 0.7314388 -0.61876549 -0.2865773 4.35742985] [ 0.63984637 0.76808559 -0.02532091 -3.68694689] [ 0.2357836 -0.16484475 0.95772246 -1.58037509] [ 0. 0. 0. 1. ]] SLAMing on 122.83800114499999 meters Centerline goodness : 0.925949 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.69, Z:-1.58 [[ 0.73230592 -0.61734353 -0.28742825 4.35805063] [ 0.63863849 0.76910755 -0.02478815 -3.68666714] [ 0.23636604 -0.16541024 0.95748136 -1.58029551] [ 0. 0. 0. 1. ]] SLAMing on 122.898001145 meters Centerline goodness : 0.924122 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.69, Z:-1.58 [[ 0.73498771 -0.61471933 -0.28620486 4.35603115] [ 0.63592006 0.77138969 -0.02374076 -3.69022448] [ 0.23536938 -0.16455424 0.95787429 -1.58088277] [ 0. 0. 0. 1. ]] SLAMing on 122.958001145 meters Centerline goodness : 0.926849 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.69, Z:-1.58 [[ 0.73588471 -0.61465145 -0.28403748 4.354916 ] [ 0.63535977 0.77183848 -0.02415209 -3.69468909] [ 0.23407617 -0.16269283 0.95850894 -1.58065646] [ 0. 0. 0. 1. ]] SLAMing on 123.018001145 meters Centerline goodness : 0.929463 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.70, Z:-1.58 [[ 0.73472712 -0.61506969 -0.2861212 4.35735319] [ 0.63643892 0.77098223 -0.02306318 -3.69555772] [ 0.23477982 -0.16515353 0.95791584 -1.57836212] [ 0. 0. 0. 1. ]] SLAMing on 123.078001145 meters Centerline goodness : 0.928895 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.70, Z:-1.58 [[ 0.73337189 -0.61762896 -0.2840777 4.35731111] [ 0.63822701 0.76943467 -0.02523036 -3.69766102] [ 0.23416223 -0.16280283 0.95846924 -1.57744909] [ 0. 0. 0. 1. ]] SLAMing on 123.13800114499999 meters Centerline goodness : 0.926698 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.70, Z:-1.58 [[ 0.73206627 -0.61970716 -0.28291699 4.35897298] [ 0.6398992 0.7680029 -0.02646811 -3.70083023] [ 0.23368354 -0.16166194 0.95877913 -1.57637685] [ 0. 0. 0. 1. ]] SLAMing on 123.19800114499999 meters Centerline goodness : 0.929319 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.70, Z:-1.58 [[ 0.73210924 -0.61892455 -0.28451444 4.36151865] [ 0.6396066 0.76828044 -0.025467 -3.70148977] [ 0.23434903 -0.16333269 0.95833343 -1.57572015] [ 0. 0. 0. 1. ]] SLAMing on 123.258001145 meters Centerline goodness : 0.928643 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.71, Z:-1.58 [[ 0.73503213 -0.61522618 -0.28499913 4.36125419] [ 0.63636364 0.77103982 -0.02321467 -3.70578494] [ 0.23402795 -0.16429956 0.95824661 -1.57541565] [ 0. 0. 0. 1. ]] SLAMing on 123.318001145 meters Centerline goodness : 0.929013 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.71, Z:-1.58 [[ 0.73734407 -0.61243566 -0.28503734 4.3616987 ] [ 0.63370566 0.77325732 -0.02214181 -3.70810786] [ 0.23396764 -0.16430365 0.95826064 -1.57619202] [ 0. 0. 0. 1. ]] SLAMing on 123.378001145 meters Centerline goodness : 0.930490 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.71, Z:-1.58 [[ 0.73937006 -0.61032077 -0.28432458 4.36080225] [ 0.63151881 0.77506264 -0.02149207 -3.71084948] [ 0.23348642 -0.16366573 0.95848715 -1.57671999] [ 0. 0. 0. 1. ]] SLAMing on 123.438001145 meters Centerline goodness : 0.932124 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.71, Z:-1.58 [[ 0.7395114 -0.61142541 -0.28157033 4.36265197] [ 0.63162797 0.77490624 -0.02379967 -3.71308679] [ 0.23274233 -0.16024757 0.95924539 -1.57908561] [ 0. 0. 0. 1. ]] SLAMing on 123.49800114499999 meters Centerline goodness : 0.929999 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.71, Z:-1.58 [[ 0.73932524 -0.61110164 -0.28275956 4.36597873] [ 0.63165439 0.77490425 -0.02315474 -3.71430426] [ 0.23326149 -0.16148743 0.9589113 -1.57886029] [ 0. 0. 0. 1. ]] SLAMing on 123.55800114499999 meters Centerline goodness : 0.925534 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.72, Z:-1.58 [[ 0.73923409 -0.6101963 -0.28494463 4.36900363] [ 0.63151406 0.77506816 -0.02143222 -3.71551819] [ 0.23392937 -0.16410311 0.95830434 -1.57762955] [ 0. 0. 0. 1. ]] SLAMing on 123.618001145 meters Centerline goodness : 0.927246 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.72, Z:-1.58 [[ 0.73870161 -0.61134856 -0.28385361 4.37093935] [ 0.63248585 0.77427071 -0.02159908 -3.72046046] [ 0.2329841 -0.16357812 0.95862433 -1.57685302] [ 0. 0. 0. 1. ]] SLAMing on 123.678001145 meters Centerline goodness : 0.925509 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.72, Z:-1.58 [[ 0.73645344 -0.6147753 -0.28229004 4.37415568] [ 0.63530826 0.77189727 -0.02362259 -3.72337093] [ 0.2324215 -0.16194426 0.95903822 -1.57655166] [ 0. 0. 0. 1. ]] SLAMing on 123.738001145 meters Centerline goodness : 0.929945 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.73, Z:-1.57 [[ 0.73219611 -0.61954152 -0.28294373 4.3793856 ] [ 0.64017738 0.76783224 -0.02462877 -3.72573987] [ 0.23251186 -0.16310109 0.95882025 -1.57381552] [ 0. 0. 0. 1. ]] SLAMing on 123.798001145 meters Centerline goodness : 0.927704 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.73, Z:-1.57 [[ 0.7294003 -0.6231057 -0.28233755 4.38328346] [ 0.64349278 0.76501297 -0.02592682 -3.72806844] [ 0.23214703 -0.16277114 0.95896471 -1.57294835] [ 0. 0. 0. 1. ]] SLAMing on 123.85800114499999 meters Centerline goodness : 0.933719 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.73, Z:-1.57 [[ 0.72670035 -0.62654947 -0.28167777 4.38763396] [ 0.64670105 0.76226158 -0.02711153 -3.7310557 ] [ 0.23169885 -0.16245935 0.95912596 -1.57216035] [ 0. 0. 0. 1. ]] SLAMing on 123.91800114499999 meters Centerline goodness : 0.932428 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.73, Z:-1.57 [[ 0.72594305 -0.62626152 -0.28425904 4.39025464] [ 0.6472778 0.76183106 -0.02539461 -3.73185498] [ 0.23246103 -0.16555952 0.95841114 -1.56998927] [ 0. 0. 0. 1. ]] SLAMing on 123.978001145 meters Centerline goodness : 0.932501 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.73, Z:-1.57 [[ 0.72509032 -0.62668477 -0.28549994 4.39495024] [ 0.64796329 0.76125023 -0.02533104 -3.73055734] [ 0.23321148 -0.16662619 0.9580439 -1.57117427] [ 0. 0. 0. 1. ]] SLAMing on 124.038001145 meters Centerline goodness : 0.932117 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.73, Z:-1.57 [[ 0.72235765 -0.63066326 -0.28366048 4.39876638] [ 0.65113549 0.75844145 -0.02809152 -3.73106103] [ 0.23285616 -0.16440928 0.95851322 -1.5722743 ] [ 0. 0. 0. 1. ]] SLAMing on 124.098001145 meters Centerline goodness : 0.932089 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.73, Z:-1.57 [[ 0.72077047 -0.6318079 -0.2851468 4.40213379] [ 0.6526214 0.75716549 -0.02803086 -3.72996421] [ 0.23361344 -0.16588909 0.95807389 -1.57155543] [ 0. 0. 0. 1. ]] SLAMing on 124.158001145 meters Centerline goodness : 0.933128 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.73, Z:-1.57 [[ 0.72093796 -0.62950202 -0.28978554 4.40522917] [ 0.65179898 0.75797978 -0.02499495 -3.72733286] [ 0.23538595 -0.17086211 0.95676517 -1.57020926] [ 0. 0. 0. 1. ]] SLAMing on 124.21800114499999 meters Centerline goodness : 0.933570 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.73, Z:-1.57 [[ 0.72159099 -0.62919061 -0.28883493 4.40445924] [ 0.65119363 0.75848638 -0.02540222 -3.72716821] [ 0.2350602 -0.16975746 0.95704185 -1.57148548] [ 0. 0. 0. 1. ]] SLAMing on 124.27800114499999 meters Centerline goodness : 0.932938 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.73, Z:-1.57 [[ 0.72219114 -0.62832643 -0.28921593 4.40360444] [ 0.65048622 0.75911064 -0.02487381 -3.72633286] [ 0.23517577 -0.17016734 0.95694067 -1.57163688] [ 0. 0. 0. 1. ]] SLAMing on 124.33800114499999 meters Centerline goodness : 0.935997 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.72, Z:-1.57 [[ 0.72206993 -0.62645641 -0.29354279 4.40660093] [ 0.64987204 0.75970407 -0.02271705 -3.72134442] [ 0.23723689 -0.17436195 0.95567597 -1.57145659] [ 0. 0. 0. 1. ]] SLAMing on 124.398001145 meters Centerline goodness : 0.936266 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.72, Z:-1.57 [[ 0.71986375 -0.6282144 -0.29519968 4.40990226] [ 0.65186027 0.75797657 -0.02344586 -3.71684358] [ 0.23848347 -0.17555112 0.95514786 -1.57166003] [ 0. 0. 0. 1. ]] SLAMing on 124.458001145 meters Centerline goodness : 0.931166 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.71, Z:-1.57 [[ 0.71553211 -0.63358692 -0.2942472 4.41277501] [ 0.65656425 0.7538033 -0.02653249 -3.71434714] [ 0.23861516 -0.17420734 0.95536098 -1.57127379] [ 0. 0. 0. 1. ]] SLAMing on 124.518001145 meters Centerline goodness : 0.932497 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.71, Z:-1.57 [[ 0.71294522 -0.63513275 -0.29717926 4.41676613] [ 0.65887913 0.75179709 -0.02606582 -3.71095063] [ 0.23997376 -0.17722171 0.95446585 -1.56979145] [ 0. 0. 0. 1. ]] SLAMing on 124.578001145 meters Centerline goodness : 0.931389 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.70, Z:-1.57 [[ 0.70949587 -0.63672915 -0.30197947 4.42001115] [ 0.66172394 0.74932228 -0.02524987 -3.70408455] [ 0.24235727 -0.18191237 0.95297998 -1.56701472] [ 0. 0. 0. 1. ]] SLAMing on 124.63800114499999 meters Centerline goodness : 0.929495 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.70, Z:-1.57 [[ 0.70899819 -0.63675558 -0.30309059 4.4226742 ] [ 0.66194776 0.74912077 -0.02536228 -3.70113857] [ 0.24320103 -0.18264832 0.95262419 -1.56823326] [ 0. 0. 0. 1. ]] SLAMing on 124.69800114499999 meters Centerline goodness : 0.929891 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.69, Z:-1.57 [[ 0.70811854 -0.63577307 -0.30718193 4.42523046] [ 0.66205172 0.74906813 -0.02417541 -3.6941634 ] [ 0.24547026 -0.18625127 0.95134369 -1.56813006] [ 0. 0. 0. 1. ]] SLAMing on 124.758001145 meters Centerline goodness : 0.927959 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.69, Z:-1.57 [[ 0.70744719 -0.63581263 -0.30864345 4.42712483] [ 0.66238458 0.74877222 -0.02422449 -3.69085505] [ 0.24650588 -0.18730311 0.95086928 -1.56840958] [ 0. 0. 0. 1. ]] SLAMing on 124.818001145 meters Centerline goodness : 0.929045 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.68, Z:-1.57 [[ 0.70502918 -0.63783328 -0.31000413 4.42911197] [ 0.66440864 0.74692535 -0.02576214 -3.68425898] [ 0.24798189 -0.18780636 0.95038611 -1.5689373 ] [ 0. 0. 0. 1. ]] SLAMing on 124.878001145 meters Centerline goodness : 0.923876 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.68, Z:-1.57 [[ 0.70318082 -0.63937309 -0.31102859 4.43175576] [ 0.6658593 0.7455786 -0.0272753 -3.67797668] [ 0.24933535 -0.18792181 0.95000909 -1.57051502] [ 0. 0. 0. 1. ]] SLAMing on 124.938001145 meters Centerline goodness : 0.924287 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.67, Z:-1.57 [[ 0.70073196 -0.64099606 -0.31320724 4.43376668] [ 0.66770727 0.74387673 -0.02853775 -3.67040351] [ 0.25128016 -0.18913344 0.94925593 -1.57075522] [ 0. 0. 0. 1. ]] SLAMing on 124.99800114499999 meters Centerline goodness : 0.921083 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.66, Z:-1.58 [[ 0.70053879 -0.6413167 -0.3129829 4.4389405 ] [ 0.67036992 0.74177186 -0.0194597 -3.65961856] [ 0.24464174 -0.19618205 0.94955938 -1.5750892 ] [ 0. 0. 0. 1. ]] SLAMing on 125.05800114499999 meters Centerline goodness : 0.922765 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.66, Z:-1.58 [[ 0.70196666 -0.63899202 -0.31453459 4.44120059] [ 0.66842737 0.74354062 -0.01876679 -3.6550781 ] [ 0.24586107 -0.19706987 0.94906048 -1.57863578] [ 0. 0. 0. 1. ]] SLAMing on 125.118001145 meters Centerline goodness : 0.921066 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.65, Z:-1.58 [[ 0.70219645 -0.63702944 -0.31798371 4.44206834] [ 0.66755376 0.74436582 -0.01707337 -3.64975073] [ 0.24757244 -0.20028236 0.94794244 -1.57875807] [ 0. 0. 0. 1. ]] SLAMing on 125.178001145 meters Centerline goodness : 0.917638 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.63, Z:-1.58 [[ 0.70245897 -0.6342679 -0.32288639 4.45305937] [ 0.66772485 0.74434759 -0.00949706 -3.63085263] [ 0.24636339 -0.20892797 0.94639008 -1.58134335] [ 0. 0. 0. 1. ]] SLAMing on 125.238001145 meters Centerline goodness : 0.914570 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.63, Z:-1.58 [[ 0.70316792 -0.63335953 -0.32312626 4.45266521] [ 0.66654314 0.74539179 -0.0105508 -3.62558379] [ 0.24753811 -0.2079586 0.94629705 -1.58377265] [ 0. 0. 0. 1. ]] SLAMing on 125.298001145 meters Centerline goodness : 0.909205 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.61, Z:-1.59 [[ 0.70558912 -0.63467651 -0.31516618 4.45538645] [ 0.66710496 0.74493422 -0.00663221 -3.6137548 ] [ 0.23898739 -0.2055693 0.94901333 -1.58730968] [ 0. 0. 0. 1. ]] SLAMing on 125.35800114499999 meters Centerline goodness : 0.907242 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.59, Z:-1.58 [[ 7.03091065e-01 -6.33467517e-01 -3.23081815e-01 4.46751606e+00] [ 6.69453407e-01 7.42853966e-01 3.49298064e-04 -3.59476258e+00] [ 2.39781339e-01 -2.16533810e-01 9.46370973e-01 -1.58304783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41800114499999 meters Centerline goodness : 0.905289 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.59, Z:-1.58 [[ 7.00090638e-01 -6.36339718e-01 -3.23951946e-01 4.47002752e+00] [ 6.72238953e-01 7.40332790e-01 -1.46614811e-03 -3.59034026e+00] [ 2.40765216e-01 -2.16746680e-01 9.46072401e-01 -1.58281992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.478001145 meters Centerline goodness : 0.901262 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.58, Z:-1.58 [[ 6.96825546e-01 -6.39687864e-01 -3.24397280e-01 4.47325514e+00] [ 6.75213824e-01 7.37610584e-01 -4.11315523e-03 -3.58456226e+00] [ 2.41910002e-01 -2.16171376e-01 9.45911987e-01 -1.58399359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.538001145 meters Centerline goodness : 0.903505 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.58, Z:-1.58 [[ 6.96226670e-01 -6.38878280e-01 -3.27265897e-01 4.47218147e+00] [ 6.75267391e-01 7.37565692e-01 -3.28641981e-03 -3.57967713e+00] [ 2.43479720e-01 -2.18703896e-01 9.44926575e-01 -1.58257359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.598001145 meters Centerline goodness : 0.899466 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.57, Z:-1.58 [[ 6.96885936e-01 -6.36530565e-01 -3.30422202e-01 4.47335339e+00] [ 6.73786936e-01 7.38921779e-01 -2.40195247e-03 -3.57371658e+00] [ 2.45685077e-01 -2.20960276e-01 9.43830175e-01 -1.58351105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.658001145 meters Centerline goodness : 0.894351 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.57, Z:-1.59 [[ 7.01038264e-01 -6.33433882e-01 -3.27577274e-01 4.46931281e+00] [ 6.69369547e-01 7.42918417e-01 -4.07852398e-03 -3.57000675e+00] [ 2.45946665e-01 -2.16411050e-01 9.44815588e-01 -1.58907636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71800114499999 meters Centerline goodness : 0.890021 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.56, Z:-1.59 [[ 7.06756147e-01 -6.30835337e-01 -3.20222619e-01 4.46729393e+00] [ 6.65988188e-01 7.45962205e-01 3.49527434e-04 -3.55719975e+00] [ 2.38653477e-01 -2.13511512e-01 9.47342257e-01 -1.59178103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77800114499999 meters Centerline goodness : 0.887718 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.55, Z:-1.59 [[ 7.09710367e-01 -6.26732218e-01 -3.21742011e-01 4.46379737e+00] [ 6.62242775e-01 7.49288317e-01 1.23525739e-03 -3.55256880e+00] [ 2.40303354e-01 -2.13947997e-01 9.46826569e-01 -1.59270281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83800114499999 meters Centerline goodness : 0.885720 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.55, Z:-1.60 [[ 7.13530621e-01 -6.22722967e-01 -3.21076562e-01 4.46017246e+00] [ 6.57857718e-01 7.53141186e-01 1.25612396e-03 -3.54930145e+00] [ 2.41033765e-01 -2.12118977e-01 9.47052408e-01 -1.59582526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.898001145 meters Centerline goodness : 0.886156 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.54, Z:-1.60 [[ 7.15409909e-01 -6.25541292e-01 -3.11266371e-01 4.45902739e+00] [ 6.59070241e-01 7.52073793e-01 3.38028296e-03 -3.54114511e+00] [ 2.31980774e-01 -2.07564690e-01 9.50316694e-01 -1.59526774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.958001145 meters Centerline goodness : 0.882710 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.54, Z:-1.59 [[ 0.7160123 -0.62280315 -0.31534524 4.45946341] [ 0.65761395 0.75333626 0.00532585 -3.53675551] [ 0.23424405 -0.21118881 0.94896207 -1.59397106] [ 0. 0. 0. 1. ]] SLAMing on 126.018001145 meters Centerline goodness : 0.884969 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.53, Z:-1.59 [[ 7.15884303e-01 -6.23001922e-01 -3.15243192e-01 4.45805061e+00] [ 6.57462825e-01 7.53476550e-01 3.96511841e-03 -3.53341943e+00] [ 2.35058076e-01 -2.10099245e-01 9.49002638e-01 -1.59418104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.078001145 meters Centerline goodness : 0.881494 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.53, Z:-1.59 [[ 7.16149871e-01 -6.22716514e-01 -3.15203910e-01 4.45641045e+00] [ 6.56961308e-01 7.53917540e-01 3.19111857e-03 -3.53179402e+00] [ 2.35650595e-01 -2.09362092e-01 9.49018604e-01 -1.59364935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13800114499999 meters Centerline goodness : 0.882483 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.53, Z:-1.59 [[ 7.16771429e-01 -6.21720251e-01 -3.15757263e-01 4.45386231e+00] [ 6.56019027e-01 7.54737973e-01 3.10305850e-03 -3.52997941e+00] [ 2.36384762e-01 -2.09366956e-01 9.48834929e-01 -1.59253113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19800114499999 meters Centerline goodness : 0.880589 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.53, Z:-1.59 [[ 7.18774147e-01 -6.20055243e-01 -3.14476108e-01 4.45105154e+00] [ 6.53741186e-01 7.56715063e-01 2.18497060e-03 -3.52847490e+00] [ 2.36614006e-01 -2.07156484e-01 9.49262874e-01 -1.59383876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.258001145 meters Centerline goodness : 0.884620 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.53, Z:-1.59 [[ 7.19902260e-01 -6.19189424e-01 -3.13600372e-01 4.44899318e+00] [ 6.52586266e-01 7.57711762e-01 2.01281005e-03 -3.52888442e+00] [ 2.36372379e-01 -2.06100322e-01 9.49552924e-01 -1.59395701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.318001145 meters Centerline goodness : 0.875292 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.53, Z:-1.59 [[ 7.20318766e-01 -6.18749822e-01 -3.13511616e-01 4.44769884e+00] [ 6.52055858e-01 7.58168740e-01 1.82225308e-03 -3.52866942e+00] [ 2.36567188e-01 -2.05739689e-01 9.49582617e-01 -1.59319632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.378001145 meters Centerline goodness : 0.875803 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.53, Z:-1.59 [[ 7.19725232e-01 -6.18988399e-01 -3.14402534e-01 4.44801862e+00] [ 6.52400347e-01 7.57873261e-01 1.38114375e-03 -3.52754317e+00] [ 2.37422361e-01 -2.06110366e-01 9.49288754e-01 -1.59189522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.438001145 meters Centerline goodness : 0.876029 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.53, Z:-1.59 [[ 7.18184285e-01 -6.21404648e-01 -3.13157461e-01 4.44838716e+00] [ 6.54044635e-01 7.56455177e-01 -1.08630517e-03 -3.52676127e+00] [ 2.37564618e-01 -2.04038790e-01 9.49700597e-01 -1.59144682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49800114499999 meters Centerline goodness : 0.881216 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.53, Z:-1.59 [[ 7.15591250e-01 -6.25015717e-01 -3.11904659e-01 4.44841036e+00] [ 6.57018983e-01 7.53866916e-01 -3.27547360e-03 -3.52755422e+00] [ 2.37181826e-01 -2.02583382e-01 9.50107760e-01 -1.58940774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55800114499999 meters Centerline goodness : 0.883581 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.53, Z:-1.59 [[ 0.71301992 -0.6280381 -0.31172221 4.44855259] [ 0.65983184 0.75139921 -0.00460054 -3.52920659] [ 0.23711713 -0.20240396 0.95016214 -1.5858819 ] [ 0. 0. 0. 1. ]] SLAMing on 126.618001145 meters Centerline goodness : 0.886825 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.53, Z:-1.58 [[ 7.12218790e-01 -6.28375552e-01 -3.12871476e-01 4.44940382e+00] [ 6.60495347e-01 7.50817221e-01 -4.40432895e-03 -3.52915696e+00] [ 2.37676865e-01 -2.03513308e-01 9.49785261e-01 -1.58413413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.678001145 meters Centerline goodness : 0.886576 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.53, Z:-1.58 [[ 0.71158552 -0.62901958 -0.31301822 4.45054197] [ 0.66114969 0.75023969 -0.00463521 -3.52958729] [ 0.23775434 -0.20365355 0.94973581 -1.58362869] [ 0. 0. 0. 1. ]] SLAMing on 126.738001145 meters Centerline goodness : 0.887303 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.53, Z:-1.58 [[ 0.70925052 -0.63163751 -0.31304594 4.4517397 ] [ 0.66367766 0.74799781 -0.00558945 -3.53113686] [ 0.23768818 -0.20379728 0.94972154 -1.58095605] [ 0. 0. 0. 1. ]] SLAMing on 126.798001145 meters Centerline goodness : 0.889798 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.53, Z:-1.58 [[ 0.70708276 -0.63412916 -0.3129124 4.45094653] [ 0.66602196 0.74590291 -0.00660294 -3.53032634] [ 0.23758939 -0.20373771 0.94975904 -1.57903966] [ 0. 0. 0. 1. ]] SLAMing on 126.85800114499999 meters Centerline goodness : 0.888244 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.53, Z:-1.58 [[ 0.70691045 -0.63566004 -0.31018371 4.44952393] [ 0.66646738 0.74548185 -0.00883434 -3.53138581] [ 0.23685197 -0.20048224 0.95063559 -1.57950265] [ 0. 0. 0. 1. ]] SLAMing on 126.91800114499999 meters Centerline goodness : 0.885962 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.53, Z:-1.58 [[ 0.70705464 -0.63390122 -0.31343736 4.45138711] [ 0.66571801 0.74616741 -0.00732978 -3.52840969] [ 0.2385231 -0.20347834 0.94958059 -1.57891204] [ 0. 0. 0. 1. ]] SLAMing on 126.978001145 meters Centerline goodness : 0.888208 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.53, Z:-1.58 [[ 0.70552384 -0.63472119 -0.31522234 4.45295064] [ 0.66680893 0.74518532 -0.00804297 -3.52559776] [ 0.24000411 -0.20451856 0.94898377 -1.57736048] [ 0. 0. 0. 1. ]] SLAMing on 127.038001145 meters Centerline goodness : 0.890294 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.52, Z:-1.57 [[ 0.70151175 -0.63974624 -0.31401596 4.45159379] [ 0.67106989 0.74131091 -0.01110599 -3.52414552] [ 0.23988847 -0.20293568 0.94935274 -1.5744295 ] [ 0. 0. 0. 1. ]] SLAMing on 127.098001145 meters Centerline goodness : 0.888112 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.52, Z:-1.57 [[ 0.6982489 -0.64352866 -0.31355915 4.4537839 ] [ 0.67436972 0.73827115 -0.01346069 -3.52247157] [ 0.24015401 -0.20205588 0.94947326 -1.57355924] [ 0. 0. 0. 1. ]] SLAMing on 127.158001145 meters Centerline goodness : 0.890120 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.52, Z:-1.57 [[ 0.6945692 -0.64715881 -0.31425959 4.45485733] [ 0.67791419 0.73498286 -0.01524956 -3.51919875] [ 0.2408443 -0.20244916 0.9492146 -1.57171257] [ 0. 0. 0. 1. ]] SLAMing on 127.21800114499999 meters Centerline goodness : 0.891125 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.52, Z:-1.57 [[ 0.69400773 -0.64712222 -0.31557267 4.45589614] [ 0.67809435 0.73481021 -0.01555675 -3.51603852] [ 0.24195314 -0.20319153 0.94877388 -1.5717584 ] [ 0. 0. 0. 1. ]] SLAMing on 127.27800114499999 meters Centerline goodness : 0.885232 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.51, Z:-1.57 [[ 0.69412625 -0.6469861 -0.31559109 4.45512848] [ 0.67771622 0.73513865 -0.01648926 -3.51370218] [ 0.24267153 -0.20243557 0.948752 -1.57193309] [ 0. 0. 0. 1. ]] SLAMing on 127.33800114499999 meters Centerline goodness : 0.887497 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.51, Z:-1.57 [[ 0.69362846 -0.64530668 -0.32009195 4.45508909] [ 0.67750555 0.73537686 -0.01439108 -3.51039983] [ 0.24467487 -0.20688202 0.94727717 -1.56870538] [ 0. 0. 0. 1. ]] SLAMing on 127.398001145 meters Centerline goodness : 0.884742 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.51, Z:-1.57 [[ 0.69260039 -0.64614044 -0.32063567 4.45521837] [ 0.67828059 0.7346437 -0.01529961 -3.50749683] [ 0.24543867 -0.20688443 0.94707903 -1.56843506] [ 0. 0. 0. 1. ]] SLAMing on 127.458001145 meters Centerline goodness : 0.882576 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.51, Z:-1.57 [[ 0.69197996 -0.64733061 -0.31957288 4.45492404] [ 0.67875397 0.73415963 -0.01739776 -3.50531566] [ 0.24587961 -0.20487246 0.94740197 -1.56892382] [ 0. 0. 0. 1. ]] SLAMing on 127.518001145 meters Centerline goodness : 0.882827 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.50, Z:-1.57 [[ 0.69229738 -0.64585278 -0.32186726 4.45452699] [ 0.6779277 0.73494159 -0.01657981 -3.50187744] [ 0.24726175 -0.20672457 0.94663962 -1.568373 ] [ 0. 0. 0. 1. ]] SLAMing on 127.578001145 meters Centerline goodness : 0.877046 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.50, Z:-1.57 [[ 0.69281965 -0.64367541 -0.32508906 4.45312325] [ 0.67676065 0.73604859 -0.01508296 -3.4983528 ] [ 0.24898987 -0.20955771 0.94556312 -1.56644584] [ 0. 0. 0. 1. ]] SLAMing on 127.63800114499999 meters Centerline goodness : 0.876240 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.50, Z:-1.56 [[ 0.69218214 -0.64381509 -0.32616868 4.45184684] [ 0.67710802 0.73572468 -0.01529444 -3.49647626] [ 0.24981714 -0.2102649 0.94518785 -1.56453551] [ 0. 0. 0. 1. ]] SLAMing on 127.69800114499999 meters Centerline goodness : 0.874466 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.49, Z:-1.56 [[ 0.68940818 -0.64776151 -0.32422428 4.45149946] [ 0.6798938 0.73306696 -0.01890116 -3.49299548] [ 0.24992155 -0.20740747 0.94579139 -1.5648212 ] [ 0. 0. 0. 1. ]] SLAMing on 127.758001145 meters Centerline goodness : 0.871812 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.49, Z:-1.56 [[ 0.68723613 -0.64988538 -0.32458511 4.45172209] [ 0.68182226 0.73123146 -0.02046843 -3.48994482] [ 0.25064898 -0.20724271 0.945635 -1.56383486] [ 0. 0. 0. 1. ]] SLAMing on 127.818001145 meters Centerline goodness : 0.877179 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.49, Z:-1.56 [[ 0.68536884 -0.65156582 -0.32516387 4.45202611] [ 0.68343334 0.72969194 -0.02164573 -3.48743192] [ 0.25137307 -0.20739253 0.94540992 -1.5627556 ] [ 0. 0. 0. 1. ]] SLAMing on 127.878001145 meters Centerline goodness : 0.872971 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.49, Z:-1.56 [[ 0.68371033 -0.65309611 -0.32558509 4.45159544] [ 0.68491459 0.72827362 -0.02257315 -3.48596365] [ 0.25185747 -0.20756448 0.94524325 -1.5610165 ] [ 0. 0. 0. 1. ]] SLAMing on 127.938001145 meters Centerline goodness : 0.878665 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.48, Z:-1.56 [[ 0.68215303 -0.65342013 -0.32819107 4.44986356] [ 0.68605008 0.72722423 -0.02191347 -3.48434958] [ 0.2529872 -0.21020717 0.94435715 -1.55692158] [ 0. 0. 0. 1. ]] SLAMing on 127.99800114499999 meters Centerline goodness : 0.880465 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.48, Z:-1.56 [[ 0.68173678 -0.65432319 -0.32725544 4.45199696] [ 0.68643818 0.72681694 -0.02323267 -3.48452892] [ 0.25305648 -0.20880206 0.94465026 -1.55761644] [ 0. 0. 0. 1. ]] SLAMing on 128.058001145 meters Centerline goodness : 0.879942 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.48, Z:-1.56 [[ 0.67944015 -0.65723544 -0.3261942 4.45165648] [ 0.68873187 0.72457345 -0.02533235 -3.48434223] [ 0.25300098 -0.20744853 0.94496329 -1.55576484] [ 0. 0. 0. 1. ]] SLAMing on 128.118001145 meters Centerline goodness : 0.881083 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.48, Z:-1.55 [[ 0.67817249 -0.65766143 -0.32796876 4.45241527] [ 0.68964077 0.72371325 -0.02519416 -3.48370167] [ 0.25392456 -0.20909465 0.94435255 -1.5531999 ] [ 0. 0. 0. 1. ]] SLAMing on 128.178001145 meters Centerline goodness : 0.884003 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.48, Z:-1.55 [[ 0.67590765 -0.66069416 -0.32654567 4.45210996] [ 0.69186309 0.72149629 -0.02772301 -3.48338886] [ 0.25391792 -0.2071867 0.94477477 -1.55150026] [ 0. 0. 0. 1. ]] SLAMing on 128.238001145 meters Centerline goodness : 0.884379 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.48, Z:-1.55 [[ 0.67523341 -0.66100141 -0.32731786 4.4535017 ] [ 0.69233779 0.72103586 -0.02785097 -3.48367558] [ 0.25441744 -0.20780862 0.94450376 -1.55024794] [ 0. 0. 0. 1. ]] SLAMing on 128.298001145 meters Centerline goodness : 0.887379 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.48, Z:-1.55 [[ 0.67558005 -0.66069565 -0.32721989 4.45483759] [ 0.69175841 0.72155833 -0.02870326 -3.48274089] [ 0.25507236 -0.20696576 0.94451218 -1.55087433] [ 0. 0. 0. 1. ]] SLAMing on 128.358001145 meters Centerline goodness : 0.890418 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.48, Z:-1.55 [[ 0.67719309 -0.65971735 -0.32585661 4.45403006] [ 0.69022851 0.722997 -0.02932481 -3.48262187] [ 0.25493944 -0.20505696 0.9449643 -1.55256352] [ 0. 0. 0. 1. ]] SLAMing on 128.418001145 meters Centerline goodness : 0.882917 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.48, Z:-1.55 [[ 0.68241403 -0.65326119 -0.3279648 4.45210189] [ 0.68466053 0.72838951 -0.0262426 -3.48236408] [ 0.25602939 -0.20663624 0.94432538 -1.55344554] [ 0. 0. 0. 1. ]] SLAMing on 128.478001145 meters Centerline goodness : 0.880601 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.48, Z:-1.56 [[ 0.68951824 -0.64463399 -0.33016906 4.45010356] [ 0.67708997 0.73556749 -0.02212784 -3.48237296] [ 0.25712599 -0.20829661 0.94366241 -1.55572618] [ 0. 0. 0. 1. ]] SLAMing on 128.53800114499998 meters Centerline goodness : 0.881045 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.48, Z:-1.56 [[ 0.69126004 -0.6431876 -0.32934673 4.44981135] [ 0.67528429 0.73721778 -0.02238458 -3.4825954 ] [ 0.25719775 -0.20692911 0.94394367 -1.55699712] [ 0. 0. 0. 1. ]] SLAMing on 128.59800114499998 meters Centerline goodness : 0.881213 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.48, Z:-1.56 [[ 0.69385854 -0.64063897 -0.32884957 4.44979687] [ 0.67248245 0.73977799 -0.02226831 -3.48275901] [ 0.25754162 -0.2056945 0.94411974 -1.55861781] [ 0. 0. 0. 1. ]] SLAMing on 128.658001145 meters Centerline goodness : 0.881410 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.48, Z:-1.56 [[ 0.69758205 -0.63728587 -0.32748436 4.44740532] [ 0.66879233 0.74313722 -0.02153791 -3.48446686] [ 0.25709163 -0.20399457 0.94461109 -1.56026832] [ 0. 0. 0. 1. ]] SLAMing on 128.718001145 meters Centerline goodness : 0.881008 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.49, Z:-1.56 [[ 0.70239707 -0.63399935 -0.32354781 4.44147029] [ 0.6645335 0.74696223 -0.0210392 -3.49003046] [ 0.25501683 -0.20023048 0.94597789 -1.5607922 ] [ 0. 0. 0. 1. ]] SLAMing on 128.778001145 meters Centerline goodness : 0.880965 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.49, Z:-1.56 [[ 0.7055073 -0.63043688 -0.32374185 4.43870288] [ 0.66131006 0.74986924 -0.01910829 -3.49227633] [ 0.25481063 -0.2006127 0.94595248 -1.56033543] [ 0. 0. 0. 1. ]] SLAMing on 128.838001145 meters Centerline goodness : 0.879767 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.50, Z:-1.56 [[ 0.70936773 -0.62680625 -0.32235284 4.43665045] [ 0.65745543 0.75327985 -0.01793952 -3.49590516] [ 0.2540665 -0.19920691 0.94644959 -1.56140354] [ 0. 0. 0. 1. ]] SLAMing on 128.898001145 meters Centerline goodness : 0.878204 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.50, Z:-1.56 [[ 0.71051245 -0.6262805 -0.32085011 4.43555249] [ 0.65647768 0.75412448 -0.01825739 -3.49833777] [ 0.25339517 -0.19765883 0.946954 -1.56156261] [ 0. 0. 0. 1. ]] SLAMing on 128.958001145 meters Centerline goodness : 0.877468 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.50, Z:-1.56 [[ 0.71126474 -0.62601873 -0.31969208 4.43514901] [ 0.65588866 0.75463177 -0.01846509 -3.50078153] [ 0.25280929 -0.19654885 0.94734155 -1.56146106] [ 0. 0. 0. 1. ]] SLAMing on 129.018001145 meters Centerline goodness : 0.879545 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.50, Z:-1.56 [[ 0.71038542 -0.62871336 -0.31634169 4.43457695] [ 0.65728364 0.75334447 -0.02122076 -3.50313265] [ 0.25165604 -0.1928513 0.94840794 -1.56152731] [ 0. 0. 0. 1. ]] SLAMing on 129.078001145 meters Centerline goodness : 0.883222 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.51, Z:-1.56 [[ 0.70902135 -0.63106435 -0.31471656 4.43327312] [ 0.6592157 0.75163144 -0.02201919 -3.50742831] [ 0.25044638 -0.19185402 0.94893026 -1.55881525] [ 0. 0. 0. 1. ]] SLAMing on 129.138001145 meters Centerline goodness : 0.882801 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.51, Z:-1.56 [[ 0.7080546 -0.63275599 -0.31349407 4.43262887] [ 0.66061903 0.75038388 -0.02250618 -3.51102087] [ 0.24948182 -0.19116455 0.94932341 -1.55681011] [ 0. 0. 0. 1. ]] SLAMing on 129.198001145 meters Centerline goodness : 0.882270 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.52, Z:-1.56 [[ 0.70791118 -0.63455045 -0.31017333 4.43305784] [ 0.66143906 0.74961635 -0.02395206 -3.51731087] [ 0.24770979 -0.18820482 0.95037824 -1.55633829] [ 0. 0. 0. 1. ]] SLAMing on 129.258001145 meters Centerline goodness : 0.880901 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.52, Z:-1.55 [[ 0.70864451 -0.63357682 -0.31048893 4.43267862] [ 0.66081059 0.75021052 -0.02266167 -3.52126702] [ 0.24728996 -0.1891153 0.95030683 -1.55430078] [ 0. 0. 0. 1. ]] SLAMing on 129.31800114499998 meters Centerline goodness : 0.877967 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.53, Z:-1.55 [[ 0.71001833 -0.63293385 -0.3086563 4.43270609] [ 0.65968543 0.75119301 -0.02289519 -3.52512867] [ 0.2463516 -0.18736006 0.95089805 -1.55484447] [ 0. 0. 0. 1. ]] SLAMing on 129.37800114499998 meters Centerline goodness : 0.882891 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.53, Z:-1.56 [[ 0.71068954 -0.63437666 -0.30411616 4.43254515] [ 0.65987395 0.7509782 -0.02445621 -3.53268622] [ 0.24389906 -0.18329756 0.95232098 -1.55547713] [ 0. 0. 0. 1. ]] SLAMing on 129.438001145 meters Centerline goodness : 0.883559 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.54, Z:-1.55 [[ 0.709377 -0.63559458 -0.30463715 4.43327225] [ 0.66129461 0.74973098 -0.02434949 -3.53529629] [ 0.24387231 -0.18418194 0.95215719 -1.55266859] [ 0. 0. 0. 1. ]] SLAMing on 129.498001145 meters Centerline goodness : 0.888894 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.54, Z:-1.55 [[ 0.70701919 -0.64056215 -0.29967314 4.4330392 ] [ 0.66472467 0.74658005 -0.0275561 -3.54280151] [ 0.24138138 -0.17971744 0.95364389 -1.55092305] [ 0. 0. 0. 1. ]] SLAMing on 129.558001145 meters Centerline goodness : 0.892096 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.55, Z:-1.55 [[ 0.70399978 -0.64709092 -0.29267328 4.43357374] [ 0.66913251 0.74245377 -0.03200141 -3.55294621] [ 0.2380042 -0.17330822 0.95567686 -1.54942641] [ 0. 0. 0. 1. ]] SLAMing on 129.618001145 meters Centerline goodness : 0.895141 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.56, Z:-1.55 [[ 0.70155621 -0.64914088 -0.29399831 4.43508167] [ 0.67168297 0.74017012 -0.03146728 -3.55542969] [ 0.23803546 -0.17539759 0.95528781 -1.54561857] [ 0. 0. 0. 1. ]] SLAMing on 129.678001145 meters Centerline goodness : 0.898334 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.56, Z:-1.54 [[ 0.69804712 -0.6544594 -0.29053934 4.43676444] [ 0.67588364 0.73620172 -0.03447212 -3.56089063] [ 0.23645616 -0.17230763 0.9562419 -1.54348043] [ 0. 0. 0. 1. ]] SLAMing on 129.738001145 meters Centerline goodness : 0.900326 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.56, Z:-1.54 [[ 0.69522888 -0.65814342 -0.28897067 4.44005228] [ 0.67903052 0.73321395 -0.03626082 -3.56458619] [ 0.23574215 -0.17101034 0.95665098 -1.54201233] [ 0. 0. 0. 1. ]] SLAMing on 129.798001145 meters Centerline goodness : 0.902608 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.57, Z:-1.54 [[ 0.68943871 -0.66357292 -0.29042255 4.44547545] [ 0.68495408 0.72766693 -0.03658879 -3.56830409] [ 0.23561021 -0.17370038 0.95619873 -1.53692953] [ 0. 0. 0. 1. ]] SLAMing on 129.858001145 meters Centerline goodness : 0.904740 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.57, Z:-1.53 [[ 0.68505157 -0.66778526 -0.29114806 4.44954824] [ 0.68927276 0.72352158 -0.03767725 -3.56947548] [ 0.23581222 -0.17486956 0.95593579 -1.53378192] [ 0. 0. 0. 1. ]] SLAMing on 129.918001145 meters Centerline goodness : 0.904933 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.57, Z:-1.53 [[ 0.68000706 -0.67399755 -0.28864805 4.45318541] [ 0.69463147 0.71821837 -0.04061388 -3.57366798] [ 0.23468599 -0.1728863 0.95657348 -1.53111577] [ 0. 0. 0. 1. ]] SLAMing on 129.978001145 meters Centerline goodness : 0.908279 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.58, Z:-1.53 [[ 0.6762801 -0.67737465 -0.28949752 4.45730456] [ 0.69823272 0.71468765 -0.04114164 -3.57517141] [ 0.23476861 -0.17431337 0.95629418 -1.52843234] [ 0. 0. 0. 1. ]] SLAMing on 130.03800114499998 meters Centerline goodness : 0.907046 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.57, Z:-1.53 [[ 0.67342554 -0.67948028 -0.29121228 4.46178907] [ 0.70078935 0.71218048 -0.04114919 -3.5744773 ] [ 0.23535576 -0.17636755 0.95577306 -1.52721087] [ 0. 0. 0. 1. ]] SLAMing on 130.09800114499998 meters Centerline goodness : 0.906867 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.57, Z:-1.53 [[ 0.66918162 -0.68370571 -0.29110557 4.46537578] [ 0.70480226 0.70810427 -0.04291989 -3.57412287] [ 0.23547767 -0.17645067 0.9557277 -1.52552577] [ 0. 0. 0. 1. ]] SLAMing on 130.158001145 meters Centerline goodness : 0.907036 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.57, Z:-1.53 [[ 0.66734183 -0.6849767 -0.2923385 4.46908748] [ 0.70633704 0.70656041 -0.04313207 -3.57265317] [ 0.23609927 -0.17770568 0.95534173 -1.52545364] [ 0. 0. 0. 1. ]] SLAMing on 130.218001145 meters Centerline goodness : 0.907160 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.57, Z:-1.52 [[ 0.66439673 -0.6869125 -0.29449651 4.47334061] [ 0.70874998 0.7041237 -0.04339678 -3.56971601] [ 0.23717176 -0.17989172 0.95466671 -1.5246025 ] [ 0. 0. 0. 1. ]] SLAMing on 130.278001145 meters Centerline goodness : 0.907913 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.57, Z:-1.52 [[ 0.66407874 -0.68502595 -0.29956449 4.47655741] [ 0.70847999 0.70456303 -0.0405838 -3.5670148 ] [ 0.23886302 -0.18528461 0.9532125 -1.52274687] [ 0. 0. 0. 1. ]] SLAMing on 130.338001145 meters Centerline goodness : 0.908759 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.57, Z:-1.52 [[ 0.66409401 -0.68460192 -0.30049852 4.47824007] [ 0.7083781 0.70470075 -0.03996638 -3.56705997] [ 0.23912259 -0.18632514 0.95294456 -1.52277056] [ 0. 0. 0. 1. ]] SLAMing on 130.398001145 meters Centerline goodness : 0.909065 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.57, Z:-1.52 [[ 0.66328629 -0.68503605 -0.30129206 4.48161011] [ 0.70898834 0.70408328 -0.04002822 -3.56595837] [ 0.23955548 -0.18706239 0.95269136 -1.52361738] [ 0. 0. 0. 1. ]] SLAMing on 130.458001145 meters Centerline goodness : 0.908681 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.56, Z:-1.52 [[ 0.66157541 -0.68634768 -0.30206762 4.4848809 ] [ 0.71033997 0.70267325 -0.04083424 -3.56298881] [ 0.24028132 -0.18755577 0.95241153 -1.52443872] [ 0. 0. 0. 1. ]] SLAMing on 130.518001145 meters Centerline goodness : 0.909733 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-3.56, Z:-1.52 [[ 0.65889915 -0.68187542 -0.31764416 4.48952949] [ 0.7078267 0.7049498 -0.04502376 -3.5636579 ] [ 0.25462378 -0.1951709 0.94714046 -1.51933195] [ 0. 0. 0. 1. ]] SLAMing on 130.578001145 meters Centerline goodness : 0.908239 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-3.56, Z:-1.52 [[ 0.65692659 -0.68321103 -0.31885755 4.493386 ] [ 0.70939983 0.7033369 -0.04548713 -3.56156365] [ 0.25534159 -0.19631579 0.94671051 -1.51938298] [ 0. 0. 0. 1. ]] SLAMing on 130.638001145 meters Centerline goodness : 0.911454 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-3.56, Z:-1.52 [[ 0.65666047 -0.68234273 -0.32125601 4.49460985] [ 0.7093624 0.70345865 -0.04416928 -3.5612077 ] [ 0.25612891 -0.19888271 0.94596176 -1.51749233] [ 0. 0. 0. 1. ]] SLAMing on 130.698001145 meters Centerline goodness : 0.910230 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:-3.56, Z:-1.52 [[ 0.65676966 -0.68045437 -0.32501608 4.49707022] [ 0.70877707 0.70417963 -0.0420251 -3.55860306] [ 0.25746587 -0.20276314 0.94477428 -1.51682596] [ 0. 0. 0. 1. ]] SLAMing on 130.758001145 meters Centerline goodness : 0.907857 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:-3.56, Z:-1.52 [[ 0.65617142 -0.68082201 -0.32545423 4.49971065] [ 0.70915216 0.70377548 -0.04246511 -3.55632108] [ 0.25795789 -0.20293218 0.94460376 -1.51825748] [ 0. 0. 0. 1. ]] SLAMing on 130.81800114499998 meters Centerline goodness : 0.907973 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:-3.55, Z:-1.52 [[ 0.65429169 -0.68227533 -0.32619435 4.50240636] [ 0.71065426 0.70220775 -0.04329887 -3.55334249] [ 0.25859796 -0.20348132 0.94431057 -1.51866602] [ 0. 0. 0. 1. ]] SLAMing on 130.87800114499998 meters Centerline goodness : 0.907723 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:-3.55, Z:-1.52 [[ 0.65274309 -0.68274621 -0.32830484 4.50422663] [ 0.71170742 0.70115304 -0.0430925 -3.55033271] [ 0.25961318 -0.20552866 0.94358835 -1.51756795] [ 0. 0. 0. 1. ]] SLAMing on 130.938001145 meters Centerline goodness : 0.911715 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-3.55, Z:-1.52 [[ 0.65203057 -0.68253508 -0.3301545 4.50501759] [ 0.71213921 0.70076389 -0.04228143 -3.54934358] [ 0.26021891 -0.20754718 0.94297947 -1.51608515] [ 0. 0. 0. 1. ]] SLAMing on 130.998001145 meters Centerline goodness : 0.909757 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-3.55, Z:-1.52 [[ 0.65287983 -0.67989565 -0.33390093 4.50826728] [ 0.7110371 0.70205834 -0.03924708 -3.54925235] [ 0.26110185 -0.21179233 0.94179076 -1.51531835] [ 0. 0. 0. 1. ]] SLAMing on 131.058001145 meters Centerline goodness : 0.913679 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-3.55, Z:-1.52 [[ 0.65238243 -0.68011041 -0.33443534 4.50992564] [ 0.71136796 0.70171713 -0.03935339 -3.54821977] [ 0.26144366 -0.21223312 0.94159668 -1.51562705] [ 0. 0. 0. 1. ]] SLAMing on 131.118001145 meters Centerline goodness : 0.910562 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-3.55, Z:-1.52 [[ 0.65247412 -0.6796537 -0.33518409 4.51256021] [ 0.71107522 0.70201716 -0.03929296 -3.54692136] [ 0.26201059 -0.21270346 0.94133293 -1.51670022] [ 0. 0. 0. 1. ]] SLAMing on 131.178001145 meters Centerline goodness : 0.914873 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.55, Z:-1.52 [[ 0.65135364 -0.68064103 -0.33535983 4.51522303] [ 0.71210713 0.70095559 -0.03955622 -3.54778574] [ 0.26199594 -0.21304704 0.94125931 -1.51619362] [ 0. 0. 0. 1. ]] SLAMing on 131.238001145 meters Centerline goodness : 0.915468 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.55, Z:-1.52 [[ 0.65031555 -0.6813108 -0.3360138 4.51876688] [ 0.71307088 0.69999199 -0.03925737 -3.54874578] [ 0.26195344 -0.21407197 0.94103857 -1.5158426 ] [ 0. 0. 0. 1. ]] SLAMing on 131.298001145 meters Centerline goodness : 0.918400 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.55, Z:-1.51 [[ 0.64976517 -0.68244837 -0.33476776 4.52005215] [ 0.71398611 0.69905755 -0.03927312 -3.55339179] [ 0.26082381 -0.21350123 0.9414819 -1.51475901] [ 0. 0. 0. 1. ]] SLAMing on 131.358001145 meters Centerline goodness : 0.918921 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.55, Z:-1.51 [[ 0.64966241 -0.68242654 -0.3350116 4.52175326] [ 0.71418563 0.69888663 -0.03868289 -3.55491909] [ 0.26053336 -0.21412965 0.9414196 -1.51460435] [ 0. 0. 0. 1. ]] SLAMing on 131.418001145 meters Centerline goodness : 0.913336 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.56, Z:-1.52 [[ 0.6508524 -0.68159629 -0.33439146 4.52479462] [ 0.71320427 0.69990064 -0.03845483 -3.55614129] [ 0.26025146 -0.213461 0.94164939 -1.51721354] [ 0. 0. 0. 1. ]] SLAMing on 131.478001145 meters Centerline goodness : 0.917990 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.56, Z:-1.52 [[ 0.65322415 -0.67942116 -0.3341932 4.52322692] [ 0.71118284 0.70202576 -0.03713226 -3.55931384] [ 0.25984068 -0.21341678 0.94177285 -1.5169453 ] [ 0. 0. 0. 1. ]] SLAMing on 131.53800114499998 meters Centerline goodness : 0.910948 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.56, Z:-1.52 [[ 0.65528659 -0.67705544 -0.33495585 4.5235238 ] [ 0.70934643 0.70397807 -0.03524935 -3.56176583] [ 0.25966734 -0.21450131 0.94157425 -1.51694904] [ 0. 0. 0. 1. ]] SLAMing on 131.59800114499998 meters Centerline goodness : 0.914704 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.57, Z:-1.52 [[ 0.65784413 -0.67494129 -0.33420855 4.52176437] [ 0.70724958 0.70614801 -0.03395623 -3.56540652] [ 0.25891916 -0.21403095 0.94188726 -1.5172 ] [ 0. 0. 0. 1. ]] SLAMing on 131.658001145 meters Centerline goodness : 0.915801 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.57, Z:-1.52 [[ 0.65911254 -0.6732124 -0.33519506 4.52225539] [ 0.70597783 0.70747817 -0.03271003 -3.56594764] [ 0.25916399 -0.21508069 0.94158076 -1.51731291] [ 0. 0. 0. 1. ]] SLAMing on 131.718001145 meters Centerline goodness : 0.915621 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.57, Z:-1.52 [[ 0.66014259 -0.67343757 -0.33270647 4.52319181] [ 0.70535914 0.70805162 -0.03363612 -3.56752952] [ 0.25822518 -0.21247292 0.94243038 -1.52032793] [ 0. 0. 0. 1. ]] SLAMing on 131.778001145 meters Centerline goodness : 0.909369 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.56, Z:-1.52 [[ 0.65994974 -0.68004399 -0.31938457 4.5220627 ] [ 0.70973154 0.70374895 -0.0319148 -3.5633855 ] [ 0.24647002 -0.20561514 0.94708761 -1.52094676] [ 0. 0. 0. 1. ]] SLAMing on 131.838001145 meters Centerline goodness : 0.907831 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.56, Z:-1.52 [[ 0.65916476 -0.67994691 -0.32120714 4.52492119] [ 0.71018157 0.70331717 -0.03141796 -3.56163013] [ 0.24727304 -0.20740578 0.94648766 -1.52077155] [ 0. 0. 0. 1. ]] SLAMing on 131.898001145 meters Centerline goodness : 0.908307 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.56, Z:-1.52 [[ 0.65793747 -0.68227848 -0.31877007 4.5277945 ] [ 0.71158765 0.70180327 -0.03339426 -3.56330889] [ 0.24649806 -0.20486151 0.94724362 -1.52236678] [ 0. 0. 0. 1. ]] SLAMing on 131.958001145 meters Centerline goodness : 0.906542 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.56, Z:-1.52 [[ 0.65772644 -0.68189825 -0.32001672 4.52890089] [ 0.71165746 0.70176625 -0.03267719 -3.5631689 ] [ 0.24685945 -0.20624963 0.94684819 -1.5215475 ] [ 0. 0. 0. 1. ]] SLAMing on 132.018001145 meters Centerline goodness : 0.906581 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.56, Z:-1.52 [[ 0.65877825 -0.67874358 -0.32452791 4.5311528 ] [ 0.71016258 0.70341605 -0.02957979 -3.56138643] [ 0.24835523 -0.21098106 0.94541349 -1.5205549 ] [ 0. 0. 0. 1. ]] SLAMing on 132.078001145 meters Centerline goodness : 0.903703 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.56, Z:-1.52 [[ 0.65992429 -0.67762509 -0.32453686 4.53346496] [ 0.7091775 0.70444184 -0.02879183 -3.56319802] [ 0.24812741 -0.21115381 0.94543474 -1.52198372] [ 0. 0. 0. 1. ]] SLAMing on 132.138001145 meters Centerline goodness : 0.907522 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-3.56, Z:-1.52 [[ 0.66056107 -0.67511066 -0.32845803 4.53694251] [ 0.70816448 0.70556746 -0.02603142 -3.56205843] [ 0.24932338 -0.21540697 0.94415978 -1.52135066] [ 0. 0. 0. 1. ]] SLAMing on 132.198001145 meters Centerline goodness : 0.903899 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-3.56, Z:-1.52 [[ 0.6594987 -0.6754334 -0.32992604 4.53868339] [ 0.70900438 0.70474225 -0.02551781 -3.56170625] [ 0.2497484 -0.21709004 0.94366183 -1.5200489 ] [ 0. 0. 0. 1. ]] SLAMing on 132.258001145 meters Centerline goodness : 0.904391 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-3.56, Z:-1.52 [[ 0.65858436 -0.67604184 -0.33050578 4.54285056] [ 0.70966973 0.70405461 -0.02599949 -3.55986809] [ 0.25027086 -0.21742709 0.94344579 -1.52163527] [ 0. 0. 0. 1. ]] SLAMing on 132.31800114499998 meters Centerline goodness : 0.899787 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-3.56, Z:-1.52 [[ 0.65831977 -0.67553087 -0.33207396 4.54765632] [ 0.70964615 0.70409695 -0.02549173 -3.55947532] [ 0.25103272 -0.2188733 0.94290883 -1.5224726 ] [ 0. 0. 0. 1. ]] SLAMing on 132.37800114499998 meters Centerline goodness : 0.898368 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-3.55, Z:-1.53 [[ 0.65857238 -0.67829342 -0.32588413 4.55373424] [ 0.71304254 0.70089319 -0.01786253 -3.5546462 ] [ 0.240526 -0.22060548 0.94524096 -1.52832123] [ 0. 0. 0. 1. ]] SLAMing on 132.438001145 meters Centerline goodness : 0.900365 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-3.56, Z:-1.53 [[ 0.65893584 -0.6777084 -0.32636618 4.5522914 ] [ 0.71266477 0.70128963 -0.01737163 -3.55510578] [ 0.24065012 -0.2211429 0.94508377 -1.52698214] [ 0. 0. 0. 1. ]] SLAMing on 132.498001145 meters Centerline goodness : 0.898579 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-3.55, Z:-1.53 [[ 0.66016244 -0.67534155 -0.32878464 4.55288364] [ 0.71120493 0.70281175 -0.01559437 -3.5534392 ] [ 0.24160524 -0.22353844 0.94427616 -1.52709667] [ 0. 0. 0. 1. ]] SLAMing on 132.558001145 meters Centerline goodness : 0.893202 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-3.55, Z:-1.53 [[ 0.66123084 -0.67491962 -0.32750157 4.55270691] [ 0.71029447 0.70371961 -0.01613903 -3.55413208] [ 0.24136183 -0.22195093 0.94471279 -1.52871754] [ 0. 0. 0. 1. ]] SLAMing on 132.618001145 meters Centerline goodness : 0.894476 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-3.55, Z:-1.53 [[ 0.6615371 -0.67255513 -0.33172017 4.55418318] [ 0.70959473 0.70448618 -0.0132116 -3.55279711] [ 0.2425778 -0.22664692 0.94328531 -1.52666985] [ 0. 0. 0. 1. ]] SLAMing on 132.678001145 meters Centerline goodness : 0.894002 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-3.55, Z:-1.53 [[ 0.66005844 -0.67558128 -0.32850082 4.56145437] [ 0.71375631 0.70036677 -0.00619118 -3.54536565] [ 0.2342537 -0.230383 0.94448339 -1.53060221] [ 0. 0. 0. 1. ]] SLAMing on 132.738001145 meters Centerline goodness : 0.893795 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:-3.54, Z:-1.53 [[ 0.65635738 -0.67819728 -0.33051995 4.56637457] [ 0.71695026 0.69709282 -0.00662854 -3.54328291] [ 0.23489854 -0.23261567 0.94377573 -1.52887251] [ 0. 0. 0. 1. ]] SLAMing on 132.798001145 meters Centerline goodness : 0.893513 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:-3.54, Z:-1.53 [[ 0.65453404 -0.67876106 -0.33296937 4.56871167] [ 0.71832014 0.69568575 -0.00612493 -3.54156716] [ 0.23579941 -0.23516964 0.94291775 -1.52668767] [ 0. 0. 0. 1. ]] SLAMing on 132.858001145 meters Centerline goodness : 0.891574 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:-3.54, Z:-1.53 [[ 0.65331614 -0.67901018 -0.33484802 4.57132903] [ 0.71911767 0.69486246 -0.00599528 -3.53904041] [ 0.23674418 -0.23687831 0.94225308 -1.52624899] [ 0. 0. 0. 1. ]] SLAMing on 132.918001145 meters Centerline goodness : 0.890471 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:-3.53, Z:-1.53 [[ 0.65204814 -0.67970629 -0.33590561 4.57420114] [ 0.7198779 0.694065 -0.00704157 -3.5346226 ] [ 0.23792653 -0.23721958 0.94186933 -1.52753997] [ 0. 0. 0. 1. ]] SLAMing on 132.978001145 meters Centerline goodness : 0.889553 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:-3.53, Z:-1.53 [[ 0.65186687 -0.67923052 -0.33721727 4.57662096] [ 0.71971302 0.69423554 -0.00708413 -3.53179142] [ 0.23891997 -0.23808175 0.9414002 -1.52858893] [ 0. 0. 0. 1. ]] SLAMing on 133.03800114499998 meters Centerline goodness : 0.891885 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:-3.53, Z:-1.53 [[ 6.54256611e-01 -6.73709930e-01 -3.43603285e-01 4.57909201e+00] [ 7.16771197e-01 6.97304264e-01 -2.41124836e-03 -3.52942985e+00] [ 2.41220518e-01 -2.44707363e-01 9.39111798e-01 -1.52722723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09800114499998 meters Centerline goodness : 0.892940 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:-3.53, Z:-1.53 [[ 6.56266837e-01 -6.69789111e-01 -3.47413852e-01 4.58053605e+00] [ 7.14520679e-01 6.99613706e-01 9.28530084e-04 -3.52895548e+00] [ 2.42433573e-01 -2.48843745e-01 9.37711444e-01 -1.52649691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.158001145 meters Centerline goodness : 0.888492 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:-3.53, Z:-1.53 [[ 6.58222649e-01 -6.65736389e-01 -3.51479737e-01 4.58206790e+00] [ 7.12164311e-01 7.02001275e-01 4.02551017e-03 -3.52748929e+00] [ 2.44059295e-01 -2.52961007e-01 9.36186835e-01 -1.52584695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.218001145 meters Centerline goodness : 0.887226 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:-3.52, Z:-1.53 [[ 6.57572184e-01 -6.65746026e-01 -3.52676979e-01 4.58457827e+00] [ 7.12477317e-01 7.01684522e-01 3.86070762e-03 -3.52486613e+00] [ 2.44897727e-01 -2.53813042e-01 9.35737166e-01 -1.52645747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.278001145 meters Centerline goodness : 0.887716 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-3.52, Z:-1.53 [[ 6.55378603e-01 -6.67286240e-01 -3.53847369e-01 4.58897414e+00] [ 7.14250707e-01 6.99883258e-01 3.05827767e-03 -3.52156871e+00] [ 2.45611103e-01 -2.54740063e-01 9.35298180e-01 -1.52723886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.338001145 meters Centerline goodness : 0.885215 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-3.52, Z:-1.53 [[ 6.54133707e-01 -6.67111874e-01 -3.56469973e-01 4.59170322e+00] [ 7.14968595e-01 6.99147413e-01 3.57818663e-03 -3.51787068e+00] [ 2.46838008e-01 -2.57205448e-01 9.34299928e-01 -1.52681686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.398001145 meters Centerline goodness : 0.882203 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-3.51, Z:-1.53 [[ 6.52517901e-01 -6.68097180e-01 -3.57584320e-01 4.59412668e+00] [ 7.16046641e-01 6.98048207e-01 2.43079008e-03 -3.51307032e+00] [ 2.47987090e-01 -2.57633185e-01 9.33877693e-01 -1.52780976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.458001145 meters Centerline goodness : 0.887133 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.51, Z:-1.53 [[ 6.51335537e-01 -6.68507067e-01 -3.58971195e-01 4.59568892e+00] [ 7.16717986e-01 6.97360894e-01 1.76395284e-03 -3.50790521e+00] [ 2.49153259e-01 -2.58430037e-01 9.33346972e-01 -1.52890037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.518001145 meters Centerline goodness : 0.882554 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.51, Z:-1.53 [[ 6.51042155e-01 -6.68323452e-01 -3.59844238e-01 4.59744863e+00] [ 7.16806810e-01 6.97269338e-01 1.86191481e-03 -3.50654644e+00] [ 2.49663992e-01 -2.59150985e-01 9.33010535e-01 -1.52915007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.578001145 meters Centerline goodness : 0.883857 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.51, Z:-1.53 [[ 0.65181885 -0.6651132 -0.36435781 4.59947064] [ 0.71562087 0.69846957 0.00519776 -3.50598543] [ 0.25103575 -0.26413006 0.93124453 -1.52686424] [ 0. 0. 0. 1. ]] SLAMing on 133.638001145 meters Centerline goodness : 0.881080 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.51, Z:-1.53 [[ 0.65105059 -0.66499976 -0.36593504 4.59994376] [ 0.71611503 0.69795903 0.00569644 -3.50507944] [ 0.25161953 -0.26576025 0.93062296 -1.52515527] [ 0. 0. 0. 1. ]] SLAMing on 133.698001145 meters Centerline goodness : 0.884530 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.51, Z:-1.53 [[ 6.49505138e-01 -6.67810767e-01 -3.63554472e-01 4.60272950e+00] [ 7.17755158e-01 6.96287792e-01 3.29298376e-03 -3.50548428e+00] [ 2.50939451e-01 -2.63081908e-01 9.31567122e-01 -1.52665057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.758001145 meters Centerline goodness : 0.887420 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.50, Z:-1.53 [[ 6.50494594e-01 -6.66135163e-01 -3.64857134e-01 4.60423713e+00] [ 7.16594430e-01 6.97477540e-01 4.18379556e-03 -3.50454687e+00] [ 2.51692683e-01 -2.64176126e-01 9.31054116e-01 -1.52734717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81800114499998 meters Centerline goodness : 0.885962 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.50, Z:-1.53 [[ 6.51603812e-01 -6.65405523e-01 -3.64208679e-01 4.60290139e+00] [ 7.15523936e-01 6.98577631e-01 3.84590154e-03 -3.50418828e+00] [ 2.51868952e-01 -2.63106032e-01 9.31309426e-01 -1.52824261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87800114499998 meters Centerline goodness : 0.890555 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.50, Z:-1.53 [[ 6.54365594e-01 -6.63424902e-01 -3.62867840e-01 4.60290245e+00] [ 7.13003450e-01 7.01149838e-01 3.87100520e-03 -3.50497172e+00] [ 2.51856606e-01 -2.61259074e-01 9.31832574e-01 -1.53137935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.938001145 meters Centerline goodness : 0.888352 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.50, Z:-1.53 [[ 6.54981269e-01 -6.62397248e-01 -3.63633639e-01 4.60272893e+00] [ 7.12266611e-01 7.01895442e-01 4.36614948e-03 -3.50427848e+00] [ 2.52340668e-01 -2.61863846e-01 9.31531810e-01 -1.53135083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.998001145 meters Centerline goodness : 0.893504 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.51, Z:-1.53 [[ 0.65673328 -0.66097144 -0.36306771 4.60084045] [ 0.71078241 0.70339305 0.00515537 -3.50579013] [ 0.25197175 -0.26144784 0.9317485 -1.53187287] [ 0. 0. 0. 1. ]] SLAMing on 134.058001145 meters Centerline goodness : 0.895213 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.51, Z:-1.53 [[ 0.65712983 -0.6606491 -0.36293684 4.59961358] [ 0.71049537 0.70368025 0.00551605 -3.50687255] [ 0.25174732 -0.26148971 0.93179741 -1.53108466] [ 0. 0. 0. 1. ]] SLAMing on 134.118001145 meters Centerline goodness : 0.900090 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.51, Z:-1.53 [[ 0.65745911 -0.66079622 -0.36207165 4.59812466] [ 0.71048367 0.70368936 0.00585159 -3.50984847] [ 0.25091926 -0.26109317 0.9321319 -1.52984103] [ 0. 0. 0. 1. ]] SLAMing on 134.178001145 meters Centerline goodness : 0.897268 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.51, Z:-1.53 [[ 6.56358960e-01 -6.62971175e-01 -3.60086290e-01 4.59824410e+00] [ 7.11827972e-01 7.02340089e-01 4.39737120e-03 -3.51180980e+00] [ 2.49987707e-01 -2.59205748e-01 9.32908638e-01 -1.52934027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.238001145 meters Centerline goodness : 0.904744 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.51, Z:-1.53 [[ 6.53781982e-01 -6.66991294e-01 -3.57339803e-01 4.59799642e+00] [ 7.14629054e-01 6.99501253e-01 1.81998607e-03 -3.51291842e+00] [ 2.48745725e-01 -2.56555279e-01 9.33972673e-01 -1.52859546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.298001145 meters Centerline goodness : 0.906749 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.51, Z:-1.53 [[ 6.53162408e-01 -6.67086635e-01 -3.58293581e-01 4.59899210e+00] [ 7.15029372e-01 6.99091871e-01 1.88522181e-03 -3.51235464e+00] [ 2.49222524e-01 -2.57421790e-01 9.33607067e-01 -1.52754751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.358001145 meters Centerline goodness : 0.904884 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.51, Z:-1.53 [[ 6.53261063e-01 -6.66803061e-01 -3.58641410e-01 4.59927304e+00] [ 7.14910353e-01 6.99212689e-01 2.19142570e-03 -3.51341217e+00] [ 2.49305376e-01 -2.57828030e-01 9.33472836e-01 -1.52648735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.418001145 meters Centerline goodness : 0.912373 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.52, Z:-1.53 [[ 6.55698097e-01 -6.66359031e-01 -3.55000912e-01 4.59769768e+00] [ 7.13114781e-01 7.01046201e-01 1.23813008e-03 -3.51813071e+00] [ 2.48047002e-01 -2.53968237e-01 9.34865134e-01 -1.52827662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.478001145 meters Centerline goodness : 0.917397 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.52, Z:-1.53 [[ 6.57800428e-01 -6.62209639e-01 -3.58855110e-01 4.59922418e+00] [ 7.10570118e-01 7.03614423e-01 4.10492944e-03 -3.51663517e+00] [ 2.49777308e-01 -2.57691943e-01 9.33384251e-01 -1.52789862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53800114499998 meters Centerline goodness : 0.917948 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.52, Z:-1.53 [[ 6.59544290e-01 -6.61573053e-01 -3.56822679e-01 4.59765338e+00] [ 7.09160820e-01 7.05037501e-01 3.61287905e-03 -3.51835359e+00] [ 2.49183187e-01 -2.55427518e-01 9.34165147e-01 -1.52952938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59800114499998 meters Centerline goodness : 0.918738 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.52, Z:-1.53 [[ 6.58962407e-01 -6.63466779e-01 -3.54373220e-01 4.59718018e+00] [ 7.10082276e-01 7.04115443e-01 2.14553829e-03 -3.52074805e+00] [ 2.48096164e-01 -2.53047972e-01 9.35101608e-01 -1.52956115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.658001145 meters Centerline goodness : 0.918379 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.52, Z:-1.53 [[ 6.58698239e-01 -6.63477235e-01 -3.54844457e-01 4.59602506e+00] [ 7.10261706e-01 7.03934071e-01 2.26551305e-03 -3.52070636e+00] [ 2.48283986e-01 -2.53524719e-01 9.34922606e-01 -1.52802966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.718001145 meters Centerline goodness : 0.913992 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.52, Z:-1.53 [[ 6.57215331e-01 -6.64823649e-01 -3.55073971e-01 4.59803614e+00] [ 7.11482433e-01 7.02702871e-01 1.19320250e-03 -3.51895615e+00] [ 2.48718229e-01 -2.53413083e-01 9.34837447e-01 -1.52813173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.778001145 meters Centerline goodness : 0.912611 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.52, Z:-1.53 [[ 6.56133733e-01 -6.66189031e-01 -3.54514738e-01 4.59835654e+00] [ 7.12477106e-01 7.01695355e-01 5.22243539e-05 -3.51778986e+00] [ 2.48726554e-01 -2.52617900e-01 9.35050425e-01 -1.52826221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.838001145 meters Centerline goodness : 0.916726 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.52, Z:-1.53 [[ 6.55286593e-01 -6.66843366e-01 -3.54851246e-01 4.59628307e+00] [ 7.13328700e-01 7.00829580e-01 2.56946723e-04 -3.51832619e+00] [ 2.48518906e-01 -2.53293952e-01 9.34922739e-01 -1.52571978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.898001145 meters Centerline goodness : 0.917463 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-3.52, Z:-1.53 [[ 6.53252412e-01 -6.70550894e-01 -3.51600321e-01 4.59463353e+00] [ 7.15665268e-01 6.98439448e-01 -2.35817030e-03 -3.51977979e+00] [ 2.47152807e-01 -2.50087658e-01 9.36147239e-01 -1.52508395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.958001145 meters Centerline goodness : 0.918288 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-3.52, Z:-1.52 [[ 0.65090435 -0.67409997 -0.34916006 4.59249635] [ 0.71808838 0.69593444 -0.00493335 -3.51929242] [ 0.24631808 -0.24751664 0.93705011 -1.52419422] [ 0. 0. 0. 1. ]] SLAMing on 135.018001145 meters Centerline goodness : 0.918181 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-3.52, Z:-1.52 [[ 6.51016774e-01 -6.72075087e-01 -3.52834575e-01 4.59314694e+00] [ 7.17486688e-01 6.96565875e-01 -2.97222088e-03 -3.51641022e+00] [ 2.47770080e-01 -2.51219145e-01 9.35680997e-01 -1.52280909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.078001145 meters Centerline goodness : 0.915321 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.51, Z:-1.52 [[ 6.50983342e-01 -6.71623677e-01 -3.53754611e-01 4.59533360e+00] [ 7.17262904e-01 6.96796220e-01 -2.99257515e-03 -3.51441037e+00] [ 2.48504760e-01 -2.51786943e-01 9.35333481e-01 -1.52382501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.138001145 meters Centerline goodness : 0.913980 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-3.51, Z:-1.52 [[ 6.50300906e-01 -6.70782801e-01 -3.56593839e-01 4.59776533e+00] [ 7.17419541e-01 6.96638161e-01 -2.11534540e-03 -3.51087407e+00] [ 2.49835814e-01 -2.54451777e-01 9.34257116e-01 -1.52358686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.198001145 meters Centerline goodness : 0.910370 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:-3.50, Z:-1.53 [[ 0.64929318 -0.67184216 -0.35643581 4.60675584] [ 0.72071207 0.69320634 0.0062513 -3.499732 ] [ 0.24288367 -0.26094651 0.9342989 -1.52666496] [ 0. 0. 0. 1. ]] SLAMing on 135.258001145 meters Centerline goodness : 0.911999 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:-3.50, Z:-1.53 [[ 0.64777196 -0.67243453 -0.35808281 4.60908748] [ 0.72171993 0.69216089 0.00580048 -3.49547411] [ 0.24395047 -0.26219289 0.93367181 -1.52707828] [ 0. 0. 0. 1. ]] SLAMing on 135.31800114499998 meters Centerline goodness : 0.906168 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:-3.49, Z:-1.53 [[ 0.64652868 -0.67293172 -0.35939332 4.61102962] [ 0.72253437 0.6913141 0.00537575 -3.49147896] [ 0.24483616 -0.26314961 0.93317069 -1.5277094 ] [ 0. 0. 0. 1. ]] SLAMing on 135.37800114499998 meters Centerline goodness : 0.907866 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:-3.49, Z:-1.53 [[ 0.64699229 -0.67051954 -0.36304893 4.61352531] [ 0.72149527 0.69238388 0.00700993 -3.48696169] [ 0.24666893 -0.26647346 0.93174371 -1.52839212] [ 0. 0. 0. 1. ]] SLAMing on 135.438001145 meters Centerline goodness : 0.904365 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:-3.48, Z:-1.53 [[ 0.64768082 -0.66718549 -0.36793081 4.61439492] [ 0.72011105 0.69379312 0.0095491 -3.48187384] [ 0.24889685 -0.27113581 0.92980414 -1.52772646] [ 0. 0. 0. 1. ]] SLAMing on 135.498001145 meters Centerline goodness : 0.901892 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-3.48, Z:-1.53 [[ 0.64725173 -0.66749636 -0.36812199 4.61626606] [ 0.72027802 0.69363086 0.00870668 -3.47877508] [ 0.24952909 -0.27078559 0.92973673 -1.52955307] [ 0. 0. 0. 1. ]] SLAMing on 135.558001145 meters Centerline goodness : 0.900654 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-3.48, Z:-1.53 [[ 0.64605562 -0.668051 -0.36921538 4.61782711] [ 0.72113234 0.6927464 0.00840072 -3.47691913] [ 0.25016052 -0.27168048 0.92930589 -1.52893239] [ 0. 0. 0. 1. ]] SLAMing on 135.618001145 meters Centerline goodness : 0.897374 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-3.47, Z:-1.53 [[ 0.64453044 -0.66861059 -0.37086438 4.6177489 ] [ 0.72219733 0.69163847 0.00820073 -3.47385369] [ 0.25102098 -0.27312289 0.92865083 -1.52730878] [ 0. 0. 0. 1. ]] SLAMing on 135.678001145 meters Centerline goodness : 0.897647 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-3.47, Z:-1.53 [[ 0.64270997 -0.66976602 -0.37193733 4.61887142] [ 0.7234625 0.69032778 0.00704009 -3.46954918] [ 0.25204346 -0.27360745 0.92823114 -1.5271602 ] [ 0. 0. 0. 1. ]] SLAMing on 135.738001145 meters Centerline goodness : 0.897288 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-3.47, Z:-1.53 [[ 0.64214916 -0.67081169 -0.3710204 4.61984896] [ 0.7239933 0.68978156 0.00592462 -3.46898146] [ 0.25194873 -0.27242078 0.92860582 -1.52805314] [ 0. 0. 0. 1. ]] SLAMing on 135.798001145 meters Centerline goodness : 0.894753 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-3.47, Z:-1.52 [[ 0.63975417 -0.67116008 -0.37451133 4.6196083 ] [ 0.7256986 0.68797974 0.00673989 -3.46532271] [ 0.25313267 -0.27609422 0.92719784 -1.52446058] [ 0. 0. 0. 1. ]] SLAMing on 135.858001145 meters Centerline goodness : 0.894193 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-3.46, Z:-1.52 [[ 0.63955248 -0.67063755 -0.37578969 4.62010378] [ 0.72567241 0.68800271 0.00719855 -3.46441624] [ 0.25371671 -0.27730406 0.92667701 -1.52369705] [ 0. 0. 0. 1. ]] SLAMing on 135.918001145 meters Centerline goodness : 0.894381 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-3.46, Z:-1.53 [[ 0.6400787 -0.67018573 -0.37569981 4.62257039] [ 0.72510975 0.6885975 0.00702446 -3.46380272] [ 0.25399825 -0.2769198 0.9267148 -1.52553824] [ 0. 0. 0. 1. ]] SLAMing on 135.978001145 meters Centerline goodness : 0.890676 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-3.46, Z:-1.52 [[ 0.64167334 -0.66571722 -0.38088832 4.62184321] [ 0.72283917 0.6909422 0.01011978 -3.45947985] [ 0.2564349 -0.2818146 0.92456567 -1.52414618] [ 0. 0. 0. 1. ]] SLAMing on 136.03800114499998 meters Centerline goodness : 0.888346 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-3.46, Z:-1.53 [[ 0.64262052 -0.66574934 -0.3792317 4.61996588] [ 0.72209515 0.69173172 0.00926403 -3.4591357 ] [ 0.25615907 -0.27979463 0.92525537 -1.52584815] [ 0. 0. 0. 1. ]] SLAMing on 136.09800114499998 meters Centerline goodness : 0.889831 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-3.46, Z:-1.53 [[ 0.64223098 -0.6673481 -0.37707543 4.621928 ] [ 0.72252295 0.69131035 0.00711258 -3.45952614] [ 0.25592958 -0.27701357 0.92615524 -1.52745247] [ 0. 0. 0. 1. ]] SLAMing on 136.158001145 meters Centerline goodness : 0.889828 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-3.46, Z:-1.53 [[ 0.6415576 -0.66716748 -0.3785385 4.6235234 ] [ 0.72290873 0.69090281 0.00750177 -3.45843213] [ 0.25652838 -0.27846161 0.92555514 -1.52661048] [ 0. 0. 0. 1. ]] SLAMing on 136.218001145 meters Centerline goodness : 0.890028 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-3.46, Z:-1.52 [[ 0.64022053 -0.66732964 -0.38051127 4.62435526] [ 0.7238587 0.68990208 0.00798161 -3.45723136] [ 0.25718915 -0.28054639 0.92474184 -1.52432882] [ 0. 0. 0. 1. ]] SLAMing on 136.278001145 meters Centerline goodness : 0.890055 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-3.46, Z:-1.52 [[ 0.64006007 -0.66819758 -0.37925597 4.62408496] [ 0.72420254 0.68954841 0.00732631 -3.45901539] [ 0.25661993 -0.27934741 0.92526279 -1.52394447] [ 0. 0. 0. 1. ]] SLAMing on 136.338001145 meters Centerline goodness : 0.892024 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:-3.46, Z:-1.52 [[ 0.64034578 -0.66726812 -0.38040839 4.62616738] [ 0.72384098 0.68991718 0.00827736 -3.46026498] [ 0.25692706 -0.28065556 0.92478157 -1.5229896 ] [ 0. 0. 0. 1. ]] SLAMing on 136.398001145 meters Centerline goodness : 0.891644 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:-3.46, Z:-1.52 [[ 0.64007991 -0.66688847 -0.38151995 4.62778163] [ 0.72395768 0.68978752 0.00885779 -3.46040068] [ 0.25726055 -0.28187399 0.92431816 -1.52213335] [ 0. 0. 0. 1. ]] SLAMing on 136.458001145 meters Centerline goodness : 0.890153 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:-3.46, Z:-1.52 [[ 0.63891016 -0.6690092 -0.37976374 4.63021991] [ 0.7253397 0.6883483 0.00767729 -3.46347499] [ 0.25627355 -0.28036282 0.92505165 -1.5216251 ] [ 0. 0. 0. 1. ]] SLAMing on 136.518001145 meters Centerline goodness : 0.890040 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:-3.47, Z:-1.52 [[ 0.63707095 -0.67131668 -0.3787803 4.63179192] [ 0.72715518 0.68644318 0.00641186 -3.4653441 ] [ 0.25570677 -0.27951687 0.92546441 -1.51992462] [ 0. 0. 0. 1. ]] SLAMing on 136.578001145 meters Centerline goodness : 0.890213 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:-3.47, Z:-1.52 [[ 0.63722586 -0.67150938 -0.37817767 4.63260742] [ 0.72716371 0.68643424 0.00640039 -3.46694809] [ 0.25529618 -0.27907558 0.92571091 -1.51986635] [ 0. 0. 0. 1. ]] SLAMing on 136.638001145 meters Centerline goodness : 0.892845 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-3.47, Z:-1.52 [[ 0.63874413 -0.6699315 -0.37841476 4.63727555] [ 0.72587957 0.68777953 0.00762694 -3.4707927 ] [ 0.2551564 -0.2795552 0.92560472 -1.52080479] [ 0. 0. 0. 1. ]] SLAMing on 136.698001145 meters Centerline goodness : 0.892231 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-3.47, Z:-1.52 [[ 0.64007239 -0.66869293 -0.37836108 4.6369663 ] [ 0.72476674 0.688942 0.00849066 -3.47307422] [ 0.25499119 -0.27965817 0.92561915 -1.52047364] [ 0. 0. 0. 1. ]] SLAMing on 136.758001145 meters Centerline goodness : 0.893043 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:-3.48, Z:-1.52 [[ 0.64261616 -0.66626352 -0.37833503 4.63442854] [ 0.72262292 0.69116676 0.01022894 -3.47716939] [ 0.25467743 -0.27996684 0.92561222 -1.51926238] [ 0. 0. 0. 1. ]] SLAMing on 136.81800114499998 meters Centerline goodness : 0.893645 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-3.47, Z:-1.52 [[ 0.64410037 -0.67050279 -0.36818573 4.64047181] [ 0.72501429 0.68858426 0.01435228 -3.47335389] [ 0.24390365 -0.27618422 0.92964148 -1.52206035] [ 0. 0. 0. 1. ]] SLAMing on 136.87800114499998 meters Centerline goodness : 0.895914 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-3.48, Z:-1.52 [[ 0.64424269 -0.67162971 -0.36587551 4.64059063] [ 0.72525425 0.6883496 0.01345731 -3.47796876] [ 0.24281194 -0.27402254 0.9305665 -1.52135925] [ 0. 0. 0. 1. ]] SLAMing on 136.938001145 meters Centerline goodness : 0.893765 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-3.48, Z:-1.52 [[ 0.64482202 -0.67047238 -0.36697595 4.64236594] [ 0.72464158 0.68897302 0.0145172 -3.47914412] [ 0.24310315 -0.27528704 0.93011715 -1.52060468] [ 0. 0. 0. 1. ]] SLAMing on 136.998001145 meters Centerline goodness : 0.895960 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-3.48, Z:-1.52 [[ 0.64690251 -0.67013284 -0.36392186 4.64128731] [ 0.72322157 0.69047128 0.01414141 -3.48466071] [ 0.24180097 -0.27234425 0.93132213 -1.52153839] [ 0. 0. 0. 1. ]] SLAMing on 137.058001145 meters Centerline goodness : 0.897018 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-3.49, Z:-1.52 [[ 0.6484924 -0.66966239 -0.3619529 4.6415011 ] [ 0.72200374 0.69175271 0.01373983 -3.48725648] [ 0.24118085 -0.27024152 0.93209512 -1.52320621] [ 0. 0. 0. 1. ]] SLAMing on 137.118001145 meters Centerline goodness : 0.898239 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-3.49, Z:-1.52 [[ 0.65006637 -0.66848986 -0.36129632 4.63946274] [ 0.72082947 0.69295401 0.0148196 -3.491981 ] [ 0.24045498 -0.27006676 0.93233328 -1.52164429] [ 0. 0. 0. 1. ]] SLAMing on 137.178001145 meters Centerline goodness : 0.898322 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-3.50, Z:-1.52 [[ 0.65015715 -0.66972462 -0.35883787 4.63782169] [ 0.72110181 0.69269368 0.01369834 -3.4953724 ] [ 0.23939061 -0.26766471 0.93329938 -1.52109758] [ 0. 0. 0. 1. ]] SLAMing on 137.238001145 meters Centerline goodness : 0.897223 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-3.50, Z:-1.52 [[ 0.64973498 -0.66960468 -0.35982499 4.64057091] [ 0.72140599 0.69236671 0.01420333 -3.49523281] [ 0.23962023 -0.2688083 0.9329117 -1.52101059] [ 0. 0. 0. 1. ]] SLAMing on 137.298001145 meters Centerline goodness : 0.896149 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-3.49, Z:-1.52 [[ 0.64741683 -0.67065518 -0.36204015 4.64433327] [ 0.72335262 0.69032106 0.01475877 -3.49491357] [ 0.2400259 -0.27143777 0.93204566 -1.51872179] [ 0. 0. 0. 1. ]] SLAMing on 137.358001145 meters Centerline goodness : 0.894359 with order 1 Centerline is valid? [False, False] Translation: X:4.65, Y:-3.49, Z:-1.52 [[ 0.6448614 -0.67194341 -0.36420575 4.64795246] [ 0.72536803 0.68820588 0.0146248 -3.49113479] [ 0.2408215 -0.27361417 0.93120368 -1.51801551] [ 0. 0. 0. 1. ]] SLAMing on 137.418001145 meters Centerline goodness : 0.892349 with order 1 Centerline is valid? [False, False] Translation: X:4.65, Y:-3.49, Z:-1.52 [[ 0.64165492 -0.67581543 -0.36270161 4.65016394] [ 0.72835861 0.68509067 0.01202101 -3.48876059] [ 0.2403595 -0.27189019 0.93182779 -1.51876298] [ 0. 0. 0. 1. ]] SLAMing on 137.478001145 meters Centerline goodness : 0.889611 with order 1 Centerline is valid? [False, False] Translation: X:4.65, Y:-3.49, Z:-1.52 [[ 0.64110726 -0.67593776 -0.36344137 4.65305542] [ 0.72869921 0.68472979 0.01194038 -3.48700083] [ 0.24078818 -0.2724945 0.93154055 -1.51977476] [ 0. 0. 0. 1. ]] SLAMing on 137.53800114499998 meters Centerline goodness : 0.887801 with order 1 Centerline is valid? [False, False] Translation: X:4.65, Y:-3.48, Z:-1.52 [[ 0.64169786 -0.6732582 -0.36735167 4.65489776] [ 0.72772633 0.68571486 0.01447463 -3.48491666] [ 0.24215334 -0.27661982 0.92996948 -1.51878714] [ 0. 0. 0. 1. ]] SLAMing on 137.59800114499998 meters Centerline goodness : 0.887844 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-3.48, Z:-1.52 [[ 0.64240511 -0.67071489 -0.37075222 4.65711944] [ 0.72661972 0.68684226 0.01647702 -3.48235391] [ 0.24359691 -0.27998079 0.92858565 -1.51881953] [ 0. 0. 0. 1. ]] SLAMing on 137.658001145 meters Centerline goodness : 0.884265 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-3.48, Z:-1.52 [[ 0.64230173 -0.67122576 -0.37000605 4.65972076] [ 0.72664684 0.68683826 0.01541323 -3.48079242] [ 0.24378856 -0.27876367 0.92890148 -1.52130939] [ 0. 0. 0. 1. ]] SLAMing on 137.718001145 meters Centerline goodness : 0.884027 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-3.48, Z:-1.52 [[ 0.64323725 -0.66922808 -0.37199411 4.65968083] [ 0.72547274 0.68804979 0.01663695 -3.47900666] [ 0.24481655 -0.28057309 0.92808599 -1.52116362] [ 0. 0. 0. 1. ]] SLAMing on 137.778001145 meters Centerline goodness : 0.885135 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-3.48, Z:-1.52 [[ 0.64417911 -0.66649917 -0.37524942 4.65807555] [ 0.72418832 0.68934566 0.01881062 -3.47649658] [ 0.24613929 -0.28386866 0.92673299 -1.51963721] [ 0. 0. 0. 1. ]] SLAMing on 137.838001145 meters Centerline goodness : 0.880803 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-3.48, Z:-1.52 [[ 0.64423498 -0.66838574 -0.37178193 4.65715019] [ 0.72436216 0.68923156 0.01610324 -3.475239 ] [ 0.24548066 -0.27967903 0.92818042 -1.52318474] [ 0. 0. 0. 1. ]] SLAMing on 137.898001145 meters Centerline goodness : 0.881553 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-3.47, Z:-1.52 [[ 0.64211691 -0.66945391 -0.37352018 4.65865432] [ 0.72584439 0.68768962 0.01526142 -3.46948792] [ 0.24664914 -0.28091715 0.9274965 -1.52352424] [ 0. 0. 0. 1. ]] SLAMing on 137.958001145 meters Centerline goodness : 0.879236 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-3.46, Z:-1.52 [[ 0.64005696 -0.66935627 -0.37721251 4.6604751 ] [ 0.72713098 0.68631341 0.01595137 -3.46377967] [ 0.24820885 -0.28449268 0.92598935 -1.52225253] [ 0. 0. 0. 1. ]] SLAMing on 138.018001145 meters Centerline goodness : 0.880673 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-3.46, Z:-1.52 [[ 0.63999229 -0.66801455 -0.37969253 4.66158086] [ 0.72689711 0.68652643 0.01737958 -3.46116022] [ 0.24905915 -0.2871202 0.92494948 -1.52215403] [ 0. 0. 0. 1. ]] SLAMing on 138.078001145 meters Centerline goodness : 0.881587 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-3.46, Z:-1.53 [[ 0.64149063 -0.67306713 -0.36806304 4.66247939] [ 0.72990216 0.68316998 0.02283885 -3.45681283] [ 0.23607754 -0.28330091 0.9295203 -1.52702382] [ 0. 0. 0. 1. ]] SLAMing on 138.138001145 meters Centerline goodness : 0.881447 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-3.45, Z:-1.53 [[ 0.63995099 -0.67293368 -0.37097573 4.66441436] [ 0.73088531 0.68209483 0.02352228 -3.45266459] [ 0.2372117 -0.28619382 0.92834461 -1.52621987] [ 0. 0. 0. 1. ]] SLAMing on 138.198001145 meters Centerline goodness : 0.882506 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.45, Z:-1.52 [[ 0.63845138 -0.67174071 -0.37569171 4.66588659] [ 0.73157302 0.68130232 0.02506124 -3.44736019] [ 0.23912497 -0.2908463 0.92640578 -1.52427149] [ 0. 0. 0. 1. ]] SLAMing on 138.258001145 meters Centerline goodness : 0.883027 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.45, Z:-1.53 [[ 0.63687812 -0.67480566 -0.37285867 4.66568897] [ 0.73312161 0.67974047 0.02203623 -3.44511372] [ 0.23857696 -0.28738514 0.92762644 -1.52658257] [ 0. 0. 0. 1. ]] SLAMing on 138.31800114499998 meters Centerline goodness : 0.880674 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.44, Z:-1.53 [[ 0.6365847 -0.67446681 -0.37397117 4.66559803] [ 0.73320767 0.67963761 0.02234335 -3.44357963] [ 0.23909502 -0.28842197 0.92717115 -1.52604534] [ 0. 0. 0. 1. ]] SLAMing on 138.37800114499998 meters Centerline goodness : 0.880197 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-3.44, Z:-1.52 [[ 0.63603242 -0.67336291 -0.37688877 4.66450282] [ 0.73326295 0.67954424 0.02334673 -3.43977776] [ 0.24039177 -0.29120785 0.92596425 -1.52449678] [ 0. 0. 0. 1. ]] SLAMing on 138.438001145 meters Centerline goodness : 0.879858 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-3.44, Z:-1.52 [[ 0.63522975 -0.67378142 -0.37749406 4.66496624] [ 0.7337975 0.67898222 0.02289941 -3.43747841] [ 0.24088255 -0.29155058 0.92572882 -1.52461303] [ 0. 0. 0. 1. ]] SLAMing on 138.498001145 meters Centerline goodness : 0.881816 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.44, Z:-1.52 [[ 0.63244829 -0.67794103 -0.37470671 4.66552642] [ 0.73638762 0.6762834 0.01933997 -3.43623891] [ 0.24029657 -0.28816091 0.92694166 -1.52498567] [ 0. 0. 0. 1. ]] SLAMing on 138.558001145 meters Centerline goodness : 0.881040 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.44, Z:-1.52 [[ 0.63175197 -0.67731876 -0.37699966 4.66511968] [ 0.73671764 0.67589801 0.02022393 -3.43527436] [ 0.24111527 -0.29051881 0.92599258 -1.52218084] [ 0. 0. 0. 1. ]] SLAMing on 138.618001145 meters Centerline goodness : 0.881287 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.43, Z:-1.52 [[ 0.6328616 -0.67561817 -0.37818816 4.66559653] [ 0.73555565 0.67713214 0.02121206 -3.43488418] [ 0.2417521 -0.29160274 0.92548569 -1.52221894] [ 0. 0. 0. 1. ]] SLAMing on 138.678001145 meters Centerline goodness : 0.879626 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-3.43, Z:-1.52 [[ 0.63903074 -0.67567202 -0.36756909 4.66226111] [ 0.73193911 0.68105967 0.02056385 -3.43387169] [ 0.23644207 -0.28217912 0.92976884 -1.52190651] [ 0. 0. 0. 1. ]] SLAMing on 138.738001145 meters Centerline goodness : 0.875852 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-3.43, Z:-1.52 [[ 0.64234148 -0.67088815 -0.37054894 4.66394086] [ 0.72837532 0.68479951 0.02278188 -3.43212761] [ 0.23846764 -0.28453246 0.9285335 -1.52345004] [ 0. 0. 0. 1. ]] SLAMing on 138.798001145 meters Centerline goodness : 0.874319 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.43, Z:-1.53 [[ 0.64520104 -0.66785936 -0.37105188 4.66590164] [ 0.72539645 0.68794304 0.02311629 -3.43080312] [ 0.23982413 -0.28407437 0.92832437 -1.52654993] [ 0. 0. 0. 1. ]] SLAMing on 138.858001145 meters Centerline goodness : 0.871629 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.43, Z:-1.53 [[ 0.64886172 -0.66336735 -0.37272272 4.66552994] [ 0.72169499 0.69175216 0.02520496 -3.43052438] [ 0.2411116 -0.28534665 0.92760039 -1.52805464] [ 0. 0. 0. 1. ]] SLAMing on 138.918001145 meters Centerline goodness : 0.872117 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.42, Z:-1.53 [[ 0.65142476 -0.66480647 -0.3656202 4.66897932] [ 0.72201292 0.69124993 0.02951058 -3.42298911] [ 0.23311611 -0.28320643 0.93029619 -1.52754792] [ 0. 0. 0. 1. ]] SLAMing on 138.978001145 meters Centerline goodness : 0.868667 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.42, Z:-1.53 [[ 0.65170382 -0.66406416 -0.36647092 4.67146061] [ 0.72160501 0.69165783 0.02992751 -3.42308048] [ 0.23359869 -0.28395112 0.92994807 -1.52776031] [ 0. 0. 0. 1. ]] SLAMing on 139.03800114499998 meters Centerline goodness : 0.865301 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.42, Z:-1.53 [[ 0.65096603 -0.66356595 -0.36867799 4.67472398] [ 0.72207862 0.69111364 0.03105467 -3.42292148] [ 0.23419157 -0.28643003 0.92903829 -1.52659024] [ 0. 0. 0. 1. ]] SLAMing on 139.09800114499998 meters Centerline goodness : 0.866159 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.42, Z:-1.53 [[ 0.64953069 -0.6647103 -0.36914781 4.67714649] [ 0.72340062 0.68973815 0.030868 -3.42297746] [ 0.23409706 -0.28709147 0.92885793 -1.52574881] [ 0. 0. 0. 1. ]] SLAMing on 139.158001145 meters Centerline goodness : 0.867038 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.42, Z:-1.52 [[ 0.64732723 -0.66750892 -0.36796644 4.67926398] [ 0.72559083 0.68750241 0.02929807 -3.42450235] [ 0.23342109 -0.28595851 0.92937738 -1.5244038 ] [ 0. 0. 0. 1. ]] SLAMing on 139.218001145 meters Centerline goodness : 0.868647 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.43, Z:-1.52 [[ 0.64649852 -0.66992381 -0.36502295 4.67818463] [ 0.72678434 0.68630928 0.0276423 -3.42715569] [ 0.23200041 -0.28316367 0.93058806 -1.52409042] [ 0. 0. 0. 1. ]] SLAMing on 139.278001145 meters Centerline goodness : 0.875024 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.43, Z:-1.52 [[ 0.64786091 -0.66849103 -0.36523415 4.67662291] [ 0.72554475 0.68758474 0.02849638 -3.42865942] [ 0.23207985 -0.28345541 0.93047943 -1.52307771] [ 0. 0. 0. 1. ]] SLAMing on 139.338001145 meters Centerline goodness : 0.874003 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.43, Z:-1.52 [[ 0.64999422 -0.66762765 -0.36301629 4.67565354] [ 0.72390116 0.68931724 0.02844039 -3.43163297] [ 0.2312458 -0.28127401 0.93134865 -1.52484654] [ 0. 0. 0. 1. ]] SLAMing on 139.398001145 meters Centerline goodness : 0.880063 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.43, Z:-1.53 [[ 0.65164372 -0.66589834 -0.36323527 4.67657316] [ 0.72229743 0.69097072 0.029084 -3.43307039] [ 0.23161795 -0.28131631 0.93124339 -1.52535983] [ 0. 0. 0. 1. ]] SLAMing on 139.458001145 meters Centerline goodness : 0.882002 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.43, Z:-1.53 [[ 0.65563771 -0.66116364 -0.36469417 4.67524117] [ 0.71842419 0.69487791 0.03180195 -3.43433528] [ 0.23239164 -0.28285567 0.93058412 -1.52617308] [ 0. 0. 0. 1. ]] SLAMing on 139.518001145 meters Centerline goodness : 0.888133 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.44, Z:-1.53 [[ 0.65763985 -0.65963235 -0.36386123 4.67482295] [ 0.71662863 0.6967121 0.03218179 -3.43662083] [ 0.23227837 -0.2819174 0.93089706 -1.52694728] [ 0. 0. 0. 1. ]] SLAMing on 139.578001145 meters Centerline goodness : 0.889546 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.44, Z:-1.53 [[ 0.65921646 -0.65832861 -0.36336909 4.67263899] [ 0.71522089 0.69813276 0.03270674 -3.43797393] [ 0.23214808 -0.28144999 0.93107098 -1.52681037] [ 0. 0. 0. 1. ]] SLAMing on 139.638001145 meters Centerline goodness : 0.896219 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.44, Z:-1.53 [[ 0.65969106 -0.65973669 -0.35993778 4.67008821] [ 0.71525404 0.69816644 0.03122951 -3.44101888] [ 0.23069322 -0.27804878 0.93245349 -1.52716968] [ 0. 0. 0. 1. ]] SLAMing on 139.698001145 meters Centerline goodness : 0.899124 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.44, Z:-1.53 [[ 0.65822716 -0.66236937 -0.35777622 4.67052309] [ 0.71686502 0.69659945 0.02921906 -3.44227323] [ 0.22987291 -0.27571004 0.93335011 -1.52694031] [ 0. 0. 0. 1. ]] SLAMing on 139.75800114499998 meters Centerline goodness : 0.903085 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.44, Z:-1.53 [[ 0.65699982 -0.66290145 -0.35904443 4.67218269] [ 0.71792932 0.69548476 0.02963861 -3.44244759] [ 0.23006245 -0.27724108 0.93284975 -1.52509095] [ 0. 0. 0. 1. ]] SLAMing on 139.81800114499998 meters Centerline goodness : 0.905817 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.44, Z:-1.52 [[ 0.65661194 -0.66213156 -0.36116833 4.67438012] [ 0.71794669 0.69543868 0.03029187 -3.4406671 ] [ 0.23111323 -0.27918961 0.9320085 -1.52443603] [ 0. 0. 0. 1. ]] SLAMing on 139.87800114499998 meters Centerline goodness : 0.908102 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.44, Z:-1.53 [[ 0.65638704 -0.66235211 -0.36117272 4.67737349] [ 0.71807403 0.69532595 0.02985796 -3.44095307] [ 0.23135628 -0.27894713 0.9320208 -1.525177 ] [ 0. 0. 0. 1. ]] SLAMing on 139.938001145 meters Centerline goodness : 0.911757 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.44, Z:-1.52 [[ 0.65572286 -0.66232969 -0.36241814 4.67841671] [ 0.71844285 0.69494542 0.02984513 -3.43959197] [ 0.23209351 -0.27994685 0.93153763 -1.5242391 ] [ 0. 0. 0. 1. ]] SLAMing on 139.998001145 meters Centerline goodness : 0.912009 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.44, Z:-1.52 [[ 0.65511156 -0.66214647 -0.3638556 4.68101421] [ 0.71869345 0.69468869 0.02978854 -3.43734364] [ 0.23304199 -0.28101546 0.93097892 -1.52446868] [ 0. 0. 0. 1. ]] SLAMing on 140.058001145 meters Centerline goodness : 0.911480 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.44, Z:-1.53 [[ 0.6546702 -0.66188782 -0.36511839 4.68396277] [ 0.71883975 0.69453463 0.02985047 -3.43546997] [ 0.2338297 -0.28200383 0.93048241 -1.52512298] [ 0. 0. 0. 1. ]] SLAMing on 140.118001145 meters Centerline goodness : 0.911858 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-3.43, Z:-1.53 [[ 0.65470672 -0.65989591 -0.36864142 4.68727113] [ 0.7182364 0.69509407 0.03131626 -3.43204753] [ 0.23557499 -0.28527465 0.92904402 -1.5253508 ] [ 0. 0. 0. 1. ]] SLAMing on 140.178001145 meters Centerline goodness : 0.910387 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-3.43, Z:-1.53 [[ 0.65395521 -0.66027954 -0.36928785 4.68976511] [ 0.71861675 0.69474242 0.03037998 -3.4285263 ] [ 0.23650066 -0.28524359 0.92881836 -1.52702075] [ 0. 0. 0. 1. ]] SLAMing on 140.238001145 meters Centerline goodness : 0.912755 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-3.42, Z:-1.53 [[ 0.65214296 -0.6600092 -0.37295765 4.69265677] [ 0.7197429 0.6935397 0.03119035 -3.42423004] [ 0.23807502 -0.28877419 0.92732397 -1.52567114] [ 0. 0. 0. 1. ]] SLAMing on 140.298001145 meters Centerline goodness : 0.910534 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-3.42, Z:-1.52 [[ 0.64909825 -0.66136377 -0.37585824 4.69375904] [ 0.7221704 0.69100819 0.03126649 -3.4202055 ] [ 0.2390426 -0.29172872 0.92614955 -1.52309576] [ 0. 0. 0. 1. ]] SLAMing on 140.358001145 meters Centerline goodness : 0.909257 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-3.42, Z:-1.52 [[ 0.64470595 -0.66627916 -0.374735 4.69722695] [ 0.72609193 0.68704229 0.02762971 -3.41567093] [ 0.23904969 -0.2899051 0.92672017 -1.52411212] [ 0. 0. 0. 1. ]] SLAMing on 140.418001145 meters Centerline goodness : 0.908257 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-3.41, Z:-1.52 [[ 0.64228343 -0.66696816 -0.37765787 4.69824092] [ 0.72767355 0.68538737 0.02711742 -3.40929223] [ 0.24075548 -0.29222871 0.92554804 -1.52302295] [ 0. 0. 0. 1. ]] SLAMing on 140.478001145 meters Centerline goodness : 0.905118 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-3.40, Z:-1.52 [[ 0.64097723 -0.66628847 -0.3810615 4.70147561] [ 0.7281975 0.68481607 0.02748365 -3.4033518 ] [ 0.242645 -0.29510443 0.9241411 -1.52360073] [ 0. 0. 0. 1. ]] SLAMing on 140.53800114499998 meters Centerline goodness : 0.905747 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-3.40, Z:-1.52 [[ 0.64048326 -0.66570053 -0.38291513 4.70371708] [ 0.72824566 0.68475842 0.02764349 -3.39978294] [ 0.24380207 -0.29656148 0.92336983 -1.5243355 ] [ 0. 0. 0. 1. ]] SLAMing on 140.59800114499998 meters Centerline goodness : 0.903953 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-3.39, Z:-1.52 [[ 0.63787197 -0.6663491 -0.38613239 4.70384869] [ 0.72996599 0.68293711 0.02732305 -3.39351922] [ 0.24549745 -0.29929212 0.92203862 -1.52239783] [ 0. 0. 0. 1. ]] SLAMing on 140.658001145 meters Centerline goodness : 0.900819 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-3.39, Z:-1.52 [[ 0.6333126 -0.67130424 -0.38505295 4.706953 ] [ 0.73391459 0.67883093 0.02362083 -3.38830965] [ 0.24552909 -0.29755534 0.92259216 -1.5235745 ] [ 0. 0. 0. 1. ]] SLAMing on 140.718001145 meters Centerline goodness : 0.905305 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-3.39, Z:-1.52 [[ 0.63189679 -0.67293046 -0.38454005 4.70662028] [ 0.73518824 0.67748879 0.02252105 -3.38699334] [ 0.24536647 -0.2969403 0.92283355 -1.5232922 ] [ 0. 0. 0. 1. ]] SLAMing on 140.778001145 meters Centerline goodness : 0.907435 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-3.37, Z:-1.52 [[ 0.63291366 -0.67345393 -0.38194255 4.70767294] [ 0.73632824 0.67603873 0.02814891 -3.37349068] [ 0.23925096 -0.29905091 0.92375729 -1.51989277] [ 0. 0. 0. 1. ]] SLAMing on 140.838001145 meters Centerline goodness : 0.907426 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-3.37, Z:-1.52 [[ 0.6335513 -0.67278823 -0.38205857 4.7076443 ] [ 0.73557618 0.67686987 0.02783647 -3.37206504] [ 0.23987589 -0.29866901 0.92371878 -1.52074661] [ 0. 0. 0. 1. ]] SLAMing on 140.898001145 meters Centerline goodness : 0.903759 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-3.37, Z:-1.52 [[ 0.63197515 -0.67439586 -0.38183456 4.70721232] [ 0.73679703 0.67560537 0.02622065 -3.369191 ] [ 0.24028638 -0.29790537 0.92385867 -1.52068445] [ 0. 0. 0. 1. ]] SLAMing on 140.958001145 meters Centerline goodness : 0.905762 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-3.36, Z:-1.52 [[ 0.63009887 -0.67517811 -0.38354913 4.70815303] [ 0.73799224 0.67433389 0.02532296 -3.36439561] [ 0.24154267 -0.29901224 0.92317323 -1.52009031] [ 0. 0. 0. 1. ]] SLAMing on 141.018001145 meters Centerline goodness : 0.902088 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-3.36, Z:-1.52 [[ 0.62787766 -0.67677165 -0.38438233 4.70595226] [ 0.73963521 0.67258069 0.02397841 -3.36036083] [ 0.24230023 -0.29935821 0.92286254 -1.51835532] [ 0. 0. 0. 1. ]] SLAMing on 141.078001145 meters Centerline goodness : 0.903428 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-3.36, Z:-1.52 [[ 0.62771343 -0.67753606 -0.38330241 4.70571902] [ 0.7398084 0.67242627 0.02294435 -3.35923074] [ 0.24219699 -0.29797282 0.92333787 -1.51968599] [ 0. 0. 0. 1. ]] SLAMing on 141.138001145 meters Centerline goodness : 0.902675 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-3.36, Z:-1.51 [[ 0.62790494 -0.67445181 -0.38839431 4.69595621] [ 0.73629635 0.6764786 0.01563335 -3.36106058] [ 0.2521965 -0.29578957 0.92136066 -1.51163239] [ 0. 0. 0. 1. ]] SLAMing on 141.198001145 meters Centerline goodness : 0.898882 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-3.36, Z:-1.51 [[ 0.62864351 -0.67030628 -0.39433086 4.68712609] [ 0.73169197 0.68159011 0.00785957 -3.36369915] [ 0.26350369 -0.29346959 0.91893493 -1.50570169] [ 0. 0. 0. 1. ]] SLAMing on 141.25800114499998 meters Centerline goodness : 0.898427 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-3.36, Z:-1.51 [[ 0.62912179 -0.67117118 -0.39209058 4.68610754] [ 0.73143318 0.68188331 0.00637639 -3.3628705 ] [ 0.26308038 -0.29079959 0.91990451 -1.5079804 ] [ 0. 0. 0. 1. ]] SLAMing on 141.31800114499998 meters Centerline goodness : 0.901440 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.36, Z:-1.51 [[ 0.62946914 -0.66949764 -0.39438751 4.68398374] [ 0.73070301 0.68265535 0.00740097 -3.35986678] [ 0.26427582 -0.29283882 0.91891442 -1.50701947] [ 0. 0. 0. 1. ]] SLAMing on 141.37800114499998 meters Centerline goodness : 0.898452 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.36, Z:-1.51 [[ 0.62768384 -0.6708529 -0.39492959 4.68237065] [ 0.7321047 0.681161 0.00651117 -3.35692659] [ 0.2646426 -0.29321677 0.91868832 -1.50569519] [ 0. 0. 0. 1. ]] SLAMing on 141.438001145 meters Centerline goodness : 0.899385 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.36, Z:-1.51 [[ 6.24414267e-01 -6.75728376e-01 -3.91788189e-01 4.68301015e+00] [ 7.35226373e-01 6.77816181e-01 2.72139223e-03 -3.35527683e+00] [ 2.63721452e-01 -2.89752285e-01 9.20051416e-01 -1.50632951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.498001145 meters Centerline goodness : 0.897996 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.35, Z:-1.50 [[ 6.18800413e-01 -6.80781628e-01 -3.91946965e-01 4.68280116e+00] [ 7.39865719e-01 6.72754436e-01 -4.32833672e-04 -3.35084847e+00] [ 2.63978725e-01 -2.89720285e-01 9.19987711e-01 -1.50307121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.558001145 meters Centerline goodness : 0.900695 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.35, Z:-1.50 [[ 6.17121849e-01 -6.81744661e-01 -3.92918363e-01 4.68087268e+00] [ 7.41008943e-01 6.71493977e-01 -1.25884831e-03 -3.34794103e+00] [ 2.64700527e-01 -2.90379158e-01 9.19572496e-01 -1.50119309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.618001145 meters Centerline goodness : 0.899244 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.35, Z:-1.50 [[ 6.16573868e-01 -6.81402238e-01 -3.94369948e-01 4.67996246e+00] [ 7.41086199e-01 6.71408366e-01 -1.43210349e-03 -3.34528027e+00] [ 2.65759121e-01 -2.91379128e-01 9.18950648e-01 -1.49994069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.678001145 meters Centerline goodness : 0.901717 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.34, Z:-1.50 [[ 6.16717674e-01 -6.80445497e-01 -3.95794438e-01 4.68040150e+00] [ 7.40542422e-01 6.72008128e-01 -1.41311765e-03 -3.34210089e+00] [ 2.66938629e-01 -2.92231077e-01 9.18338046e-01 -1.50026024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.738001145 meters Centerline goodness : 0.903238 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.34, Z:-1.50 [[ 6.18084486e-01 -6.77363260e-01 -3.98936815e-01 4.68193402e+00] [ 7.38683766e-01 6.74052144e-01 -2.30158027e-05 -3.33852514e+00] [ 2.68919805e-01 -2.94673923e-01 9.16978417e-01 -1.50103512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.798001145 meters Centerline goodness : 0.897349 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.34, Z:-1.50 [[ 6.18324906e-01 -6.76749094e-01 -3.99606024e-01 4.68235902e+00] [ 7.38095373e-01 6.74696173e-01 -5.43715220e-04 -3.33578653e+00] [ 2.69980614e-01 -2.94611164e-01 9.16686822e-01 -1.50158832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.858001145 meters Centerline goodness : 0.896709 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.33, Z:-1.50 [[ 6.17610383e-01 -6.76036551e-01 -4.01910433e-01 4.68423307e+00] [ 7.38029282e-01 6.74768113e-01 -8.79201556e-04 -3.33082349e+00] [ 2.71790717e-01 -2.96078664e-01 9.15678563e-01 -1.50182015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.918001145 meters Centerline goodness : 0.896974 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-3.33, Z:-1.50 [[ 6.16793261e-01 -6.76282128e-01 -4.02751234e-01 4.68532919e+00] [ 7.38463650e-01 6.74291993e-01 -1.32146338e-03 -3.32898351e+00] [ 2.72465614e-01 -2.96602076e-01 9.15308526e-01 -1.50123954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.978001145 meters Centerline goodness : 0.896481 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.33, Z:-1.50 [[ 6.15011905e-01 -6.77706675e-01 -4.03080662e-01 4.68477776e+00] [ 7.39811737e-01 6.72809593e-01 -2.41769525e-03 -3.32710883e+00] [ 2.72835024e-01 -2.96716894e-01 9.15161262e-01 -1.49984434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03800114499998 meters Centerline goodness : 0.900113 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.32, Z:-1.50 [[ 6.13042875e-01 -6.78643712e-01 -4.04501107e-01 4.68401001e+00] [ 7.41141774e-01 6.71341435e-01 -3.09012667e-03 -3.32479494e+00] [ 2.73655449e-01 -2.97898288e-01 9.14532288e-01 -1.49735010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09800114499998 meters Centerline goodness : 0.897529 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.32, Z:-1.50 [[ 6.12310740e-01 -6.79587023e-01 -4.04026034e-01 4.68360294e+00] [ 7.41781765e-01 6.70630361e-01 -3.83823965e-03 -3.32421126e+00] [ 2.73560543e-01 -2.97348949e-01 9.14739434e-01 -1.49695574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.158001145 meters Centerline goodness : 0.902062 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.33, Z:-1.50 [[ 6.12168460e-01 -6.80146411e-01 -4.03299687e-01 4.68256863e+00] [ 7.41983326e-01 6.70404224e-01 -4.34970978e-03 -3.32567763e+00] [ 2.73332253e-01 -2.96578888e-01 9.15057617e-01 -1.49574880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.218001145 meters Centerline goodness : 0.900687 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.33, Z:-1.49 [[ 6.11531891e-01 -6.79987320e-01 -4.04531818e-01 4.68023237e+00] [ 7.42368327e-01 6.69980370e-01 -3.94591712e-03 -3.32523701e+00] [ 2.73711550e-01 -2.97898555e-01 9.14515412e-01 -1.49311598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.278001145 meters Centerline goodness : 0.897827 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.32, Z:-1.49 [[ 0.60893083 -0.68383213 -0.40196624 4.67863734] [ 0.74476989 0.66728507 -0.00695985 -3.32467499] [ 0.27298544 -0.29513429 0.91562804 -1.49222574] [ 0. 0. 0. 1. ]] SLAMing on 142.338001145 meters Centerline goodness : 0.900385 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.33, Z:-1.49 [[ 0.60677072 -0.68767489 -0.39866344 4.67926962] [ 0.74706937 0.66467836 -0.0094887 -3.32622071] [ 0.2715081 -0.29207178 0.91704821 -1.49217544] [ 0. 0. 0. 1. ]] SLAMing on 142.398001145 meters Centerline goodness : 0.902242 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.33, Z:-1.49 [[ 0.60581333 -0.68781981 -0.39986763 4.67691398] [ 0.74781523 0.66384686 -0.00892943 -3.32820478] [ 0.2715927 -0.29361754 0.9165294 -1.48783614] [ 0. 0. 0. 1. ]] SLAMing on 142.458001145 meters Centerline goodness : 0.902035 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.33, Z:-1.49 [[ 0.60605182 -0.68728488 -0.40042563 4.67642718] [ 0.74744559 0.66426394 -0.00886007 -3.3277238 ] [ 0.2720777 -0.29392671 0.91628643 -1.48686272] [ 0. 0. 0. 1. ]] SLAMing on 142.518001145 meters Centerline goodness : 0.902588 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.33, Z:-1.49 [[ 0.60567648 -0.6896469 -0.39691705 4.67597344] [ 0.74806522 0.66352774 -0.0113735 -3.32997822] [ 0.27120918 -0.29003118 0.91778401 -1.48731478] [ 0. 0. 0. 1. ]] SLAMing on 142.578001145 meters Centerline goodness : 0.903652 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.33, Z:-1.49 [[ 0.60577277 -0.68865432 -0.39849037 4.67798823] [ 0.74779274 0.66384975 -0.0104658 -3.3312482 ] [ 0.27174505 -0.29164831 0.9171128 -1.48569694] [ 0. 0. 0. 1. ]] SLAMing on 142.638001145 meters Centerline goodness : 0.904026 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.33, Z:-1.48 [[ 0.60572086 -0.68778365 -0.40006987 4.67874646] [ 0.74759428 0.6640837 -0.00977945 -3.33059741] [ 0.27240602 -0.29316633 0.91643246 -1.48422571] [ 0. 0. 0. 1. ]] SLAMing on 142.698001145 meters Centerline goodness : 0.907061 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.33, Z:-1.48 [[ 0.60688961 -0.68805798 -0.39782059 4.67741179] [ 0.74701449 0.66473103 -0.01010041 -3.33499142] [ 0.27139336 -0.29104791 0.91740763 -1.48392621] [ 0. 0. 0. 1. ]] SLAMing on 142.75800114499998 meters Centerline goodness : 0.908047 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.34, Z:-1.48 [[ 0.60685155 -0.68936546 -0.39560898 4.67824336] [ 0.74735762 0.66432765 -0.01119642 -3.337066 ] [ 0.2705324 -0.28886682 0.91835079 -1.48427576] [ 0. 0. 0. 1. ]] SLAMing on 142.81800114499998 meters Centerline goodness : 0.904959 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.34, Z:-1.48 [[ 0.60745629 -0.68863773 -0.39594814 4.67718833] [ 0.74682974 0.66492951 -0.01068101 -3.33918898] [ 0.27063295 -0.2892176 0.91821075 -1.48241963] [ 0. 0. 0. 1. ]] SLAMing on 142.87800114499998 meters Centerline goodness : 0.905554 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.34, Z:-1.48 [[ 0.6082963 -0.68866462 -0.3946095 4.67693531] [ 0.74638975 0.66542287 -0.01071202 -3.3408797 ] [ 0.26995918 -0.2880164 0.91878648 -1.48300199] [ 0. 0. 0. 1. ]] SLAMing on 142.938001145 meters Centerline goodness : 0.904498 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.34, Z:-1.48 [[ 0.61045157 -0.68845342 -0.39163857 4.67553869] [ 0.74495108 0.66702201 -0.01138047 -3.34474541] [ 0.26906647 -0.28480436 0.92004876 -1.48438273] [ 0. 0. 0. 1. ]] SLAMing on 142.998001145 meters Centerline goodness : 0.905500 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.34, Z:-1.48 [[ 0.6113168 -0.68763723 -0.39172287 4.67310698] [ 0.74421851 0.66784673 -0.01093375 -3.34490283] [ 0.26912929 -0.28484342 0.92001829 -1.48361415] [ 0. 0. 0. 1. ]] SLAMing on 143.058001145 meters Centerline goodness : 0.905934 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.35, Z:-1.48 [[ 0.61210999 -0.68854838 -0.38887335 4.67062868] [ 0.74403412 0.66803932 -0.01169193 -3.3493897 ] [ 0.26783315 -0.2821783 0.92121703 -1.48303828] [ 0. 0. 0. 1. ]] SLAMing on 143.118001145 meters Centerline goodness : 0.909704 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.35, Z:-1.48 [[ 0.61214158 -0.68859757 -0.38873651 4.6696975 ] [ 0.74423414 0.66782773 -0.01103034 -3.35091883] [ 0.26720449 -0.28255885 0.92128294 -1.48184134] [ 0. 0. 0. 1. ]] SLAMing on 143.178001145 meters Centerline goodness : 0.911460 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.35, Z:-1.48 [[ 0.61396087 -0.68718335 -0.38836979 4.66661791] [ 0.74291097 0.66931775 -0.00985076 -3.35457047] [ 0.26671207 -0.28247619 0.92145096 -1.48028402] [ 0. 0. 0. 1. ]] SLAMing on 143.238001145 meters Centerline goodness : 0.909740 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.35, Z:-1.48 [[ 0.61334115 -0.68918441 -0.38579461 4.66505629] [ 0.74366754 0.66844512 -0.0118199 -3.3545076 ] [ 0.26602861 -0.27965329 0.92250898 -1.48087173] [ 0. 0. 0. 1. ]] SLAMing on 143.298001145 meters Centerline goodness : 0.909027 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.35, Z:-1.48 [[ 0.61149189 -0.69297248 -0.38192513 4.66603807] [ 0.74562753 0.66619523 -0.01494998 -3.35479787] [ 0.26479662 -0.2756321 0.92407234 -1.48264103] [ 0. 0. 0. 1. ]] SLAMing on 143.358001145 meters Centerline goodness : 0.904891 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.35, Z:-1.48 [[ 0.60929761 -0.69510457 -0.38155742 4.66850452] [ 0.7474888 0.66407815 -0.01614598 -3.3542352 ] [ 0.26460709 -0.27537219 0.92420411 -1.4818936 ] [ 0. 0. 0. 1. ]] SLAMing on 143.418001145 meters Centerline goodness : 0.904858 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.35, Z:-1.48 [[ 0.606428 -0.6977211 -0.38135332 4.67069795] [ 0.74994549 0.66127344 -0.01729758 -3.35457966] [ 0.26424771 -0.27550446 0.92426751 -1.47992988] [ 0. 0. 0. 1. ]] SLAMing on 143.478001145 meters Centerline goodness : 0.905459 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.36, Z:-1.48 [[ 0.60433932 -0.69973856 -0.38097236 4.66876227] [ 0.75182938 0.65911275 -0.01797126 -3.35568991] [ 0.26367893 -0.27556547 0.92441175 -1.4769096 ] [ 0. 0. 0. 1. ]] SLAMing on 143.53800114499998 meters Centerline goodness : 0.906091 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.35, Z:-1.48 [[ 0.60445938 -0.69946943 -0.38127598 4.67263755] [ 0.75158467 0.65938699 -0.018146 -3.35442654] [ 0.26410099 -0.27559267 0.92428315 -1.47855779] [ 0. 0. 0. 1. ]] SLAMing on 143.59800114499998 meters Centerline goodness : 0.907580 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.36, Z:-1.48 [[ 0.60698414 -0.69825977 -0.37947798 4.66910331] [ 0.74965673 0.66157545 -0.01824025 -3.35721237] [ 0.26378975 -0.27340668 0.92502095 -1.47899033] [ 0. 0. 0. 1. ]] SLAMing on 143.658001145 meters Centerline goodness : 0.906284 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.36, Z:-1.48 [[ 0.60891054 -0.69683206 -0.37901588 4.66728582] [ 0.74807544 0.6633747 -0.01780861 -3.35672977] [ 0.26383915 -0.27268862 0.92521879 -1.48051622] [ 0. 0. 0. 1. ]] SLAMing on 143.718001145 meters Centerline goodness : 0.905018 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.36, Z:-1.48 [[ 0.60935167 -0.69679371 -0.37837688 4.66820523] [ 0.74773143 0.66375318 -0.01815027 -3.35599314] [ 0.26379585 -0.27186439 0.92547366 -1.48213697] [ 0. 0. 0. 1. ]] SLAMing on 143.778001145 meters Centerline goodness : 0.903618 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-3.35, Z:-1.48 [[ 0.60939371 -0.69583756 -0.38006499 4.67040832] [ 0.74753008 0.66400765 -0.01710584 -3.35379616] [ 0.26426895 -0.27368582 0.9248016 -1.48272176] [ 0. 0. 0. 1. ]] SLAMing on 143.838001145 meters Centerline goodness : 0.903610 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.35, Z:-1.49 [[ 0.60987047 -0.69899025 -0.37345768 4.67549844] [ 0.75070526 0.66055522 -0.01041265 -3.34613931] [ 0.25396776 -0.27400628 0.92758878 -1.48574264] [ 0. 0. 0. 1. ]] SLAMing on 143.898001145 meters Centerline goodness : 0.904109 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.34, Z:-1.49 [[ 0.60881664 -0.69984051 -0.37358475 4.67957832] [ 0.75132119 0.65983345 -0.0116743 -3.34410227] [ 0.25467387 -0.27357463 0.92752259 -1.48707293] [ 0. 0. 0. 1. ]] SLAMing on 143.958001145 meters Centerline goodness : 0.901107 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.34, Z:-1.49 [[ 0.60802633 -0.69942167 -0.37565052 4.68183037] [ 0.75156908 0.65955357 -0.01153273 -3.34083368] [ 0.25582788 -0.27531511 0.92668964 -1.4864861 ] [ 0. 0. 0. 1. ]] SLAMing on 144.018001145 meters Centerline goodness : 0.904535 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-3.34, Z:-1.48 [[ 0.60704165 -0.69818982 -0.37951469 4.68488493] [ 0.75198813 0.65910485 -0.00972869 -3.33891513] [ 0.25693245 -0.27948482 0.92513456 -1.48464758] [ 0. 0. 0. 1. ]] SLAMing on 144.078001145 meters Centerline goodness : 0.902634 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-3.34, Z:-1.48 [[ 0.60585639 -0.69894555 -0.38001731 4.68798846] [ 0.75282443 0.6581413 -0.01026648 -3.3372905 ] [ 0.2572808 -0.2798663 0.9249224 -1.48469179] [ 0. 0. 0. 1. ]] SLAMing on 144.138001145 meters Centerline goodness : 0.906278 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-3.34, Z:-1.48 [[ 0.60394594 -0.70138147 -0.37856749 4.68984936] [ 0.75455149 0.65613358 -0.01186479 -3.33864407] [ 0.25671258 -0.27848298 0.92549764 -1.48378558] [ 0. 0. 0. 1. ]] SLAMing on 144.198001145 meters Centerline goodness : 0.902718 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-3.34, Z:-1.48 [[ 0.60356237 -0.69973618 -0.38220641 4.69426353] [ 0.75442904 0.65630255 -0.01018733 -3.33568069] [ 0.25797148 -0.28219893 0.92402082 -1.48346571] [ 0. 0. 0. 1. ]] SLAMing on 144.25800114499998 meters Centerline goodness : 0.905046 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-3.34, Z:-1.48 [[ 0.60326397 -0.70168965 -0.37908339 4.69237919] [ 0.75506936 0.65553847 -0.01181382 -3.33830547] [ 0.25679338 -0.2791074 0.9252871 -1.48327333] [ 0. 0. 0. 1. ]] SLAMing on 144.31800114499998 meters Centerline goodness : 0.909472 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-3.34, Z:-1.48 [[ 0.60405181 -0.70118691 -0.37875893 4.69454547] [ 0.75448066 0.65622005 -0.01158388 -3.33961106] [ 0.25667166 -0.27876902 0.92542287 -1.48388421] [ 0. 0. 0. 1. ]] SLAMing on 144.37800114499998 meters Centerline goodness : 0.910108 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-3.34, Z:-1.48 [[ 0.60652476 -0.69984282 -0.37728999 4.69273553] [ 0.7526686 0.65830552 -0.01112739 -3.34373125] [ 0.25615951 -0.27722529 0.92602832 -1.48398316] [ 0. 0. 0. 1. ]] SLAMing on 144.438001145 meters Centerline goodness : 0.909222 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-3.34, Z:-1.48 [[ 0.60801273 -0.6969674 -0.38020647 4.69419142] [ 0.75099294 0.66024401 -0.00935095 -3.34180305] [ 0.25754635 -0.27984688 0.92485437 -1.48375212] [ 0. 0. 0. 1. ]] SLAMing on 144.498001145 meters Centerline goodness : 0.907156 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-3.34, Z:-1.49 [[ 0.60861675 -0.69870362 -0.37603045 4.69707324] [ 0.75068789 0.66054169 -0.01234378 -3.34251093] [ 0.25700843 -0.27476887 0.92652508 -1.48825977] [ 0. 0. 0. 1. ]] SLAMing on 144.558001145 meters Centerline goodness : 0.911395 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-3.34, Z:-1.49 [[ 0.60831435 -0.69875281 -0.37642817 4.70059642] [ 0.75088695 0.66031657 -0.01228055 -3.34160798] [ 0.25714283 -0.27518457 0.92636441 -1.48945587] [ 0. 0. 0. 1. ]] SLAMing on 144.618001145 meters Centerline goodness : 0.911512 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-3.34, Z:-1.49 [[ 0.60799616 -0.69746433 -0.37932067 4.69883169] [ 0.75099937 0.66022378 -0.01022303 -3.34286511] [ 0.25756673 -0.27865402 0.9252088 -1.4850423 ] [ 0. 0. 0. 1. ]] SLAMing on 144.678001145 meters Centerline goodness : 0.913778 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-3.34, Z:-1.48 [[ 0.6081666 -0.69636167 -0.38106929 4.70112676] [ 0.75075603 0.66052017 -0.00885977 -3.34246534] [ 0.25787356 -0.28070185 0.92450403 -1.48474412] [ 0. 0. 0. 1. ]] SLAMing on 144.738001145 meters Centerline goodness : 0.921095 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-3.34, Z:-1.49 [[ 0.60792652 -0.69808909 -0.37828159 4.70279839] [ 0.75135667 0.65981815 -0.01015698 -3.3449293 ] [ 0.25668754 -0.2780497 0.92563485 -1.48623659] [ 0. 0. 0. 1. ]] SLAMing on 144.798001145 meters Centerline goodness : 0.922966 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-3.35, Z:-1.49 [[ 0.6077417 -0.69875662 -0.37734496 4.70296221] [ 0.75160887 0.65952126 -0.01076148 -3.34573775] [ 0.25638668 -0.27707562 0.92601025 -1.48635286] [ 0. 0. 0. 1. ]] SLAMing on 144.858001145 meters Centerline goodness : 0.919202 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-3.34, Z:-1.49 [[ 0.60792134 -0.69803239 -0.37839453 4.70555782] [ 0.75132204 0.65985703 -0.01019274 -3.34432396] [ 0.25680115 -0.27809977 0.92558829 -1.4871891 ] [ 0. 0. 0. 1. ]] SLAMing on 144.918001145 meters Centerline goodness : 0.920777 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-3.35, Z:-1.49 [[ 0.60924963 -0.69728012 -0.37764443 4.70618085] [ 0.75033637 0.66098175 -0.00992277 -3.34656276] [ 0.25653502 -0.27731491 0.92589752 -1.48784184] [ 0. 0. 0. 1. ]] SLAMing on 144.978001145 meters Centerline goodness : 0.917999 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-3.34, Z:-1.49 [[ 0.61047228 -0.69395336 -0.38177522 4.71050383] [ 0.74875148 0.66280832 -0.00750712 -3.34424079] [ 0.25825339 -0.28127187 0.92422471 -1.48814527] [ 0. 0. 0. 1. ]] SLAMing on 145.03800114499998 meters Centerline goodness : 0.919623 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-3.34, Z:-1.49 [[ 0.61150911 -0.69146269 -0.38462443 4.71205044] [ 0.747625 0.66410033 -0.00525473 -3.34436009] [ 0.25906266 -0.28434152 0.9230582 -1.48706105] [ 0. 0. 0. 1. ]] SLAMing on 145.09800114499998 meters Centerline goodness : 0.919608 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-3.34, Z:-1.49 [[ 6.11215507e-01 -6.93706023e-01 -3.81034851e-01 4.72083545e+00] [ 7.50425747e-01 6.60954623e-01 4.29488083e-04 -3.33508732e+00] [ 2.51548808e-01 -2.86200873e-01 9.24560575e-01 -1.49009990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.158001145 meters Centerline goodness : 0.921728 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-3.33, Z:-1.49 [[ 6.11050379e-01 -6.93322478e-01 -3.81996566e-01 4.72395583e+00] [ 7.50321877e-01 6.61072561e-01 3.87441777e-04 -3.33338978e+00] [ 2.52258826e-01 -2.86857127e-01 9.24163662e-01 -1.49124351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.218001145 meters Centerline goodness : 0.926064 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-3.33, Z:-1.49 [[ 6.11928537e-01 -6.92049153e-01 -3.82898727e-01 4.72130609e+00] [ 7.49562323e-01 6.61931988e-01 1.53853793e-03 -3.33362886e+00] [ 2.52388172e-01 -2.87947935e-01 9.23789044e-01 -1.48987646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.278001145 meters Centerline goodness : 0.925367 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-3.33, Z:-1.49 [[ 6.11155048e-01 -6.94361933e-01 -3.79935538e-01 4.71934895e+00] [ 7.50579770e-01 6.60779797e-01 -2.62472930e-04 -3.33453533e+00] [ 2.51235979e-01 -2.85011517e-01 9.25012929e-01 -1.49031255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.338001145 meters Centerline goodness : 0.927183 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-3.33, Z:-1.49 [[ 6.09680615e-01 -6.97279607e-01 -3.76949198e-01 4.71879582e+00] [ 7.52121140e-01 6.59019882e-01 -2.56651464e-03 -3.33459728e+00] [ 2.50206594e-01 -2.81946706e-01 9.26230379e-01 -1.49128979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.398001145 meters Centerline goodness : 0.926362 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-3.33, Z:-1.49 [[ 6.08395343e-01 -6.98446782e-01 -3.76864962e-01 4.71890376e+00] [ 7.53128945e-01 6.57864123e-01 -3.40423533e-03 -3.33320033e+00] [ 2.50303615e-01 -2.81756790e-01 9.26261956e-01 -1.49069972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.458001145 meters Centerline goodness : 0.928018 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-3.33, Z:-1.49 [[ 6.07774211e-01 -6.99146342e-01 -3.76569916e-01 4.71913570e+00] [ 7.53751027e-01 6.57150546e-01 -3.54240786e-03 -3.33335741e+00] [ 2.49939788e-01 -2.81686977e-01 9.26381428e-01 -1.49050823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.518001145 meters Centerline goodness : 0.927948 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-3.33, Z:-1.49 [[ 6.07542562e-01 -6.99198090e-01 -3.76847537e-01 4.72063762e+00] [ 7.53950994e-01 6.56922138e-01 -3.34720345e-03 -3.33332244e+00] [ 2.49899848e-01 -2.82091007e-01 9.26269253e-01 -1.49060863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.578001145 meters Centerline goodness : 0.927736 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-3.32, Z:-1.49 [[ 6.08491904e-01 -7.01472246e-01 -3.71044864e-01 4.72291836e+00] [ 7.55872985e-01 6.54715736e-01 1.82639166e-03 -3.32483881e+00] [ 2.41647748e-01 -2.81574133e-01 9.28613145e-01 -1.48861332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.638001145 meters Centerline goodness : 0.926761 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:-3.32, Z:-1.49 [[ 6.08265326e-01 -7.01181155e-01 -3.71965432e-01 4.72582675e+00] [ 7.55760056e-01 6.54847051e-01 1.44159888e-03 -3.32151054e+00] [ 2.42569644e-01 -2.81993490e-01 9.28245463e-01 -1.49048627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.698001145 meters Centerline goodness : 0.926679 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:-3.32, Z:-1.49 [[ 6.07123243e-01 -7.02239868e-01 -3.71834016e-01 4.72986217e+00] [ 7.56463329e-01 6.54036106e-01 -6.38988007e-05 -3.31822346e+00] [ 2.43237744e-01 -2.81240003e-01 9.28299230e-01 -1.49307329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75800114499998 meters Centerline goodness : 0.928659 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:-3.32, Z:-1.49 [[ 6.06609685e-01 -7.02045122e-01 -3.73037983e-01 4.73256119e+00] [ 7.56622032e-01 6.53852488e-01 -1.60029210e-04 -3.31617992e+00] [ 2.44024161e-01 -2.82151681e-01 9.27816058e-01 -1.49343793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81800114499998 meters Centerline goodness : 0.928036 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:-3.31, Z:-1.49 [[ 6.05310407e-01 -7.02218969e-01 -3.74817063e-01 4.73340819e+00] [ 7.57530587e-01 6.52799574e-01 3.54584415e-04 -3.31460475e+00] [ 2.44431423e-01 -2.84150024e-01 9.27098724e-01 -1.49218811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87800114499998 meters Centerline goodness : 0.925375 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:-3.31, Z:-1.49 [[ 6.04504725e-01 -7.02256636e-01 -3.76044751e-01 4.73621614e+00] [ 7.58012003e-01 6.52240423e-01 4.83112227e-04 -3.31301810e+00] [ 2.44932319e-01 -2.85338479e-01 9.26601377e-01 -1.49225007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.938001145 meters Centerline goodness : 0.932872 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:-3.31, Z:-1.49 [[ 6.03050992e-01 -7.01944495e-01 -3.78950428e-01 4.73976869e+00] [ 7.58831964e-01 6.51285384e-01 1.18268360e-03 -3.31108712e+00] [ 2.45974697e-01 -2.88272916e-01 9.25416217e-01 -1.49075447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.998001145 meters Centerline goodness : 0.931509 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:-3.31, Z:-1.49 [[ 6.01550249e-01 -7.02235811e-01 -3.80791496e-01 4.74398163e+00] [ 7.59671415e-01 6.50306597e-01 8.19213205e-04 -3.30766190e+00] [ 2.47055941e-01 -2.89769213e-01 9.24660568e-01 -1.49116049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.058001145 meters Centerline goodness : 0.931755 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:-3.31, Z:-1.49 [[ 6.00784822e-01 -7.02080800e-01 -3.82282813e-01 4.74422393e+00] [ 7.60072346e-01 6.49837615e-01 1.05005138e-03 -3.30502466e+00] [ 2.47684530e-01 -2.91193449e-01 9.24044776e-01 -1.49083570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.118001145 meters Centerline goodness : 0.932285 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-3.30, Z:-1.49 [[ 6.01796664e-01 -6.99105495e-01 -3.86124698e-01 4.74769285e+00] [ 7.58640476e-01 6.51503522e-01 2.79084700e-03 -3.30146789e+00] [ 2.49610505e-01 -2.94609347e-01 9.22442371e-01 -1.49170126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.178001145 meters Centerline goodness : 0.933639 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-3.30, Z:-1.49 [[ 6.04082847e-01 -6.97423886e-01 -3.85595431e-01 4.74702141e+00] [ 7.56676962e-01 6.53782345e-01 2.93610805e-03 -3.30064352e+00] [ 2.50047773e-01 -2.93544832e-01 9.22663288e-01 -1.49412428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.238001145 meters Centerline goodness : 0.933196 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-3.30, Z:-1.49 [[ 6.04140390e-01 -6.95678770e-01 -3.88645645e-01 4.74796142e+00] [ 7.56065126e-01 6.54485643e-01 3.75074969e-03 -3.29598373e+00] [ 2.51753678e-01 -2.96107398e-01 9.21379669e-01 -1.49447023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.298001145 meters Centerline goodness : 0.934651 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-3.29, Z:-1.50 [[ 6.03741740e-01 -6.96211069e-01 -3.88311805e-01 4.74815818e+00] [ 7.56300203e-01 6.54218193e-01 2.92562102e-03 -3.29381798e+00] [ 2.52003798e-01 -2.95446617e-01 9.21523403e-01 -1.49581670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.358001145 meters Centerline goodness : 0.930951 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-3.29, Z:-1.50 [[ 6.03009187e-01 -6.97039201e-01 -3.87964267e-01 4.74790250e+00] [ 7.56874981e-01 6.53556027e-01 2.18678876e-03 -3.29255547e+00] [ 2.52032107e-01 -2.94959101e-01 9.21671821e-01 -1.49595573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.418001145 meters Centerline goodness : 0.935831 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-3.29, Z:-1.49 [[ 6.03929287e-01 -6.94754065e-01 -3.90622844e-01 4.74636020e+00] [ 7.55890283e-01 6.54684528e-01 4.24845313e-03 -3.29146503e+00] [ 2.52783102e-01 -2.97833777e-01 9.20541007e-01 -1.49461304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.478001145 meters Centerline goodness : 0.935116 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:-3.29, Z:-1.49 [[ 6.02992809e-01 -6.95968168e-01 -3.89907658e-01 4.74439085e+00] [ 7.56612810e-01 6.53856306e-01 2.99790991e-03 -3.28955320e+00] [ 2.52857131e-01 -2.96816847e-01 9.20849081e-01 -1.49447496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53800114499998 meters Centerline goodness : 0.933199 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-3.28, Z:-1.50 [[ 5.99871659e-01 -6.97815076e-01 -3.91418079e-01 4.74870805e+00] [ 7.58715125e-01 6.51420993e-01 1.43148959e-03 -3.28406114e+00] [ 2.53979039e-01 -2.97833527e-01 9.20211844e-01 -1.49543553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59800114499998 meters Centerline goodness : 0.931859 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-3.28, Z:-1.49 [[ 5.97178960e-01 -6.99374422e-01 -3.92750184e-01 4.75105775e+00] [ 7.60647893e-01 6.49164408e-01 5.95632920e-04 -3.28062039e+00] [ 2.54542870e-01 -2.99100300e-01 9.19645006e-01 -1.49488145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.658001145 meters Centerline goodness : 0.936799 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-3.28, Z:-1.49 [[ 5.94992387e-01 -6.99674332e-01 -3.95524826e-01 4.75046798e+00] [ 7.62204046e-01 6.47335175e-01 1.47095265e-03 -3.27807183e+00] [ 2.55007945e-01 -3.02345828e-01 9.18454108e-01 -1.49212268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.718001145 meters Centerline goodness : 0.934487 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-3.27, Z:-1.49 [[ 5.93537855e-01 -6.99797600e-01 -3.97487276e-01 4.75232791e+00] [ 7.63024992e-01 6.46367459e-01 1.40336761e-03 -3.27466673e+00] [ 2.55940767e-01 -3.04125677e-01 9.17606613e-01 -1.49178333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.778001145 meters Centerline goodness : 0.933046 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-3.27, Z:-1.49 [[ 5.92379166e-01 -6.99785329e-01 -3.99233537e-01 4.75449146e+00] [ 7.63583676e-01 6.45707797e-01 1.18782088e-03 -3.27101609e+00] [ 2.56956988e-01 -3.05551852e-01 9.16848500e-01 -1.49210471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.838001145 meters Centerline goodness : 0.932910 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.26, Z:-1.50 [[ 0.59194383 -0.70334343 -0.39358673 4.75915703] [ 0.76695253 0.64166771 0.0068093 -3.26126294] [ 0.24776262 -0.30589306 0.91926227 -1.49812733] [ 0. 0. 0. 1. ]] SLAMing on 146.898001145 meters Centerline goodness : 0.930363 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.26, Z:-1.50 [[ 0.5930255 -0.70066835 -0.39671731 4.7604703 ] [ 0.76557939 0.64328842 0.00825844 -3.25861552] [ 0.24941723 -0.30861606 0.91790368 -1.49818486] [ 0. 0. 0. 1. ]] SLAMing on 146.958001145 meters Centerline goodness : 0.930975 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.26, Z:-1.50 [[ 0.59457315 -0.69829058 -0.3985888 4.75910798] [ 0.76393885 0.64522315 0.00919314 -3.25629965] [ 0.25075924 -0.30996346 0.91708367 -1.49852098] [ 0. 0. 0. 1. ]] SLAMing on 147.018001145 meters Centerline goodness : 0.934312 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.25, Z:-1.50 [[ 0.5949152 -0.69567374 -0.40263377 4.76170363] [ 0.76301775 0.64628826 0.01074199 -3.25270733] [ 0.25274456 -0.31360729 0.91529812 -1.49816557] [ 0. 0. 0. 1. ]] SLAMing on 147.078001145 meters Centerline goodness : 0.933604 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.25, Z:-1.50 [[ 0.59371736 -0.69607105 -0.40371375 4.76331469] [ 0.76358841 0.64562909 0.00978904 -3.24790468] [ 0.25383547 -0.31408307 0.91483298 -1.49947991] [ 0. 0. 0. 1. ]] SLAMing on 147.138001145 meters Centerline goodness : 0.925266 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.25, Z:-1.50 [[ 0.5932203 -0.69732721 -0.40227409 4.76268425] [ 0.76407828 0.64506673 0.00856174 -3.24736385] [ 0.2535233 -0.3124479 0.91547925 -1.50015411] [ 0. 0. 0. 1. ]] SLAMing on 147.198001145 meters Centerline goodness : 0.928561 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.25, Z:-1.50 [[ 0.59259917 -0.69717122 -0.40345819 4.7612084 ] [ 0.76430786 0.64479664 0.00841362 -3.24550522] [ 0.25428276 -0.31335217 0.9149594 -1.4985234 ] [ 0. 0. 0. 1. ]] SLAMing on 147.25800114499998 meters Centerline goodness : 0.925606 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.24, Z:-1.50 [[ 0.59275678 -0.69631272 -0.40470729 4.76256516] [ 0.76380987 0.64538786 0.0083065 -3.24237856] [ 0.25540925 -0.31404316 0.91440856 -1.49962789] [ 0. 0. 0. 1. ]] SLAMing on 147.31800114499998 meters Centerline goodness : 0.924829 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.24, Z:-1.50 [[ 0.59185542 -0.69879578 -0.40173575 4.76157864] [ 0.76463576 0.64443893 0.00553254 -3.24142873] [ 0.25502804 -0.31045598 0.91573893 -1.50093466] [ 0. 0. 0. 1. ]] SLAMing on 147.37800114499998 meters Centerline goodness : 0.923548 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.24, Z:-1.50 [[ 0.5922632 -0.69720522 -0.40389253 4.76017527] [ 0.76393455 0.64526236 0.00636316 -3.23904333] [ 0.25618022 -0.31231612 0.91478431 -1.50016083] [ 0. 0. 0. 1. ]] SLAMing on 147.438001145 meters Centerline goodness : 0.921665 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.24, Z:-1.50 [[ 0.59216834 -0.69701345 -0.40436236 4.76087121] [ 0.76367001 0.64558299 0.0055425 -3.23602963] [ 0.25718626 -0.3120815 0.91458207 -1.50110857] [ 0. 0. 0. 1. ]] SLAMing on 147.498001145 meters Centerline goodness : 0.925294 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.24, Z:-1.50 [[ 0.59284758 -0.69639405 -0.40443426 4.76164471] [ 0.76299694 0.64637907 0.00545541 -3.23588779] [ 0.25761873 -0.31181633 0.9145508 -1.50153325] [ 0. 0. 0. 1. ]] SLAMing on 147.558001145 meters Centerline goodness : 0.925533 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.24, Z:-1.50 [[ 0.59303227 -0.69588063 -0.40504676 4.75924032] [ 0.76278586 0.6466244 0.00588385 -3.23615988] [ 0.25781866 -0.31245325 0.91427704 -1.49967406] [ 0. 0. 0. 1. ]] SLAMing on 147.618001145 meters Centerline goodness : 0.924344 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.23, Z:-1.50 [[ 0.591709 -0.69646473 -0.40597702 4.75895184] [ 0.76364473 0.64561377 0.00543934 -3.23440748] [ 0.25831605 -0.31324071 0.9138671 -1.49823235] [ 0. 0. 0. 1. ]] SLAMing on 147.678001145 meters Centerline goodness : 0.925037 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.23, Z:-1.50 [[ 5.89030661e-01 -7.00309557e-01 -4.03248565e-01 4.75885261e+00] [ 7.66042268e-01 6.42784683e-01 2.66368455e-03 -3.23422531e+00] [ 2.57336597e-01 -3.10474437e-01 9.15086608e-01 -1.49797790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.738001145 meters Centerline goodness : 0.925461 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.23, Z:-1.50 [[ 5.85766880e-01 -7.03645594e-01 -4.02194033e-01 4.76049691e+00] [ 7.68744317e-01 6.39555842e-01 7.06897610e-04 -3.23379222e+00] [ 2.56728138e-01 -3.09598454e-01 9.15554182e-01 -1.49667000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.798001145 meters Centerline goodness : 0.925782 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.23, Z:-1.50 [[ 5.83330995e-01 -7.07115808e-01 -3.99640068e-01 4.75901048e+00] [ 7.70871303e-01 6.36988147e-01 -1.87985281e-03 -3.23335798e+00] [ 2.55895260e-01 -3.06974484e-01 9.16670214e-01 -1.49588022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.858001145 meters Centerline goodness : 0.922249 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.23, Z:-1.50 [[ 5.81522456e-01 -7.10371609e-01 -3.96489357e-01 4.75639389e+00] [ 7.72627734e-01 6.34845275e-01 -4.22629932e-03 -3.23416258e+00] [ 2.54711638e-01 -3.03880985e-01 9.18029590e-01 -1.49510598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.918001145 meters Centerline goodness : 0.923186 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.23, Z:-1.50 [[ 5.81432789e-01 -7.10176570e-01 -3.96969963e-01 4.75901006e+00] [ 7.72574817e-01 6.34909339e-01 -4.27590458e-03 -3.23384525e+00] [ 2.55076584e-01 -3.04202846e-01 9.17821641e-01 -1.49553090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.978001145 meters Centerline goodness : 0.923684 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.23, Z:-1.50 [[ 5.81492600e-01 -7.09459897e-01 -3.98162040e-01 4.76074228e+00] [ 7.72270118e-01 6.35281009e-01 -4.11149093e-03 -3.23302553e+00] [ 2.55861720e-01 -3.05097844e-01 9.17305884e-01 -1.49525374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03800114499998 meters Centerline goodness : 0.922960 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.23, Z:-1.50 [[ 5.82174258e-01 -7.08494609e-01 -3.98884096e-01 4.76109838e+00] [ 7.71562000e-01 6.36142717e-01 -3.81100803e-03 -3.23249347e+00] [ 2.56447291e-01 -3.05545140e-01 9.16993432e-01 -1.49528086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09800114499998 meters Centerline goodness : 0.922835 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.23, Z:-1.50 [[ 5.84554485e-01 -7.05440350e-01 -4.00811635e-01 4.76260741e+00] [ 7.69261274e-01 6.38928959e-01 -2.62252982e-03 -3.23118066e+00] [ 2.57940199e-01 -3.06795858e-01 9.16156731e-01 -1.49660354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.158001145 meters Centerline goodness : 0.923524 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.23, Z:-1.50 [[ 5.85389188e-01 -7.05005635e-01 -4.00358032e-01 4.76152191e+00] [ 7.68529692e-01 6.39807349e-01 -2.94439852e-03 -3.23063626e+00] [ 2.58227828e-01 -3.05963415e-01 9.16354068e-01 -1.49724416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.218001145 meters Centerline goodness : 0.923330 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.23, Z:-1.50 [[ 5.87323040e-01 -7.03679345e-01 -3.99858757e-01 4.75799766e+00] [ 7.66899885e-01 6.41760023e-01 -2.93929188e-03 -3.23021157e+00] [ 2.58681684e-01 -3.04925321e-01 9.16572057e-01 -1.49773102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.278001145 meters Centerline goodness : 0.920630 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.23, Z:-1.50 [[ 5.88328973e-01 -7.03253974e-01 -3.99127633e-01 4.75582913e+00] [ 7.66112717e-01 6.42698556e-01 -3.14186803e-03 -3.22988342e+00] [ 2.58728285e-01 -3.03928303e-01 9.16889994e-01 -1.49846347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.338001145 meters Centerline goodness : 0.923676 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.23, Z:-1.50 [[ 5.89348551e-01 -7.02183914e-01 -3.99507241e-01 4.75633337e+00] [ 7.65045785e-01 6.43967605e-01 -3.26669469e-03 -3.22804165e+00] [ 2.59563542e-01 -3.03716109e-01 9.16724219e-01 -1.49982518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.398001145 meters Centerline goodness : 0.923364 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.22, Z:-1.50 [[ 5.90396132e-01 -7.05342283e-01 -3.92332348e-01 4.75758885e+00] [ 7.67024373e-01 6.41617544e-01 7.34683013e-04 -3.21759401e+00] [ 2.51209115e-01 -3.01362227e-01 9.19823238e-01 -1.50043655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.458001145 meters Centerline goodness : 0.923762 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.22, Z:-1.50 [[ 5.89601536e-01 -7.06186691e-01 -3.92008146e-01 4.75734663e+00] [ 7.67526952e-01 6.41016572e-01 -3.63007573e-04 -3.21563158e+00] [ 2.51540069e-01 -3.00662788e-01 9.19961674e-01 -1.50075805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.518001145 meters Centerline goodness : 0.919284 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.21, Z:-1.50 [[ 5.87205948e-01 -7.07749134e-01 -3.92785358e-01 4.75886577e+00] [ 7.68957589e-01 6.39295463e-01 -2.35329713e-03 -3.20998589e+00] [ 2.52771441e-01 -3.00653412e-01 9.19627166e-01 -1.50142763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.578001145 meters Centerline goodness : 0.919541 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.21, Z:-1.50 [[ 5.85941130e-01 -7.07903834e-01 -3.94392131e-01 4.76164810e+00] [ 7.69634785e-01 6.38479125e-01 -2.58916113e-03 -3.20694399e+00] [ 2.53644020e-01 -3.02020807e-01 9.18938596e-01 -1.50169210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.638001145 meters Centerline goodness : 0.923033 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.20, Z:-1.50 [[ 5.83998931e-01 -7.08711520e-01 -3.95819693e-01 4.76099623e+00] [ 7.70888677e-01 6.36962384e-01 -3.09336704e-03 -3.20451982e+00] [ 2.54314560e-01 -3.03326397e-01 9.18323038e-01 -1.49960400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.698001145 meters Centerline goodness : 0.924160 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.20, Z:-1.50 [[ 5.81868706e-01 -7.09357719e-01 -3.97794464e-01 4.76091066e+00] [ 7.72184350e-01 6.35388701e-01 -3.53944477e-03 -3.20175269e+00] [ 2.55264840e-01 -3.05111168e-01 9.17467731e-01 -1.49716742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75800114499998 meters Centerline goodness : 0.922090 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.20, Z:-1.50 [[ 0.57839835 -0.71411522 -0.3943283 4.76127305] [ 0.77516076 0.6317249 -0.00703135 -3.20116757] [ 0.2541282 -0.30160091 0.91894274 -1.49722381] [ 0. 0. 0. 1. ]] SLAMing on 148.81800114499998 meters Centerline goodness : 0.925332 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-3.20, Z:-1.49 [[ 0.57478848 -0.71578136 -0.39657943 4.7638668 ] [ 0.77756193 0.62875717 -0.00786481 -3.19797207] [ 0.25498164 -0.30384446 0.91796672 -1.49479324] [ 0. 0. 0. 1. ]] SLAMing on 148.87800114499998 meters Centerline goodness : 0.926749 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-3.20, Z:-1.49 [[ 0.57287697 -0.71660228 -0.39786072 4.76558951] [ 0.77884383 0.62716483 -0.00815877 -3.197078 ] [ 0.25537084 -0.30519739 0.91740955 -1.49283773] [ 0. 0. 0. 1. ]] SLAMing on 148.938001145 meters Centerline goodness : 0.924683 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-3.20, Z:-1.49 [[ 0.57188709 -0.71678063 -0.39896201 4.76816986] [ 0.77940935 0.62646039 -0.0082728 -3.19633019] [ 0.25586368 -0.30622361 0.91693014 -1.49204391] [ 0. 0. 0. 1. ]] SLAMing on 148.998001145 meters Centerline goodness : 0.929678 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-3.20, Z:-1.49 [[ 0.57276917 -0.71527311 -0.40039962 4.76821754] [ 0.77856677 0.62751972 -0.00726509 -3.19700292] [ 0.25645518 -0.30757662 0.91631183 -1.49072456] [ 0. 0. 0. 1. ]] SLAMing on 149.058001145 meters Centerline goodness : 0.927450 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-3.20, Z:-1.49 [[ 0.57499451 -0.71349485 -0.40038283 4.77010689] [ 0.77677891 0.62973806 -0.00667175 -3.19793502] [ 0.25689657 -0.30717272 0.91632367 -1.49234868] [ 0. 0. 0. 1. ]] SLAMing on 149.118001145 meters Centerline goodness : 0.925820 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-3.20, Z:-1.49 [[ 0.57478087 -0.71354953 -0.40059207 4.77167122] [ 0.7767487 0.62976873 -0.00726647 -3.19716263] [ 0.25746535 -0.30698275 0.91622769 -1.49246018] [ 0. 0. 0. 1. ]] SLAMing on 149.178001145 meters Centerline goodness : 0.925264 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-3.20, Z:-1.49 [[ 0.57644311 -0.71251099 -0.40005178 4.77003481] [ 0.77547052 0.63134428 -0.00706185 -3.19781035] [ 0.25760205 -0.30615761 0.91646533 -1.49303229] [ 0. 0. 0. 1. ]] SLAMing on 149.238001145 meters Centerline goodness : 0.927192 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-3.20, Z:-1.49 [[ 0.57860898 -0.71096819 -0.39966972 4.77068082] [ 0.77372777 0.6334822 -0.00675523 -3.19891591] [ 0.2579864 -0.30532692 0.91663432 -1.49432947] [ 0. 0. 0. 1. ]] SLAMing on 149.298001145 meters Centerline goodness : 0.933483 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-3.20, Z:-1.50 [[ 0.58094777 -0.70992006 -0.39813716 4.76916012] [ 0.7721099 0.6354563 -0.00644915 -3.20166406] [ 0.25757715 -0.30365903 0.91730323 -1.49515859] [ 0. 0. 0. 1. ]] SLAMing on 149.358001145 meters Centerline goodness : 0.925805 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-3.20, Z:-1.49 [[ 0.58198797 -0.70941927 -0.39751011 4.76717843] [ 0.77144202 0.63627067 -0.00606953 -3.20370527] [ 0.25722987 -0.30312361 0.91757772 -1.49442792] [ 0. 0. 0. 1. ]] SLAMing on 149.418001145 meters Centerline goodness : 0.925054 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-3.20, Z:-1.49 [[ 0.58209136 -0.70872108 -0.39860266 4.77160162] [ 0.77118961 0.63658038 -0.00565759 -3.20383316] [ 0.25775229 -0.30410499 0.91710627 -1.49491106] [ 0. 0. 0. 1. ]] SLAMing on 149.478001145 meters Centerline goodness : 0.923344 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-3.21, Z:-1.49 [[ 0.57952806 -0.71226047 -0.39602052 4.77307716] [ 0.77370347 0.63350733 -0.00716972 -3.20701975] [ 0.25598861 -0.30224739 0.91821367 -1.49363385] [ 0. 0. 0. 1. ]] SLAMing on 149.53800114499998 meters Centerline goodness : 0.924806 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.20, Z:-1.49 [[ 5.77801630e-01 -7.14093654e-01 -3.95241104e-01 4.78284481e+00] [ 7.76438203e-01 6.30183684e-01 -3.49890249e-03 -3.19538893e+00] [ 2.51573039e-01 -3.04858621e-01 9.18570753e-01 -1.49081916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59800114499998 meters Centerline goodness : 0.923281 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.20, Z:-1.49 [[ 5.75178145e-01 -7.16214242e-01 -3.95230642e-01 4.78269065e+00] [ 7.78635478e-01 6.27464354e-01 -3.90859459e-03 -3.19657252e+00] [ 2.50792530e-01 -3.05492461e-01 9.18573602e-01 -1.48787070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.658001145 meters Centerline goodness : 0.923402 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.20, Z:-1.49 [[ 0.57434515 -0.71831285 -0.39262488 4.78452411] [ 0.77957179 0.62628942 -0.00542112 -3.19785501] [ 0.24979087 -0.30296568 0.91968273 -1.48918744] [ 0. 0. 0. 1. ]] SLAMing on 149.718001145 meters Centerline goodness : 0.927392 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.20, Z:-1.49 [[ 0.57355939 -0.71791883 -0.39448977 4.78701096] [ 0.77994358 0.62583029 -0.0049466 -3.19674851] [ 0.2504349 -0.30484259 0.91888702 -1.48838564] [ 0. 0. 0. 1. ]] SLAMing on 149.778001145 meters Centerline goodness : 0.928221 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.19, Z:-1.49 [[ 5.73685954e-01 -7.15698466e-01 -3.98321644e-01 4.78840553e+00] [ 7.79390251e-01 6.26530512e-01 -3.21771654e-03 -3.19460392e+00] [ 2.51863578e-01 -3.08602047e-01 9.17240162e-01 -1.48682787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.838001145 meters Centerline goodness : 0.928505 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.19, Z:-1.49 [[ 0.57378895 -0.71771226 -0.39453181 4.78932424] [ 0.77955336 0.62631073 -0.00560609 -3.19465472] [ 0.25112306 -0.30434189 0.91886518 -1.49013321] [ 0. 0. 0. 1. ]] SLAMing on 149.898001145 meters Centerline goodness : 0.931887 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.19, Z:-1.49 [[ 0.5748392 -0.71743799 -0.39350048 4.78728659] [ 0.77878246 0.62726567 -0.00597086 -3.19465683] [ 0.25111307 -0.30301899 0.91930502 -1.49085368] [ 0. 0. 0. 1. ]] SLAMing on 149.958001145 meters Centerline goodness : 0.927875 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.19, Z:-1.49 [[ 5.76224445e-01 -7.14063521e-01 -3.97591092e-01 4.78720002e+00] [ 7.77122371e-01 6.29336823e-01 -3.99797951e-03 -3.19226802e+00] [ 2.53073526e-01 -3.06673199e-01 9.17553998e-01 -1.48946327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.018001145 meters Centerline goodness : 0.930876 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.19, Z:-1.49 [[ 0.57554625 -0.71480392 -0.39724284 4.78748025] [ 0.77742785 0.62894928 -0.00536126 -3.19001556] [ 0.25367785 -0.30574199 0.91769787 -1.49012318] [ 0. 0. 0. 1. ]] SLAMing on 150.078001145 meters Centerline goodness : 0.922254 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.19, Z:-1.49 [[ 0.57276567 -0.7184365 -0.39470049 4.79078174] [ 0.77974736 0.6260431 -0.0080053 -3.18929907] [ 0.25285082 -0.30318151 0.91877497 -1.49147254] [ 0. 0. 0. 1. ]] SLAMing on 150.138001145 meters Centerline goodness : 0.930468 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.19, Z:-1.49 [[ 0.57131395 -0.71628694 -0.40066618 4.79310421] [ 0.78017466 0.62553454 -0.00583416 -3.18550799] [ 0.25480947 -0.30925646 0.91620553 -1.4882286 ] [ 0. 0. 0. 1. ]] SLAMing on 150.198001145 meters Centerline goodness : 0.925747 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.19, Z:-1.49 [[ 0.57088162 -0.71656901 -0.40077803 4.79237898] [ 0.78053138 0.6250896 -0.00581073 -3.18543103] [ 0.25468597 -0.30950259 0.91615676 -1.4874518 ] [ 0. 0. 0. 1. ]] SLAMing on 150.25800114499998 meters Centerline goodness : 0.921797 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.18, Z:-1.49 [[ 0.5703425 -0.7189696 -0.3972306 4.79123241] [ 0.78108279 0.62436822 -0.0086022 -3.18449256] [ 0.25420289 -0.30536378 0.91767851 -1.48950926] [ 0. 0. 0. 1. ]] SLAMing on 150.31800114499998 meters Centerline goodness : 0.922356 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.18, Z:-1.49 [[ 0.57050508 -0.71809764 -0.39857213 4.7910367 ] [ 0.78063525 0.62492856 -0.00853885 -3.18118221] [ 0.25521083 -0.30626799 0.91709724 -1.49029005] [ 0. 0. 0. 1. ]] SLAMing on 150.37800114499998 meters Centerline goodness : 0.918352 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.18, Z:-1.49 [[ 0.57160451 -0.71746845 -0.39812977 4.78918015] [ 0.7796668 0.62613048 -0.00896141 -3.17875101] [ 0.25571071 -0.30528618 0.91728533 -1.4924343 ] [ 0. 0. 0. 1. ]] SLAMing on 150.438001145 meters Centerline goodness : 0.920275 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.18, Z:-1.49 [[ 0.57284269 -0.71698508 -0.3972199 4.78704436] [ 0.7786887 0.6273403 -0.00938398 -3.17817072] [ 0.25592022 -0.30393511 0.91767548 -1.49356712] [ 0. 0. 0. 1. ]] SLAMing on 150.498001145 meters Centerline goodness : 0.921623 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.18, Z:-1.49 [[ 0.57389561 -0.71603119 -0.39742064 4.784457 ] [ 0.77771934 0.62854176 -0.00937493 -3.1759931 ] [ 0.25650821 -0.30370149 0.91758866 -1.49452103] [ 0. 0. 0. 1. ]] SLAMing on 150.558001145 meters Centerline goodness : 0.919340 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.18, Z:-1.49 [[ 0.57224199 -0.71876457 -0.39486276 4.78313326] [ 0.7792145 0.62665296 -0.01143864 -3.17562252] [ 0.25566361 -0.30113712 0.9186689 -1.4948005 ] [ 0. 0. 0. 1. ]] SLAMing on 150.618001145 meters Centerline goodness : 0.924159 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.18, Z:-1.49 [[ 0.57027938 -0.72011127 -0.39524826 4.78265227] [ 0.78071074 0.62478002 -0.01186063 -3.17514429] [ 0.25548418 -0.30181069 0.91849776 -1.49273541] [ 0. 0. 0. 1. ]] SLAMing on 150.678001145 meters Centerline goodness : 0.926874 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.17, Z:-1.49 [[ 0.56816242 -0.7213529 -0.39603214 4.78281454] [ 0.782334 0.62274482 -0.01193338 -3.17440553] [ 0.25523514 -0.3030493 0.91815911 -1.49090491] [ 0. 0. 0. 1. ]] SLAMing on 150.738001145 meters Centerline goodness : 0.921596 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.17, Z:-1.49 [[ 0.56619058 -0.72399238 -0.39403459 4.78289033] [ 0.78389603 0.62073117 -0.01413605 -3.17409166] [ 0.25482394 -0.30087845 0.9189869 -1.49036271] [ 0. 0. 0. 1. ]] SLAMing on 150.798001145 meters Centerline goodness : 0.921054 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.17, Z:-1.49 [[ 0.56624606 -0.72124888 -0.39895545 4.78639752] [ 0.78315251 0.62170599 -0.0124017 -3.17032943] [ 0.2569777 -0.30542055 0.91688644 -1.4895971 ] [ 0. 0. 0. 1. ]] SLAMing on 150.858001145 meters Centerline goodness : 0.919752 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.17, Z:-1.49 [[ 0.56733561 -0.71859235 -0.40218821 4.78903043] [ 0.78178352 0.62345074 -0.01112242 -3.16818712] [ 0.25873702 -0.30811397 0.91548945 -1.4893889 ] [ 0. 0. 0. 1. ]] SLAMing on 150.918001145 meters Centerline goodness : 0.910074 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.17, Z:-1.49 [[ 0.56772193 -0.71899154 -0.40092764 4.79033178] [ 0.78140713 0.62389909 -0.01236185 -3.16651121] [ 0.25902645 -0.30626962 0.91602632 -1.49198874] [ 0. 0. 0. 1. ]] SLAMing on 150.978001145 meters Centerline goodness : 0.921695 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.16, Z:-1.49 [[ 0.56912597 -0.71572641 -0.40476083 4.78971152] [ 0.7795925 0.6261887 -0.0111015 -3.16175487] [ 0.26140229 -0.30923036 0.9143552 -1.49189924] [ 0. 0. 0. 1. ]] SLAMing on 151.03800114499998 meters Centerline goodness : 0.911809 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.16, Z:-1.49 [[ 0.56986824 -0.71543266 -0.40423545 4.78784943] [ 0.77901699 0.62690096 -0.01130127 -3.16121707] [ 0.26150089 -0.30846605 0.91458514 -1.49234363] [ 0. 0. 0. 1. ]] SLAMing on 151.09800114499998 meters Centerline goodness : 0.910944 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.16, Z:-1.49 [[ 0.56940406 -0.71639846 -0.40317771 4.78731943] [ 0.77944777 0.62634955 -0.01214136 -3.1606557 ] [ 0.26122823 -0.30734263 0.91504116 -1.49292777] [ 0. 0. 0. 1. ]] SLAMing on 151.158001145 meters Centerline goodness : 0.909738 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.16, Z:-1.49 [[ 0.56753303 -0.71714493 -0.4044866 4.78616801] [ 0.78071717 0.62476405 -0.01227132 -3.15963862] [ 0.261509 -0.30882525 0.9144616 -1.49013898] [ 0. 0. 0. 1. ]] SLAMing on 151.218001145 meters Centerline goodness : 0.910394 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.16, Z:-1.49 [[ 0.56561492 -0.71770007 -0.40618514 4.78933646] [ 0.7818354 0.62335524 -0.01271424 -3.15734899] [ 0.26232264 -0.31037856 0.91370235 -1.48916625] [ 0. 0. 0. 1. ]] SLAMing on 151.278001145 meters Centerline goodness : 0.906942 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.16, Z:-1.49 [[ 0.56249671 -0.72151455 -0.40375017 4.78864792] [ 0.78439558 0.62007253 -0.01528524 -3.15671005] [ 0.26138291 -0.30810195 0.91474158 -1.4883559 ] [ 0. 0. 0. 1. ]] SLAMing on 151.338001145 meters Centerline goodness : 0.911393 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.15, Z:-1.49 [[ 0.5607718 -0.72144753 -0.40626155 4.79181837] [ 0.78517943 0.61907278 -0.01556151 -3.15322976] [ 0.26273228 -0.31026176 0.91362432 -1.48742429] [ 0. 0. 0. 1. ]] SLAMing on 151.398001145 meters Centerline goodness : 0.908158 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.15, Z:-1.49 [[ 0.56016332 -0.72128473 -0.4073885 4.79209798] [ 0.78533892 0.61886304 -0.01585317 -3.15142472] [ 0.26355234 -0.31105768 0.91311735 -1.48644183] [ 0. 0. 0. 1. ]] SLAMing on 151.458001145 meters Centerline goodness : 0.908078 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.15, Z:-1.49 [[ 0.56112549 -0.72110609 -0.40637937 4.79475567] [ 0.78451582 0.61988365 -0.01670866 -3.15064175] [ 0.26395665 -0.30943539 0.91355166 -1.48903278] [ 0. 0. 0. 1. ]] SLAMing on 151.518001145 meters Centerline goodness : 0.907228 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.15, Z:-1.49 [[ 0.56131873 -0.72009533 -0.40790195 4.79609193] [ 0.7839796 0.62056259 -0.01667503 -3.14848941] [ 0.2651363 -0.3104268 0.91287346 -1.48888566] [ 0. 0. 0. 1. ]] SLAMing on 151.578001145 meters Centerline goodness : 0.902900 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.15, Z:-1.49 [[ 0.56200891 -0.71929966 -0.40835523 4.79396615] [ 0.78327987 0.62144644 -0.01664224 -3.14775534] [ 0.26574165 -0.31050335 0.91267138 -1.48807397] [ 0. 0. 0. 1. ]] SLAMing on 151.638001145 meters Centerline goodness : 0.906118 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.15, Z:-1.49 [[ 0.56350406 -0.71802732 -0.40853391 4.79442945] [ 0.78186979 0.62321312 -0.01688292 -3.14661036] [ 0.26672609 -0.30990673 0.91258699 -1.48914972] [ 0. 0. 0. 1. ]] SLAMing on 151.698001145 meters Centerline goodness : 0.907768 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.15, Z:-1.49 [[ 0.56519867 -0.71731732 -0.40743874 4.79425187] [ 0.7805542 0.6248488 -0.01729504 -3.14636043] [ 0.26699363 -0.30825289 0.91306876 -1.49124196] [ 0. 0. 0. 1. ]] SLAMing on 151.75800114499998 meters Centerline goodness : 0.904877 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.14, Z:-1.49 [[ 0.56652742 -0.71500586 -0.40965022 4.79452945] [ 0.77908515 0.62670324 -0.01641252 -3.14401203] [ 0.26846416 -0.30985426 0.91209502 -1.49149349] [ 0. 0. 0. 1. ]] SLAMing on 151.81800114499998 meters Centerline goodness : 0.906402 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.14, Z:-1.49 [[ 0.56849222 -0.71383421 -0.40897104 4.79108968] [ 0.77752001 0.62864269 -0.01646225 -3.14303717] [ 0.26884797 -0.30862451 0.91239886 -1.49273844] [ 0. 0. 0. 1. ]] SLAMing on 151.87800114499998 meters Centerline goodness : 0.903733 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.14, Z:-1.49 [[ 0.56798335 -0.71461804 -0.40830868 4.79043961] [ 0.77789221 0.62815952 -0.01730137 -3.14228281] [ 0.26884686 -0.30779325 0.91267995 -1.49280614] [ 0. 0. 0. 1. ]] SLAMing on 151.938001145 meters Centerline goodness : 0.910450 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.13, Z:-1.49 [[ 0.56739447 -0.72013246 -0.3993404 4.79237226] [ 0.78159756 0.62362435 -0.01406821 -3.13423513] [ 0.25916938 -0.30414126 0.91669478 -1.49242593] [ 0. 0. 0. 1. ]] SLAMing on 151.998001145 meters Centerline goodness : 0.912870 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.13, Z:-1.49 [[ 0.56606177 -0.72052836 -0.40051586 4.79218465] [ 0.78230557 0.6227232 -0.01462228 -3.13186209] [ 0.25994629 -0.30504868 0.91617315 -1.49105635] [ 0. 0. 0. 1. ]] SLAMing on 152.058001145 meters Centerline goodness : 0.908170 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.13, Z:-1.49 [[ 0.56450192 -0.72236964 -0.39939915 4.79186434] [ 0.78320558 0.6215262 -0.01715228 -3.12778981] [ 0.26062732 -0.30312915 0.91661667 -1.49229802] [ 0. 0. 0. 1. ]] SLAMing on 152.118001145 meters Centerline goodness : 0.906592 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.13, Z:-1.49 [[ 0.56401798 -0.72259224 -0.39968008 4.7906798 ] [ 0.7834247 0.62123737 -0.01760329 -3.12711558] [ 0.2610162 -0.30319068 0.91648565 -1.49100693] [ 0. 0. 0. 1. ]] SLAMing on 152.178001145 meters Centerline goodness : 0.906924 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.13, Z:-1.49 [[ 0.56359679 -0.72237197 -0.40067119 4.790407 ] [ 0.78346202 0.62118212 -0.01788965 -3.12552677] [ 0.26181276 -0.30382811 0.91604725 -1.48995491] [ 0. 0. 0. 1. ]] SLAMing on 152.238001145 meters Centerline goodness : 0.906027 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.12, Z:-1.49 [[ 0.56305582 -0.72164915 -0.402729 4.78959646] [ 0.78345862 0.62119027 -0.0177551 -3.12276926] [ 0.26298429 -0.3055244 0.91514704 -1.48862832] [ 0. 0. 0. 1. ]] SLAMing on 152.298001145 meters Centerline goodness : 0.908525 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.12, Z:-1.49 [[ 0.56245193 -0.72197014 -0.40299744 4.79083878] [ 0.78359429 0.62098661 -0.01885787 -3.11985272] [ 0.26387083 -0.30517985 0.9150068 -1.48934888] [ 0. 0. 0. 1. ]] SLAMing on 152.358001145 meters Centerline goodness : 0.907253 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.12, Z:-1.49 [[ 0.56160619 -0.72299343 -0.40234187 4.78922242] [ 0.78415416 0.62024374 -0.01999871 -3.11829112] [ 0.26400896 -0.30426665 0.91527104 -1.48912629] [ 0. 0. 0. 1. ]] SLAMing on 152.418001145 meters Centerline goodness : 0.908023 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.12, Z:-1.49 [[ 0.56129984 -0.7232743 -0.40226456 4.78790357] [ 0.78424102 0.62011176 -0.0206743 -3.11684408] [ 0.26440218 -0.30386789 0.91529001 -1.48883195] [ 0. 0. 0. 1. ]] SLAMing on 152.478001145 meters Centerline goodness : 0.909804 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.12, Z:-1.49 [[ 0.56292189 -0.72159436 -0.4030143 4.78753202] [ 0.78274458 0.62200924 -0.02038216 -3.11550374] [ 0.26538627 -0.30398369 0.91496669 -1.48960938] [ 0. 0. 0. 1. ]] SLAMing on 152.53800114499998 meters Centerline goodness : 0.909899 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.49 [[ 0.56428422 -0.72064061 -0.40281563 4.78592179] [ 0.7815306 0.62352397 -0.02068269 -3.11387276] [ 0.26606999 -0.30314183 0.91504743 -1.4908283 ] [ 0. 0. 0. 1. ]] SLAMing on 152.59800114499998 meters Centerline goodness : 0.913117 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.49 [[ 0.56406374 -0.71994196 -0.40437071 4.7874124 ] [ 0.7812774 0.62383532 -0.02085951 -3.11128339] [ 0.26727837 -0.3041596 0.91435727 -1.49069421] [ 0. 0. 0. 1. ]] SLAMing on 152.658001145 meters Centerline goodness : 0.901481 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.49 [[ 0.56355641 -0.72050888 -0.40406822 4.78705815] [ 0.78166985 0.62332924 -0.02128155 -3.11125307] [ 0.26720108 -0.30385459 0.91448126 -1.49022277] [ 0. 0. 0. 1. ]] SLAMing on 152.718001145 meters Centerline goodness : 0.907417 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.49 [[ 0.56261637 -0.72058957 -0.40523263 4.78884861] [ 0.7821297 0.62274529 -0.02148096 -3.11048104] [ 0.26783566 -0.30485894 0.91396121 -1.48907967] [ 0. 0. 0. 1. ]] SLAMing on 152.778001145 meters Centerline goodness : 0.907309 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.49 [[ 0.56243344 -0.72059485 -0.4054771 4.78925406] [ 0.78205597 0.62281765 -0.02205985 -3.10959935] [ 0.26843451 -0.30469859 0.91383898 -1.48857599] [ 0. 0. 0. 1. ]] SLAMing on 152.838001145 meters Centerline goodness : 0.908924 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.49 [[ 0.56295603 -0.7206361 -0.4046778 4.78941572] [ 0.78160737 0.62335609 -0.02273986 -3.10881573] [ 0.26864553 -0.30349761 0.91417656 -1.48978547] [ 0. 0. 0. 1. ]] SLAMing on 152.898001145 meters Centerline goodness : 0.910822 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.49 [[ 0.56242879 -0.72158569 -0.40371766 4.78964045] [ 0.78196903 0.62285932 -0.02388917 -3.10783199] [ 0.26869739 -0.30225875 0.91457168 -1.4904326 ] [ 0. 0. 0. 1. ]] SLAMing on 152.958001145 meters Centerline goodness : 0.913504 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.49 [[ 0.56259226 -0.7217636 -0.40317149 4.78724932] [ 0.78193742 0.62289522 -0.0239877 -3.1086049 ] [ 0.26844704 -0.30175958 0.91481 -1.48951684] [ 0. 0. 0. 1. ]] SLAMing on 153.018001145 meters Centerline goodness : 0.911721 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.49 [[ 0.56233684 -0.72195199 -0.40319053 4.78780823] [ 0.78195993 0.62284131 -0.02464503 -3.10795215] [ 0.26891624 -0.30142002 0.91478414 -1.48917404] [ 0. 0. 0. 1. ]] SLAMing on 153.078001145 meters Centerline goodness : 0.914355 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.49 [[ 0.56075616 -0.72311914 -0.40330042 4.78750023] [ 0.78318501 0.62128545 -0.02501256 -3.10840345] [ 0.26865174 -0.3018329 0.91472572 -1.48718465] [ 0. 0. 0. 1. ]] SLAMing on 153.138001145 meters Centerline goodness : 0.916093 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.48 [[ 0.55662964 -0.72511683 -0.4054245 4.78922643] [ 0.78587172 0.61784006 -0.02606337 -3.10664079] [ 0.26938649 -0.30410401 0.9137569 -1.48282817] [ 0. 0. 0. 1. ]] SLAMing on 153.198001145 meters Centerline goodness : 0.918610 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.48 [[ 0.5534642 -0.7291448 -0.40252359 4.78930907] [ 0.78856092 0.61429604 -0.02849653 -3.107476 ] [ 0.26804674 -0.30164256 0.91496596 -1.48187881] [ 0. 0. 0. 1. ]] SLAMing on 153.25800114499998 meters Centerline goodness : 0.921900 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.48 [[ 0.54966447 -0.73481188 -0.39739208 4.7889448 ] [ 0.79193938 0.60975558 -0.03209602 -3.10998529] [ 0.26589657 -0.2970684 0.91708744 -1.48086235] [ 0. 0. 0. 1. ]] SLAMing on 153.31800114499998 meters Centerline goodness : 0.922835 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.48 [[ 0.54893222 -0.73486802 -0.39829939 4.78891349] [ 0.79230886 0.60927186 -0.03216311 -3.10957876] [ 0.26630826 -0.29792077 0.9166914 -1.47916644] [ 0. 0. 0. 1. ]] SLAMing on 153.37800114499998 meters Centerline goodness : 0.919066 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.48 [[ 0.54955156 -0.7341137 -0.39883601 4.78839763] [ 0.79186706 0.60988216 -0.03146923 -3.11092345] [ 0.26634496 -0.29853114 0.91648215 -1.47806308] [ 0. 0. 0. 1. ]] SLAMing on 153.438001145 meters Centerline goodness : 0.925530 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.48 [[ 0.55188766 -0.73338664 -0.39694338 4.78866231] [ 0.79041737 0.6117665 -0.03133893 -3.11466539] [ 0.26582022 -0.29645537 0.91730792 -1.47903146] [ 0. 0. 0. 1. ]] SLAMing on 153.498001145 meters Centerline goodness : 0.920309 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.48 [[ 0.55682444 -0.73374344 -0.38931619 4.78876938] [ 0.79031237 0.61225122 -0.0235543 -3.1112368 ] [ 0.25564212 -0.2945658 0.92080296 -1.48043135] [ 0. 0. 0. 1. ]] SLAMing on 153.558001145 meters Centerline goodness : 0.915041 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.48 [[ 0.55670971 -0.73358421 -0.38978006 4.78920088] [ 0.79019035 0.61239332 -0.0239505 -3.11037691] [ 0.25626842 -0.29466697 0.92059648 -1.47992328] [ 0. 0. 0. 1. ]] SLAMing on 153.618001145 meters Centerline goodness : 0.918878 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.48 [[ 0.55656165 -0.73573448 -0.38591956 4.78993593] [ 0.79036975 0.61203635 -0.02696612 -3.10946871] [ 0.2560367 -0.29001083 0.92213824 -1.48290701] [ 0. 0. 0. 1. ]] SLAMing on 153.678001145 meters Centerline goodness : 0.915141 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.48 [[ 0.55789922 -0.73482545 -0.38572014 4.78868075] [ 0.78943144 0.61326655 -0.02649767 -3.11125616] [ 0.25602043 -0.28971658 0.92223524 -1.4821089 ] [ 0. 0. 0. 1. ]] SLAMing on 153.738001145 meters Centerline goodness : 0.919646 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.48 [[ 0.55873966 -0.73247459 -0.3889614 4.79013964] [ 0.78849035 0.61455337 -0.02463971 -3.11079855] [ 0.2570855 -0.29292513 0.92092449 -1.48074995] [ 0. 0. 0. 1. ]] SLAMing on 153.798001145 meters Centerline goodness : 0.913729 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.48 [[ 0.55747486 -0.73536196 -0.385311 4.78925667] [ 0.78982646 0.61274936 -0.02669056 -3.11300102] [ 0.25572629 -0.28944951 0.9224007 -1.48062948] [ 0. 0. 0. 1. ]] SLAMing on 153.858001145 meters Centerline goodness : 0.918938 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.12, Z:-1.48 [[ 0.5555891 -0.73789839 -0.38317975 4.78808421] [ 0.79148847 0.61053722 -0.0281123 -3.1150063 ] [ 0.25468952 -0.28766346 0.92324589 -1.47871001] [ 0. 0. 0. 1. ]] SLAMing on 153.918001145 meters Centerline goodness : 0.918339 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.48 [[ 0.55474221 -0.73728962 -0.38557113 4.78785463] [ 0.79185197 0.61010018 -0.02735375 -3.11444964] [ 0.25540465 -0.29014098 0.92227256 -1.47577664] [ 0. 0. 0. 1. ]] SLAMing on 153.978001145 meters Centerline goodness : 0.914036 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.48 [[ 0.55484951 -0.73698392 -0.38600094 4.79150428] [ 0.79167253 0.61033429 -0.02732491 -3.11428296] [ 0.25572763 -0.29042513 0.92209361 -1.47685622] [ 0. 0. 0. 1. ]] SLAMing on 154.03800114499998 meters Centerline goodness : 0.915468 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.11, Z:-1.48 [[ 0.55510741 -0.73588355 -0.38772562 4.79275821] [ 0.79104083 0.6111496 -0.02739647 -3.11188779] [ 0.25711897 -0.29149881 0.92136761 -1.47662723] [ 0. 0. 0. 1. ]] SLAMing on 154.09800114499998 meters Centerline goodness : 0.913739 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.11, Z:-1.48 [[ 0.55639692 -0.73249806 -0.39226147 4.79505761] [ 0.78942646 0.61331378 -0.02553578 -3.10809269] [ 0.25928428 -0.29545355 0.91949925 -1.47685442] [ 0. 0. 0. 1. ]] SLAMing on 154.158001145 meters Centerline goodness : 0.912247 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.10, Z:-1.48 [[ 0.55541889 -0.73288779 -0.392919 4.79866891] [ 0.78983263 0.61275207 -0.0264445 -3.10468415] [ 0.26014278 -0.29565247 0.91919277 -1.47871593] [ 0. 0. 0. 1. ]] SLAMing on 154.218001145 meters Centerline goodness : 0.910435 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.10, Z:-1.48 [[ 0.55607662 -0.73607139 -0.38597629 4.79884012] [ 0.79215366 0.60992866 -0.02190008 -3.09670306] [ 0.25153802 -0.29357441 0.92224872 -1.47644763] [ 0. 0. 0. 1. ]] SLAMing on 154.278001145 meters Centerline goodness : 0.913877 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.10, Z:-1.48 [[ 0.55639611 -0.73559011 -0.38643312 4.80109486] [ 0.79164768 0.61056699 -0.02240323 -3.09527135] [ 0.25242291 -0.29345381 0.9220453 -1.47743918] [ 0. 0. 0. 1. ]] SLAMing on 154.338001145 meters Centerline goodness : 0.915786 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.09, Z:-1.48 [[ 0.55603603 -0.73465972 -0.38871458 4.80309986] [ 0.79143813 0.61084018 -0.02235974 -3.09182205] [ 0.25386928 -0.29521072 0.92108687 -1.4773638 ] [ 0. 0. 0. 1. ]] SLAMing on 154.398001145 meters Centerline goodness : 0.907112 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.09, Z:-1.48 [[ 0.55796381 -0.73146631 -0.39196101 4.80452762] [ 0.78952866 0.61336341 -0.0207323 -3.0901265 ] [ 0.25557952 -0.29789658 0.91974819 -1.47731746] [ 0. 0. 0. 1. ]] SLAMing on 154.458001145 meters Centerline goodness : 0.909323 with order 1 Centerline is valid? [False, False] Translation: X:4.81, Y:-3.09, Z:-1.48 [[ 0.55823432 -0.73166225 -0.39120939 4.80532236] [ 0.7893402 0.61358909 -0.02122441 -3.09054892] [ 0.25557091 -0.29694911 0.92005692 -1.47776738] [ 0. 0. 0. 1. ]] SLAMing on 154.518001145 meters Centerline goodness : 0.908803 with order 1 Centerline is valid? [False, False] Translation: X:4.81, Y:-3.09, Z:-1.48 [[ 0.55681122 -0.73180624 -0.39296424 4.80640444] [ 0.79010481 0.61260189 -0.02129117 -3.08912046] [ 0.25631164 -0.29862777 0.91930724 -1.4759553 ] [ 0. 0. 0. 1. ]] SLAMing on 154.578001145 meters Centerline goodness : 0.913368 with order 1 Centerline is valid? [False, False] Translation: X:4.81, Y:-3.09, Z:-1.48 [[ 0.55564273 -0.73338365 -0.39167535 4.80599274] [ 0.79125664 0.61109779 -0.02173517 -3.09071212] [ 0.25529216 -0.29783874 0.91984673 -1.47531935] [ 0. 0. 0. 1. ]] SLAMing on 154.638001145 meters Centerline goodness : 0.915085 with order 1 Centerline is valid? [False, False] Translation: X:4.81, Y:-3.09, Z:-1.48 [[ 0.55509623 -0.73459868 -0.39017042 4.80578931] [ 0.79172196 0.61045038 -0.02294939 -3.09018062] [ 0.25503827 -0.29616737 0.92045661 -1.47597237] [ 0. 0. 0. 1. ]] SLAMing on 154.698001145 meters Centerline goodness : 0.915599 with order 1 Centerline is valid? [False, False] Translation: X:4.81, Y:-3.09, Z:-1.48 [[ 0.55546175 -0.7325355 -0.3935149 4.80630701] [ 0.79090773 0.61153998 -0.021996 -3.08644688] [ 0.25676294 -0.29901604 0.91905506 -1.47563816] [ 0. 0. 0. 1. ]] SLAMing on 154.75800114499998 meters Centerline goodness : 0.909366 with order 1 Centerline is valid? [False, False] Translation: X:4.81, Y:-3.08, Z:-1.48 [[ 0.55711393 -0.73131903 -0.39344192 4.80542018] [ 0.78949095 0.61336131 -0.02217962 -3.08444877] [ 0.25754243 -0.29826226 0.91908189 -1.47760982] [ 0. 0. 0. 1. ]] SLAMing on 154.81800114499998 meters Centerline goodness : 0.917637 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.08, Z:-1.48 [[ 0.55843895 -0.72876676 -0.39628897 4.8039135 ] [ 0.78798279 0.61533283 -0.02118108 -3.08153728] [ 0.25928568 -0.30044055 0.91788148 -1.47703753] [ 0. 0. 0. 1. ]] SLAMing on 154.87800114499998 meters Centerline goodness : 0.905415 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.08, Z:-1.48 [[ 0.55811171 -0.72906424 -0.3962028 4.79969976] [ 0.78802492 0.6152472 -0.02208163 -3.07895694] [ 0.25986159 -0.29989367 0.91789746 -1.47633929] [ 0. 0. 0. 1. ]] SLAMing on 154.938001145 meters Centerline goodness : 0.906341 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.08, Z:-1.48 [[ 0.55728629 -0.73054205 -0.39463946 4.7984608 ] [ 0.78859302 0.61445284 -0.0238485 -3.07609012] [ 0.25990968 -0.29791948 0.91852651 -1.4781146 ] [ 0. 0. 0. 1. ]] SLAMing on 154.998001145 meters Centerline goodness : 0.904554 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.07, Z:-1.48 [[ 0.55575502 -0.73169913 -0.39465522 4.79757584] [ 0.78962702 0.61308882 -0.02472381 -3.07394453] [ 0.26004909 -0.29789005 0.91849659 -1.47759335] [ 0. 0. 0. 1. ]] SLAMing on 155.058001145 meters Centerline goodness : 0.905067 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.07, Z:-1.47 [[ 0.55239182 -0.73282531 -0.39727867 4.79668563] [ 0.79173365 0.61035427 -0.02500982 -3.06991385] [ 0.26080856 -0.30072367 0.91735717 -1.47470081] [ 0. 0. 0. 1. ]] SLAMing on 155.118001145 meters Centerline goodness : 0.909148 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.07, Z:-1.47 [[ 0.54952373 -0.73633189 -0.3947645 4.79619613] [ 0.7939644 0.607337 -0.02760967 -3.06873107] [ 0.26008497 -0.2982568 0.91836741 -1.47445081] [ 0. 0. 0. 1. ]] SLAMing on 155.178001145 meters Centerline goodness : 0.906078 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.07, Z:-1.47 [[ 0.54671339 -0.7375879 -0.39631876 4.79681594] [ 0.79571345 0.60501106 -0.02831467 -3.06630488] [ 0.26066179 -0.29987616 0.91767626 -1.47218376] [ 0. 0. 0. 1. ]] SLAMing on 155.238001145 meters Centerline goodness : 0.902045 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.06, Z:-1.47 [[ 0.54524027 -0.7382842 -0.397051 4.79597235] [ 0.79646872 0.60396936 -0.02930157 -3.06332493] [ 0.26143952 -0.30026231 0.91732869 -1.47113069] [ 0. 0. 0. 1. ]] SLAMing on 155.298001145 meters Centerline goodness : 0.903758 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.06, Z:-1.47 [[ 0.5446288 -0.73842212 -0.3976333 4.79564644] [ 0.79658349 0.60377498 -0.03017476 -3.06012682] [ 0.26236274 -0.30031408 0.91704812 -1.47133023] [ 0. 0. 0. 1. ]] SLAMing on 155.358001145 meters Centerline goodness : 0.906300 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.06, Z:-1.47 [[ 0.54434733 -0.73815171 -0.39851982 4.79644864] [ 0.79633207 0.60405816 -0.03112851 -3.05560025] [ 0.26370671 -0.30040939 0.91663132 -1.47261173] [ 0. 0. 0. 1. ]] SLAMing on 155.418001145 meters Centerline goodness : 0.901636 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.05, Z:-1.47 [[ 0.54479411 -0.73756512 -0.39899507 4.79460901] [ 0.79560278 0.60497298 -0.03199852 -3.05171683] [ 0.26498223 -0.30000898 0.91639458 -1.47352223] [ 0. 0. 0. 1. ]] SLAMing on 155.478001145 meters Centerline goodness : 0.898055 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.05, Z:-1.47 [[ 0.54778817 -0.73341031 -0.40253874 4.79389794] [ 0.79277276 0.60876314 -0.03031168 -3.04793304] [ 0.26728164 -0.30251737 0.91490096 -1.47455518] [ 0. 0. 0. 1. ]] SLAMing on 155.53800114499998 meters Centerline goodness : 0.897244 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.05, Z:-1.48 [[ 0.55071463 -0.73082096 -0.40325441 4.79196803] [ 0.7903426 0.61194569 -0.02968225 -3.04574454] [ 0.26846221 -0.30236269 0.91460639 -1.47672036] [ 0. 0. 0. 1. ]] SLAMing on 155.59800114499998 meters Centerline goodness : 0.900173 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.04, Z:-1.48 [[ 0.55032324 -0.73093233 -0.40358675 4.79059009] [ 0.79037128 0.61187236 -0.03042122 -3.04359299] [ 0.26917943 -0.30224187 0.9144355 -1.47620994] [ 0. 0. 0. 1. ]] SLAMing on 155.658001145 meters Centerline goodness : 0.901346 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.04, Z:-1.47 [[ 0.54889874 -0.73136978 -0.40473252 4.79005704] [ 0.79108927 0.61091125 -0.03106774 -3.0412466 ] [ 0.26997766 -0.30312651 0.91390721 -1.47468385] [ 0. 0. 0. 1. ]] SLAMing on 155.718001145 meters Centerline goodness : 0.901867 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.04, Z:-1.47 [[ 0.54721724 -0.73286973 -0.404296 4.7897863 ] [ 0.79218684 0.60941478 -0.03245975 -3.0394973 ] [ 0.27017273 -0.30251543 0.91405203 -1.47421972] [ 0. 0. 0. 1. ]] SLAMing on 155.778001145 meters Centerline goodness : 0.894457 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.03, Z:-1.47 [[ 0.54480944 -0.73389229 -0.4056905 4.78967932] [ 0.79335208 0.6078066 -0.03411191 -3.03362086] [ 0.27161583 -0.30327091 0.91337374 -1.47393524] [ 0. 0. 0. 1. ]] SLAMing on 155.838001145 meters Centerline goodness : 0.898260 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.03, Z:-1.47 [[ 0.54330047 -0.7347218 -0.40621235 4.79030529] [ 0.79398798 0.60688232 -0.03573409 -3.02865466] [ 0.27277771 -0.30311338 0.91307974 -1.47474819] [ 0. 0. 0. 1. ]] SLAMing on 155.898001145 meters Centerline goodness : 0.895285 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.03, Z:-1.47 [[ 0.54324662 -0.73517044 -0.405472 4.78820218] [ 0.79384681 0.60699319 -0.03696644 -3.02681483] [ 0.27329537 -0.30180076 0.9133597 -1.47492785] [ 0. 0. 0. 1. ]] SLAMing on 155.958001145 meters Centerline goodness : 0.894353 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.02, Z:-1.47 [[ 0.54395222 -0.73257145 -0.40921273 4.78605719] [ 0.79272387 0.60853691 -0.03566081 -3.02428627] [ 0.27514514 -0.30499492 0.91174188 -1.4727264 ] [ 0. 0. 0. 1. ]] SLAMing on 156.018001145 meters Centerline goodness : 0.898784 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.02, Z:-1.47 [[ 0.54361027 -0.73235028 -0.41006211 4.78553918] [ 0.79256852 0.608695 -0.03640807 -3.02145637] [ 0.27626621 -0.30521052 0.91133063 -1.4724001 ] [ 0. 0. 0. 1. ]] SLAMing on 156.078001145 meters Centerline goodness : 0.894905 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.02, Z:-1.47 [[ 0.54188406 -0.73361566 -0.41008502 4.78788832] [ 0.79340713 0.60748245 -0.03834317 -3.01692382] [ 0.27724861 -0.30458683 0.91124095 -1.47386559] [ 0. 0. 0. 1. ]] SLAMing on 156.138001145 meters Centerline goodness : 0.896356 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.01, Z:-1.47 [[ 0.54071348 -0.73316696 -0.41242593 4.78770154] [ 0.79367023 0.60711487 -0.03871814 -3.01299106] [ 0.27877678 -0.30639476 0.91016798 -1.47264136] [ 0. 0. 0. 1. ]] SLAMing on 156.198001145 meters Centerline goodness : 0.900450 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.01, Z:-1.47 [[ 0.5405816 -0.73364406 -0.41174984 4.78503733] [ 0.79357395 0.60716105 -0.03994809 -3.01074478] [ 0.27930615 -0.30515875 0.9104209 -1.47280534] [ 0. 0. 0. 1. ]] SLAMing on 156.25800114499998 meters Centerline goodness : 0.897676 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.01, Z:-1.47 [[ 0.53968251 -0.72774186 -0.42324293 4.78578337] [ 0.78892734 0.61265187 -0.04744823 -3.01225445] [ 0.29383064 -0.30830094 0.90477295 -1.46702884] [ 0. 0. 0. 1. ]] SLAMing on 156.31800114499998 meters Centerline goodness : 0.901177 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.01, Z:-1.47 [[ 0.5379777 -0.72911415 -0.42305148 4.78397667] [ 0.79004965 0.61111637 -0.04856265 -3.01044296] [ 0.2939414 -0.30810605 0.90480336 -1.4659798 ] [ 0. 0. 0. 1. ]] SLAMing on 156.37800114499998 meters Centerline goodness : 0.894466 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.01, Z:-1.46 [[ 0.53464752 -0.73082012 -0.42432768 4.78356995] [ 0.79184077 0.60863283 -0.05053977 -3.00517914] [ 0.29519524 -0.308979 0.9040972 -1.46446727] [ 0. 0. 0. 1. ]] SLAMing on 156.438001145 meters Centerline goodness : 0.897417 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.01, Z:-1.46 [[ 0.53209845 -0.72942284 -0.42989948 4.78070841] [ 0.78907262 0.611307 -0.06056525 -3.00963516] [ 0.30697824 -0.30699524 0.9008431 -1.45725486] [ 0. 0. 0. 1. ]] SLAMing on 156.498001145 meters Centerline goodness : 0.907343 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.01, Z:-1.45 [[ 0.52998086 -0.73029673 -0.43103013 4.78118558] [ 0.79034754 0.60960699 -0.06107442 -3.00865298] [ 0.30736143 -0.30829533 0.90026826 -1.45498842] [ 0. 0. 0. 1. ]] SLAMing on 156.558001145 meters Centerline goodness : 0.897760 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.01, Z:-1.45 [[ 0.52860821 -0.73092758 -0.43164595 4.78030636] [ 0.79124249 0.60842316 -0.06129096 -3.00915377] [ 0.30742265 -0.30913771 0.89995844 -1.45244041] [ 0. 0. 0. 1. ]] SLAMing on 156.618001145 meters Centerline goodness : 0.895796 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.01, Z:-1.45 [[ 0.52645916 -0.73387781 -0.42925995 4.78046458] [ 0.79292972 0.60599039 -0.06354607 -3.00960912] [ 0.30676246 -0.30691856 0.90094272 -1.45153325] [ 0. 0. 0. 1. ]] SLAMing on 156.678001145 meters Centerline goodness : 0.895784 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.01, Z:-1.45 [[ 0.52570176 -0.73398696 -0.43000094 4.78201633] [ 0.79332102 0.6054702 -0.06362073 -3.0099598 ] [ 0.30704954 -0.30768326 0.90058403 -1.45005985] [ 0. 0. 0. 1. ]] SLAMing on 156.738001145 meters Centerline goodness : 0.901484 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.02, Z:-1.44 [[ 0.52536974 -0.7314306 -0.43473661 4.77958204] [ 0.78915551 0.60990348 -0.07246605 -3.01722865] [ 0.31815125 -0.30500332 0.89763732 -1.44327132] [ 0. 0. 0. 1. ]] SLAMing on 156.798001145 meters Centerline goodness : 0.904284 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-3.03, Z:-1.44 [[ 0.52535744 -0.73229256 -0.43329801 4.7719314 ] [ 0.7863475 0.61238054 -0.08153328 -3.02901841] [ 0.32504949 -0.2978887 0.8975551 -1.43802622] [ 0. 0. 0. 1. ]] SLAMing on 156.858001145 meters Centerline goodness : 0.901191 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.03, Z:-1.44 [[ 0.52570101 -0.73093023 -0.4351775 4.77614325] [ 0.78577681 0.61321778 -0.0807389 -3.02883176] [ 0.32587308 -0.29950786 0.89671722 -1.43779545] [ 0. 0. 0. 1. ]] SLAMing on 156.918001145 meters Centerline goodness : 0.906126 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.03, Z:-1.44 [[ 0.52754554 -0.72958037 -0.43521051 4.7754731 ] [ 0.78485525 0.6146257 -0.07897777 -3.03441433] [ 0.32511219 -0.29991289 0.89685803 -1.43593495] [ 0. 0. 0. 1. ]] SLAMing on 156.978001145 meters Centerline goodness : 0.903580 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.04, Z:-1.44 [[ 0.52884479 -0.72945403 -0.4338433 4.77618255] [ 0.7843232 0.61535619 -0.07857404 -3.0384963 ] [ 0.32428431 -0.29871989 0.89755563 -1.43581129] [ 0. 0. 0. 1. ]] SLAMing on 157.03800114499998 meters Centerline goodness : 0.912964 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.04, Z:-1.44 [[ 0.52821197 -0.73156485 -0.43105102 4.77800454] [ 0.78552024 0.61376284 -0.07907678 -3.04367489] [ 0.32241289 -0.29682999 0.89885588 -1.43547665] [ 0. 0. 0. 1. ]] SLAMing on 157.09800114499998 meters Centerline goodness : 0.914231 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.04, Z:-1.44 [[ 0.52733935 -0.7394761 -0.41843555 4.77954163] [ 0.79071097 0.60734967 -0.07682798 -3.04005619] [ 0.31094915 -0.29034716 0.90499124 -1.43528473] [ 0. 0. 0. 1. ]] SLAMing on 157.158001145 meters Centerline goodness : 0.913739 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.04, Z:-1.43 [[ 0.52704848 -0.73953246 -0.41870233 4.78180809] [ 0.79118546 0.60684543 -0.07592221 -3.04386897] [ 0.31023453 -0.29125651 0.9049443 -1.43361875] [ 0. 0. 0. 1. ]] SLAMing on 157.218001145 meters Centerline goodness : 0.914749 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.05, Z:-1.43 [[ 0.52596725 -0.74227185 -0.4151999 4.78241841] [ 0.79272001 0.60471845 -0.07688035 -3.04915287] [ 0.30814516 -0.28870072 0.90647584 -1.43283387] [ 0. 0. 0. 1. ]] SLAMing on 157.278001145 meters Centerline goodness : 0.918497 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-3.06, Z:-1.43 [[ 0.52450368 -0.74577528 -0.41074947 4.78453962] [ 0.79476233 0.60189315 -0.07795814 -3.05613832] [ 0.30536654 -0.28555888 0.90840927 -1.43227361] [ 0. 0. 0. 1. ]] SLAMing on 157.338001145 meters Centerline goodness : 0.920387 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-3.05, Z:-1.43 [[ 0.52476692 -0.74983043 -0.40295657 4.79047303] [ 0.79879998 0.59735622 -0.07130314 -3.05265248] [ 0.29417388 -0.28446417 0.91243732 -1.43433557] [ 0. 0. 0. 1. ]] SLAMing on 157.398001145 meters Centerline goodness : 0.926094 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.06, Z:-1.43 [[ 0.5262797 -0.74862133 -0.40323168 4.79547143] [ 0.79807107 0.59853045 -0.06959785 -3.05797613] [ 0.29344888 -0.2851796 0.91244745 -1.4339893 ] [ 0. 0. 0. 1. ]] SLAMing on 157.458001145 meters Centerline goodness : 0.932698 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.06, Z:-1.43 [[ 0.52741539 -0.75353546 -0.39245039 4.79719355] [ 0.80142799 0.59459033 -0.06461821 -3.05842827] [ 0.28203932 -0.2804401 0.9175005 -1.43163817] [ 0. 0. 0. 1. ]] SLAMing on 157.518001145 meters Centerline goodness : 0.932969 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.06, Z:-1.43 [[ 0.52829126 -0.75356706 -0.39120969 4.79756755] [ 0.80113113 0.59502343 -0.06431201 -3.06242734] [ 0.28124235 -0.27943479 0.91805171 -1.43097543] [ 0. 0. 0. 1. ]] SLAMing on 157.578001145 meters Centerline goodness : 0.933865 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.07, Z:-1.43 [[ 0.52995692 -0.754818 -0.38651708 4.79973263] [ 0.80081476 0.59540269 -0.06474059 -3.06881059] [ 0.27900067 -0.27521886 0.92000718 -1.43367605] [ 0. 0. 0. 1. ]] SLAMing on 157.638001145 meters Centerline goodness : 0.929537 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.07, Z:-1.43 [[ 0.53084209 -0.75586807 -0.3832364 4.79856732] [ 0.80070588 0.59547941 -0.06537868 -3.0730308 ] [ 0.27762704 -0.27215388 0.92133354 -1.43407788] [ 0. 0. 0. 1. ]] SLAMing on 157.698001145 meters Centerline goodness : 0.932656 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.08, Z:-1.43 [[ 0.53260726 -0.75455495 -0.38337494 4.79939592] [ 0.79966709 0.59701331 -0.06409093 -3.07641028] [ 0.27724007 -0.27243702 0.92136638 -1.43391691] [ 0. 0. 0. 1. ]] SLAMing on 157.75800114499998 meters Centerline goodness : 0.932487 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-3.08, Z:-1.43 [[ 0.5326909 -0.75482015 -0.38273612 4.80017941] [ 0.7997957 0.59685632 -0.06394821 -3.07831241] [ 0.27670787 -0.27204608 0.92164184 -1.43373645] [ 0. 0. 0. 1. ]] SLAMing on 157.81800114499998 meters Centerline goodness : 0.930206 with order 1 Centerline is valid? [False, False] Translation: X:4.81, Y:-3.08, Z:-1.43 [[ 0.53218322 -0.75488498 -0.38331409 4.80533568] [ 0.80031775 0.59624771 -0.06308864 -3.08007687] [ 0.27617482 -0.27319835 0.92146087 -1.43430276] [ 0. 0. 0. 1. ]] SLAMing on 157.87800114499998 meters Centerline goodness : 0.932718 with order 1 Centerline is valid? [False, False] Translation: X:4.81, Y:-3.07, Z:-1.44 [[ 0.53106944 -0.75692034 -0.38083705 4.81278553] [ 0.80414429 0.59188286 -0.05501491 -3.07393014] [ 0.26705282 -0.2770312 0.92300406 -1.43785575] [ 0. 0. 0. 1. ]] SLAMing on 157.938001145 meters Centerline goodness : 0.935239 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:-3.07, Z:-1.44 [[ 0.53078034 -0.75647788 -0.38211706 4.81585875] [ 0.80420174 0.59184359 -0.05459612 -3.07374184] [ 0.26745429 -0.27832065 0.92249976 -1.43748898] [ 0. 0. 0. 1. ]] SLAMing on 157.998001145 meters Centerline goodness : 0.929919 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:-3.07, Z:-1.44 [[ 0.53143162 -0.7553977 -0.38334677 4.81659242] [ 0.80370252 0.59261274 -0.05359474 -3.07438944] [ 0.26766152 -0.27961483 0.92204819 -1.43687163] [ 0. 0. 0. 1. ]] SLAMing on 158.058001145 meters Centerline goodness : 0.938620 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:-3.07, Z:-1.44 [[ 0.53171696 -0.75452569 -0.38466617 4.81882998] [ 0.80325581 0.59324249 -0.05332404 -3.07298923] [ 0.26843467 -0.28063204 0.92151424 -1.4372596 ] [ 0. 0. 0. 1. ]] SLAMing on 158.118001145 meters Centerline goodness : 0.933686 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:-3.07, Z:-1.44 [[ 0.53038924 -0.75577448 -0.38404711 4.82047351] [ 0.80430231 0.59178041 -0.05379349 -3.07332576] [ 0.2679273 -0.28035849 0.92174513 -1.43722226] [ 0. 0. 0. 1. ]] SLAMing on 158.178001145 meters Centerline goodness : 0.930837 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:-3.07, Z:-1.44 [[ 0.52972812 -0.75531556 -0.38585817 4.82330655] [ 0.80445113 0.59159186 -0.05364186 -3.07146473] [ 0.26878709 -0.28198844 0.9209973 -1.43676164] [ 0. 0. 0. 1. ]] SLAMing on 158.238001145 meters Centerline goodness : 0.931432 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-3.07, Z:-1.44 [[ 0.52901959 -0.75506133 -0.38732501 4.82621586] [ 0.80469894 0.59126364 -0.05354367 -3.0698802 ] [ 0.26943995 -0.28335437 0.9203871 -1.43658741] [ 0. 0. 0. 1. ]] SLAMing on 158.298001145 meters Centerline goodness : 0.933219 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-3.07, Z:-1.44 [[ 0.52825281 -0.75339747 -0.39158808 4.8290794 ] [ 0.8046657 0.59141487 -0.05235999 -3.06645019] [ 0.27103889 -0.28743819 0.91864967 -1.43535769] [ 0. 0. 0. 1. ]] SLAMing on 158.358001145 meters Centerline goodness : 0.926374 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-3.06, Z:-1.44 [[ 0.52821224 -0.75140089 -0.39545991 4.83274407] [ 0.80413342 0.59223815 -0.05121926 -3.06326647] [ 0.27269265 -0.29094789 0.917054 -1.43517072] [ 0. 0. 0. 1. ]] SLAMing on 158.418001145 meters Centerline goodness : 0.930030 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-3.06, Z:-1.44 [[ 0.52752377 -0.75111809 -0.39691346 4.83502243] [ 0.80425018 0.59205499 -0.05150273 -3.060871 ] [ 0.27367923 -0.29204881 0.91640994 -1.43507622] [ 0. 0. 0. 1. ]] SLAMing on 158.478001145 meters Centerline goodness : 0.928307 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-3.06, Z:-1.43 [[ 0.52763284 -0.74854523 -0.40160133 4.83839116] [ 0.80340451 0.59330293 -0.05032719 -3.05612065] [ 0.27594343 -0.29609404 0.91443072 -1.43492927] [ 0. 0. 0. 1. ]] SLAMing on 158.53800114499998 meters Centerline goodness : 0.925901 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-3.05, Z:-1.44 [[ 0.52690419 -0.749691 -0.400419 4.83690855] [ 0.80399379 0.59242753 -0.05122107 -3.05459461] [ 0.27561922 -0.2949458 0.91489946 -1.43586916] [ 0. 0. 0. 1. ]] SLAMing on 158.59800114499998 meters Centerline goodness : 0.928863 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-3.05, Z:-1.44 [[ 0.52611797 -0.7503433 -0.40023095 4.83518445] [ 0.80449565 0.59169862 -0.05176382 -3.05280121] [ 0.27565674 -0.29475019 0.9149512 -1.43586231] [ 0. 0. 0. 1. ]] SLAMing on 158.658001145 meters Centerline goodness : 0.927582 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-3.05, Z:-1.44 [[ 0.52626928 -0.74847686 -0.40351337 4.83513629] [ 0.80403069 0.59245519 -0.05031392 -3.04969652] [ 0.27672239 -0.29795846 0.91358933 -1.43555259] [ 0. 0. 0. 1. ]] SLAMing on 158.718001145 meters Centerline goodness : 0.926170 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-3.05, Z:-1.44 [[ 0.52815148 -0.74625275 -0.40517015 4.83473385] [ 0.80247817 0.59465058 -0.04918821 -3.04733106] [ 0.2776415 -0.29916137 0.91291712 -1.43743064] [ 0. 0. 0. 1. ]] SLAMing on 158.778001145 meters Centerline goodness : 0.930943 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-3.04, Z:-1.44 [[ 0.53128505 -0.74266563 -0.40765668 4.83578184] [ 0.79982263 0.59834046 -0.04767022 -3.04478436] [ 0.27932052 -0.30072656 0.91189012 -1.43961609] [ 0. 0. 0. 1. ]] SLAMing on 158.838001145 meters Centerline goodness : 0.929412 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-3.04, Z:-1.44 [[ 0.53743294 -0.74171761 -0.401274 4.83111206] [ 0.79863239 0.60046904 -0.04028945 -3.03623147] [ 0.270836 -0.29881754 0.91507155 -1.44186291] [ 0. 0. 0. 1. ]] SLAMing on 158.898001145 meters Centerline goodness : 0.927129 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-3.03, Z:-1.44 [[ 0.53936298 -0.73864841 -0.40433415 4.83287792] [ 0.7968824 0.60291208 -0.03841175 -3.03490224] [ 0.27215072 -0.30148889 0.91380437 -1.44231118] [ 0. 0. 0. 1. ]] SLAMing on 158.958001145 meters Centerline goodness : 0.928417 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-3.03, Z:-1.45 [[ 0.5381826 -0.74128188 -0.40107438 4.83405289] [ 0.79789832 0.60140439 -0.04087817 -3.03338791] [ 0.27151014 -0.29801666 0.91513295 -1.44515357] [ 0. 0. 0. 1. ]] SLAMing on 159.018001145 meters Centerline goodness : 0.930273 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-3.03, Z:-1.44 [[ 0.53766837 -0.74073263 -0.40277524 4.83610366] [ 0.79791754 0.60138171 -0.04083674 -3.03118493] [ 0.27247076 -0.2994248 0.91438748 -1.44470678] [ 0. 0. 0. 1. ]] SLAMing on 159.078001145 meters Centerline goodness : 0.930369 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-3.03, Z:-1.44 [[ 0.53693967 -0.74152046 -0.40229741 4.83359241] [ 0.79837072 0.60072158 -0.04168664 -3.02988532] [ 0.27258023 -0.29879926 0.91455947 -1.44391228] [ 0. 0. 0. 1. ]] SLAMing on 159.138001145 meters Centerline goodness : 0.929642 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-3.03, Z:-1.45 [[ 0.53706361 -0.74217998 -0.4009134 4.83357453] [ 0.79835124 0.60068795 -0.0425358 -3.02980645] [ 0.27239307 -0.29722528 0.91512794 -1.44501951] [ 0. 0. 0. 1. ]] SLAMing on 159.198001145 meters Centerline goodness : 0.924676 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-3.03, Z:-1.45 [[ 0.53679519 -0.74435287 -0.39722756 4.83092925] [ 0.79878742 0.59994494 -0.04477406 -3.03023883] [ 0.27164237 -0.29326588 0.91662727 -1.44608942] [ 0. 0. 0. 1. ]] SLAMing on 159.25800114499998 meters Centerline goodness : 0.920828 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-3.03, Z:-1.45 [[ 0.53838559 -0.74160019 -0.40021258 4.82932104] [ 0.7972267 0.60212649 -0.04328138 -3.02840153] [ 0.27307608 -0.29575808 0.9153997 -1.44509129] [ 0. 0. 0. 1. ]] SLAMing on 159.31800114499998 meters Centerline goodness : 0.922547 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-3.02, Z:-1.45 [[ 0.54309272 -0.74089068 -0.39513452 4.8325608 ] [ 0.79745229 0.60244838 -0.03355276 -3.02252052] [ 0.26290708 -0.29687867 0.91801031 -1.45119388] [ 0. 0. 0. 1. ]] SLAMing on 159.37800114499998 meters Centerline goodness : 0.923844 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-3.02, Z:-1.45 [[ 0.54407312 -0.74163669 -0.39237668 4.8320935 ] [ 0.79693186 0.60306439 -0.03482745 -3.0235825 ] [ 0.26245772 -0.2937488 0.91914503 -1.45289333] [ 0. 0. 0. 1. ]] SLAMing on 159.438001145 meters Centerline goodness : 0.924090 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-3.02, Z:-1.45 [[ 0.54619529 -0.73737676 -0.39742448 4.83124209] [ 0.79485892 0.60595625 -0.03187991 -3.02209571] [ 0.26432935 -0.29848373 0.91708094 -1.45093808] [ 0. 0. 0. 1. ]] SLAMing on 159.498001145 meters Centerline goodness : 0.925120 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-3.02, Z:-1.45 [[ 0.54612843 -0.7363425 -0.39942892 4.83190655] [ 0.79446078 0.60648243 -0.03179834 -3.01929398] [ 0.26566109 -0.29996463 0.91621253 -1.45046648] [ 0. 0. 0. 1. ]] SLAMing on 159.558001145 meters Centerline goodness : 0.921821 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-3.02, Z:-1.45 [[ 0.54336141 -0.74006142 -0.3963174 4.83519826] [ 0.79665857 0.60343905 -0.03458954 -3.01844747] [ 0.26475178 -0.29693503 0.91746176 -1.4524991 ] [ 0. 0. 0. 1. ]] SLAMing on 159.618001145 meters Centerline goodness : 0.922894 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-3.02, Z:-1.45 [[ 0.53999128 -0.74141986 -0.39837923 4.83722109] [ 0.79873031 0.60065736 -0.03522244 -3.01546074] [ 0.26540403 -0.29917776 0.91654425 -1.45033638] [ 0. 0. 0. 1. ]] SLAMing on 159.678001145 meters Centerline goodness : 0.923394 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-3.01, Z:-1.45 [[ 0.53966057 -0.74079634 -0.39998407 4.8369952 ] [ 0.79878467 0.60061786 -0.03465869 -3.01431416] [ 0.2659126 -0.30079722 0.91586654 -1.44919019] [ 0. 0. 0. 1. ]] SLAMing on 159.738001145 meters Centerline goodness : 0.916158 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-3.01, Z:-1.45 [[ 0.53920505 -0.7404851 -0.40117294 4.84106197] [ 0.79875231 0.60063673 -0.03507532 -3.01153676] [ 0.26693196 -0.30152502 0.91533054 -1.45067605] [ 0. 0. 0. 1. ]] SLAMing on 159.798001145 meters Centerline goodness : 0.920022 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-3.01, Z:-1.45 [[ 0.53947389 -0.74064341 -0.40051874 4.84103753] [ 0.79861712 0.60080203 -0.03532162 -3.01109615] [ 0.2667932 -0.30080603 0.91560751 -1.45173063] [ 0. 0. 0. 1. ]] SLAMing on 159.858001145 meters Centerline goodness : 0.921258 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-3.01, Z:-1.45 [[ 0.54130051 -0.73846931 -0.40206571 4.83985728] [ 0.79729569 0.60265867 -0.03349794 -3.01285961] [ 0.26704558 -0.3024328 0.91499784 -1.45049422] [ 0. 0. 0. 1. ]] SLAMing on 159.918001145 meters Centerline goodness : 0.917103 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-3.01, Z:-1.45 [[ 0.54093239 -0.73904079 -0.40151073 4.84070311] [ 0.7977549 0.60205585 -0.03340473 -3.01443371] [ 0.26641934 -0.30223745 0.91524492 -1.45017972] [ 0. 0. 0. 1. ]] SLAMing on 159.978001145 meters Centerline goodness : 0.915656 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-3.01, Z:-1.45 [[ 0.54026892 -0.73901974 -0.40244168 4.84283894] [ 0.79803856 0.60167298 -0.0335273 -3.01297278] [ 0.26691562 -0.30305023 0.91483147 -1.45014814] [ 0. 0. 0. 1. ]] SLAMing on 160.03800114499998 meters Centerline goodness : 0.917436 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-3.01, Z:-1.45 [[ 0.53827646 -0.73928206 -0.40462388 4.84741982] [ 0.79909767 0.60025757 -0.03367125 -3.01068231] [ 0.2677711 -0.30520956 0.9138631 -1.44939277] [ 0. 0. 0. 1. ]] SLAMing on 160.09800114499998 meters Centerline goodness : 0.918537 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-3.01, Z:-1.45 [[ 0.53688386 -0.73883646 -0.40727926 4.8509479 ] [ 0.79970807 0.59946563 -0.03328603 -3.00897994] [ 0.26874286 -0.30783378 0.91269691 -1.44804196] [ 0. 0. 0. 1. ]] SLAMing on 160.158001145 meters Centerline goodness : 0.913708 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-3.01, Z:-1.45 [[ 0.53682178 -0.73797645 -0.40891702 4.85451751] [ 0.79947892 0.5997923 -0.03290372 -3.00788712] [ 0.26954745 -0.30925711 0.91197819 -1.44816234] [ 0. 0. 0. 1. ]] SLAMing on 160.218001145 meters Centerline goodness : 0.915858 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-3.01, Z:-1.45 [[ 0.53969524 -0.7339411 -0.41238272 4.85755003] [ 0.79693826 0.60327921 -0.0307181 -3.00672557] [ 0.2713272 -0.31206516 0.91049266 -1.44918319] [ 0. 0. 0. 1. ]] SLAMing on 160.278001145 meters Centerline goodness : 0.914445 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-3.01, Z:-1.45 [[ 0.54435066 -0.73119722 -0.41113623 4.85638539] [ 0.79374441 0.60753297 -0.02955499 -3.00885869] [ 0.27138934 -0.3102488 0.91109467 -1.45236363] [ 0. 0. 0. 1. ]] SLAMing on 160.338001145 meters Centerline goodness : 0.916469 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-3.00, Z:-1.45 [[ 0.54687156 -0.73166866 -0.40693055 4.8597967 ] [ 0.79446283 0.6068591 -0.02346998 -2.99996146] [ 0.26412175 -0.31045613 0.91315754 -1.45078394] [ 0. 0. 0. 1. ]] SLAMing on 160.398001145 meters Centerline goodness : 0.914667 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-3.00, Z:-1.45 [[ 0.54930728 -0.73106916 -0.40472138 4.85754202] [ 0.79301101 0.60876067 -0.02332328 -3.0025409 ] [ 0.2634294 -0.30813687 0.91414256 -1.45238513] [ 0. 0. 0. 1. ]] SLAMing on 160.458001145 meters Centerline goodness : 0.916405 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-3.00, Z:-1.45 [[ 0.55035004 -0.72979589 -0.40560177 4.86037902] [ 0.79207314 0.60999934 -0.02282418 -3.00226314] [ 0.26407381 -0.30870498 0.91376488 -1.45330517] [ 0. 0. 0. 1. ]] SLAMing on 160.518001145 meters Centerline goodness : 0.916475 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-3.00, Z:-1.45 [[ 0.54944415 -0.73079099 -0.40503784 4.8591775 ] [ 0.79268613 0.60916559 -0.02379028 -3.00104974] [ 0.26412084 -0.30799645 0.91399035 -1.45304568] [ 0. 0. 0. 1. ]] SLAMing on 160.578001145 meters Centerline goodness : 0.918329 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-3.00, Z:-1.45 [[ 0.54951066 -0.7304109 -0.40563279 4.85781796] [ 0.79244722 0.60947096 -0.02392814 -3.00009321] [ 0.26469878 -0.3082938 0.91372287 -1.45218275] [ 0. 0. 0. 1. ]] SLAMing on 160.638001145 meters Centerline goodness : 0.918317 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-3.00, Z:-1.45 [[ 0.55131958 -0.73012543 -0.40368749 4.85969818] [ 0.79139548 0.6108346 -0.02396422 -3.00218792] [ 0.26408317 -0.30626451 0.91458304 -1.45486559] [ 0. 0. 0. 1. ]] SLAMing on 160.698001145 meters Centerline goodness : 0.919110 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-3.00, Z:-1.46 [[ 0.55220024 -0.72978335 -0.40310192 4.8576078 ] [ 0.79073704 0.6116782 -0.02418093 -3.00219297] [ 0.2642155 -0.30539491 0.91483557 -1.45501952] [ 0. 0. 0. 1. ]] SLAMing on 160.75800114499998 meters Centerline goodness : 0.914968 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-3.00, Z:-1.46 [[ 0.55344602 -0.72668189 -0.40697781 4.86001703] [ 0.7892215 0.61369518 -0.02253114 -2.99850251] [ 0.26613329 -0.30872587 0.91316012 -1.45573025] [ 0. 0. 0. 1. ]] SLAMing on 160.81800114499998 meters Centerline goodness : 0.915034 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-3.00, Z:-1.46 [[ 0.55312075 -0.72899888 -0.4032593 4.85795605] [ 0.78983488 0.61283014 -0.02449646 -3.00005347] [ 0.26498735 -0.30495876 0.91475781 -1.45658808] [ 0. 0. 0. 1. ]] SLAMing on 160.87800114499998 meters Centerline goodness : 0.917022 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-3.00, Z:-1.46 [[ 0.5509147 -0.72979276 -0.40484012 4.86162258] [ 0.79131131 0.61092395 -0.02446111 -2.99887819] [ 0.26517806 -0.30687858 0.91406025 -1.45548914] [ 0. 0. 0. 1. ]] SLAMing on 160.938001145 meters Centerline goodness : 0.918755 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-3.00, Z:-1.45 [[ 0.54965786 -0.72970678 -0.40669923 4.8646223 ] [ 0.79202079 0.61001892 -0.02408289 -2.99795972] [ 0.26566767 -0.30887689 0.91324463 -1.45414417] [ 0. 0. 0. 1. ]] SLAMing on 160.998001145 meters Centerline goodness : 0.916708 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-3.00, Z:-1.45 [[ 0.54451524 -0.73333275 -0.40709488 4.86615181] [ 0.79581757 0.60500408 -0.02538599 -2.99756622] [ 0.26491044 -0.3101502 0.91303303 -1.45026308] [ 0. 0. 0. 1. ]] SLAMing on 161.058001145 meters Centerline goodness : 0.921801 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-3.00, Z:-1.45 [[ 0.54086513 -0.73728452 -0.40481656 4.86980963] [ 0.79876705 0.60101589 -0.02740615 -2.99851104] [ 0.26350732 -0.3085311 0.91398712 -1.44997102] [ 0. 0. 0. 1. ]] SLAMing on 161.118001145 meters Centerline goodness : 0.921992 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-3.00, Z:-1.45 [[ 0.53821736 -0.73804673 -0.40695099 4.87013428] [ 0.80035792 0.59888599 -0.02761836 -2.9953539 ] [ 0.26410089 -0.31084176 0.91303238 -1.44792522] [ 0. 0. 0. 1. ]] SLAMing on 161.178001145 meters Centerline goodness : 0.918974 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.99, Z:-1.45 [[ 0.53656489 -0.73926752 -0.40691724 4.86944859] [ 0.80150899 0.59731307 -0.02829216 -2.99416663] [ 0.26397246 -0.31096725 0.91302678 -1.44694965] [ 0. 0. 0. 1. ]] SLAMing on 161.238001145 meters Centerline goodness : 0.914825 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-3.00, Z:-1.45 [[ 0.53522605 -0.74180234 -0.40405738 4.87168588] [ 0.80277738 0.59552691 -0.02993607 -2.99535434] [ 0.26283369 -0.30834556 0.91424366 -1.44828923] [ 0. 0. 0. 1. ]] SLAMing on 161.298001145 meters Centerline goodness : 0.914047 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.99, Z:-1.45 [[ 0.53349777 -0.74019022 -0.40926589 4.87480763] [ 0.80331493 0.59486267 -0.02869726 -2.99080851] [ 0.26469843 -0.31345948 0.91196376 -1.4461516 ] [ 0. 0. 0. 1. ]] SLAMing on 161.358001145 meters Centerline goodness : 0.912159 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.99, Z:-1.45 [[ 0.53116016 -0.741609 -0.40973769 4.87628424] [ 0.80467423 0.59295362 -0.03008962 -2.98645788] [ 0.26527018 -0.31372296 0.91170699 -1.44681634] [ 0. 0. 0. 1. ]] SLAMing on 161.418001145 meters Centerline goodness : 0.914353 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.98, Z:-1.45 [[ 0.52954821 -0.7425677 -0.41008768 4.87935932] [ 0.80546734 0.59180221 -0.03150402 -2.98201361] [ 0.26608466 -0.31362934 0.91150183 -1.44871322] [ 0. 0. 0. 1. ]] SLAMing on 161.478001145 meters Centerline goodness : 0.913146 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.97, Z:-1.45 [[ 0.52820541 -0.74193349 -0.41295731 4.88599668] [ 0.80838645 0.58821012 -0.0228079 -2.97093301] [ 0.25982761 -0.32178184 0.91046475 -1.45134241] [ 0. 0. 0. 1. ]] SLAMing on 161.53800114499998 meters Centerline goodness : 0.911204 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.97, Z:-1.45 [[ 0.52606689 -0.74271497 -0.41428022 4.88638722] [ 0.80967213 0.58642439 -0.02318353 -2.96810387] [ 0.26016278 -0.32323507 0.90985407 -1.45044923] [ 0. 0. 0. 1. ]] SLAMing on 161.59800114499998 meters Centerline goodness : 0.909744 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.97, Z:-1.45 [[ 0.52415838 -0.74466985 -0.41318859 4.88721458] [ 0.81099044 0.5845383 -0.02468754 -2.96564268] [ 0.25990863 -0.32215181 0.91031078 -1.45162878] [ 0. 0. 0. 1. ]] SLAMing on 161.658001145 meters Centerline goodness : 0.909112 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.96, Z:-1.45 [[ 0.52276174 -0.74304164 -0.41786275 4.88540587] [ 0.81126869 0.58418605 -0.02386986 -2.95938171] [ 0.26184589 -0.32652072 0.90819654 -1.44986734] [ 0. 0. 0. 1. ]] SLAMing on 161.718001145 meters Centerline goodness : 0.905926 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.95, Z:-1.45 [[ 0.52336662 -0.74107755 -0.42058464 4.88756211] [ 0.81032144 0.58552023 -0.02335013 -2.95436074] [ 0.26356507 -0.32858808 0.90695277 -1.45187733] [ 0. 0. 0. 1. ]] SLAMing on 161.778001145 meters Centerline goodness : 0.904207 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.94, Z:-1.45 [[ 0.52451896 -0.7450739 -0.4120009 4.88786421] [ 0.81245475 0.58270026 -0.01943402 -2.94297658] [ 0.25455282 -0.32453857 0.91097617 -1.45478687] [ 0. 0. 0. 1. ]] SLAMing on 161.838001145 meters Centerline goodness : 0.906278 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.94, Z:-1.45 [[ 0.52349123 -0.7421318 -0.41856579 4.88659208] [ 0.81224045 0.58304769 -0.0179123 -2.93536693] [ 0.2573371 -0.33059913 0.90800982 -1.45271941] [ 0. 0. 0. 1. ]] SLAMing on 161.898001145 meters Centerline goodness : 0.904405 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.93, Z:-1.45 [[ 0.52232236 -0.74335214 -0.41785996 4.88692645] [ 0.81289527 0.58208703 -0.01938989 -2.93172177] [ 0.25764438 -0.32954861 0.90830451 -1.45466828] [ 0. 0. 0. 1. ]] SLAMing on 161.958001145 meters Centerline goodness : 0.906798 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.93, Z:-1.46 [[ 0.520437 -0.74416305 -0.41876805 4.8883694 ] [ 0.81386477 0.58069419 -0.02045482 -2.9268513 ] [ 0.2583979 -0.33017512 0.90786283 -1.45585383] [ 0. 0. 0. 1. ]] SLAMing on 162.018001145 meters Centerline goodness : 0.906726 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.92, Z:-1.45 [[ 0.51902217 -0.74360772 -0.42150153 4.88658156] [ 0.81437835 0.57997601 -0.02038954 -2.92183071] [ 0.25962259 -0.3326791 0.90659844 -1.45497044] [ 0. 0. 0. 1. ]] SLAMing on 162.078001145 meters Centerline goodness : 0.906171 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.92, Z:-1.46 [[ 0.5178875 -0.74384385 -0.42247943 4.88332502] [ 0.81485182 0.57928664 -0.02105956 -2.91697598] [ 0.26040171 -0.33335165 0.90612782 -1.45547387] [ 0. 0. 0. 1. ]] SLAMing on 162.138001145 meters Centerline goodness : 0.906181 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.91, Z:-1.46 [[ 0.51649255 -0.74449208 -0.42304491 4.88535164] [ 0.81550768 0.57832373 -0.02211065 -2.91256853] [ 0.26111811 -0.33357639 0.90583891 -1.4570504 ] [ 0. 0. 0. 1. ]] SLAMing on 162.198001145 meters Centerline goodness : 0.902979 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.91, Z:-1.46 [[ 0.51496664 -0.74361706 -0.42643057 4.8818533 ] [ 0.81599289 0.57764693 -0.02190039 -2.90736292] [ 0.26261181 -0.33668634 0.90425513 -1.45501865] [ 0. 0. 0. 1. ]] SLAMing on 162.25800114499998 meters Centerline goodness : 0.902171 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.90, Z:-1.46 [[ 0.51348238 -0.74527264 -0.42532875 4.87937505] [ 0.8168879 0.57631207 -0.02363367 -2.9041309 ] [ 0.26273562 -0.33531044 0.90473029 -1.45568965] [ 0. 0. 0. 1. ]] SLAMing on 162.31800114499998 meters Centerline goodness : 0.902715 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.90, Z:-1.46 [[ 0.51141909 -0.74599108 -0.42655342 4.87935966] [ 0.8176988 0.57508686 -0.02537287 -2.89719294] [ 0.2642332 -0.33581605 0.90410641 -1.45667911] [ 0. 0. 0. 1. ]] SLAMing on 162.37800114499998 meters Centerline goodness : 0.900857 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.89, Z:-1.46 [[ 0.5094025 -0.74670514 -0.42771546 4.87669527] [ 0.81864469 0.5736864 -0.02654787 -2.89302917] [ 0.26519798 -0.33662344 0.90352349 -1.45508693] [ 0. 0. 0. 1. ]] SLAMing on 162.438001145 meters Centerline goodness : 0.902373 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.89, Z:-1.46 [[ 0.51010557 -0.74506855 -0.42972685 4.87573103] [ 0.81765949 0.57509167 -0.02650533 -2.8888936 ] [ 0.26688062 -0.33784972 0.90256983 -1.45576302] [ 0. 0. 0. 1. ]] SLAMing on 162.498001145 meters Centerline goodness : 0.903233 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.88, Z:-1.46 [[ 0.51084423 -0.74366029 -0.43128593 4.87174506] [ 0.8167373 0.57640166 -0.02648239 -2.88491098] [ 0.26828782 -0.33871893 0.90182655 -1.45605527] [ 0. 0. 0. 1. ]] SLAMing on 162.558001145 meters Centerline goodness : 0.905425 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.88, Z:-1.45 [[ 0.51039493 -0.74224392 -0.4342476 4.86830338] [ 0.81337743 0.58059722 -0.03638717 -2.88394262] [ 0.27913111 -0.33463536 0.90005833 -1.44929412] [ 0. 0. 0. 1. ]] SLAMing on 162.618001145 meters Centerline goodness : 0.902175 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.89, Z:-1.44 [[ 0.50820427 -0.74037114 -0.43997612 4.8653617 ] [ 0.81042079 0.58399057 -0.04661721 -2.88655928] [ 0.29145594 -0.33287473 0.89679867 -1.44297904] [ 0. 0. 0. 1. ]] SLAMing on 162.678001145 meters Centerline goodness : 0.900923 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.88, Z:-1.44 [[ 0.50519474 -0.74250762 -0.43984169 4.86308148] [ 0.81236954 0.58116385 -0.04800311 -2.88459266] [ 0.29126277 -0.33306307 0.8967915 -1.44102131] [ 0. 0. 0. 1. ]] SLAMing on 162.738001145 meters Centerline goodness : 0.901178 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.89, Z:-1.43 [[ 0.50202758 -0.73998878 -0.44764373 4.85854534] [ 0.80999328 0.58370945 -0.05651699 -2.88884582] [ 0.30311582 -0.33421532 0.89242418 -1.43310155] [ 0. 0. 0. 1. ]] SLAMing on 162.798001145 meters Centerline goodness : 0.902909 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.89, Z:-1.43 [[ 0.49995676 -0.74113308 -0.44806807 4.8567162 ] [ 0.81119705 0.58194535 -0.05743659 -2.88773167] [ 0.30331928 -0.33475568 0.89215248 -1.430738 ] [ 0. 0. 0. 1. ]] SLAMing on 162.858001145 meters Centerline goodness : 0.901100 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.89, Z:-1.43 [[ 0.49914715 -0.74145861 -0.44843199 4.8575933 ] [ 0.81148723 0.58146823 -0.05816509 -2.88669583] [ 0.30387596 -0.3348639 0.8919224 -1.42975864] [ 0. 0. 0. 1. ]] SLAMing on 162.918001145 meters Centerline goodness : 0.902574 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-2.89, Z:-1.42 [[ 0.49725721 -0.7382742 -0.45572632 4.85327526] [ 0.80800145 0.58539305 -0.066698 -2.8910794 ] [ 0.31602044 -0.33506147 0.88761754 -1.42347822] [ 0. 0. 0. 1. ]] SLAMing on 162.978001145 meters Centerline goodness : 0.906198 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.89, Z:-1.42 [[ 0.49712429 -0.73583786 -0.45979353 4.85659742] [ 0.80739358 0.58637055 -0.06546132 -2.88887515] [ 0.3177783 -0.33869194 0.8856098 -1.42194313] [ 0. 0. 0. 1. ]] SLAMing on 163.03800114499998 meters Centerline goodness : 0.903827 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.89, Z:-1.42 [[ 0.49713345 -0.73633679 -0.45898418 4.85643998] [ 0.80758538 0.5860964 -0.0655505 -2.88992504] [ 0.31727622 -0.33808156 0.88602295 -1.4220283 ] [ 0. 0. 0. 1. ]] SLAMing on 163.09800114499998 meters Centerline goodness : 0.907669 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.89, Z:-1.42 [[ 0.49708979 -0.73533687 -0.46063155 4.85681433] [ 0.80730361 0.58653237 -0.06512037 -2.88934977] [ 0.31806072 -0.33949884 0.88519936 -1.42064375] [ 0. 0. 0. 1. ]] SLAMing on 163.158001145 meters Centerline goodness : 0.906503 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.89, Z:-1.42 [[ 0.49708831 -0.73504143 -0.46110444 4.85684487] [ 0.80709612 0.58679531 -0.0653232 -2.88932298] [ 0.31858919 -0.3396842 0.88493817 -1.41946715] [ 0. 0. 0. 1. ]] SLAMing on 163.218001145 meters Centerline goodness : 0.905575 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.89, Z:-1.42 [[ 0.49544055 -0.73819592 -0.45782687 4.85805613] [ 0.8085323 0.58455857 -0.06757809 -2.88951632] [ 0.31751249 -0.33668689 0.88646926 -1.42058015] [ 0. 0. 0. 1. ]] SLAMing on 163.278001145 meters Centerline goodness : 0.905331 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.89, Z:-1.42 [[ 0.4946249 -0.73857979 -0.45808962 4.85793999] [ 0.80900487 0.58387256 -0.06785249 -2.88958152] [ 0.31758043 -0.3370352 0.88631255 -1.41933034] [ 0. 0. 0. 1. ]] SLAMing on 163.338001145 meters Centerline goodness : 0.905955 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.89, Z:-1.42 [[ 0.49376379 -0.74081076 -0.45540831 4.85825757] [ 0.81010012 0.58224079 -0.0688001 -2.89247771] [ 0.31612515 -0.33495533 0.88762031 -1.41908721] [ 0. 0. 0. 1. ]] SLAMing on 163.398001145 meters Centerline goodness : 0.905514 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.90, Z:-1.42 [[ 0.49234615 -0.74334697 -0.45280298 4.85653682] [ 0.81151343 0.58012735 -0.06998717 -2.895479 ] [ 0.31470815 -0.33299779 0.88885952 -1.41734013] [ 0. 0. 0. 1. ]] SLAMing on 163.458001145 meters Centerline goodness : 0.905293 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.90, Z:-1.42 [[ 0.49260591 -0.74257358 -0.45378838 4.8608218 ] [ 0.81154312 0.58025617 -0.0685605 -2.89866985] [ 0.31422473 -0.33449553 0.8884681 -1.41653997] [ 0. 0. 0. 1. ]] SLAMing on 163.518001145 meters Centerline goodness : 0.910094 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.90, Z:-1.42 [[ 0.4925245 -0.74435545 -0.45094854 4.86038147] [ 0.81206108 0.57942072 -0.06948685 -2.9017879 ] [ 0.31301185 -0.33197378 0.88984099 -1.41633638] [ 0. 0. 0. 1. ]] SLAMing on 163.578001145 meters Centerline goodness : 0.912279 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.90, Z:-1.42 [[ 0.49331595 -0.75001804 -0.4405818 4.86226046] [ 0.81557433 0.57492972 -0.06553117 -2.89799903] [ 0.30245313 -0.32699963 0.89531746 -1.41594476] [ 0. 0. 0. 1. ]] SLAMing on 163.638001145 meters Centerline goodness : 0.909740 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.89, Z:-1.42 [[ 0.49538024 -0.75241043 -0.43413933 4.86545214] [ 0.81772439 0.57255501 -0.05922489 -2.89123861] [ 0.29313008 -0.32566748 0.8988968 -1.41614638] [ 0. 0. 0. 1. ]] SLAMing on 163.698001145 meters Centerline goodness : 0.913509 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.90, Z:-1.42 [[ 0.49619935 -0.75414332 -0.4301791 4.86535563] [ 0.81773866 0.572425 -0.06027514 -2.89523355] [ 0.29170137 -0.3218656 0.90072906 -1.41710414] [ 0. 0. 0. 1. ]] SLAMing on 163.75800114499998 meters Centerline goodness : 0.914582 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.90, Z:-1.42 [[ 0.4954647 -0.75661027 -0.42667977 4.86400926] [ 0.81871724 0.57088161 -0.06161388 -2.89834548] [ 0.29020133 -0.31880258 0.90230156 -1.41670307] [ 0. 0. 0. 1. ]] SLAMing on 163.81800114499998 meters Centerline goodness : 0.916403 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.90, Z:-1.42 [[ 0.49526249 -0.75651445 -0.42708423 4.86533372] [ 0.81885446 0.57071251 -0.06135642 -2.8992395 ] [ 0.29015933 -0.31933229 0.90212773 -1.4159425 ] [ 0. 0. 0. 1. ]] SLAMing on 163.87800114499998 meters Centerline goodness : 0.914247 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.90, Z:-1.41 [[ 0.49462521 -0.75900769 -0.42338308 4.86274913] [ 0.81994 0.56905513 -0.06224675 -2.90395376] [ 0.28817408 -0.31635991 0.90380978 -1.41469742] [ 0. 0. 0. 1. ]] SLAMing on 163.938001145 meters Centerline goodness : 0.918503 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.91, Z:-1.41 [[ 0.49459438 -0.75860839 -0.42413406 4.86463285] [ 0.82004527 0.56899264 -0.06142588 -2.90559429] [ 0.28792735 -0.31742823 0.90351379 -1.41373723] [ 0. 0. 0. 1. ]] SLAMing on 163.998001145 meters Centerline goodness : 0.915588 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.91, Z:-1.41 [[ 0.49465066 -0.75903176 -0.4233102 4.86749957] [ 0.82037753 0.56857368 -0.06086599 -2.90953042] [ 0.28688226 -0.31716677 0.90393795 -1.41315666] [ 0. 0. 0. 1. ]] SLAMing on 164.058001145 meters Centerline goodness : 0.917404 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.91, Z:-1.41 [[ 0.49248517 -0.76121507 -0.42191228 4.871515 ] [ 0.82204318 0.56606673 -0.06175324 -2.91125025] [ 0.285838 -0.31641756 0.90453113 -1.41269291] [ 0. 0. 0. 1. ]] SLAMing on 164.118001145 meters Centerline goodness : 0.918816 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.91, Z:-1.41 [[ 0.49070438 -0.76202799 -0.42251929 4.87348055] [ 0.82327458 0.56429237 -0.06158806 -2.91270028] [ 0.28535624 -0.31762786 0.90425901 -1.41049591] [ 0. 0. 0. 1. ]] SLAMing on 164.178001145 meters Centerline goodness : 0.916290 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.92, Z:-1.41 [[ 0.49027638 -0.7619085 -0.42323104 4.87829263] [ 0.82372936 0.56373284 -0.06062361 -2.91578767] [ 0.28477888 -0.31890551 0.9039913 -1.4092879 ] [ 0. 0. 0. 1. ]] SLAMing on 164.238001145 meters Centerline goodness : 0.917159 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.92, Z:-1.41 [[ 0.49059025 -0.76132975 -0.42390827 4.88368856] [ 0.82348539 0.56413893 -0.06015888 -2.91638221] [ 0.2849439 -0.3195689 0.90370498 -1.41013361] [ 0. 0. 0. 1. ]] SLAMing on 164.298001145 meters Centerline goodness : 0.920523 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.92, Z:-1.41 [[ 0.49212337 -0.7598077 -0.42486097 4.88415034] [ 0.82260515 0.56558206 -0.05863187 -2.91936886] [ 0.28484269 -0.32063871 0.90335788 -1.40883791] [ 0. 0. 0. 1. ]] SLAMing on 164.358001145 meters Centerline goodness : 0.917194 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.92, Z:-1.41 [[ 0.49413833 -0.75851131 -0.42483868 4.88323011] [ 0.82140662 0.56741878 -0.05768088 -2.92140654] [ 0.28481304 -0.32046297 0.90342958 -1.40890511] [ 0. 0. 0. 1. ]] SLAMing on 164.418001145 meters Centerline goodness : 0.917182 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.93, Z:-1.41 [[ 0.49751375 -0.75703069 -0.4235382 4.88320444] [ 0.81955218 0.57021227 -0.05649954 -2.92597431] [ 0.28427856 -0.31900236 0.90411459 -1.40997789] [ 0. 0. 0. 1. ]] SLAMing on 164.478001145 meters Centerline goodness : 0.917654 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.92, Z:-1.41 [[ 0.49969432 -0.76041061 -0.41482682 4.88536583] [ 0.82149208 0.56789501 -0.05143945 -2.92004717] [ 0.27469318 -0.31507295 0.90844521 -1.41036097] [ 0. 0. 0. 1. ]] SLAMing on 164.53800114499998 meters Centerline goodness : 0.917413 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.92, Z:-1.41 [[ 0.50039213 -0.76024468 -0.41428945 4.88545968] [ 0.82123259 0.56831214 -0.05097392 -2.92209749] [ 0.27419838 -0.31472105 0.90871663 -1.41016547] [ 0. 0. 0. 1. ]] SLAMing on 164.59800114499998 meters Centerline goodness : 0.912784 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.92, Z:-1.41 [[ 0.50138875 -0.76015058 -0.41325586 4.88733921] [ 0.82073225 0.56903806 -0.05093382 -2.92296578] [ 0.27387569 -0.31363477 0.90918938 -1.41189275] [ 0. 0. 0. 1. ]] SLAMing on 164.658001145 meters Centerline goodness : 0.914865 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.92, Z:-1.41 [[ 0.50174704 -0.75973842 -0.41357883 4.88782528] [ 0.82057026 0.56932457 -0.05033878 -2.92418116] [ 0.27370489 -0.31411315 0.90907566 -1.41139626] [ 0. 0. 0. 1. ]] SLAMing on 164.718001145 meters Centerline goodness : 0.918475 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.92, Z:-1.41 [[ 0.5000682 -0.75968917 -0.41569719 4.89261754] [ 0.82135458 0.56819416 -0.05031942 -2.92268326] [ 0.27442384 -0.31627165 0.90811002 -1.41030615] [ 0. 0. 0. 1. ]] SLAMing on 164.778001145 meters Centerline goodness : 0.918423 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.92, Z:-1.41 [[ 0.49909285 -0.75940639 -0.41738264 4.8955991 ] [ 0.82172282 0.56766746 -0.05025199 -2.92076996] [ 0.27509623 -0.31789243 0.90734033 -1.40968955] [ 0. 0. 0. 1. ]] SLAMing on 164.838001145 meters Centerline goodness : 0.918986 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.92, Z:-1.41 [[ 0.4973439 -0.75949009 -0.41931354 4.8980016 ] [ 0.82262312 0.56637142 -0.05014597 -2.91916819] [ 0.27557257 -0.31999722 0.90645548 -1.40809744] [ 0. 0. 0. 1. ]] SLAMing on 164.898001145 meters Centerline goodness : 0.919175 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.91, Z:-1.41 [[ 0.49495043 -0.76376871 -0.41434458 4.9039269 ] [ 0.82757786 0.55969254 -0.04311782 -2.9125898 ] [ 0.26483761 -0.32156122 0.90909814 -1.41184673] [ 0. 0. 0. 1. ]] SLAMing on 164.958001145 meters Centerline goodness : 0.916637 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:-2.91, Z:-1.41 [[ 0.49358327 -0.76467316 -0.41430726 4.90519779] [ 0.82847066 0.55833945 -0.04351346 -2.91210572] [ 0.26459766 -0.3217639 0.90909629 -1.41171764] [ 0. 0. 0. 1. ]] SLAMing on 165.018001145 meters Centerline goodness : 0.913578 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:-2.91, Z:-1.41 [[ 0.49359639 -0.76181898 -0.41951693 4.90750139] [ 0.82779876 0.55945364 -0.04196236 -2.90785783] [ 0.266668 -0.32656312 0.9067771 -1.41048433] [ 0. 0. 0. 1. ]] SLAMing on 165.078001145 meters Centerline goodness : 0.913291 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:-2.91, Z:-1.41 [[ 0.49487426 -0.76109207 -0.41933081 4.90858024] [ 0.82687525 0.56081163 -0.0420432 -2.90662384] [ 0.26716434 -0.32592817 0.90685944 -1.41271445] [ 0. 0. 0. 1. ]] SLAMing on 165.138001145 meters Centerline goodness : 0.912076 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:-2.90, Z:-1.41 [[ 0.49704927 -0.75797673 -0.42238998 4.91111013] [ 0.82506463 0.56358809 -0.04045759 -2.90436685] [ 0.26871988 -0.32838962 0.90551084 -1.41411483] [ 0. 0. 0. 1. ]] SLAMing on 165.198001145 meters Centerline goodness : 0.910551 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:-2.90, Z:-1.41 [[ 0.49904961 -0.75403977 -0.42705212 4.90804866] [ 0.82317772 0.56649143 -0.038287 -2.90048413] [ 0.27079129 -0.33243268 0.90341607 -1.41362051] [ 0. 0. 0. 1. ]] SLAMing on 165.25800114499998 meters Centerline goodness : 0.909982 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:-2.90, Z:-1.42 [[ 0.5006259 -0.75450471 -0.42437761 4.90548727] [ 0.82230864 0.56768701 -0.03924222 -2.90040523] [ 0.27052209 -0.3293237 0.90463456 -1.41643246] [ 0. 0. 0. 1. ]] SLAMing on 165.31800114499998 meters Centerline goodness : 0.910097 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.90, Z:-1.42 [[ 0.50277129 -0.7522515 -0.42583882 4.90400005] [ 0.82071553 0.57006866 -0.03804913 -2.89957385] [ 0.27137988 -0.33036253 0.90399865 -1.41718521] [ 0. 0. 0. 1. ]] SLAMing on 165.37800114499998 meters Centerline goodness : 0.915423 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.89, Z:-1.42 [[ 0.50563256 -0.75461139 -0.41820733 4.90253206] [ 0.82199349 0.56858972 -0.03213145 -2.89122798] [ 0.26203514 -0.32751699 0.90778313 -1.41870439] [ 0. 0. 0. 1. ]] SLAMing on 165.438001145 meters Centerline goodness : 0.913750 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.89, Z:-1.42 [[ 0.50814131 -0.75222002 -0.41947283 4.89891607] [ 0.82003126 0.57145695 -0.0313956 -2.88926071] [ 0.26332706 -0.32802743 0.90722481 -1.41959462] [ 0. 0. 0. 1. ]] SLAMing on 165.498001145 meters Centerline goodness : 0.913828 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.89, Z:-1.42 [[ 0.50888025 -0.751075 -0.42062719 4.89621725] [ 0.81929113 0.57253214 -0.03112851 -2.88689081] [ 0.26420244 -0.32877544 0.90669939 -1.41987418] [ 0. 0. 0. 1. ]] SLAMing on 165.558001145 meters Centerline goodness : 0.910132 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.88, Z:-1.42 [[ 0.50864727 -0.75029868 -0.42229119 4.89473476] [ 0.81920721 0.57267237 -0.0307556 -2.88418393] [ 0.26491038 -0.33030023 0.90593832 -1.41969222] [ 0. 0. 0. 1. ]] SLAMing on 165.618001145 meters Centerline goodness : 0.910612 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.88, Z:-1.42 [[ 0.50744071 -0.7513365 -0.42189736 4.89500676] [ 0.81983107 0.57170691 -0.03206611 -2.88063374] [ 0.26529408 -0.32961291 0.90607637 -1.42129085] [ 0. 0. 0. 1. ]] SLAMing on 165.678001145 meters Centerline goodness : 0.913031 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.88, Z:-1.42 [[ 0.5066587 -0.751834 -0.42195093 4.89397678] [ 0.82018008 0.57116078 -0.03286336 -2.87777051] [ 0.26570961 -0.32942524 0.90602285 -1.42203593] [ 0. 0. 0. 1. ]] SLAMing on 165.738001145 meters Centerline goodness : 0.911275 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.87, Z:-1.43 [[ 0.50842715 -0.75619431 -0.41191261 4.89527157] [ 0.82217468 0.56850375 -0.02884926 -2.86823148] [ 0.2559895 -0.32399637 0.91076656 -1.42632155] [ 0. 0. 0. 1. ]] SLAMing on 165.798001145 meters Centerline goodness : 0.908078 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.86, Z:-1.43 [[ 0.51060554 -0.75223513 -0.41644242 4.89501176] [ 0.82011434 0.57156749 -0.0268902 -2.86480467] [ 0.2582527 -0.32780011 0.90876434 -1.42619799] [ 0. 0. 0. 1. ]] SLAMing on 165.858001145 meters Centerline goodness : 0.908078 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.86, Z:-1.43 [[ 0.51200043 -0.74855436 -0.42133352 4.89562106] [ 0.81834805 0.57415215 -0.02560807 -2.86008297] [ 0.26107858 -0.33168612 0.90654415 -1.4255861 ] [ 0. 0. 0. 1. ]] SLAMing on 165.918001145 meters Centerline goodness : 0.905848 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.86, Z:-1.43 [[ 0.51155418 -0.74951489 -0.42016633 4.89577836] [ 0.81861499 0.57371879 -0.02676286 -2.85866569] [ 0.26111648 -0.33026381 0.90705237 -1.42683495] [ 0. 0. 0. 1. ]] SLAMing on 165.978001145 meters Centerline goodness : 0.907951 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.86, Z:-1.43 [[ 0.51095249 -0.74980621 -0.42037864 4.89554846] [ 0.81891211 0.57327559 -0.02716698 -2.85693767] [ 0.26136279 -0.33037212 0.90694198 -1.42714202] [ 0. 0. 0. 1. ]] SLAMing on 166.03800114499998 meters Centerline goodness : 0.905548 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.85, Z:-1.43 [[ 0.51307538 -0.75128237 -0.41512464 4.89442506] [ 0.82004307 0.57189886 -0.02147216 -2.84516787] [ 0.25354096 -0.32940324 0.90951112 -1.42838861] [ 0. 0. 0. 1. ]] SLAMing on 166.09800114499998 meters Centerline goodness : 0.905639 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.84, Z:-1.43 [[ 0.51488071 -0.75019597 -0.41485403 4.89595826] [ 0.81863151 0.57390522 -0.02179997 -2.84267645] [ 0.25444115 -0.3283882 0.90962679 -1.4318696 ] [ 0. 0. 0. 1. ]] SLAMing on 166.158001145 meters Centerline goodness : 0.904886 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.84, Z:-1.43 [[ 0.51737853 -0.74702861 -0.41745385 4.89514938] [ 0.81652825 0.57694301 -0.02045434 -2.8414671 ] [ 0.25612706 -0.33028022 0.90846789 -1.43172479] [ 0. 0. 0. 1. ]] SLAMing on 166.218001145 meters Centerline goodness : 0.904687 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.84, Z:-1.43 [[ 0.51819992 -0.74424631 -0.42138613 4.89529148] [ 0.81535947 0.57863373 -0.0192859 -2.83831253] [ 0.25818169 -0.33358722 0.90667623 -1.43062399] [ 0. 0. 0. 1. ]] SLAMing on 166.278001145 meters Centerline goodness : 0.908722 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.84, Z:-1.43 [[ 0.51760284 -0.74718309 -0.41689894 4.89302487] [ 0.81603324 0.57758531 -0.02202178 -2.838626 ] [ 0.25724901 -0.32880486 0.90868604 -1.43225168] [ 0. 0. 0. 1. ]] SLAMing on 166.338001145 meters Centerline goodness : 0.906177 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.84, Z:-1.43 [[ 0.51784873 -0.74737704 -0.41624541 4.89268478] [ 0.81582375 0.57785903 -0.02259552 -2.83904335] [ 0.25741854 -0.32788183 0.90897151 -1.43199702] [ 0. 0. 0. 1. ]] SLAMing on 166.398001145 meters Centerline goodness : 0.909215 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.84, Z:-1.43 [[ 0.51946428 -0.74451871 -0.41934325 4.89184644] [ 0.8143387 0.58000972 -0.02100482 -2.83800396] [ 0.25886164 -0.33057618 0.90758473 -1.43092912] [ 0. 0. 0. 1. ]] SLAMing on 166.458001145 meters Centerline goodness : 0.909101 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.84, Z:-1.43 [[ 0.52270198 -0.74204953 -0.41969648 4.892047 ] [ 0.8120094 0.58330113 -0.02001305 -2.83966377] [ 0.25966011 -0.33033663 0.90744385 -1.43153605] [ 0. 0. 0. 1. ]] SLAMing on 166.518001145 meters Centerline goodness : 0.911523 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.84, Z:-1.43 [[ 0.52348998 -0.74219326 -0.41845837 4.89152995] [ 0.81156921 0.58390148 -0.02035901 -2.84044254] [ 0.25944878 -0.32895019 0.90800777 -1.43237951] [ 0. 0. 0. 1. ]] SLAMing on 166.578001145 meters Centerline goodness : 0.912012 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.84, Z:-1.43 [[ 0.52402218 -0.74203032 -0.41808104 4.89115485] [ 0.81129943 0.58428405 -0.02013386 -2.84174348] [ 0.25921802 -0.32863832 0.90818658 -1.43207785] [ 0. 0. 0. 1. ]] SLAMing on 166.638001145 meters Centerline goodness : 0.906184 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.84, Z:-1.43 [[ 0.5237372 -0.74184057 -0.41877429 4.89136532] [ 0.8113838 0.5841688 -0.0200782 -2.84178284] [ 0.2595297 -0.32927098 0.90786836 -1.43091626] [ 0. 0. 0. 1. ]] SLAMing on 166.698001145 meters Centerline goodness : 0.908449 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.84, Z:-1.43 [[ 0.52335836 -0.74134526 -0.42012288 4.89374252] [ 0.81132924 0.58423872 -0.02024802 -2.84024644] [ 0.26046282 -0.330261 0.90724131 -1.43046502] [ 0. 0. 0. 1. ]] SLAMing on 166.75800114499998 meters Centerline goodness : 0.908678 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.84, Z:-1.43 [[ 0.52338918 -0.74325497 -0.41669632 4.8927811 ] [ 0.8118121 0.58353486 -0.02117013 -2.84423995] [ 0.25889163 -0.3271989 0.90879921 -1.43029641] [ 0. 0. 0. 1. ]] SLAMing on 166.81800114499998 meters Centerline goodness : 0.911809 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.85, Z:-1.43 [[ 0.52381005 -0.74210317 -0.41821755 4.8913668 ] [ 0.81142039 0.58411421 -0.02018771 -2.84523053] [ 0.25926818 -0.32877572 0.90812253 -1.42798229] [ 0. 0. 0. 1. ]] SLAMing on 166.87800114499998 meters Centerline goodness : 0.913472 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.85, Z:-1.43 [[ 0.52327643 -0.74394704 -0.41560146 4.89016839] [ 0.81206855 0.58316812 -0.02143847 -2.8467379 ] [ 0.25831461 -0.32627862 0.90929413 -1.42813666] [ 0. 0. 0. 1. ]] SLAMing on 166.938001145 meters Centerline goodness : 0.912477 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.85, Z:-1.43 [[ 0.52271887 -0.74563019 -0.4132803 4.89264107] [ 0.81263226 0.58233043 -0.02280517 -2.8478091 ] [ 0.25766992 -0.32392421 0.91031825 -1.42925784] [ 0. 0. 0. 1. ]] SLAMing on 166.998001145 meters Centerline goodness : 0.913957 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.85, Z:-1.43 [[ 0.5225378 -0.7437718 -0.41684259 4.89206351] [ 0.81237776 0.58273821 -0.02141375 -2.84707783] [ 0.25883705 -0.32744416 0.90872642 -1.42611608] [ 0. 0. 0. 1. ]] SLAMing on 167.058001145 meters Centerline goodness : 0.909487 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.85, Z:-1.43 [[ 0.5226221 -0.74348389 -0.41725034 4.89319888] [ 0.81209224 0.58311935 -0.02186337 -2.84561166] [ 0.25956181 -0.32741948 0.90852856 -1.42658812] [ 0. 0. 0. 1. ]] SLAMing on 167.118001145 meters Centerline goodness : 0.908529 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.85, Z:-1.43 [[ 0.52212087 -0.74590143 -0.41354668 4.89332558] [ 0.81268952 0.58220078 -0.02404139 -2.84648647] [ 0.25869971 -0.32353254 0.91016546 -1.42816856] [ 0. 0. 0. 1. ]] SLAMing on 167.178001145 meters Centerline goodness : 0.908661 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.84, Z:-1.43 [[ 0.52129094 -0.74581245 -0.4147524 4.89136545] [ 0.81293284 0.58184102 -0.02452005 -2.84404088] [ 0.25960731 -0.32438376 0.90960388 -1.42697176] [ 0. 0. 0. 1. ]] SLAMing on 167.238001145 meters Centerline goodness : 0.906268 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.84, Z:-1.43 [[ 0.52054586 -0.7445683 -0.41791154 4.89205794] [ 0.81294484 0.58184417 -0.02404254 -2.84053671] [ 0.26106071 -0.32722378 0.90816953 -1.42584493] [ 0. 0. 0. 1. ]] SLAMing on 167.298001145 meters Centerline goodness : 0.904110 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.84, Z:-1.43 [[ 0.52087443 -0.74498501 -0.41675793 4.89220658] [ 0.81271864 0.58212671 -0.02483771 -2.84008961] [ 0.26110964 -0.32576961 0.90867812 -1.42704505] [ 0. 0. 0. 1. ]] SLAMing on 167.358001145 meters Centerline goodness : 0.905243 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.84, Z:-1.43 [[ 0.52103958 -0.74524283 -0.41608999 4.88967545] [ 0.81263739 0.58222485 -0.02519323 -2.84001113] [ 0.261033 -0.32500361 0.90897438 -1.42678169] [ 0. 0. 0. 1. ]] SLAMing on 167.418001145 meters Centerline goodness : 0.909392 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.83, Z:-1.43 [[ 0.52078536 -0.74246092 -0.4213483 4.89042571] [ 0.81202246 0.58313693 -0.02389229 -2.83460743] [ 0.26344285 -0.32970153 0.90658412 -1.42566629] [ 0. 0. 0. 1. ]] SLAMing on 167.478001145 meters Centerline goodness : 0.903872 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.83, Z:-1.43 [[ 0.51962319 -0.74393307 -0.42018487 4.89155301] [ 0.81279539 0.58200051 -0.02527958 -2.83306815] [ 0.26335413 -0.32838847 0.90708633 -1.42664934] [ 0. 0. 0. 1. ]] SLAMing on 167.53800114499998 meters Centerline goodness : 0.906512 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.83, Z:-1.43 [[ 0.51821348 -0.7446504 -0.42065493 4.89364422] [ 0.8136673 0.58076239 -0.02570177 -2.83204083] [ 0.2634394 -0.32895415 0.90685658 -1.42632294] [ 0. 0. 0. 1. ]] SLAMing on 167.59800114499998 meters Centerline goodness : 0.905138 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.83, Z:-1.42 [[ 0.51538198 -0.74460365 -0.42420139 4.88974248] [ 0.81517774 0.57865705 -0.02532341 -2.82921729] [ 0.26432302 -0.3327483 0.90521374 -1.42156484] [ 0. 0. 0. 1. ]] SLAMing on 167.658001145 meters Centerline goodness : 0.905564 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.83, Z:-1.42 [[ 0.51430793 -0.74524368 -0.42438097 4.89261051] [ 0.81571891 0.57785551 -0.02618511 -2.82637274] [ 0.26474517 -0.33270838 0.90510504 -1.42296274] [ 0. 0. 0. 1. ]] SLAMing on 167.718001145 meters Centerline goodness : 0.905655 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.82, Z:-1.42 [[ 0.51078842 -0.74813316 -0.4235469 4.8944046 ] [ 0.81807676 0.57442444 -0.02805319 -2.82366542] [ 0.26428321 -0.33216462 0.9054397 -1.42301567] [ 0. 0. 0. 1. ]] SLAMing on 167.778001145 meters Centerline goodness : 0.907484 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.82, Z:-1.42 [[ 0.50937078 -0.74804062 -0.4254135 4.89308744] [ 0.81866893 0.57356729 -0.02831504 -2.82169448] [ 0.26518407 -0.33384996 0.90455603 -1.42052241] [ 0. 0. 0. 1. ]] SLAMing on 167.838001145 meters Centerline goodness : 0.905239 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.82, Z:-1.42 [[ 0.5070962 -0.74934466 -0.42583568 4.89427042] [ 0.8198839 0.57175479 -0.02978002 -2.81863796] [ 0.26578909 -0.33403448 0.9043103 -1.42000736] [ 0. 0. 0. 1. ]] SLAMing on 167.898001145 meters Centerline goodness : 0.903243 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.81, Z:-1.42 [[ 0.50416761 -0.75018956 -0.42782081 4.89614937] [ 0.82141785 0.56950383 -0.0306286 -2.81464398] [ 0.26662285 -0.3359777 0.90334448 -1.41876597] [ 0. 0. 0. 1. ]] SLAMing on 167.958001145 meters Centerline goodness : 0.904038 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.81, Z:-1.42 [[ 0.50189256 -0.75023032 -0.43041646 4.8974952 ] [ 0.82240386 0.56805033 -0.03115634 -2.81049859] [ 0.26787264 -0.33833902 0.90209254 -1.41723653] [ 0. 0. 0. 1. ]] SLAMing on 168.018001145 meters Centerline goodness : 0.904509 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.81, Z:-1.42 [[ 0.49937024 -0.7532405 -0.42808657 4.89539545] [ 0.82436284 0.5651155 -0.03271678 -2.81056955] [ 0.26656196 -0.33656088 0.90314534 -1.41657074] [ 0. 0. 0. 1. ]] SLAMing on 168.078001145 meters Centerline goodness : 0.902670 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.81, Z:-1.42 [[ 0.49613424 -0.75780038 -0.4237799 4.89468896] [ 0.82688426 0.56124704 -0.03555533 -2.81060055] [ 0.26478906 -0.33277671 0.90506708 -1.4172493 ] [ 0. 0. 0. 1. ]] SLAMing on 168.138001145 meters Centerline goodness : 0.908306 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.81, Z:-1.41 [[ 0.49565694 -0.75569693 -0.42807284 4.89204581] [ 0.82677467 0.56150782 -0.03395015 -2.80920748] [ 0.26602228 -0.33709215 0.90310632 -1.41339905] [ 0. 0. 0. 1. ]] SLAMing on 168.198001145 meters Centerline goodness : 0.907864 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.81, Z:-1.41 [[ 0.49482804 -0.75644896 -0.42770339 4.88932303] [ 0.82739168 0.56058198 -0.03421775 -2.8094853 ] [ 0.26564679 -0.33694632 0.90327125 -1.4121097 ] [ 0. 0. 0. 1. ]] SLAMing on 168.25800114499998 meters Centerline goodness : 0.903477 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.81, Z:-1.41 [[ 0.49344796 -0.75765473 -0.42716322 4.88924593] [ 0.82835329 0.559123 -0.03481796 -2.80879417] [ 0.26521678 -0.33666121 0.9035039 -1.41206819] [ 0. 0. 0. 1. ]] SLAMing on 168.31800114499998 meters Centerline goodness : 0.902498 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.80, Z:-1.41 [[ 0.49265237 -0.75573147 -0.43146677 4.89134544] [ 0.82814735 0.55945825 -0.03432814 -2.80314589] [ 0.2673305 -0.34040623 0.90147546 -1.41171776] [ 0. 0. 0. 1. ]] SLAMing on 168.37800114499998 meters Centerline goodness : 0.903094 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.80, Z:-1.41 [[ 0.49155077 -0.75684746 -0.43076648 4.89280475] [ 0.82854668 0.55874574 -0.03624361 -2.79866903] [ 0.26811982 -0.33909456 0.90173535 -1.41401596] [ 0. 0. 0. 1. ]] SLAMing on 168.438001145 meters Centerline goodness : 0.905612 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.80, Z:-1.41 [[ 0.49032973 -0.75681354 -0.43221525 4.89232452] [ 0.82897086 0.55808148 -0.03677465 -2.79622112] [ 0.26904288 -0.34026214 0.90102031 -1.41246251] [ 0. 0. 0. 1. ]] SLAMing on 168.498001145 meters Centerline goodness : 0.907468 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.79, Z:-1.41 [[ 0.48927244 -0.75577862 -0.43521392 4.89057298] [ 0.82917977 0.55779111 -0.03646892 -2.79339617] [ 0.27032088 -0.34302734 0.89958816 -1.41006579] [ 0. 0. 0. 1. ]] SLAMing on 168.558001145 meters Centerline goodness : 0.908448 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.79, Z:-1.41 [[ 0.48880121 -0.75607986 -0.43522019 4.89047814] [ 0.82935024 0.55749907 -0.03705348 -2.79245654] [ 0.27065025 -0.34283819 0.89956124 -1.40964519] [ 0. 0. 0. 1. ]] SLAMing on 168.618001145 meters Centerline goodness : 0.910478 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.79, Z:-1.41 [[ 0.4871856 -0.75827948 -0.4332002 4.89044102] [ 0.83041883 0.55577751 -0.03893485 -2.79103254] [ 0.27028643 -0.34076911 0.90045636 -1.41033163] [ 0. 0. 0. 1. ]] SLAMing on 168.678001145 meters Centerline goodness : 0.910177 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.79, Z:-1.41 [[ 0.48521281 -0.75884794 -0.43441723 4.89022391] [ 0.83134175 0.55433634 -0.03977588 -2.7883949 ] [ 0.2709971 -0.34184942 0.89983307 -1.40871498] [ 0. 0. 0. 1. ]] SLAMing on 168.738001145 meters Centerline goodness : 0.904150 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.79, Z:-1.41 [[ 0.48124437 -0.76115065 -0.43480287 4.889339 ] [ 0.83368693 0.55069174 -0.04128822 -2.78659409] [ 0.2708689 -0.34261974 0.89957865 -1.40569887] [ 0. 0. 0. 1. ]] SLAMing on 168.798001145 meters Centerline goodness : 0.904454 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.79, Z:-1.40 [[ 0.47834868 -0.75812574 -0.44320188 4.89089647] [ 0.83188498 0.55287873 -0.04788002 -2.79286718] [ 0.28133597 -0.34578964 0.89514222 -1.40341248] [ 0. 0. 0. 1. ]] SLAMing on 168.858001145 meters Centerline goodness : 0.906445 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.79, Z:-1.40 [[ 0.47586373 -0.75918544 -0.44406213 4.89061658] [ 0.83324264 0.55075994 -0.04868457 -2.79146359] [ 0.28153225 -0.34684428 0.89467236 -1.40105286] [ 0. 0. 0. 1. ]] SLAMing on 168.918001145 meters Centerline goodness : 0.905161 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.79, Z:-1.40 [[ 0.47440606 -0.75948986 -0.44510004 4.88996519] [ 0.83382342 0.54981275 -0.0494413 -2.78913139] [ 0.28227185 -0.34767959 0.89411493 -1.39951073] [ 0. 0. 0. 1. ]] SLAMing on 168.97800114499998 meters Centerline goodness : 0.904923 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.79, Z:-1.39 [[ 0.47654999 -0.75592966 -0.4488546 4.8875519 ] [ 0.82913787 0.55619173 -0.05640175 -2.79472348] [ 0.29228498 -0.34528409 0.89182307 -1.3944542 ] [ 0. 0. 0. 1. ]] SLAMing on 169.03800114499998 meters Centerline goodness : 0.900009 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.80, Z:-1.39 [[ 0.47733176 -0.75353958 -0.45203152 4.88280966] [ 0.82530307 0.56107248 -0.06381624 -2.8018932 ] [ 0.30171051 -0.34260148 0.88971624 -1.39157769] [ 0. 0. 0. 1. ]] SLAMing on 169.09800114499998 meters Centerline goodness : 0.905793 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.80, Z:-1.39 [[ 0.47742211 -0.75357915 -0.4518701 4.87957531] [ 0.82511 0.56130034 -0.06430716 -2.80008651] [ 0.30209538 -0.34214088 0.88976289 -1.39166122] [ 0. 0. 0. 1. ]] SLAMing on 169.158001145 meters Centerline goodness : 0.900047 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.80, Z:-1.39 [[ 0.47841464 -0.75327613 -0.45132528 4.87876215] [ 0.82455523 0.56213092 -0.06416772 -2.8006265 ] [ 0.30203991 -0.34144384 0.89004943 -1.39211576] [ 0. 0. 0. 1. ]] SLAMing on 169.218001145 meters Centerline goodness : 0.896709 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.80, Z:-1.39 [[ 0.47918154 -0.7527677 -0.45136 4.8786627 ] [ 0.824093 0.56284836 -0.06381583 -2.80225235] [ 0.30208573 -0.34138325 0.89005713 -1.39114185] [ 0. 0. 0. 1. ]] SLAMing on 169.278001145 meters Centerline goodness : 0.898259 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.80, Z:-1.39 [[ 0.47813314 -0.75314948 -0.45183467 4.88036 ] [ 0.82445731 0.56221422 -0.064694 -2.80040511] [ 0.30275213 -0.34158605 0.88975284 -1.39064237] [ 0. 0. 0. 1. ]] SLAMing on 169.338001145 meters Centerline goodness : 0.892169 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.80, Z:-1.39 [[ 0.475535 -0.75602381 -0.44977157 4.88177677] [ 0.82595241 0.55968289 -0.06751052 -2.79770099] [ 0.30276902 -0.3393863 0.89058849 -1.39093056] [ 0. 0. 0. 1. ]] SLAMing on 169.398001145 meters Centerline goodness : 0.895370 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.80, Z:-1.39 [[ 0.47392196 -0.7504061 -0.46074793 4.8834492 ] [ 0.82251497 0.56408175 -0.07266983 -2.80296789] [ 0.31443138 -0.34453224 0.88455098 -1.3881792 ] [ 0. 0. 0. 1. ]] SLAMing on 169.458001145 meters Centerline goodness : 0.895899 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.80, Z:-1.39 [[ 0.47367348 -0.75071908 -0.46049355 4.88343659] [ 0.82270967 0.56377598 -0.07283846 -2.80360243] [ 0.31429642 -0.34435085 0.88466957 -1.38737596] [ 0. 0. 0. 1. ]] SLAMing on 169.518001145 meters Centerline goodness : 0.897799 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.81, Z:-1.39 [[ 0.47463039 -0.750136 -0.46045845 4.88128226] [ 0.82221782 0.56457199 -0.07222411 -2.80545368] [ 0.31413985 -0.34431738 0.88473821 -1.38633905] [ 0. 0. 0. 1. ]] SLAMing on 169.578001145 meters Centerline goodness : 0.896852 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.81, Z:-1.39 [[ 0.47419609 -0.75233047 -0.45731492 4.88010718] [ 0.82280961 0.56350053 -0.07383428 -2.80621713] [ 0.31324498 -0.34127118 0.88623449 -1.38725602] [ 0. 0. 0. 1. ]] SLAMing on 169.638001145 meters Centerline goodness : 0.893150 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.81, Z:-1.39 [[ 0.4732886 -0.75297133 -0.45720026 4.88141381] [ 0.82338266 0.56261217 -0.07421957 -2.80652099] [ 0.31311163 -0.34132349 0.88626146 -1.38648233] [ 0. 0. 0. 1. ]] SLAMing on 169.698001145 meters Centerline goodness : 0.895546 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.81, Z:-1.39 [[ 0.47171806 -0.75533133 -0.45492488 4.87987184] [ 0.82461401 0.56060268 -0.07573876 -2.80782472] [ 0.31223997 -0.3394101 0.88730321 -1.38515791] [ 0. 0. 0. 1. ]] SLAMing on 169.75800114499998 meters Centerline goodness : 0.895749 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.81, Z:-1.38 [[ 0.47006175 -0.75809356 -0.45203552 4.88072568] [ 0.82627625 0.55802882 -0.07662495 -2.81180269] [ 0.31033773 -0.33748776 0.88870271 -1.38405629] [ 0. 0. 0. 1. ]] SLAMing on 169.81800114499998 meters Centerline goodness : 0.894852 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.81, Z:-1.38 [[ 0.46641952 -0.76168844 -0.44975945 4.88278309] [ 0.82886523 0.55391238 -0.07850805 -2.81307901] [ 0.308926 -0.33617228 0.8896926 -1.3825091 ] [ 0. 0. 0. 1. ]] SLAMing on 169.87800114499998 meters Centerline goodness : 0.894224 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.82, Z:-1.38 [[ 0.46437748 -0.76404378 -0.44787348 4.88418557] [ 0.83053988 0.55128349 -0.07930968 -2.81514439] [ 0.30750132 -0.33514715 0.89057247 -1.38158715] [ 0. 0. 0. 1. ]] SLAMing on 169.938001145 meters Centerline goodness : 0.894431 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.82, Z:-1.38 [[ 0.46098214 -0.76740058 -0.44563641 4.88623017] [ 0.83322341 0.54709049 -0.08019196 -2.8191741 ] [ 0.3053428 -0.33434763 0.89161507 -1.37910072] [ 0. 0. 0. 1. ]] SLAMing on 169.998001145 meters Centerline goodness : 0.897464 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.81, Z:-1.38 [[ 0.45789252 -0.77393327 -0.43744913 4.8912286 ] [ 0.83809787 0.5399205 -0.07796037 -2.81092702] [ 0.29652388 -0.33092772 0.89585738 -1.3754257 ] [ 0. 0. 0. 1. ]] SLAMing on 170.058001145 meters Centerline goodness : 0.896312 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.81, Z:-1.37 [[ 0.45410825 -0.77655538 -0.43674642 4.89729551] [ 0.84037415 0.53614358 -0.0795069 -2.81181081] [ 0.2959003 -0.33092566 0.89606429 -1.37310818] [ 0. 0. 0. 1. ]] SLAMing on 170.118001145 meters Centerline goodness : 0.896961 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.81, Z:-1.37 [[ 0.45227663 -0.77887698 -0.4345072 4.89938594] [ 0.84172725 0.533828 -0.08076454 -2.81382252] [ 0.29485775 -0.32920863 0.8970399 -1.37214231] [ 0. 0. 0. 1. ]] SLAMing on 170.178001145 meters Centerline goodness : 0.892690 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.82, Z:-1.37 [[ 0.45243082 -0.77827607 -0.43542246 4.89990114] [ 0.84179494 0.53389482 -0.0796091 -2.81775232] [ 0.29442765 -0.33051881 0.89669932 -1.36917388] [ 0. 0. 0. 1. ]] SLAMing on 170.238001145 meters Centerline goodness : 0.893466 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.83, Z:-1.36 [[ 0.45178583 -0.77823636 -0.4361625 4.89699883] [ 0.83884716 0.53699882 -0.08926204 -2.82510801] [ 0.30368571 -0.32554635 0.89542982 -1.36125224] [ 0. 0. 0. 1. ]] SLAMing on 170.298001145 meters Centerline goodness : 0.891532 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.84, Z:-1.36 [[ 0.45033329 -0.78019149 -0.43416721 4.88902334] [ 0.83816423 0.53697952 -0.09557053 -2.8433244 ] [ 0.30770221 -0.32086483 0.89574835 -1.35885023] [ 0. 0. 0. 1. ]] SLAMing on 170.358001145 meters Centerline goodness : 0.892040 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.87, Z:-1.37 [[ 0.44949817 -0.78136373 -0.43292277 4.87038922] [ 0.83799506 0.53669856 -0.09858465 -2.87266937] [ 0.3093795 -0.31847353 0.89602396 -1.36707843] [ 0. 0. 0. 1. ]] SLAMing on 170.418001145 meters Centerline goodness : 0.891757 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.90, Z:-1.38 [[ 0.4488734 -0.78042131 -0.43526457 4.85555746] [ 0.83851305 0.53622884 -0.09671868 -2.89973954] [ 0.30888274 -0.32156058 0.89509231 -1.37919728] [ 0. 0. 0. 1. ]] SLAMing on 170.47800114499998 meters Centerline goodness : 0.892386 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.92, Z:-1.39 [[ 0.44836679 -0.77908561 -0.43816987 4.84400693] [ 0.8388609 0.53604109 -0.09472247 -2.9202534 ] [ 0.30867397 -0.32509316 0.89388748 -1.39094491] [ 0. 0. 0. 1. ]] SLAMing on 170.53800114499998 meters Centerline goodness : 0.893086 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.93, Z:-1.39 [[ 0.44982517 -0.7751466 -0.44362717 4.84400166] [ 0.8354422 0.54080184 -0.09782488 -2.93405948] [ 0.31574301 -0.32662076 0.89085646 -1.39352478] [ 0. 0. 0. 1. ]] SLAMing on 170.59800114499998 meters Centerline goodness : 0.892086 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.94, Z:-1.39 [[ 0.45143449 -0.77401874 -0.4439616 4.84349732] [ 0.83476618 0.54211367 -0.09632341 -2.93779288] [ 0.31523378 -0.32712041 0.89085347 -1.39248543] [ 0. 0. 0. 1. ]] SLAMing on 170.658001145 meters Centerline goodness : 0.895190 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-2.94, Z:-1.39 [[ 0.4531297 -0.7726922 -0.44454497 4.84664553] [ 0.83370601 0.54387974 -0.09554641 -2.9381695 ] [ 0.31560696 -0.3273249 0.8906462 -1.39364306] [ 0. 0. 0. 1. ]] SLAMing on 170.718001145 meters Centerline goodness : 0.897102 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-2.94, Z:-1.40 [[ 0.45489063 -0.77235512 -0.44333066 4.84890581] [ 0.83301143 0.54506328 -0.09485769 -2.94101182] [ 0.31490709 -0.32614963 0.89132483 -1.39532337] [ 0. 0. 0. 1. ]] SLAMing on 170.778001145 meters Centerline goodness : 0.898997 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-2.95, Z:-1.40 [[ 0.45735595 -0.77213049 -0.44118028 4.84628596] [ 0.8334745 0.54516497 -0.09008556 -2.94778007] [ 0.31007384 -0.32651135 0.89288552 -1.4018727 ] [ 0. 0. 0. 1. ]] SLAMing on 170.838001145 meters Centerline goodness : 0.898900 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.96, Z:-1.41 [[ 0.46116367 -0.77249499 -0.43655419 4.8415624 ] [ 0.8340054 0.54533104 -0.08395865 -2.95829867] [ 0.30292419 -0.32536987 0.89575185 -1.41249523] [ 0. 0. 0. 1. ]] SLAMing on 170.898001145 meters Centerline goodness : 0.898122 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.95, Z:-1.42 [[ 0.46570688 -0.77505973 -0.42708257 4.84440078] [ 0.83554445 0.544098 -0.07630761 -2.95460513] [ 0.29151773 -0.32130949 0.90098703 -1.41802711] [ 0. 0. 0. 1. ]] SLAMing on 170.958001145 meters Centerline goodness : 0.900948 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.95, Z:-1.42 [[ 0.46980965 -0.77006252 -0.43160469 4.84330883] [ 0.83257241 0.54904196 -0.0733219 -2.95422296] [ 0.29343153 -0.32489482 0.89907802 -1.4176428 ] [ 0. 0. 0. 1. ]] SLAMing on 171.018001145 meters Centerline goodness : 0.898267 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-2.95, Z:-1.42 [[ 0.47194681 -0.77301251 -0.42393144 4.84876105] [ 0.83524543 0.54594445 -0.06564852 -2.94963456] [ 0.28219014 -0.32310419 0.90331191 -1.42331476] [ 0. 0. 0. 1. ]] SLAMing on 171.078001145 meters Centerline goodness : 0.899152 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-2.95, Z:-1.42 [[ 0.47104537 -0.77289782 -0.42514142 4.85269214] [ 0.83554466 0.54545943 -0.06587211 -2.94745811] [ 0.2828098 -0.32419589 0.90272678 -1.42375979] [ 0. 0. 0. 1. ]] SLAMing on 171.138001145 meters Centerline goodness : 0.895707 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.95, Z:-1.42 [[ 0.46891265 -0.77260309 -0.42802498 4.85660116] [ 0.83643661 0.544101 -0.06578682 -2.94539996] [ 0.28371592 -0.32716749 0.90136935 -1.42170522] [ 0. 0. 0. 1. ]] SLAMing on 171.198001145 meters Centerline goodness : 0.898107 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.94, Z:-1.42 [[ 0.46624647 -0.77278195 -0.43060688 4.8600141 ] [ 0.8377213 0.54211436 -0.06584101 -2.94376722] [ 0.28431892 -0.33003042 0.90013481 -1.41914617] [ 0. 0. 0. 1. ]] SLAMing on 171.25800114499998 meters Centerline goodness : 0.897013 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.94, Z:-1.42 [[ 0.46410737 -0.77287646 -0.43274279 4.86525356] [ 0.83870036 0.54058072 -0.0659863 -2.94205402] [ 0.28493167 -0.3323168 0.89909926 -1.41789595] [ 0. 0. 0. 1. ]] SLAMing on 171.31800114499998 meters Centerline goodness : 0.892896 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.94, Z:-1.42 [[ 0.46010588 -0.77345704 -0.43596649 4.87132965] [ 0.84060768 0.53754463 -0.06651691 -2.9390492 ] [ 0.28579942 -0.33587196 0.89750137 -1.41555043] [ 0. 0. 0. 1. ]] SLAMing on 171.37800114499998 meters Centerline goodness : 0.895263 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.93, Z:-1.42 [[ 0.45870684 -0.77340048 -0.43753827 4.87801776] [ 0.84362431 0.53369111 -0.05892221 -2.92992046] [ 0.27908075 -0.3420899 0.89726721 -1.41713081] [ 0. 0. 0. 1. ]] SLAMing on 171.438001145 meters Centerline goodness : 0.897776 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.92, Z:-1.42 [[ 0.46087344 -0.77289819 -0.43614683 4.88474177] [ 0.84511507 0.53222814 -0.05013696 -2.92325269] [ 0.27088038 -0.34548746 0.89847773 -1.42224447] [ 0. 0. 0. 1. ]] SLAMing on 171.498001145 meters Centerline goodness : 0.896861 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.92, Z:-1.42 [[ 0.46385203 -0.76923358 -0.43945534 4.88634333] [ 0.84280846 0.53601047 -0.0486485 -2.92075991] [ 0.27297472 -0.34781097 0.89694611 -1.42378795] [ 0. 0. 0. 1. ]] SLAMing on 171.558001145 meters Centerline goodness : 0.897441 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.91, Z:-1.43 [[ 0.4670433 -0.77047411 -0.43386656 4.88855523] [ 0.84445399 0.53416519 -0.03956025 -2.91470134] [ 0.26223656 -0.347904 0.90010821 -1.42869351] [ 0. 0. 0. 1. ]] SLAMing on 171.618001145 meters Centerline goodness : 0.898591 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.91, Z:-1.43 [[ 0.46947727 -0.77013548 -0.43183612 4.88780195] [ 0.84308754 0.53629741 -0.03985593 -2.91499125] [ 0.26228706 -0.34536419 0.90107107 -1.43212229] [ 0. 0. 0. 1. ]] SLAMing on 171.678001145 meters Centerline goodness : 0.897629 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.91, Z:-1.43 [[ 0.47157871 -0.76775607 -0.4337789 4.88947873] [ 0.84152279 0.53882463 -0.0388254 -2.9133294 ] [ 0.2635392 -0.3467256 0.90018245 -1.43378669] [ 0. 0. 0. 1. ]] SLAMing on 171.738001145 meters Centerline goodness : 0.896877 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.91, Z:-1.43 [[ 0.47326918 -0.76448296 -0.4377009 4.8852265 ] [ 0.84002382 0.54127917 -0.03710597 -2.91065775] [ 0.26528526 -0.35011807 0.89835464 -1.43257692] [ 0. 0. 0. 1. ]] SLAMing on 171.798001145 meters Centerline goodness : 0.896773 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.91, Z:-1.43 [[ 0.47539034 -0.76183589 -0.44001148 4.88763073] [ 0.83836928 0.54391545 -0.03595736 -2.90889447] [ 0.26672265 -0.35179832 0.89727196 -1.43415788] [ 0. 0. 0. 1. ]] SLAMing on 171.858001145 meters Centerline goodness : 0.895236 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.91, Z:-1.44 [[ 0.47780787 -0.75811888 -0.44379658 4.88943481] [ 0.83621965 0.54730047 -0.03462508 -2.9056093 ] [ 0.26914 -0.35456729 0.89545837 -1.43527432] [ 0. 0. 0. 1. ]] SLAMing on 171.918001145 meters Centerline goodness : 0.894557 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.90, Z:-1.44 [[ 0.47939001 -0.75945006 -0.43979635 4.89165538] [ 0.83845791 0.54434374 -0.02604282 -2.89719901] [ 0.25917861 -0.35626606 0.89771986 -1.44043812] [ 0. 0. 0. 1. ]] SLAMing on 171.97800114499998 meters Centerline goodness : 0.897124 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.90, Z:-1.44 [[ 0.48143548 -0.75867666 -0.43889588 4.89168144] [ 0.83707326 0.54645368 -0.02639552 -2.89544394] [ 0.25986194 -0.35468027 0.89815014 -1.44405251] [ 0. 0. 0. 1. ]] SLAMing on 172.03800114499998 meters Centerline goodness : 0.899241 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.89, Z:-1.45 [[ 0.48624902 -0.76075868 -0.42989315 4.89083421] [ 0.83766597 0.5458689 -0.0185168 -2.89088594] [ 0.24875212 -0.35110309 0.90268987 -1.44861985] [ 0. 0. 0. 1. ]] SLAMing on 172.09800114499998 meters Centerline goodness : 0.902039 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.89, Z:-1.45 [[ 0.48786902 -0.757385 -0.43399514 4.88983736] [ 0.8362497 0.54810172 -0.01646034 -2.88958111] [ 0.25034029 -0.35489782 0.90076483 -1.44697151] [ 0. 0. 0. 1. ]] SLAMing on 172.158001145 meters Centerline goodness : 0.898317 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.89, Z:-1.45 [[ 0.48846487 -0.75654074 -0.43479672 4.89244436] [ 0.83569062 0.54895747 -0.0163368 -2.88845125] [ 0.25104436 -0.35537558 0.90038043 -1.44807673] [ 0. 0. 0. 1. ]] SLAMing on 172.218001145 meters Centerline goodness : 0.896560 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.89, Z:-1.45 [[ 0.48812637 -0.75704175 -0.43430455 4.89510171] [ 0.83589045 0.54863739 -0.01685738 -2.88761116] [ 0.25103746 -0.3548025 0.90060834 -1.4492979 ] [ 0. 0. 0. 1. ]] SLAMing on 172.278001145 meters Centerline goodness : 0.897288 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.88, Z:-1.45 [[ 0.48704236 -0.7558914 -0.43751334 4.89661257] [ 0.83624483 0.54812059 -0.01607491 -2.88492859] [ 0.25196096 -0.35803911 0.89906822 -1.44787247] [ 0. 0. 0. 1. ]] SLAMing on 172.338001145 meters Centerline goodness : 0.895866 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.88, Z:-1.45 [[ 0.48697642 -0.75532982 -0.43855539 4.89847814] [ 0.83612763 0.54830425 -0.01590701 -2.88406571] [ 0.25247682 -0.35894194 0.89856337 -1.4477576 ] [ 0. 0. 0. 1. ]] SLAMing on 172.398001145 meters Centerline goodness : 0.896584 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.89, Z:-1.45 [[ 0.48573177 -0.75771259 -0.4358168 4.89888977] [ 0.83718104 0.54665079 -0.0173439 -2.88508476] [ 0.25138129 -0.35643308 0.89986827 -1.44827182] [ 0. 0. 0. 1. ]] SLAMing on 172.458001145 meters Centerline goodness : 0.897005 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.88, Z:-1.45 [[ 0.48421312 -0.75771996 -0.4374907 4.90193346] [ 0.83785243 0.54561139 -0.01764952 -2.88261804] [ 0.2520733 -0.35800652 0.89904971 -1.44766262] [ 0. 0. 0. 1. ]] SLAMing on 172.518001145 meters Centerline goodness : 0.898365 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.88, Z:-1.45 [[ 0.48210488 -0.75784263 -0.43960144 4.90353777] [ 0.83889977 0.54399481 -0.01779972 -2.88012035] [ 0.25263029 -0.36020021 0.89801656 -1.44599397] [ 0. 0. 0. 1. ]] SLAMing on 172.578001145 meters Centerline goodness : 0.895934 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:-2.88, Z:-1.45 [[ 0.48132304 -0.75796426 -0.44024802 4.90550473] [ 0.83923561 0.54346547 -0.01813516 -2.87846269] [ 0.2530054 -0.36074294 0.89769304 -1.44615644] [ 0. 0. 0. 1. ]] SLAMing on 172.638001145 meters Centerline goodness : 0.896731 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.88, Z:-1.45 [[ 0.48028983 -0.76003838 -0.43779372 4.90466149] [ 0.84011184 0.54206612 -0.01940158 -2.87931989] [ 0.25205909 -0.35847731 0.89886608 -1.44628627] [ 0. 0. 0. 1. ]] SLAMing on 172.698001145 meters Centerline goodness : 0.899131 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.88, Z:-1.44 [[ 0.4804714 -0.75767497 -0.44167395 4.90418806] [ 0.83963065 0.54286352 -0.01787649 -2.87716647] [ 0.25331324 -0.36225384 0.89699752 -1.44459804] [ 0. 0. 0. 1. ]] SLAMing on 172.75800114499998 meters Centerline goodness : 0.897743 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.87, Z:-1.45 [[ 0.48199479 -0.75571049 -0.44337645 4.90169482] [ 0.83836412 0.54483734 -0.01725881 -2.87489906] [ 0.25461071 -0.36339225 0.89616932 -1.44522257] [ 0. 0. 0. 1. ]] SLAMing on 172.81800114499998 meters Centerline goodness : 0.899228 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.87, Z:-1.45 [[ 0.48204734 -0.75637131 -0.44219091 4.90084434] [ 0.83831076 0.54488989 -0.01816773 -2.87291957] [ 0.25468691 -0.3619357 0.89673693 -1.44750472] [ 0. 0. 0. 1. ]] SLAMing on 172.87800114499998 meters Centerline goodness : 0.898003 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.87, Z:-1.45 [[ 0.48118569 -0.75688246 -0.44225477 4.89796447] [ 0.83875095 0.54419214 -0.01875509 -2.87106102] [ 0.25486697 -0.36191692 0.89669335 -1.44715756] [ 0. 0. 0. 1. ]] SLAMing on 172.938001145 meters Centerline goodness : 0.896289 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.86, Z:-1.45 [[ 0.47862365 -0.75692996 -0.44494543 4.8977466 ] [ 0.83984925 0.54247214 -0.01942195 -2.8647658 ] [ 0.25607155 -0.36439128 0.89534706 -1.44690401] [ 0. 0. 0. 1. ]] SLAMing on 172.998001145 meters Centerline goodness : 0.896744 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:-2.86, Z:-1.45 [[ 0.47542009 -0.76044589 -0.44237744 4.90516064] [ 0.84385154 0.53636347 -0.01512605 -2.85501768] [ 0.24877764 -0.36610966 0.8967014 -1.45209909] [ 0. 0. 0. 1. ]] SLAMing on 173.058001145 meters Centerline goodness : 0.897526 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.85, Z:-1.45 [[ 0.4721877 -0.76222202 -0.44278253 4.9030535 ] [ 0.84570837 0.53339529 -0.01633431 -2.85187453] [ 0.24862848 -0.36675203 0.89648024 -1.45067053] [ 0. 0. 0. 1. ]] SLAMing on 173.118001145 meters Centerline goodness : 0.899496 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.85, Z:-1.45 [[ 0.46931417 -0.76202157 -0.44616962 4.90231425] [ 0.84696961 0.53138053 -0.01664967 -2.84614485] [ 0.24977326 -0.37007819 0.89479353 -1.44917728] [ 0. 0. 0. 1. ]] SLAMing on 173.178001145 meters Centerline goodness : 0.898254 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.84, Z:-1.45 [[ 0.46704468 -0.76344125 -0.44612411 4.90255268] [ 0.84828874 0.5292411 -0.01760887 -2.84356114] [ 0.24955055 -0.37021793 0.89479786 -1.44924534] [ 0. 0. 0. 1. ]] SLAMing on 173.238001145 meters Centerline goodness : 0.897822 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.84, Z:-1.45 [[ 0.46320307 -0.76515621 -0.44718999 4.90438819] [ 0.85048636 0.52567166 -0.01850007 -2.84061445] [ 0.24923055 -0.3717597 0.89424765 -1.44780793] [ 0. 0. 0. 1. ]] SLAMing on 173.298001145 meters Centerline goodness : 0.898748 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:-2.84, Z:-1.45 [[ 0.46149644 -0.76403097 -0.4508633 4.90516141] [ 0.85105505 0.52476321 -0.01813514 -2.83636842] [ 0.25045228 -0.37534018 0.89240876 -1.44628006] [ 0. 0. 0. 1. ]] SLAMing on 173.358001145 meters Centerline goodness : 0.897861 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:-2.83, Z:-1.45 [[ 0.46241667 -0.76212289 -0.45314405 4.90512103] [ 0.85021581 0.52615013 -0.01729492 -2.83391821] [ 0.25160266 -0.37727277 0.89126952 -1.44698012] [ 0. 0. 0. 1. ]] SLAMing on 173.418001145 meters Centerline goodness : 0.897683 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:-2.83, Z:-1.45 [[ 0.46319779 -0.76223958 -0.4521489 4.90562396] [ 0.84977557 0.52684974 -0.01763038 -2.83310421] [ 0.2516531 -0.37605873 0.89176821 -1.4492146 ] [ 0. 0. 0. 1. ]] SLAMing on 173.47800114499998 meters Centerline goodness : 0.901975 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.83, Z:-1.45 [[ 0.46455661 -0.75984422 -0.45477898 4.90323984] [ 0.84857094 0.52881698 -0.01673185 -2.83082195] [ 0.25320844 -0.37813933 0.89044715 -1.44891585] [ 0. 0. 0. 1. ]] SLAMing on 173.53800114499998 meters Centerline goodness : 0.895503 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.83, Z:-1.45 [[ 0.46547483 -0.75970166 -0.45407772 4.90020832] [ 0.84794291 0.5298091 -0.01717936 -2.82987454] [ 0.25362569 -0.37703542 0.89079644 -1.44978206] [ 0. 0. 0. 1. ]] SLAMing on 173.59800114499998 meters Centerline goodness : 0.895928 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.83, Z:-1.45 [[ 0.46788997 -0.75842847 -0.45372373 4.90087478] [ 0.84639487 0.53228666 -0.01693031 -2.82895093] [ 0.25435152 -0.37610792 0.89098156 -1.45282935] [ 0. 0. 0. 1. ]] SLAMing on 173.658001145 meters Centerline goodness : 0.897598 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.83, Z:-1.45 [[ 0.46882365 -0.75619759 -0.45647518 4.89881093] [ 0.8453892 0.53390482 -0.01620918 -2.82531941] [ 0.25597164 -0.37829994 0.88958849 -1.45332579] [ 0. 0. 0. 1. ]] SLAMing on 173.718001145 meters Centerline goodness : 0.893375 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.82, Z:-1.46 [[ 0.46882381 -0.75665269 -0.45572024 4.89934977] [ 0.84537582 0.53390812 -0.01678815 -2.82355389] [ 0.25601553 -0.37738419 0.88996473 -1.45537314] [ 0. 0. 0. 1. ]] SLAMing on 173.778001145 meters Centerline goodness : 0.889978 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.82, Z:-1.46 [[ 0.46979222 -0.75550052 -0.45663359 4.89802901] [ 0.84453963 0.53523359 -0.01666787 -2.82165011] [ 0.25699822 -0.37781473 0.88949871 -1.45604677] [ 0. 0. 0. 1. ]] SLAMing on 173.838001145 meters Centerline goodness : 0.888940 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.82, Z:-1.46 [[ 0.46945884 -0.7554813 -0.45700809 4.89610532] [ 0.84452711 0.5352345 -0.01726214 -2.81912553] [ 0.25764773 -0.37785186 0.88929501 -1.45641454] [ 0. 0. 0. 1. ]] SLAMing on 173.898001145 meters Centerline goodness : 0.888181 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.82, Z:-1.46 [[ 0.46960099 -0.75598037 -0.45603574 4.89077951] [ 0.844451 0.53533477 -0.01786603 -2.81809943] [ 0.25763816 -0.37670993 0.88978211 -1.45659475] [ 0. 0. 0. 1. ]] SLAMing on 173.958001145 meters Centerline goodness : 0.890938 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.81, Z:-1.46 [[ 0.46879004 -0.75631081 -0.4563221 4.88815173] [ 0.84460266 0.53505216 -0.01911899 -2.81454526] [ 0.25861603 -0.37644806 0.88960924 -1.45668549] [ 0. 0. 0. 1. ]] SLAMing on 174.018001145 meters Centerline goodness : 0.890830 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.81, Z:-1.46 [[ 0.46765679 -0.75664188 -0.45693566 4.88817745] [ 0.84497089 0.53443176 -0.0201715 -2.811216 ] [ 0.25946353 -0.376664 0.889271 -1.45680762] [ 0. 0. 0. 1. ]] SLAMing on 174.078001145 meters Centerline goodness : 0.884987 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.81, Z:-1.46 [[ 0.46685638 -0.75646179 -0.45805096 4.88460448] [ 0.84509058 0.53421417 -0.02090746 -2.80700553] [ 0.26051301 -0.37733377 0.88868003 -1.45695421] [ 0. 0. 0. 1. ]] SLAMing on 174.138001145 meters Centerline goodness : 0.887709 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.81, Z:-1.45 [[ 0.46638348 -0.75269394 -0.46469161 4.8827132 ] [ 0.84124116 0.5398224 -0.0300846 -2.81008535] [ 0.27349543 -0.37688675 0.88496137 -1.4523982 ] [ 0. 0. 0. 1. ]] SLAMing on 174.198001145 meters Centerline goodness : 0.881281 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.81, Z:-1.45 [[ 0.46648304 -0.75286546 -0.46431366 4.88044176] [ 0.84097597 0.54018472 -0.03098207 -2.80782058] [ 0.27414048 -0.37602402 0.88512877 -1.45306807] [ 0. 0. 0. 1. ]] SLAMing on 174.25800114499998 meters Centerline goodness : 0.879678 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.81, Z:-1.45 [[ 0.46604579 -0.75264945 -0.46510228 4.88026683] [ 0.84094646 0.54019938 -0.03152255 -2.8056694 ] [ 0.2749734 -0.37643517 0.88469554 -1.45272675] [ 0. 0. 0. 1. ]] SLAMing on 174.31800114499998 meters Centerline goodness : 0.878230 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.80, Z:-1.45 [[ 0.4666054 -0.75147232 -0.46644266 4.88131883] [ 0.84013576 0.54143913 -0.03186809 -2.80200108] [ 0.27649829 -0.37700534 0.88397719 -1.45395461] [ 0. 0. 0. 1. ]] SLAMing on 174.37800114499998 meters Centerline goodness : 0.875555 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.80, Z:-1.45 [[ 0.46661671 -0.75128014 -0.46674083 4.8823953 ] [ 0.83979147 0.54192187 -0.03272567 -2.79931572] [ 0.27752321 -0.37669462 0.88378845 -1.45483009] [ 0. 0. 0. 1. ]] SLAMing on 174.438001145 meters Centerline goodness : 0.875026 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.80, Z:-1.46 [[ 0.46758097 -0.75001134 -0.46781515 4.88193682] [ 0.83878383 0.54346755 -0.03293495 -2.79705002] [ 0.27894394 -0.37699603 0.88321247 -1.45515393] [ 0. 0. 0. 1. ]] SLAMing on 174.498001145 meters Centerline goodness : 0.873549 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.80, Z:-1.46 [[ 0.46898666 -0.74976282 -0.46680535 4.87969996] [ 0.83791637 0.54478888 -0.0331848 -2.7970113 ] [ 0.27919109 -0.37558062 0.88373725 -1.45613929] [ 0. 0. 0. 1. ]] SLAMing on 174.558001145 meters Centerline goodness : 0.871282 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.81, Z:-1.45 [[ 0.47243326 -0.74704381 -0.46768831 4.86965743] [ 0.83303509 0.55178093 -0.03987921 -2.80680501] [ 0.28785301 -0.3707605 0.88299337 -1.45306681] [ 0. 0. 0. 1. ]] SLAMing on 174.618001145 meters Centerline goodness : 0.873137 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-2.82, Z:-1.45 [[ 0.47720721 -0.74488186 -0.46628779 4.85479885] [ 0.82923128 0.55734798 -0.04169797 -2.82160732] [ 0.29094462 -0.36676185 0.88364981 -1.45271371] [ 0. 0. 0. 1. ]] SLAMing on 174.678001145 meters Centerline goodness : 0.870081 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.84, Z:-1.45 [[ 0.47897221 -0.7452939 -0.46381313 4.84292813] [ 0.82691743 0.56039383 -0.04654382 -2.83584713] [ 0.29460684 -0.36124196 0.88470959 -1.45320141] [ 0. 0. 0. 1. ]] SLAMing on 174.738001145 meters Centerline goodness : 0.870899 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.84, Z:-1.45 [[ 0.48060563 -0.74496353 -0.46265276 4.8427589 ] [ 0.82594009 0.56182377 -0.04665867 -2.83676196] [ 0.29468832 -0.35969904 0.8853109 -1.45442602] [ 0. 0. 0. 1. ]] SLAMing on 174.798001145 meters Centerline goodness : 0.869029 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.84, Z:-1.45 [[ 0.48215657 -0.74410191 -0.46242556 4.84192883] [ 0.82492856 0.56333353 -0.04634871 -2.83793261] [ 0.29498798 -0.35912072 0.88544588 -1.45430752] [ 0. 0. 0. 1. ]] SLAMing on 174.858001145 meters Centerline goodness : 0.866412 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.83, Z:-1.45 [[ 0.48437068 -0.74988745 -0.45061499 4.84022025] [ 0.82732418 0.56009365 -0.04277626 -2.83415261] [ 0.28446397 -0.35208511 0.89169295 -1.45492019] [ 0. 0. 0. 1. ]] SLAMing on 174.918001145 meters Centerline goodness : 0.868666 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.83, Z:-1.46 [[ 0.48595786 -0.75634132 -0.43794151 4.83834116] [ 0.83046104 0.55575842 -0.03830189 -2.83164881] [ 0.27235899 -0.34508026 0.89818717 -1.45599669] [ 0. 0. 0. 1. ]] SLAMing on 174.97800114499998 meters Centerline goodness : 0.868101 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.83, Z:-1.46 [[ 0.48521227 -0.75844021 -0.4351293 4.8372074 ] [ 0.83123865 0.55450359 -0.03959887 -2.83353763] [ 0.27131413 -0.34248243 0.89949676 -1.45570289] [ 0. 0. 0. 1. ]] SLAMing on 175.03800114499998 meters Centerline goodness : 0.867582 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.83, Z:-1.45 [[ 0.48308426 -0.75800067 -0.43825174 4.84126734] [ 0.83212486 0.55317793 -0.0395271 -2.83182834] [ 0.27239276 -0.34558525 0.89798275 -1.45314963] [ 0. 0. 0. 1. ]] SLAMing on 175.09800114499998 meters Centerline goodness : 0.866966 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.83, Z:-1.45 [[ 0.48020808 -0.76107976 -0.43607087 4.84111998] [ 0.83414327 0.54999613 -0.04134325 -2.83297569] [ 0.2713028 -0.34389222 0.89896214 -1.45113414] [ 0. 0. 0. 1. ]] SLAMing on 175.158001145 meters Centerline goodness : 0.869508 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.83, Z:-1.45 [[ 0.47546169 -0.76435626 -0.43554069 4.84301787] [ 0.83729772 0.54508791 -0.04256403 -2.83387885] [ 0.26994205 -0.34443967 0.89916217 -1.44774809] [ 0. 0. 0. 1. ]] SLAMing on 175.218001145 meters Centerline goodness : 0.865269 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.84, Z:-1.44 [[ 0.4705866 -0.76883859 -0.43293819 4.84218711] [ 0.84062022 0.53976652 -0.04483024 -2.83559457] [ 0.26815276 -0.34284008 0.90030815 -1.44422012] [ 0. 0. 0. 1. ]] SLAMing on 175.278001145 meters Centerline goodness : 0.862420 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-2.83, Z:-1.44 [[ 0.46757081 -0.76981481 -0.4344683 4.84610615] [ 0.8421171 0.53734483 -0.04581837 -2.83273619] [ 0.26873095 -0.34444985 0.89952097 -1.44290151] [ 0. 0. 0. 1. ]] SLAMing on 175.338001145 meters Centerline goodness : 0.858647 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-2.84, Z:-1.44 [[ 0.46312424 -0.76765918 -0.44296198 4.84812088] [ 0.84123525 0.53806959 -0.05295629 -2.8391076 ] [ 0.27899676 -0.34810989 0.89497503 -1.43898982] [ 0. 0. 0. 1. ]] SLAMing on 175.398001145 meters Centerline goodness : 0.856790 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-2.84, Z:-1.44 [[ 0.46243506 -0.76729517 -0.44431064 4.84938722] [ 0.84148493 0.53769845 -0.05275877 -2.83953262] [ 0.27938669 -0.3494832 0.89431794 -1.43676365] [ 0. 0. 0. 1. ]] SLAMing on 175.458001145 meters Centerline goodness : 0.856562 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-2.85, Z:-1.43 [[ 0.46160675 -0.76359142 -0.45149457 4.84730003] [ 0.83774959 0.54261563 -0.06118738 -2.84558289] [ 0.29171017 -0.34999489 0.89017344 -1.43046252] [ 0. 0. 0. 1. ]] SLAMing on 175.518001145 meters Centerline goodness : 0.855920 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-2.85, Z:-1.43 [[ 0.46294032 -0.76350805 -0.4502685 4.84738362] [ 0.83704553 0.54368697 -0.06131286 -2.84611776] [ 0.29161797 -0.34851104 0.89078562 -1.43208862] [ 0. 0. 0. 1. ]] SLAMing on 175.578001145 meters Centerline goodness : 0.856057 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-2.85, Z:-1.43 [[ 0.4647438 -0.7629901 -0.44928755 4.84725697] [ 0.83610105 0.54517704 -0.06096742 -2.8479213 ] [ 0.2914588 -0.34731556 0.89130448 -1.43291696] [ 0. 0. 0. 1. ]] SLAMing on 175.638001145 meters Centerline goodness : 0.858264 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.86, Z:-1.43 [[ 0.46975455 -0.76288183 -0.4442319 4.83854096] [ 0.83397563 0.5485201 -0.06008612 -2.85534589] [ 0.28950874 -0.34225286 0.89389467 -1.43179999] [ 0. 0. 0. 1. ]] SLAMing on 175.698001145 meters Centerline goodness : 0.862376 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.85, Z:-1.43 [[ 0.47337233 -0.76774321 -0.43184372 4.83732445] [ 0.83553498 0.54659048 -0.05585815 -2.85183391] [ 0.27892638 -0.33437883 0.90021713 -1.4339201 ] [ 0. 0. 0. 1. ]] SLAMing on 175.75800114499998 meters Centerline goodness : 0.862249 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-2.86, Z:-1.44 [[ 0.47864039 -0.76625535 -0.42866784 4.83482433] [ 0.83289551 0.55074263 -0.05447586 -2.85861289] [ 0.27782808 -0.33096117 0.90181831 -1.43519843] [ 0. 0. 0. 1. ]] SLAMing on 175.81800114499998 meters Centerline goodness : 0.863005 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-2.86, Z:-1.43 [[ 0.48266357 -0.76903304 -0.41907524 4.83301391] [ 0.83385661 0.54983672 -0.04860797 -2.8559592 ] [ 0.26780409 -0.32598736 0.90664944 -1.4347143 ] [ 0. 0. 0. 1. ]] SLAMing on 175.87800114499998 meters Centerline goodness : 0.865101 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-2.86, Z:-1.44 [[ 0.48770598 -0.76751944 -0.41600094 4.83377265] [ 0.83128379 0.55383598 -0.04725425 -2.86338189] [ 0.26666484 -0.32276866 0.90813559 -1.43628293] [ 0. 0. 0. 1. ]] SLAMing on 175.938001145 meters Centerline goodness : 0.870188 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-2.87, Z:-1.44 [[ 0.49021248 -0.76603723 -0.41578682 4.83451003] [ 0.8298777 0.55604427 -0.04601928 -2.86769975] [ 0.26644836 -0.32249298 0.90829706 -1.43550799] [ 0. 0. 0. 1. ]] SLAMing on 175.998001145 meters Centerline goodness : 0.869985 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.87, Z:-1.43 [[ 0.49337136 -0.7643911 -0.41507945 4.83575197] [ 0.82828189 0.55857129 -0.04412736 -2.87431671] [ 0.26558202 -0.32203162 0.90871438 -1.4345781 ] [ 0. 0. 0. 1. ]] SLAMing on 176.058001145 meters Centerline goodness : 0.868902 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.88, Z:-1.43 [[ 0.49448715 -0.76526715 -0.41212697 4.83721857] [ 0.82837413 0.55850981 -0.04316352 -2.88336133] [ 0.26320858 -0.32005152 0.91010344 -1.43253903] [ 0. 0. 0. 1. ]] SLAMing on 176.118001145 meters Centerline goodness : 0.869755 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:-2.89, Z:-1.43 [[ 0.49346209 -0.76484678 -0.4141311 4.84242098] [ 0.82892042 0.55775746 -0.04239766 -2.88512587] [ 0.26341242 -0.32236009 0.90922927 -1.43011588] [ 0. 0. 0. 1. ]] SLAMing on 176.178001145 meters Centerline goodness : 0.867169 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-2.89, Z:-1.43 [[ 0.49214969 -0.7640945 -0.41707108 4.84682144] [ 0.8296311 0.55679691 -0.04110274 -2.88689632] [ 0.26363027 -0.32578644 0.90794399 -1.4265906 ] [ 0. 0. 0. 1. ]] SLAMing on 176.238001145 meters Centerline goodness : 0.868755 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-2.89, Z:-1.42 [[ 0.48998323 -0.76365604 -0.42041157 4.85370014] [ 0.83069519 0.55525725 -0.04043381 -2.88656382] [ 0.2643141 -0.32942198 0.90643214 -1.42417325] [ 0. 0. 0. 1. ]] SLAMing on 176.298001145 meters Centerline goodness : 0.873418 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-2.89, Z:-1.42 [[ 0.48511372 -0.76924244 -0.41584943 4.85684368] [ 0.83438795 0.54949075 -0.04308906 -2.89055549] [ 0.26165135 -0.32607665 0.90841212 -1.42185262] [ 0. 0. 0. 1. ]] SLAMing on 176.358001145 meters Centerline goodness : 0.874369 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.89, Z:-1.42 [[ 0.47939471 -0.77013706 -0.42079641 4.86658688] [ 0.83743689 0.54483257 -0.04309196 -2.88847252] [ 0.2624503 -0.33173238 0.90613104 -1.41914393] [ 0. 0. 0. 1. ]] SLAMing on 176.418001145 meters Centerline goodness : 0.874632 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.88, Z:-1.42 [[ 0.47350328 -0.7694954 -0.4285691 4.87741757] [ 0.83989441 0.54100964 -0.04342746 -2.88235419] [ 0.26527725 -0.33938975 0.90246473 -1.41698939] [ 0. 0. 0. 1. ]] SLAMing on 176.47800114499998 meters Centerline goodness : 0.874946 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.88, Z:-1.41 [[ 0.46514312 -0.77029256 -0.43622384 4.8887283 ] [ 0.84384385 0.53474267 -0.0444729 -2.8756861 ] [ 0.26752465 -0.34741854 0.89873852 -1.41372375] [ 0. 0. 0. 1. ]] SLAMing on 176.53800114499998 meters Centerline goodness : 0.872796 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.87, Z:-1.41 [[ 0.46146747 -0.77118141 -0.43855103 4.89327759] [ 0.8457005 0.53174315 -0.04516502 -2.8722714 ] [ 0.26802693 -0.35004064 0.89757067 -1.41190006] [ 0. 0. 0. 1. ]] SLAMing on 176.59800114499998 meters Centerline goodness : 0.871837 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.86, Z:-1.41 [[ 0.45407984 -0.77139539 -0.44582581 4.90063697] [ 0.84872022 0.52675092 -0.04698356 -2.86176759] [ 0.27108206 -0.35704709 0.89388584 -1.40953352] [ 0. 0. 0. 1. ]] SLAMing on 176.658001145 meters Centerline goodness : 0.871252 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.86, Z:-1.41 [[ 0.45143127 -0.77234599 -0.44686853 4.90366702] [ 0.84993412 0.52467819 -0.04821608 -2.85704799] [ 0.27170166 -0.35804256 0.89329935 -1.41001694] [ 0. 0. 0. 1. ]] SLAMing on 176.718001145 meters Centerline goodness : 0.869498 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.85, Z:-1.41 [[ 0.44913495 -0.7710376 -0.45141866 4.90269122] [ 0.85048795 0.52376152 -0.04841616 -2.85020171] [ 0.2737664 -0.36218074 0.89099779 -1.40821031] [ 0. 0. 0. 1. ]] SLAMing on 176.778001145 meters Centerline goodness : 0.867978 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.84, Z:-1.41 [[ 0.44818322 -0.76963972 -0.45473784 4.9024129 ] [ 0.85008943 0.52430293 -0.04954182 -2.84020209] [ 0.27654974 -0.36436402 0.88924637 -1.41069892] [ 0. 0. 0. 1. ]] SLAMing on 176.838001145 meters Centerline goodness : 0.864546 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.83, Z:-1.41 [[ 0.44731591 -0.77072832 -0.45374699 4.89904415] [ 0.85032477 0.52374649 -0.05135561 -2.83457555] [ 0.27722961 -0.36286013 0.88964952 -1.41354533] [ 0. 0. 0. 1. ]] SLAMing on 176.898001145 meters Centerline goodness : 0.860337 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-2.82, Z:-1.42 [[ 0.44679975 -0.7681346 -0.45862754 4.89548702] [ 0.84951694 0.52501966 -0.05172347 -2.82262765] [ 0.28051906 -0.36650183 0.88712201 -1.4160352 ] [ 0. 0. 0. 1. ]] SLAMing on 176.958001145 meters Centerline goodness : 0.855216 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.82, Z:-1.42 [[ 0.44718215 -0.76644214 -0.46107979 4.89413061] [ 0.84861761 0.52643991 -0.05204974 -2.81548988] [ 0.28262392 -0.36800472 0.88583082 -1.41841081] [ 0. 0. 0. 1. ]] SLAMing on 177.018001145 meters Centerline goodness : 0.850675 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.80, Z:-1.42 [[ 0.447184 -0.76376732 -0.46549539 4.89151813] [ 0.84745091 0.5282583 -0.05263197 -2.80358648] [ 0.28610038 -0.37094831 0.88348397 -1.42166757] [ 0. 0. 0. 1. ]] SLAMing on 177.078001145 meters Centerline goodness : 0.845613 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.79, Z:-1.42 [[ 0.44672719 -0.76041134 -0.47139093 4.88863341] [ 0.84627965 0.53008664 -0.05309343 -2.79065892] [ 0.29025088 -0.37521028 0.88032476 -1.42363413] [ 0. 0. 0. 1. ]] SLAMing on 177.138001145 meters Centerline goodness : 0.838334 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.77, Z:-1.43 [[ 0.44626684 -0.75910591 -0.47392418 4.89217257] [ 0.84787868 0.52806477 -0.04742731 -2.77411147] [ 0.28626501 -0.38066497 0.87928751 -1.43033257] [ 0. 0. 0. 1. ]] SLAMing on 177.198001145 meters Centerline goodness : 0.831307 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-2.76, Z:-1.44 [[ 0.44691079 -0.7625268 -0.46778588 4.88701227] [ 0.85021957 0.5246711 -0.0429758 -2.75636583] [ 0.27820393 -0.37851436 0.88279638 -1.43541669] [ 0. 0. 0. 1. ]] SLAMing on 177.25800114499998 meters Centerline goodness : 0.826331 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.75, Z:-1.44 [[ 0.44674945 -0.76021262 -0.47169027 4.8832716 ] [ 0.84930685 0.5261034 -0.04350965 -2.74794824] [ 0.28123443 -0.38117187 0.88069018 -1.43612197] [ 0. 0. 0. 1. ]] SLAMing on 177.31800114499998 meters Centerline goodness : 0.819340 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-2.73, Z:-1.44 [[ 0.44516692 -0.75832017 -0.47621102 4.87678785] [ 0.84860642 0.52702528 -0.04595104 -2.73312394] [ 0.28582085 -0.38365985 0.87812958 -1.43773919] [ 0. 0. 0. 1. ]] SLAMing on 177.37800114499998 meters Centerline goodness : 0.816500 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.73, Z:-1.44 [[ 0.44269735 -0.7601977 -0.4755192 4.87344006] [ 0.84950681 0.52530493 -0.04891746 -2.72525918] [ 0.28697952 -0.38230117 0.87834422 -1.43979807] [ 0. 0. 0. 1. ]] SLAMing on 177.438001145 meters Centerline goodness : 0.813835 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-2.72, Z:-1.44 [[ 0.43903804 -0.76217613 -0.47574483 4.86671125] [ 0.85093494 0.52268166 -0.05209236 -2.7176144 ] [ 0.28836665 -0.38195737 0.87803943 -1.4390493 ] [ 0. 0. 0. 1. ]] SLAMing on 177.498001145 meters Centerline goodness : 0.812233 with order 1 Centerline is valid? [False, False] Translation: X:4.81, Y:-2.77, Z:-1.46 [[ 0.43854363 -0.77302721 -0.45837585 4.80983552] [ 0.85242739 0.5193546 -0.06031871 -2.76835633] [ 0.28468761 -0.36427974 0.88670922 -1.45902262] [ 0. 0. 0. 1. ]] SLAMing on 177.558001145 meters Centerline goodness : 0.814941 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-2.84, Z:-1.49 [[ 0.43676419 -0.78477478 -0.43973354 4.74569096] [ 0.85383152 0.51554512 -0.07200673 -2.83722231] [ 0.28321155 -0.3440084 0.89523709 -1.4852204 ] [ 0. 0. 0. 1. ]] SLAMing on 177.618001145 meters Centerline goodness : 0.815098 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-2.91, Z:-1.51 [[ 0.43686193 -0.79359481 -0.42350789 4.6830708 ] [ 0.854344 0.51339631 -0.08075005 -2.91053763] [ 0.2815102 -0.3265448 0.90228626 -1.5116789 ] [ 0. 0. 0. 1. ]] SLAMing on 177.678001145 meters Centerline goodness : 0.811332 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:-2.98, Z:-1.54 [[ 0.43539026 -0.80280635 -0.40735401 4.62567029] [ 0.85542479 0.5099302 -0.09066212 -2.98369753] [ 0.28050624 -0.30898731 0.90875909 -1.53877908] [ 0. 0. 0. 1. ]] SLAMing on 177.738001145 meters Centerline goodness : 0.813074 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:-3.06, Z:-1.57 [[ 0.43563371 -0.80951871 -0.39357684 4.56589731] [ 0.8557258 0.50808746 -0.09788 -3.06096719] [ 0.27920715 -0.29415402 0.91406607 -1.56623202] [ 0. 0. 0. 1. ]] SLAMing on 177.798001145 meters Centerline goodness : 0.809541 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:-3.14, Z:-1.59 [[ 0.43703749 -0.81506988 -0.38034107 4.50413303] [ 0.85594272 0.50680161 -0.10253866 -3.14472216] [ 0.27633364 -0.28073693 0.91914444 -1.59364798] [ 0. 0. 0. 1. ]] SLAMing on 177.858001145 meters Centerline goodness : 0.811411 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.23, Z:-1.62 [[ 0.43914234 -0.81990162 -0.36730824 4.44615761] [ 0.85587057 0.50611001 -0.10648116 -3.22885463] [ 0.27320245 -0.26760792 0.92398399 -1.62262015] [ 0. 0. 0. 1. ]] SLAMing on 177.918001145 meters Centerline goodness : 0.813814 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.32, Z:-1.65 [[ 0.44309087 -0.8229742 -0.3555052 4.38381611] [ 0.85492079 0.50724379 -0.10869309 -3.32106898] [ 0.26977941 -0.25576787 0.92833284 -1.65406759] [ 0. 0. 0. 1. ]] SLAMing on 177.97800114499998 meters Centerline goodness : 0.814401 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.34, Z:-1.65 [[ 0.4466742 -0.81807093 -0.36227353 4.38781904] [ 0.85040548 0.51402191 -0.11221408 -3.33691403] [ 0.27801561 -0.25795627 0.92529232 -1.6530763 ] [ 0. 0. 0. 1. ]] SLAMing on 178.03800114499998 meters Centerline goodness : 0.816198 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.35, Z:-1.65 [[ 0.44748172 -0.81470787 -0.36879695 4.38966987] [ 0.84724993 0.51820545 -0.11675044 -3.35136499] [ 0.2862301 -0.2602195 0.92214866 -1.65120455] [ 0. 0. 0. 1. ]] SLAMing on 178.09800114499998 meters Centerline goodness : 0.817007 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.36, Z:-1.65 [[ 0.44895862 -0.80936579 -0.37863329 4.39207956] [ 0.84330521 0.52388512 -0.1199196 -3.36202571] [ 0.29541917 -0.26546448 0.91774513 -1.65030033] [ 0. 0. 0. 1. ]] SLAMing on 178.158001145 meters Centerline goodness : 0.821361 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.38, Z:-1.65 [[ 0.45084082 -0.80448336 -0.38671577 4.39792388] [ 0.83928949 0.52955088 -0.12316257 -3.37866508] [ 0.30386791 -0.26903976 0.91393758 -1.64706966] [ 0. 0. 0. 1. ]] SLAMing on 178.218001145 meters Centerline goodness : 0.824450 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.39, Z:-1.65 [[ 0.45206497 -0.79915048 -0.39622692 4.40387079] [ 0.83541868 0.53500109 -0.12589466 -3.39197946] [ 0.31259061 -0.27410281 0.90948049 -1.6450168 ] [ 0. 0. 0. 1. ]] SLAMing on 178.278001145 meters Centerline goodness : 0.829268 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.41, Z:-1.64 [[ 0.45233703 -0.79427417 -0.40561035 4.41056249] [ 0.83201106 0.53960068 -0.12879718 -3.40788244] [ 0.3211679 -0.27921257 0.90492625 -1.64060418] [ 0. 0. 0. 1. ]] SLAMing on 178.338001145 meters Centerline goodness : 0.838207 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.42, Z:-1.64 [[ 0.45320843 -0.78839815 -0.41596933 4.41737047] [ 0.82771619 0.54541784 -0.13192912 -3.42237586] [ 0.33088976 -0.28451316 0.89975787 -1.63621655] [ 0. 0. 0. 1. ]] SLAMing on 178.398001145 meters Centerline goodness : 0.844961 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.43, Z:-1.64 [[ 0.4542703 -0.78886376 -0.41392326 4.42233375] [ 0.82757779 0.54567838 -0.13171979 -3.42689388] [ 0.32977794 -0.28271732 0.90073161 -1.63716969] [ 0. 0. 0. 1. ]] SLAMing on 178.458001145 meters Centerline goodness : 0.851072 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.43, Z:-1.64 [[ 0.45539884 -0.78971912 -0.41104211 4.42676943] [ 0.82757669 0.54571449 -0.13157704 -3.43366109] [ 0.32822054 -0.28024884 0.90207088 -1.63743646] [ 0. 0. 0. 1. ]] SLAMing on 178.518001145 meters Centerline goodness : 0.854873 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.44, Z:-1.64 [[ 0.45616971 -0.79071586 -0.40826172 4.4283997 ] [ 0.82777907 0.54543293 -0.13147138 -3.43997485] [ 0.32663589 -0.27797725 0.90334802 -1.63701942] [ 0. 0. 0. 1. ]] SLAMing on 178.578001145 meters Centerline goodness : 0.859540 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.47, Z:-1.65 [[ 0.45883099 -0.79207104 -0.40261345 4.41638097] [ 0.82905758 0.54463198 -0.12664731 -3.47264045] [ 0.31958983 -0.27568002 0.90656653 -1.64963456] [ 0. 0. 0. 1. ]] SLAMing on 178.638001145 meters Centerline goodness : 0.860447 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.51, Z:-1.67 [[ 0.46148098 -0.79216682 -0.39938331 4.40254883] [ 0.83117176 0.54345392 -0.11752169 -3.50750633] [ 0.31014321 -0.2777221 0.90922034 -1.66610785] [ 0. 0. 0. 1. ]] SLAMing on 178.698001145 meters Centerline goodness : 0.862308 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.50, Z:-1.67 [[ 0.46136521 -0.79393604 -0.39598952 4.41336687] [ 0.83476565 0.53963607 -0.10935819 -3.50356757] [ 0.30051364 -0.28010439 0.91171985 -1.66960071] [ 0. 0. 0. 1. ]] SLAMing on 178.75800114499998 meters Centerline goodness : 0.863619 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.51, Z:-1.67 [[ 0.46081691 -0.79655769 -0.39133568 4.41901131] [ 0.83615389 0.53747288 -0.10940557 -3.51303727] [ 0.29748016 -0.27680091 0.91372141 -1.66939779] [ 0. 0. 0. 1. ]] SLAMing on 178.81800114499998 meters Centerline goodness : 0.862229 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.52, Z:-1.67 [[ 0.46173111 -0.79641198 -0.3905539 4.42567544] [ 0.83607283 0.53782618 -0.10828308 -3.5189303 ] [ 0.29628805 -0.27653383 0.91418949 -1.66919982] [ 0. 0. 0. 1. ]] SLAMing on 178.87800114499998 meters Centerline goodness : 0.861338 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.52, Z:-1.67 [[ 0.46339324 -0.7946387 -0.39219388 4.43046218] [ 0.83512264 0.53962941 -0.1066315 -3.52153793] [ 0.29637287 -0.27811767 0.91368139 -1.66888102] [ 0. 0. 0. 1. ]] SLAMing on 178.938001145 meters Centerline goodness : 0.859469 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.53, Z:-1.67 [[ 0.46625105 -0.79282025 -0.39248695 4.43769555] [ 0.83369044 0.54218858 -0.1048418 -3.52632055] [ 0.29592265 -0.27833002 0.91376265 -1.67025318] [ 0. 0. 0. 1. ]] SLAMing on 178.998001145 meters Centerline goodness : 0.857887 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.53, Z:-1.67 [[ 0.46757868 -0.79147362 -0.39362379 4.44241033] [ 0.83287505 0.5436458 -0.10377089 -3.52761369] [ 0.29612384 -0.27931838 0.91339581 -1.67082375] [ 0. 0. 0. 1. ]] SLAMing on 179.058001145 meters Centerline goodness : 0.856732 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.53, Z:-1.67 [[ 0.4682576 -0.79023425 -0.39530324 4.44824803] [ 0.83248655 0.54450516 -0.10237324 -3.5298838 ] [ 0.29614349 -0.28114758 0.91282806 -1.67039742] [ 0. 0. 0. 1. ]] SLAMing on 179.118001145 meters Centerline goodness : 0.853485 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.53, Z:-1.67 [[ 0.46853496 -0.78899799 -0.39743825 4.45221078] [ 0.83221455 0.54514947 -0.10114836 -3.53081736] [ 0.2964691 -0.28336235 0.9120372 -1.66920881] [ 0. 0. 0. 1. ]] SLAMing on 179.178001145 meters Centerline goodness : 0.850213 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.53, Z:-1.67 [[ 0.46751068 -0.78875117 -0.39913075 4.45960592] [ 0.83269865 0.54449917 -0.10066586 -3.53122394] [ 0.29672667 -0.28529327 0.91135121 -1.66882723] [ 0. 0. 0. 1. ]] SLAMing on 179.238001145 meters Centerline goodness : 0.849329 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.53, Z:-1.67 [[ 0.46554135 -0.78839203 -0.40213089 4.46716148] [ 0.83356943 0.54327134 -0.10009118 -3.53110021] [ 0.29737728 -0.28860743 0.91009478 -1.66687414] [ 0. 0. 0. 1. ]] SLAMing on 179.298001145 meters Centerline goodness : 0.849871 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.53, Z:-1.67 [[ 0.46338398 -0.78570225 -0.40981368 4.47656732] [ 0.83366265 0.54332273 -0.09903031 -3.52587071] [ 0.30046942 -0.2957573 0.90677767 -1.66504789] [ 0. 0. 0. 1. ]] SLAMing on 179.358001145 meters Centerline goodness : 0.849327 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-3.53, Z:-1.66 [[ 0.46179641 -0.78522318 -0.412515 4.48604538] [ 0.8342597 0.54247119 -0.09866992 -3.5252965 ] [ 0.30125541 -0.29857923 0.90559131 -1.66441787] [ 0. 0. 0. 1. ]] SLAMing on 179.418001145 meters Centerline goodness : 0.852454 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-3.52, Z:-1.66 [[ 0.46171281 -0.78324183 -0.41635745 4.49042669] [ 0.83384519 0.54333271 -0.09742566 -3.52404584] [ 0.30252848 -0.30219498 0.9039661 -1.66247858] [ 0. 0. 0. 1. ]] SLAMing on 179.47800114499998 meters Centerline goodness : 0.852125 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:-3.52, Z:-1.66 [[ 0.4642095 -0.77921912 -0.42110225 4.49537395] [ 0.83191016 0.54677164 -0.09469034 -3.52487792] [ 0.30403129 -0.30636309 0.90205689 -1.66109277] [ 0. 0. 0. 1. ]] SLAMing on 179.53800114499998 meters Centerline goodness : 0.854090 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:-3.52, Z:-1.66 [[ 0.46594315 -0.77572639 -0.42561197 4.50064836] [ 0.83029589 0.54956454 -0.092669 -3.52342328] [ 0.30578704 -0.31020538 0.90014827 -1.66052318] [ 0. 0. 0. 1. ]] SLAMing on 179.59800114499998 meters Centerline goodness : 0.856183 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-3.52, Z:-1.66 [[ 0.46690963 -0.77452035 -0.42674773 4.50547868] [ 0.82946002 0.55088675 -0.09230307 -3.52268877] [ 0.30658028 -0.31087299 0.899648 -1.66148017] [ 0. 0. 0. 1. ]] SLAMing on 179.658001145 meters Centerline goodness : 0.856958 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-3.53, Z:-1.66 [[ 0.46747414 -0.76658293 -0.44024826 4.50969122] [ 0.82429332 0.55792654 -0.09622105 -3.52734953] [ 0.31938761 -0.31791285 0.89270542 -1.659186 ] [ 0. 0. 0. 1. ]] SLAMing on 179.718001145 meters Centerline goodness : 0.858003 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-3.53, Z:-1.66 [[ 0.47135249 -0.76189132 -0.44423918 4.51155485] [ 0.82131168 0.56273555 -0.09367933 -3.52653507] [ 0.32136265 -0.32070284 0.89099705 -1.65961726] [ 0. 0. 0. 1. ]] SLAMing on 179.778001145 meters Centerline goodness : 0.861387 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-3.53, Z:-1.66 [[ 0.4753203 -0.75715472 -0.44809301 4.51429694] [ 0.81829821 0.56754785 -0.09098062 -3.52622967] [ 0.32320063 -0.32342877 0.88934537 -1.66024981] [ 0. 0. 0. 1. ]] SLAMing on 179.838001145 meters Centerline goodness : 0.860732 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.52, Z:-1.66 [[ 0.47565203 -0.7563017 -0.44918023 4.51684809] [ 0.81778324 0.56830325 -0.09089549 -3.52439028] [ 0.324015 -0.32409744 0.88880545 -1.66080442] [ 0. 0. 0. 1. ]] SLAMing on 179.898001145 meters Centerline goodness : 0.863701 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.52, Z:-1.66 [[ 0.47584822 -0.75609406 -0.44932198 4.51636562] [ 0.81760913 0.56855907 -0.09086199 -3.52409074] [ 0.3241663 -0.32413324 0.88873723 -1.66078108] [ 0. 0. 0. 1. ]] SLAMing on 179.958001145 meters Centerline goodness : 0.864477 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.52, Z:-1.66 [[ 0.47552564 -0.75637838 -0.44918494 4.51572756] [ 0.8177924 0.56825295 -0.09112726 -3.52393682] [ 0.32417736 -0.32400668 0.88877934 -1.66039454] [ 0. 0. 0. 1. ]] SLAMing on 180.018001145 meters Centerline goodness : 0.866470 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.52, Z:-1.66 [[ 0.47528955 -0.75579491 -0.45041525 4.51790343] [ 0.81752121 0.56859443 -0.09143004 -3.52096051] [ 0.32520596 -0.32476828 0.88812536 -1.66083134] [ 0. 0. 0. 1. ]] SLAMing on 180.078001145 meters Centerline goodness : 0.868333 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.52, Z:-1.66 [[ 0.47568975 -0.7539329 -0.45310533 4.51900602] [ 0.81677135 0.56980015 -0.09062202 -3.5179111 ] [ 0.32650241 -0.32697549 0.88683888 -1.6607957 ] [ 0. 0. 0. 1. ]] SLAMing on 180.138001145 meters Centerline goodness : 0.869913 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.51, Z:-1.66 [[ 0.47693212 -0.7508911 -0.4568351 4.51892572] [ 0.81530482 0.5721187 -0.08920896 -3.51486796] [ 0.32835012 -0.32991324 0.88506692 -1.66019125] [ 0. 0. 0. 1. ]] SLAMing on 180.198001145 meters Centerline goodness : 0.872325 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.50, Z:-1.66 [[ 0.47764767 -0.74887438 -0.45939075 4.52765317] [ 0.81660167 0.5713094 -0.0822635 -3.50382128] [ 0.32405928 -0.33584629 0.88441667 -1.66414795] [ 0. 0. 0. 1. ]] SLAMing on 180.25800114499998 meters Centerline goodness : 0.874792 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.49, Z:-1.67 [[ 0.47943831 -0.75013363 -0.45545411 4.53031607] [ 0.8192852 0.56858657 -0.07403424 -3.49426528] [ 0.31450067 -0.33765196 0.88717557 -1.66825811] [ 0. 0. 0. 1. ]] SLAMing on 180.31800114499998 meters Centerline goodness : 0.876905 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.49, Z:-1.67 [[ 0.4812192 -0.74687137 -0.458924 4.5319994 ] [ 0.81741934 0.57142137 -0.07282334 -3.49038238] [ 0.31662865 -0.34008937 0.88548604 -1.66926709] [ 0. 0. 0. 1. ]] SLAMing on 180.37800114499998 meters Centerline goodness : 0.879432 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.48, Z:-1.67 [[ 0.48397999 -0.74934692 -0.45193204 4.5338794 ] [ 0.81863306 0.57018809 -0.06874189 -3.47883157] [ 0.30919779 -0.3366968 0.88939979 -1.67034787] [ 0. 0. 0. 1. ]] SLAMing on 180.438001145 meters Centerline goodness : 0.880678 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.47, Z:-1.67 [[ 0.48814928 -0.75093486 -0.44475513 4.53086189] [ 0.81937628 0.56981031 -0.06275921 -3.46797843] [ 0.30055414 -0.33378594 0.8934507 -1.6737182 ] [ 0. 0. 0. 1. ]] SLAMing on 180.498001145 meters Centerline goodness : 0.881409 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.47, Z:-1.67 [[ 0.49020599 -0.74819272 -0.4471082 4.52894364] [ 0.81758707 0.5724979 -0.0616242 -3.4655441 ] [ 0.30207528 -0.33534133 0.89235459 -1.67431297] [ 0. 0. 0. 1. ]] SLAMing on 180.558001145 meters Centerline goodness : 0.881540 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.46, Z:-1.68 [[ 0.49135265 -0.74576713 -0.44989328 4.52996413] [ 0.81601275 0.57475024 -0.06152527 -3.45897821] [ 0.30445979 -0.33688805 0.89096054 -1.67684272] [ 0. 0. 0. 1. ]] SLAMing on 180.618001145 meters Centerline goodness : 0.882918 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.45, Z:-1.68 [[ 0.49319152 -0.74951905 -0.44156915 4.53044227] [ 0.81792228 0.57239387 -0.05803798 -3.44707764] [ 0.29625205 -0.33254541 0.89534813 -1.67890911] [ 0. 0. 0. 1. ]] SLAMing on 180.678001145 meters Centerline goodness : 0.883502 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.44, Z:-1.68 [[ 0.49532505 -0.75295224 -0.43326207 4.52622757] [ 0.82026076 0.56960802 -0.05214382 -3.43684944] [ 0.28605135 -0.32955973 0.8997583 -1.68212873] [ 0. 0. 0. 1. ]] SLAMing on 180.738001145 meters Centerline goodness : 0.881373 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.43, Z:-1.68 [[ 0.49523721 -0.75109169 -0.43657917 4.52886579] [ 0.81956992 0.57061465 -0.05200064 -3.43063698] [ 0.28817572 -0.3320545 0.89816177 -1.68347575] [ 0. 0. 0. 1. ]] SLAMing on 180.798001145 meters Centerline goodness : 0.885379 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.43, Z:-1.68 [[ 0.4943372 -0.74958687 -0.44017071 4.52767526] [ 0.81947764 0.57077627 -0.05168022 -3.42512373] [ 0.28997781 -0.3351626 0.89642563 -1.68264571] [ 0. 0. 0. 1. ]] SLAMing on 180.858001145 meters Centerline goodness : 0.886618 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.42, Z:-1.68 [[ 0.49256082 -0.74774308 -0.44526861 4.52917326] [ 0.81964797 0.57055402 -0.05143265 -3.41777501] [ 0.29250821 -0.3396298 0.89391865 -1.6816326 ] [ 0. 0. 0. 1. ]] SLAMing on 180.918001145 meters Centerline goodness : 0.888882 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.41, Z:-1.68 [[ 0.49028038 -0.74831556 -0.44682096 4.53117188] [ 0.82055946 0.56912023 -0.05276682 -3.41190997] [ 0.29378108 -0.34077263 0.89306589 -1.68210286] [ 0. 0. 0. 1. ]] SLAMing on 180.97800114499998 meters Centerline goodness : 0.890053 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.40, Z:-1.68 [[ 0.48892609 -0.74670593 -0.45097842 4.53152352] [ 0.82052692 0.56916237 -0.05281827 -3.40414562] [ 0.29611966 -0.3442157 0.89097065 -1.68213815] [ 0. 0. 0. 1. ]] SLAMing on 181.03800114499998 meters Centerline goodness : 0.891703 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-3.39, Z:-1.69 [[ 0.48817416 -0.74586036 -0.45318684 4.53597527] [ 0.82284371 0.56641554 -0.04584392 -3.39088954] [ 0.29088523 -0.35052212 0.89023594 -1.68735782] [ 0. 0. 0. 1. ]] SLAMing on 181.09800114499998 meters Centerline goodness : 0.890375 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-3.38, Z:-1.69 [[ 0.48788358 -0.74395495 -0.45661872 4.54337049] [ 0.82443915 0.56460493 -0.03900477 -3.37732398] [ 0.28682697 -0.35742456 0.88880705 -1.69237531] [ 0. 0. 0. 1. ]] SLAMing on 181.158001145 meters Centerline goodness : 0.890544 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-3.36, Z:-1.70 [[ 0.48760288 -0.74072475 -0.46213665 4.54932161] [ 0.82589029 0.5629803 -0.03095828 -3.36020522] [ 0.2831054 -0.36657882 0.88626819 -1.69765768] [ 0. 0. 0. 1. ]] SLAMing on 181.218001145 meters Centerline goodness : 0.894736 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-3.35, Z:-1.70 [[ 0.48835381 -0.74709129 -0.45096026 4.54563745] [ 0.82924354 0.55824355 -0.02681976 -3.35103881] [ 0.27178247 -0.36085835 0.89214099 -1.70164624] [ 0. 0. 0. 1. ]] SLAMing on 181.278001145 meters Centerline goodness : 0.893530 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-3.34, Z:-1.70 [[ 0.48710401 -0.74484495 -0.45599965 4.54378857] [ 0.82912934 0.55842973 -0.02647225 -3.34227834] [ 0.27436148 -0.36518795 0.88958616 -1.70159013] [ 0. 0. 0. 1. ]] SLAMing on 181.338001145 meters Centerline goodness : 0.892881 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-3.33, Z:-1.70 [[ 0.48364515 -0.74692596 -0.45627731 4.54114232] [ 0.83095255 0.55560121 -0.02872551 -3.33483775] [ 0.27496406 -0.36525184 0.88937386 -1.70265246] [ 0. 0. 0. 1. ]] SLAMing on 181.398001145 meters Centerline goodness : 0.890739 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-3.33, Z:-1.71 [[ 0.48272236 -0.75402987 -0.44544145 4.53850214] [ 0.83525554 0.54930739 -0.02468934 -3.32599548] [ 0.26330078 -0.36013934 0.89497059 -1.70512354] [ 0. 0. 0. 1. ]] SLAMing on 181.458001145 meters Centerline goodness : 0.893709 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-3.31, Z:-1.71 [[ 0.48176697 -0.75951442 -0.43707944 4.53535444] [ 0.83901673 0.54373597 -0.02005303 -3.31460047] [ 0.25288638 -0.35705607 0.89919933 -1.70694013] [ 0. 0. 0. 1. ]] SLAMing on 181.518001145 meters Centerline goodness : 0.890888 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-3.31, Z:-1.71 [[ 0.48024517 -0.75851381 -0.44047858 4.5362839 ] [ 0.83933922 0.54322756 -0.0203347 -3.30815182] [ 0.25470425 -0.35994531 0.8975328 -1.70727844] [ 0. 0. 0. 1. ]] SLAMing on 181.578001145 meters Centerline goodness : 0.891215 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-3.30, Z:-1.71 [[ 0.47816813 -0.75921627 -0.44152678 4.53543692] [ 0.8402102 0.54182473 -0.02174367 -3.30227633] [ 0.25573828 -0.36057817 0.89698457 -1.70806688] [ 0. 0. 0. 1. ]] SLAMing on 181.638001145 meters Centerline goodness : 0.891348 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-3.30, Z:-1.71 [[ 0.47860538 -0.75704838 -0.44476358 4.53612858] [ 0.83922269 0.54335156 -0.02177994 -3.29552136] [ 0.25815145 -0.36283169 0.89538316 -1.71009365] [ 0. 0. 0. 1. ]] SLAMing on 181.698001145 meters Centerline goodness : 0.888152 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.29, Z:-1.71 [[ 0.48035838 -0.75464148 -0.44695868 4.53426712] [ 0.83763475 0.54581449 -0.02132049 -3.29231361] [ 0.26004585 -0.36414665 0.89430049 -1.71076026] [ 0. 0. 0. 1. ]] SLAMing on 181.75800114499998 meters Centerline goodness : 0.886235 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.29, Z:-1.71 [[ 0.48572015 -0.7491484 -0.45039162 4.53060469] [ 0.83355393 0.552098 -0.0193818 -3.28805047] [ 0.26318015 -0.36601157 0.89262071 -1.71376649] [ 0. 0. 0. 1. ]] SLAMing on 181.81800114499998 meters Centerline goodness : 0.883605 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.29, Z:-1.72 [[ 0.48886139 -0.74611389 -0.45202721 4.52806096] [ 0.83110305 0.55580774 -0.01858669 -3.28559009] [ 0.26510801 -0.36659488 0.89181048 -1.71530582] [ 0. 0. 0. 1. ]] SLAMing on 181.87800114499998 meters Centerline goodness : 0.882939 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-3.28, Z:-1.72 [[ 0.49221232 -0.74308107 -0.45338456 4.52560744] [ 0.82866551 0.55947582 -0.01732861 -3.28419568] [ 0.26653427 -0.36717479 0.89114654 -1.71708342] [ 0. 0. 0. 1. ]] SLAMing on 181.938001145 meters Centerline goodness : 0.881399 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.28, Z:-1.72 [[ 0.49403788 -0.74077362 -0.45517141 4.52392103] [ 0.82707907 0.5618384 -0.01666774 -3.28185352] [ 0.2680798 -0.36822825 0.89024782 -1.71778244] [ 0. 0. 0. 1. ]] SLAMing on 181.998001145 meters Centerline goodness : 0.878024 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.28, Z:-1.72 [[ 0.49427421 -0.74114591 -0.45430799 4.52083715] [ 0.82662464 0.56245817 -0.01823506 -3.27718478] [ 0.26904408 -0.36652906 0.89065803 -1.72030042] [ 0. 0. 0. 1. ]] SLAMing on 182.058001145 meters Centerline goodness : 0.877288 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-3.27, Z:-1.72 [[ 0.49362606 -0.74227787 -0.45316319 4.5180047 ] [ 0.82696592 0.56191034 -0.01959931 -3.27493554] [ 0.26918522 -0.36507579 0.89121209 -1.72113862] [ 0. 0. 0. 1. ]] SLAMing on 182.118001145 meters Centerline goodness : 0.876504 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-3.29, Z:-1.72 [[ 0.4931305 -0.74352333 -0.45165846 4.50570132] [ 0.82585389 0.56330158 -0.02562585 -3.28511274] [ 0.27347335 -0.36036701 0.89182282 -1.71683398] [ 0. 0. 0. 1. ]] SLAMing on 182.178001145 meters Centerline goodness : 0.875773 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-3.28, Z:-1.71 [[ 0.49187005 -0.74860403 -0.44458505 4.49440057] [ 0.82711677 0.56123254 -0.02993121 -3.28495687] [ 0.27192222 -0.35300148 0.89523643 -1.71441871] [ 0. 0. 0. 1. ]] SLAMing on 182.238001145 meters Centerline goodness : 0.873213 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-3.28, Z:-1.71 [[ 0.49130818 -0.7491159 -0.44434405 4.49193379] [ 0.82740139 0.56077893 -0.03056043 -3.28376843] [ 0.27207208 -0.35263629 0.89533481 -1.71400643] [ 0. 0. 0. 1. ]] SLAMing on 182.298001145 meters Centerline goodness : 0.877208 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-3.28, Z:-1.71 [[ 0.49112302 -0.7487304 -0.44519767 4.49142721] [ 0.82719732 0.5610532 -0.03104676 -3.28135037] [ 0.27302523 -0.35301854 0.89489392 -1.71401245] [ 0. 0. 0. 1. ]] SLAMing on 182.358001145 meters Centerline goodness : 0.876519 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-3.28, Z:-1.71 [[ 0.49059623 -0.74913571 -0.44509665 4.48812109] [ 0.82728919 0.56085767 -0.03211336 -3.27927488] [ 0.27369313 -0.35246896 0.89490653 -1.71340133] [ 0. 0. 0. 1. ]] SLAMing on 182.418001145 meters Centerline goodness : 0.876989 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-3.28, Z:-1.71 [[ 0.4889841 -0.75192839 -0.44215184 4.48688494] [ 0.82843351 0.55902374 -0.03450174 -3.27842477] [ 0.27311622 -0.3494226 0.8962764 -1.71384561] [ 0. 0. 0. 1. ]] SLAMing on 182.47800114499998 meters Centerline goodness : 0.876942 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-3.28, Z:-1.71 [[ 0.48801982 -0.75310726 -0.44120982 4.48520072] [ 0.82916919 0.55789246 -0.0351349 -3.27918619] [ 0.27260798 -0.34869107 0.89671591 -1.71282899] [ 0. 0. 0. 1. ]] SLAMing on 182.53800114499998 meters Centerline goodness : 0.875886 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.28, Z:-1.71 [[ 0.48777701 -0.75285163 -0.44191404 4.48380281] [ 0.82915651 0.5579043 -0.03524595 -3.27872069] [ 0.27308072 -0.34922373 0.89636472 -1.71144983] [ 0. 0. 0. 1. ]] SLAMing on 182.59800114499998 meters Centerline goodness : 0.875396 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.28, Z:-1.71 [[ 0.48678352 -0.75494178 -0.43943681 4.48407249] [ 0.82984051 0.5567564 -0.03724308 -3.27853147] [ 0.27277562 -0.34653315 0.89750111 -1.71193297] [ 0. 0. 0. 1. ]] SLAMing on 182.658001145 meters Centerline goodness : 0.878422 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.28, Z:-1.71 [[ 0.48606804 -0.75601808 -0.43837714 4.48380839] [ 0.83037821 0.55590373 -0.03798776 -3.2780093 ] [ 0.27241493 -0.34555419 0.89798798 -1.71238589] [ 0. 0. 0. 1. ]] SLAMing on 182.718001145 meters Centerline goodness : 0.880148 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.28, Z:-1.71 [[ 0.48610988 -0.75533719 -0.43950303 4.48123342] [ 0.82998872 0.55646102 -0.0383387 -3.27600314] [ 0.27352495 -0.34614574 0.89742255 -1.71139975] [ 0. 0. 0. 1. ]] SLAMing on 182.778001145 meters Centerline goodness : 0.878102 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.28, Z:-1.71 [[ 0.48709417 -0.75474614 -0.43942866 4.48080151] [ 0.82924692 0.55755854 -0.03844495 -3.27559695] [ 0.27402338 -0.34566855 0.89745442 -1.71171757] [ 0. 0. 0. 1. ]] SLAMing on 182.838001145 meters Centerline goodness : 0.879672 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.27, Z:-1.71 [[ 0.48674627 -0.75512351 -0.43916576 4.47776483] [ 0.82931905 0.55739559 -0.03924386 -3.27472466] [ 0.27442301 -0.34510673 0.89754853 -1.71071594] [ 0. 0. 0. 1. ]] SLAMing on 182.898001145 meters Centerline goodness : 0.880362 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.27, Z:-1.71 [[ 0.48460748 -0.75792417 -0.43669961 4.47511488] [ 0.8307828 0.55505393 -0.04141341 -3.27406353] [ 0.27378006 -0.34273328 0.89865365 -1.71012274] [ 0. 0. 0. 1. ]] SLAMing on 182.958001145 meters Centerline goodness : 0.882163 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.70 [[ 0.48343041 -0.75627579 -0.44084234 4.47187304] [ 0.82746853 0.55911985 -0.05177668 -3.27987912] [ 0.28564116 -0.33975274 0.89608995 -1.70269391] [ 0. 0. 0. 1. ]] SLAMing on 183.018001145 meters Centerline goodness : 0.881300 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.70 [[ 0.4831977 -0.75628918 -0.44107444 4.46992019] [ 0.82762408 0.55890067 -0.05165678 -3.28103399] [ 0.28558426 -0.34008339 0.89598266 -1.70078336] [ 0. 0. 0. 1. ]] SLAMing on 183.078001145 meters Centerline goodness : 0.880645 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.70 [[ 0.48324462 -0.75535094 -0.44262805 4.46924537] [ 0.82736445 0.55932585 -0.05121204 -3.28099762] [ 0.28625637 -0.34146677 0.89524172 -1.69882546] [ 0. 0. 0. 1. ]] SLAMing on 183.138001145 meters Centerline goodness : 0.879365 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.70 [[ 0.48096069 -0.75934058 -0.43826784 4.46947109] [ 0.82932978 0.55618909 -0.0535333 -3.28271504] [ 0.2844098 -0.33772116 0.89724884 -1.69928393] [ 0. 0. 0. 1. ]] SLAMing on 183.198001145 meters Centerline goodness : 0.879382 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.70 [[ 0.47821508 -0.76186715 -0.43688532 4.46995718] [ 0.83101638 0.55346822 -0.05554016 -3.28106747] [ 0.28411637 -0.33649871 0.89780093 -1.698631 ] [ 0. 0. 0. 1. ]] SLAMing on 183.25800114499998 meters Centerline goodness : 0.881837 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.70 [[ 0.47582762 -0.7631937 -0.43717668 4.46878997] [ 0.83248442 0.55119533 -0.05615515 -3.28107883] [ 0.283827 -0.3372226 0.89762083 -1.69601567] [ 0. 0. 0. 1. ]] SLAMing on 183.31800114499998 meters Centerline goodness : 0.879181 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.70 [[ 0.47532407 -0.76363079 -0.43696115 4.46847705] [ 0.83283397 0.55064666 -0.05635445 -3.28113994] [ 0.2836452 -0.33712946 0.89771328 -1.69553808] [ 0. 0. 0. 1. ]] SLAMing on 183.37800114499998 meters Centerline goodness : 0.878448 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.69 [[ 0.47494975 -0.76398453 -0.43674979 4.46948862] [ 0.83312635 0.55019593 -0.05643511 -3.28236565] [ 0.2834135 -0.33706392 0.89781106 -1.6946283 ] [ 0. 0. 0. 1. ]] SLAMing on 183.438001145 meters Centerline goodness : 0.876757 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.69 [[ 0.47330528 -0.76381833 -0.43882077 4.47067629] [ 0.83368646 0.5492974 -0.05691439 -3.27956381] [ 0.28451536 -0.33890105 0.89677037 -1.69319096] [ 0. 0. 0. 1. ]] SLAMing on 183.498001145 meters Centerline goodness : 0.877624 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.69 [[ 0.47114883 -0.76680765 -0.43591835 4.47012437] [ 0.8351594 0.54681074 -0.05921818 -3.2790382 ] [ 0.28377379 -0.33616073 0.89803586 -1.69316571] [ 0. 0. 0. 1. ]] SLAMing on 183.558001145 meters Centerline goodness : 0.875388 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.69 [[ 0.4684875 -0.76820362 -0.43632862 4.47256406] [ 0.83656489 0.544521 -0.06046544 -3.27716959] [ 0.28403986 -0.3366899 0.89775346 -1.6920626 ] [ 0. 0. 0. 1. ]] SLAMing on 183.618001145 meters Centerline goodness : 0.879994 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.69 [[ 0.46649982 -0.76881083 -0.4373875 4.47078181] [ 0.83780765 0.54263284 -0.06023237 -3.27905243] [ 0.28364812 -0.33834821 0.89725372 -1.68802769] [ 0. 0. 0. 1. ]] SLAMing on 183.678001145 meters Centerline goodness : 0.881128 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.68 [[ 0.46415814 -0.76774613 -0.44172741 4.46853116] [ 0.83543277 0.54515992 -0.06966172 -3.28431276] [ 0.29429459 -0.3366995 0.89444069 -1.67996027] [ 0. 0. 0. 1. ]] SLAMing on 183.738001145 meters Centerline goodness : 0.879210 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.29, Z:-1.67 [[ 0.45965922 -0.76669297 -0.44821344 4.4694235 ] [ 0.83366092 0.54647685 -0.07982812 -3.28969896] [ 0.30614193 -0.3369643 0.89035509 -1.67332527] [ 0. 0. 0. 1. ]] SLAMing on 183.798001145 meters Centerline goodness : 0.880875 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.29, Z:-1.67 [[ 0.45859897 -0.76738255 -0.44811942 4.46939614] [ 0.83427814 0.5454656 -0.08029488 -3.28919224] [ 0.30605062 -0.33703308 0.89036044 -1.67265903] [ 0. 0. 0. 1. ]] SLAMing on 183.858001145 meters Centerline goodness : 0.882442 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.29, Z:-1.67 [[ 0.45650047 -0.76835481 -0.44859582 4.47022889] [ 0.83531506 0.5437316 -0.08126932 -3.28770909] [ 0.3063594 -0.33761936 0.89003207 -1.67136374] [ 0. 0. 0. 1. ]] SLAMing on 183.918001145 meters Centerline goodness : 0.885498 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.29, Z:-1.67 [[ 0.45622651 -0.76875573 -0.44818746 4.4719504 ] [ 0.83538592 0.54352577 -0.08191517 -3.28684278] [ 0.30657419 -0.33703762 0.89017858 -1.67189401] [ 0. 0. 0. 1. ]] SLAMing on 183.97800114499998 meters Centerline goodness : 0.883396 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.67 [[ 0.45674796 -0.76720204 -0.4503136 4.47378863] [ 0.83466473 0.54470573 -0.08142756 -3.28476685] [ 0.30775979 -0.33866901 0.88914972 -1.67174443] [ 0. 0. 0. 1. ]] SLAMing on 184.03800114499998 meters Centerline goodness : 0.881070 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.28, Z:-1.67 [[ 0.46035149 -0.76305991 -0.45366957 4.47628608] [ 0.83201015 0.54906977 -0.07925595 -3.28362335] [ 0.30957328 -0.34097209 0.88763868 -1.67292812] [ 0. 0. 0. 1. ]] SLAMing on 184.09800114499998 meters Centerline goodness : 0.885541 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.28, Z:-1.67 [[ 0.46087581 -0.76331588 -0.45270559 4.47561897] [ 0.83180331 0.54935351 -0.07946055 -3.28414279] [ 0.30934891 -0.33994056 0.88811242 -1.6733977 ] [ 0. 0. 0. 1. ]] SLAMing on 184.158001145 meters Centerline goodness : 0.883316 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.28, Z:-1.67 [[ 0.46161765 -0.76199641 -0.45417026 4.47532804] [ 0.83115276 0.55044139 -0.07873606 -3.28430109] [ 0.3099907 -0.34113891 0.88742888 -1.67243643] [ 0. 0. 0. 1. ]] SLAMing on 184.218001145 meters Centerline goodness : 0.883369 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.67 [[ 0.46206281 -0.76187484 -0.45392145 4.47450952] [ 0.83091034 0.550814 -0.07868887 -3.28390124] [ 0.30997736 -0.34080883 0.88756035 -1.67308692] [ 0. 0. 0. 1. ]] SLAMing on 184.278001145 meters Centerline goodness : 0.885428 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.67 [[ 0.46037578 -0.7653936 -0.44969632 4.47284704] [ 0.83234528 0.54829274 -0.08109507 -3.28402067] [ 0.30863487 -0.3369684 0.88949245 -1.67436019] [ 0. 0. 0. 1. ]] SLAMing on 184.338001145 meters Centerline goodness : 0.885007 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.67 [[ 0.45999413 -0.76531845 -0.45021447 4.47198374] [ 0.83251194 0.54804908 -0.08103132 -3.28443092] [ 0.30875439 -0.33753498 0.88923611 -1.67288101] [ 0. 0. 0. 1. ]] SLAMing on 184.398001145 meters Centerline goodness : 0.885666 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.28, Z:-1.67 [[ 0.46048371 -0.76227916 -0.45484639 4.47561626] [ 0.83158625 0.54969816 -0.07934883 -3.28235934] [ 0.31051419 -0.34170516 0.88702791 -1.67157201] [ 0. 0. 0. 1. ]] SLAMing on 184.458001145 meters Centerline goodness : 0.885671 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.28, Z:-1.67 [[ 0.45926278 -0.7644707 -0.45239612 4.47540577] [ 0.83273712 0.54781051 -0.08032764 -3.28421967] [ 0.30923548 -0.33983555 0.88819211 -1.67146889] [ 0. 0. 0. 1. ]] SLAMing on 184.518001145 meters Centerline goodness : 0.886800 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.67 [[ 0.45580212 -0.76796264 -0.44997534 4.47352124] [ 0.83503354 0.54397266 -0.08253924 -3.28442761] [ 0.30816134 -0.33812294 0.88921846 -1.66975184] [ 0. 0. 0. 1. ]] SLAMing on 184.578001145 meters Centerline goodness : 0.886332 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.28, Z:-1.67 [[ 0.4541428 -0.76951433 -0.44900113 4.47522126] [ 0.83615608 0.54211836 -0.08337081 -3.28396852] [ 0.30756679 -0.33757277 0.88963324 -1.66998212] [ 0. 0. 0. 1. ]] SLAMing on 184.638001145 meters Centerline goodness : 0.889185 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.29, Z:-1.67 [[ 0.45392158 -0.76978694 -0.44875746 4.47340954] [ 0.83648098 0.5416658 -0.08305262 -3.28553157] [ 0.30700939 -0.3376777 0.88978593 -1.66887018] [ 0. 0. 0. 1. ]] SLAMing on 184.698001145 meters Centerline goodness : 0.886374 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.67 [[ 0.45369066 -0.76940205 -0.44965015 4.47369239] [ 0.83638151 0.54179942 -0.08318267 -3.28449943] [ 0.30762111 -0.33833987 0.88932299 -1.66806803] [ 0. 0. 0. 1. ]] SLAMing on 184.75800114499998 meters Centerline goodness : 0.882195 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.67 [[ 0.45351146 -0.76913973 -0.45027928 4.47468988] [ 0.83615692 0.5420583 -0.08375208 -3.28262281] [ 0.30849467 -0.33852161 0.88895116 -1.66819876] [ 0. 0. 0. 1. ]] SLAMing on 184.81800114499998 meters Centerline goodness : 0.882394 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.28, Z:-1.67 [[ 0.45368556 -0.76868808 -0.45087476 4.47378226] [ 0.83586757 0.54249518 -0.08381158 -3.28250696] [ 0.30902235 -0.33884749 0.88864367 -1.66714324] [ 0. 0. 0. 1. ]] SLAMing on 184.87800114499998 meters Centerline goodness : 0.883927 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.29, Z:-1.66 [[ 0.45409716 -0.76737772 -0.45268886 4.47133828] [ 0.83258314 0.54637185 -0.09101162 -3.28700791] [ 0.31717674 -0.33557299 0.88701166 -1.6622757 ] [ 0. 0. 0. 1. ]] SLAMing on 184.938001145 meters Centerline goodness : 0.884287 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.29, Z:-1.66 [[ 0.45491939 -0.7672656 -0.45205294 4.47022957] [ 0.83220527 0.54696863 -0.09088295 -3.2882773 ] [ 0.31699014 -0.33485642 0.8873491 -1.66229201] [ 0. 0. 0. 1. ]] SLAMing on 184.998001145 meters Centerline goodness : 0.884269 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.30, Z:-1.66 [[ 0.45499502 -0.76727318 -0.45196393 4.46253727] [ 0.82968858 0.54959821 -0.09776841 -3.29687319] [ 0.32341365 -0.33050517 0.88666225 -1.65849172] [ 0. 0. 0. 1. ]] SLAMing on 185.058001145 meters Centerline goodness : 0.883103 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.30, Z:-1.66 [[ 0.45460213 -0.76792527 -0.45125123 4.46308331] [ 0.8300371 0.54901371 -0.09809362 -3.29641368] [ 0.32307168 -0.32996169 0.88698927 -1.65942201] [ 0. 0. 0. 1. ]] SLAMing on 185.118001145 meters Centerline goodness : 0.883561 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.30, Z:-1.66 [[ 0.45450519 -0.76834759 -0.45062957 4.46232476] [ 0.83017572 0.54875867 -0.09834737 -3.29673162] [ 0.32285185 -0.32940234 0.88727718 -1.65931783] [ 0. 0. 0. 1. ]] SLAMing on 185.178001145 meters Centerline goodness : 0.886711 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.30, Z:-1.66 [[ 0.45377955 -0.76882861 -0.45054044 4.45994242] [ 0.8307011 0.54795539 -0.09838985 -3.29819023] [ 0.32252099 -0.32961714 0.88731773 -1.6575045 ] [ 0. 0. 0. 1. ]] SLAMing on 185.238001145 meters Centerline goodness : 0.881366 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.30, Z:-1.66 [[ 0.4519086 -0.77143924 -0.44795102 4.45805193] [ 0.832149 0.54548001 -0.09989795 -3.29931492] [ 0.32141353 -0.32761725 0.8884595 -1.65672336] [ 0. 0. 0. 1. ]] SLAMing on 185.298001145 meters Centerline goodness : 0.883656 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.30, Z:-1.66 [[ 0.45041606 -0.77472085 -0.44377131 4.4554373 ] [ 0.83436816 0.54213735 -0.09958349 -3.30319765] [ 0.31773441 -0.32541465 0.89058978 -1.65937517] [ 0. 0. 0. 1. ]] SLAMing on 185.358001145 meters Centerline goodness : 0.882805 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.31, Z:-1.67 [[ 0.44955147 -0.77859246 -0.43783246 4.45017862] [ 0.83786893 0.53745936 -0.09546255 -3.31221758] [ 0.30964357 -0.32393088 0.89397407 -1.6688873 ] [ 0. 0. 0. 1. ]] SLAMing on 185.418001145 meters Centerline goodness : 0.889006 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.31, Z:-1.67 [[ 0.44909285 -0.77900533 -0.43756863 4.44879871] [ 0.83830235 0.53681088 -0.09530607 -3.31348891] [ 0.30913554 -0.32401354 0.89411993 -1.66773057] [ 0. 0. 0. 1. ]] SLAMing on 185.47800114499998 meters Centerline goodness : 0.885618 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.32, Z:-1.67 [[ 0.44976266 -0.77889413 -0.43707835 4.4512163 ] [ 0.83812704 0.5371715 -0.09481477 -3.31520945] [ 0.3086367 -0.32368304 0.89441192 -1.66853097] [ 0. 0. 0. 1. ]] SLAMing on 185.53800114499998 meters Centerline goodness : 0.890825 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.32, Z:-1.67 [[ 0.4493853 -0.77926204 -0.43681063 4.45202375] [ 0.83844972 0.53666718 -0.09481772 -3.31628973] [ 0.30830978 -0.32363407 0.89454238 -1.66790791] [ 0. 0. 0. 1. ]] SLAMing on 185.59800114499998 meters Centerline goodness : 0.891073 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.32, Z:-1.67 [[ 0.44842879 -0.77951199 -0.43734732 4.45319368] [ 0.83895346 0.53586545 -0.09489634 -3.31597701] [ 0.30833216 -0.3243598 0.89427177 -1.66710625] [ 0. 0. 0. 1. ]] SLAMing on 185.658001145 meters Centerline goodness : 0.890542 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.32, Z:-1.67 [[ 0.44737498 -0.77993109 -0.43767924 4.45779411] [ 0.83962615 0.53482507 -0.09481595 -3.31647058] [ 0.30803174 -0.32506866 0.8941179 -1.66698864] [ 0. 0. 0. 1. ]] SLAMing on 185.718001145 meters Centerline goodness : 0.891903 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.32, Z:-1.67 [[ 0.44699646 -0.77993271 -0.43806293 4.45925229] [ 0.83987159 0.53447895 -0.09459369 -3.31648935] [ 0.30791213 -0.32563357 0.89395352 -1.66672043] [ 0. 0. 0. 1. ]] SLAMing on 185.778001145 meters Centerline goodness : 0.894207 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.31, Z:-1.67 [[ 0.44655641 -0.78103508 -0.43654505 4.46506414] [ 0.84340384 0.53033719 -0.08609549 -3.31002708] [ 0.29875967 -0.32973728 0.89555345 -1.66976316] [ 0. 0. 0. 1. ]] SLAMing on 185.838001145 meters Centerline goodness : 0.891345 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.31, Z:-1.67 [[ 0.44648265 -0.78121968 -0.43629011 4.46539458] [ 0.84348618 0.53019382 -0.08617178 -3.31037069] [ 0.2986374 -0.32953047 0.89567035 -1.66959533] [ 0. 0. 0. 1. ]] SLAMing on 185.898001145 meters Centerline goodness : 0.893260 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.31, Z:-1.67 [[ 0.44830383 -0.78084386 -0.43509372 4.46687138] [ 0.84269517 0.53153559 -0.08564321 -3.31219033] [ 0.29814177 -0.3282572 0.89630279 -1.67168298] [ 0. 0. 0. 1. ]] SLAMing on 185.958001145 meters Centerline goodness : 0.895451 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.31, Z:-1.67 [[ 0.44952787 -0.78101254 -0.43352522 4.46555236] [ 0.84243698 0.53205144 -0.08497762 -3.31386204] [ 0.2970263 -0.32701787 0.89712579 -1.67358653] [ 0. 0. 0. 1. ]] SLAMing on 186.018001145 meters Centerline goodness : 0.890357 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.34, Z:-1.69 [[ 0.45188332 -0.78048201 -0.43202928 4.44518717] [ 0.84363296 0.5313077 -0.07743096 -3.34156748] [ 0.28997395 -0.32948438 0.89852944 -1.69007984] [ 0. 0. 0. 1. ]] SLAMing on 186.078001145 meters Centerline goodness : 0.889860 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.38, Z:-1.71 [[ 0.45271204 -0.7806031 -0.43094154 4.42412048] [ 0.84354455 0.5315549 -0.07669399 -3.37637556] [ 0.28893666 -0.32879809 0.8991148 -1.70838578] [ 0. 0. 0. 1. ]] SLAMing on 186.138001145 meters Centerline goodness : 0.890652 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.37, Z:-1.71 [[ 0.45289138 -0.77954469 -0.43266553 4.42582238] [ 0.84310045 0.5322844 -0.07651765 -3.37364531] [ 0.28995004 -0.33012632 0.8983015 -1.70896387] [ 0. 0. 0. 1. ]] SLAMing on 186.198001145 meters Centerline goodness : 0.890353 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.37, Z:-1.71 [[ 0.45493848 -0.78374345 -0.42282052 4.42560311] [ 0.84539021 0.52933291 -0.07156857 -3.36615895] [ 0.27990421 -0.32488903 0.90338295 -1.71227555] [ 0. 0. 0. 1. ]] SLAMing on 186.25800114499998 meters Centerline goodness : 0.888987 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.36, Z:-1.71 [[ 0.45555473 -0.78319334 -0.42317618 4.42526521] [ 0.8449158 0.53009715 -0.07151437 -3.36467262] [ 0.28033406 -0.32496953 0.90322069 -1.71319417] [ 0. 0. 0. 1. ]] SLAMing on 186.31800114499998 meters Centerline goodness : 0.890223 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.36, Z:-1.71 [[ 0.45702584 -0.7825914 -0.42270331 4.42248 ] [ 0.84401606 0.53152773 -0.07152032 -3.36469166] [ 0.28064972 -0.32408174 0.90344162 -1.71368449] [ 0. 0. 0. 1. ]] SLAMing on 186.37800114499998 meters Centerline goodness : 0.886898 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.36, Z:-1.72 [[ 0.45798141 -0.78668489 -0.41398057 4.42199579] [ 0.84678646 0.52779941 -0.06618514 -3.35677484] [ 0.27056555 -0.32024158 0.90787643 -1.71537755] [ 0. 0. 0. 1. ]] SLAMing on 186.438001145 meters Centerline goodness : 0.889699 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.35, Z:-1.72 [[ 0.45700868 -0.78750525 -0.41349553 4.42310103] [ 0.84715537 0.52704564 -0.06745865 -3.35292193] [ 0.27105505 -0.31946577 0.90800373 -1.71772156] [ 0. 0. 0. 1. ]] SLAMing on 186.498001145 meters Centerline goodness : 0.890535 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.35, Z:-1.72 [[ 0.45525041 -0.78818363 -0.41414204 4.42289245] [ 0.84804339 0.52554762 -0.06798617 -3.35069973] [ 0.27123695 -0.32025969 0.90766968 -1.71719152] [ 0. 0. 0. 1. ]] SLAMing on 186.558001145 meters Centerline goodness : 0.892422 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.35, Z:-1.72 [[ 0.45338433 -0.78930226 -0.41405868 4.42369772] [ 0.8490591 0.52379926 -0.06879665 -3.34851945] [ 0.27118498 -0.32036897 0.90764664 -1.71765371] [ 0. 0. 0. 1. ]] SLAMing on 186.618001145 meters Centerline goodness : 0.894896 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.35, Z:-1.72 [[ 0.45257102 -0.78898659 -0.41554738 4.42349779] [ 0.84934483 0.52335408 -0.06865763 -3.3469631 ] [ 0.27164837 -0.32187057 0.90697657 -1.71662274] [ 0. 0. 0. 1. ]] SLAMing on 186.678001145 meters Centerline goodness : 0.893360 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.35, Z:-1.72 [[ 0.45104341 -0.79008942 -0.4151127 4.42092514] [ 0.85011749 0.52195434 -0.0697418 -3.34526221] [ 0.27177213 -0.32143798 0.9070929 -1.71580541] [ 0. 0. 0. 1. ]] SLAMing on 186.738001145 meters Centerline goodness : 0.890061 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.34, Z:-1.72 [[ 0.45019944 -0.790307 -0.41561438 4.42419104] [ 0.85030773 0.52152437 -0.0706335 -3.34155639] [ 0.27257518 -0.32160095 0.90679413 -1.71758977] [ 0. 0. 0. 1. ]] SLAMing on 186.798001145 meters Centerline goodness : 0.891371 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.34, Z:-1.72 [[ 0.44820223 -0.79106948 -0.41632179 4.42545396] [ 0.85102336 0.52014643 -0.07215909 -3.33793146] [ 0.27363115 -0.3219577 0.9063494 -1.71704692] [ 0. 0. 0. 1. ]] SLAMing on 186.858001145 meters Centerline goodness : 0.892841 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.34, Z:-1.72 [[ 0.44733267 -0.79132149 -0.41677785 4.42485813] [ 0.8512297 0.51968188 -0.07306671 -3.33581872] [ 0.27441115 -0.32208856 0.90606704 -1.71637428] [ 0. 0. 0. 1. ]] SLAMing on 186.918001145 meters Centerline goodness : 0.895060 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.33, Z:-1.72 [[ 0.44934667 -0.78877009 -0.41943929 4.42683172] [ 0.84965075 0.52238869 -0.0721364 -3.33378305] [ 0.27600938 -0.32396266 0.90491271 -1.71722339] [ 0. 0. 0. 1. ]] SLAMing on 186.97800114499998 meters Centerline goodness : 0.894609 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.33, Z:-1.72 [[ 0.45062596 -0.78829353 -0.41896247 4.42635367] [ 0.84880999 0.52371359 -0.07242706 -3.33296588] [ 0.27651012 -0.32298202 0.90511036 -1.71833895] [ 0. 0. 0. 1. ]] SLAMing on 187.03800114499998 meters Centerline goodness : 0.897312 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.33, Z:-1.72 [[ 0.45364189 -0.78485908 -0.42214364 4.42585081] [ 0.84655458 0.52753432 -0.07108358 -3.33123137] [ 0.27848585 -0.32512115 0.90373772 -1.71854385] [ 0. 0. 0. 1. ]] SLAMing on 187.09800114499998 meters Centerline goodness : 0.894824 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.33, Z:-1.72 [[ 0.45427724 -0.78485158 -0.42147383 4.42352593] [ 0.84618351 0.52809318 -0.07135165 -3.33076372] [ 0.27857791 -0.32423077 0.90402918 -1.71897314] [ 0. 0. 0. 1. ]] SLAMing on 187.158001145 meters Centerline goodness : 0.894059 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.33, Z:-1.72 [[ 0.45450544 -0.78536812 -0.42026387 4.42177206] [ 0.84608523 0.52816451 -0.07198628 -3.33031766] [ 0.27850419 -0.3228609 0.90454202 -1.7196958 ] [ 0. 0. 0. 1. ]] SLAMing on 187.218001145 meters Centerline goodness : 0.890607 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.33, Z:-1.72 [[ 0.4536486 -0.78609178 -0.41983646 4.41862199] [ 0.84652366 0.52736106 -0.0727186 -3.32894262] [ 0.2785689 -0.32241281 0.9046819 -1.71924358] [ 0. 0. 0. 1. ]] SLAMing on 187.278001145 meters Centerline goodness : 0.890889 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.33, Z:-1.72 [[ 0.45277224 -0.78709993 -0.41889258 4.4168406 ] [ 0.84706959 0.5263774 -0.07348429 -3.32819709] [ 0.27833507 -0.32155952 0.90505749 -1.71916875] [ 0. 0. 0. 1. ]] SLAMing on 187.338001145 meters Centerline goodness : 0.889615 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.33, Z:-1.72 [[ 0.45230908 -0.7880083 -0.4176834 4.41693557] [ 0.84743703 0.52569881 -0.07410291 -3.32724433] [ 0.27796937 -0.32044296 0.90556576 -1.72055808] [ 0. 0. 0. 1. ]] SLAMing on 187.398001145 meters Centerline goodness : 0.891368 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.33, Z:-1.72 [[ 0.45192315 -0.78723206 -0.41956067 4.41577238] [ 0.8473911 0.52581028 -0.07383688 -3.32544089] [ 0.27873607 -0.32216338 0.90471927 -1.71932173] [ 0. 0. 0. 1. ]] SLAMing on 187.458001145 meters Centerline goodness : 0.890817 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.32, Z:-1.72 [[ 0.45327862 -0.78416242 -0.4238252 4.41701081] [ 0.846046 0.52817282 -0.07238529 -3.32234755] [ 0.28061477 -0.32576491 0.90284693 -1.71918488] [ 0. 0. 0. 1. ]] SLAMing on 187.518001145 meters Centerline goodness : 0.890032 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.32, Z:-1.72 [[ 0.45274733 -0.78460076 -0.42358176 4.41759887] [ 0.84629598 0.52770199 -0.07289534 -3.32094857] [ 0.28071867 -0.32547237 0.90292013 -1.71989167] [ 0. 0. 0. 1. ]] SLAMing on 187.578001145 meters Centerline goodness : 0.891141 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.32, Z:-1.72 [[ 0.45163548 -0.78573384 -0.4226674 4.41551553] [ 0.8469888 0.52647981 -0.07368159 -3.32027342] [ 0.28041997 -0.32471733 0.90328473 -1.71951572] [ 0. 0. 0. 1. ]] SLAMing on 187.638001145 meters Centerline goodness : 0.890446 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.32, Z:-1.71 [[ 0.45039393 -0.78168194 -0.43141472 4.4148259 ] [ 0.84295145 0.53153887 -0.08306189 -3.32242986] [ 0.29424167 -0.32625109 0.8983218 -1.71270618] [ 0. 0. 0. 1. ]] SLAMing on 187.698001145 meters Centerline goodness : 0.887815 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.32, Z:-1.71 [[ 0.45090798 -0.78092378 -0.43224998 4.41589415] [ 0.84229928 0.53251675 -0.08341359 -3.31867116] [ 0.29532001 -0.326472 0.89788759 -1.71473288] [ 0. 0. 0. 1. ]] SLAMing on 187.75800114499998 meters Centerline goodness : 0.889310 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.32, Z:-1.72 [[ 0.45138557 -0.7802542 -0.43296011 4.41736103] [ 0.84171317 0.53339502 -0.08371795 -3.31557908] [ 0.29626004 -0.32663915 0.89751705 -1.71629712] [ 0. 0. 0. 1. ]] SLAMing on 187.81800114499998 meters Centerline goodness : 0.888455 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.31, Z:-1.72 [[ 0.45196213 -0.77972435 -0.43331301 4.41524786] [ 0.84130439 0.53407059 -0.08351959 -3.31426607] [ 0.29654199 -0.32680045 0.89736521 -1.71700195] [ 0. 0. 0. 1. ]] SLAMing on 187.87800114499998 meters Centerline goodness : 0.888224 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.31, Z:-1.72 [[ 0.45167094 -0.77937994 -0.43423526 4.41554785] [ 0.84115671 0.53423782 -0.08393653 -3.31071638] [ 0.29740335 -0.32734822 0.89688037 -1.7179812 ] [ 0. 0. 0. 1. ]] SLAMing on 187.938001145 meters Centerline goodness : 0.886940 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.31, Z:-1.72 [[ 0.45223842 -0.77942353 -0.43356589 4.41472073] [ 0.84083992 0.53469843 -0.08417734 -3.30938182] [ 0.2974368 -0.32649128 0.89718158 -1.71959742] [ 0. 0. 0. 1. ]] SLAMing on 187.998001145 meters Centerline goodness : 0.884016 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.31, Z:-1.72 [[ 0.45413163 -0.77685545 -0.43618811 4.41389727] [ 0.83937091 0.53720519 -0.0828677 -3.30674241] [ 0.29869874 -0.32849077 0.89603174 -1.72086782] [ 0. 0. 0. 1. ]] SLAMing on 188.058001145 meters Centerline goodness : 0.884200 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.31, Z:-1.72 [[ 0.45543216 -0.77652431 -0.4354211 4.41115032] [ 0.83856043 0.53842922 -0.08312871 -3.30564501] [ 0.2989949 -0.32726742 0.89638055 -1.72219407] [ 0. 0. 0. 1. ]] SLAMing on 188.118001145 meters Centerline goodness : 0.885433 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.30, Z:-1.72 [[ 0.45747305 -0.7748387 -0.43628362 4.4099797 ] [ 0.83723248 0.54062554 -0.08225451 -3.30464693] [ 0.29960005 -0.32764159 0.89604174 -1.72367853] [ 0. 0. 0. 1. ]] SLAMing on 188.178001145 meters Centerline goodness : 0.885372 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.30, Z:-1.72 [[ 0.45752142 -0.77521752 -0.43555935 4.40809643] [ 0.83727358 0.54051901 -0.08253572 -3.30447808] [ 0.29941125 -0.32692048 0.89636818 -1.7239278 ] [ 0. 0. 0. 1. ]] SLAMing on 188.238001145 meters Centerline goodness : 0.884830 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.31, Z:-1.72 [[ 0.45535898 -0.77854542 -0.4318741 4.40534434] [ 0.83895139 0.53759664 -0.08456019 -3.30548072] [ 0.29800801 -0.32381613 0.89796121 -1.72352451] [ 0. 0. 0. 1. ]] SLAMing on 188.298001145 meters Centerline goodness : 0.884286 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.30, Z:-1.72 [[ 0.45289227 -0.78035353 -0.43120407 4.40499119] [ 0.84030452 0.53524021 -0.08605941 -3.30405762] [ 0.29795452 -0.32336709 0.89814076 -1.72245583] [ 0. 0. 0. 1. ]] SLAMing on 188.358001145 meters Centerline goodness : 0.883591 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.30, Z:-1.72 [[ 0.45149546 -0.78175751 -0.43012444 4.40276272] [ 0.84106625 0.53382733 -0.08738386 -3.30177413] [ 0.29792517 -0.32230974 0.89853048 -1.72284029] [ 0. 0. 0. 1. ]] SLAMing on 188.418001145 meters Centerline goodness : 0.879406 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.30, Z:-1.72 [[ 0.45088342 -0.78229622 -0.42978689 4.40364294] [ 0.84121515 0.53342128 -0.08842403 -3.29995944] [ 0.29843126 -0.32167431 0.89859024 -1.723148 ] [ 0. 0. 0. 1. ]] SLAMing on 188.47800114499998 meters Centerline goodness : 0.882769 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.30, Z:-1.72 [[ 0.44982098 -0.78239883 -0.43071239 4.40355219] [ 0.84142494 0.53293776 -0.08933871 -3.29709561] [ 0.2994414 -0.32222572 0.89805648 -1.72245348] [ 0. 0. 0. 1. ]] SLAMing on 188.53800114499998 meters Centerline goodness : 0.881554 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.30, Z:-1.72 [[ 0.44990578 -0.78222366 -0.43094191 4.40151152] [ 0.84105516 0.53339033 -0.09011645 -3.29513301] [ 0.30035146 -0.32190201 0.89786864 -1.72197743] [ 0. 0. 0. 1. ]] SLAMing on 188.59800114499998 meters Centerline goodness : 0.876984 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.30, Z:-1.72 [[ 0.44968066 -0.7830656 -0.42964587 4.40025138] [ 0.84137856 0.5328167 -0.09049026 -3.29605579] [ 0.2997823 -0.3208031 0.89845197 -1.72190146] [ 0. 0. 0. 1. ]] SLAMing on 188.658001145 meters Centerline goodness : 0.875775 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.30, Z:-1.72 [[ 0.44859396 -0.78360044 -0.42980672 4.39829236] [ 0.84199066 0.53180298 -0.09075969 -3.29633439] [ 0.29969182 -0.321179 0.89834785 -1.72017953] [ 0. 0. 0. 1. ]] SLAMing on 188.718001145 meters Centerline goodness : 0.875837 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.30, Z:-1.72 [[ 0.44751337 -0.78427679 -0.42969956 4.39711078] [ 0.84257822 0.5307847 -0.09126633 -3.29600674] [ 0.29965601 -0.32121258 0.89834779 -1.71898166] [ 0. 0. 0. 1. ]] SLAMing on 188.778001145 meters Centerline goodness : 0.874729 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.31, Z:-1.72 [[ 0.44599574 -0.78641042 -0.42737157 4.3887632 ] [ 0.84206158 0.53050792 -0.09743531 -3.309743 ] [ 0.30334814 -0.31641745 0.89881027 -1.7187844 ] [ 0. 0. 0. 1. ]] SLAMing on 188.838001145 meters Centerline goodness : 0.875196 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.31, Z:-1.72 [[ 0.44348313 -0.78819944 -0.42669001 4.38867381] [ 0.84344083 0.52805658 -0.09881206 -3.30869483] [ 0.30320008 -0.31606629 0.89898377 -1.71756235] [ 0. 0. 0. 1. ]] SLAMing on 188.898001145 meters Centerline goodness : 0.875680 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.31, Z:-1.72 [[ 0.4429028 -0.78878121 -0.42621745 4.3887489 ] [ 0.84376811 0.52744001 -0.09930967 -3.30781026] [ 0.30313774 -0.31564416 0.89915309 -1.7179469 ] [ 0. 0. 0. 1. ]] SLAMing on 188.958001145 meters Centerline goodness : 0.876651 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.31, Z:-1.72 [[ 0.44378977 -0.78916676 -0.42457798 4.38805944] [ 0.84347499 0.52786997 -0.09951495 -3.30889075] [ 0.30265586 -0.31395719 0.89990572 -1.71892965] [ 0. 0. 0. 1. ]] SLAMing on 189.018001145 meters Centerline goodness : 0.875327 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.31, Z:-1.72 [[ 0.44376851 -0.78911214 -0.42470171 4.38529798] [ 0.84332726 0.52803073 -0.09991338 -3.30819012] [ 0.30309842 -0.31382412 0.89980318 -1.71787022] [ 0. 0. 0. 1. ]] SLAMing on 189.078001145 meters Centerline goodness : 0.872817 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.31, Z:-1.72 [[ 0.44520602 -0.78671525 -0.42763387 4.38608089] [ 0.84209424 0.5302154 -0.0987366 -3.30619089] [ 0.30441565 -0.31614989 0.89854347 -1.71818041] [ 0. 0. 0. 1. ]] SLAMing on 189.138001145 meters Centerline goodness : 0.872000 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.31, Z:-1.72 [[ 0.4453607 -0.78718093 -0.42661461 4.38350979] [ 0.84214255 0.53009464 -0.09897271 -3.30694147] [ 0.30405555 -0.31519176 0.89900188 -1.71790876] [ 0. 0. 0. 1. ]] SLAMing on 189.198001145 meters Centerline goodness : 0.869889 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.31, Z:-1.72 [[ 0.44366842 -0.78833228 -0.42625174 4.38351967] [ 0.84297919 0.52855003 -0.1001047 -3.305461 ] [ 0.30421114 -0.31490805 0.89904866 -1.71723648] [ 0. 0. 0. 1. ]] SLAMing on 189.25800114499998 meters Centerline goodness : 0.869855 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.30, Z:-1.72 [[ 0.44238987 -0.78927865 -0.42582909 4.38354394] [ 0.84363544 0.52733564 -0.1009771 -3.30443305] [ 0.30425392 -0.31457327 0.89915138 -1.71685772] [ 0. 0. 0. 1. ]] SLAMing on 189.31800114499998 meters Centerline goodness : 0.871839 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.30, Z:-1.72 [[ 0.44170792 -0.78863253 -0.42772987 4.38585732] [ 0.84349188 0.52747008 -0.10147297 -3.30140156] [ 0.3056396 -0.31596525 0.89819285 -1.7165077 ] [ 0. 0. 0. 1. ]] SLAMing on 189.37800114499998 meters Centerline goodness : 0.869331 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.30, Z:-1.72 [[ 0.44051758 -0.78940122 -0.42753944 4.38528864] [ 0.84407048 0.52639611 -0.10223583 -3.30079823] [ 0.30576018 -0.31583674 0.89819701 -1.71549302] [ 0. 0. 0. 1. ]] SLAMing on 189.438001145 meters Centerline goodness : 0.864968 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.30, Z:-1.71 [[ 0.43850525 -0.79058495 -0.42742086 4.38598744] [ 0.8451039 0.52454449 -0.10321087 -3.30037982] [ 0.30579821 -0.31595653 0.89814193 -1.71392174] [ 0. 0. 0. 1. ]] SLAMing on 189.498001145 meters Centerline goodness : 0.865162 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.30, Z:-1.71 [[ 0.43777496 -0.79100706 -0.42738847 4.38708027] [ 0.84537303 0.52398169 -0.10386351 -3.29955315] [ 0.3061005 -0.31583384 0.89808211 -1.71349247] [ 0. 0. 0. 1. ]] SLAMing on 189.558001145 meters Centerline goodness : 0.867833 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.30, Z:-1.71 [[ 0.43671635 -0.79159576 -0.42738155 4.38944072] [ 0.84582175 0.52310908 -0.10460616 -3.29839248] [ 0.30637296 -0.31580539 0.8979992 -1.71335143] [ 0. 0. 0. 1. ]] SLAMing on 189.618001145 meters Centerline goodness : 0.864834 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.30, Z:-1.71 [[ 0.43791444 -0.78936431 -0.43027308 4.38841319] [ 0.84494828 0.52485195 -0.10292148 -3.29938158] [ 0.30707221 -0.3184877 0.89681227 -1.71140998] [ 0. 0. 0. 1. ]] SLAMing on 189.678001145 meters Centerline goodness : 0.865026 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.30, Z:-1.71 [[ 0.43798103 -0.78959691 -0.42977824 4.38951334] [ 0.84496821 0.52479212 -0.10306291 -3.29996495] [ 0.30692238 -0.31800935 0.89703328 -1.71154426] [ 0. 0. 0. 1. ]] SLAMing on 189.738001145 meters Centerline goodness : 0.865163 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.30, Z:-1.71 [[ 0.43669035 -0.79227111 -0.42615494 4.38738004] [ 0.84620021 0.5225469 -0.10435489 -3.30252964] [ 0.3053633 -0.31504163 0.89861117 -1.71099885] [ 0. 0. 0. 1. ]] SLAMing on 189.798001145 meters Centerline goodness : 0.863925 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.30, Z:-1.71 [[ 0.43595507 -0.79172292 -0.42792288 4.38865396] [ 0.84639927 0.5222894 -0.10402911 -3.30135082] [ 0.30586182 -0.31684159 0.89780842 -1.71014286] [ 0. 0. 0. 1. ]] SLAMing on 189.858001145 meters Centerline goodness : 0.867496 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.30, Z:-1.71 [[ 0.43443164 -0.79474683 -0.42384741 4.38992768] [ 0.84780082 0.51970987 -0.10552447 -3.302621 ] [ 0.30414292 -0.31349502 0.89956543 -1.71199398] [ 0. 0. 0. 1. ]] SLAMing on 189.918001145 meters Centerline goodness : 0.865781 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.30, Z:-1.71 [[ 0.43479439 -0.79484791 -0.42328553 4.3877043 ] [ 0.84768425 0.51989787 -0.10553488 -3.30298003] [ 0.30394942 -0.3129265 0.89982874 -1.71194236] [ 0. 0. 0. 1. ]] SLAMing on 189.97800114499998 meters Centerline goodness : 0.865056 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.30, Z:-1.71 [[ 0.43584752 -0.79423066 -0.42336108 4.38764658] [ 0.84694698 0.52107971 -0.10562552 -3.30156959] [ 0.30449589 -0.31252776 0.89978256 -1.71316016] [ 0. 0. 0. 1. ]] SLAMing on 190.03800114499998 meters Centerline goodness : 0.860812 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.30, Z:-1.71 [[ 0.43803383 -0.79367948 -0.42213653 4.38631723] [ 0.84584563 0.52290361 -0.10543713 -3.30263672] [ 0.30442 -0.31087731 0.90037979 -1.71455263] [ 0. 0. 0. 1. ]] SLAMing on 190.09800114499998 meters Centerline goodness : 0.862962 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.30, Z:-1.72 [[ 0.43970288 -0.79669076 -0.41466277 4.38527874] [ 0.84849856 0.51984664 -0.09904373 -3.29555896] [ 0.29446827 -0.30829096 0.90456903 -1.71555082] [ 0. 0. 0. 1. ]] SLAMing on 190.158001145 meters Centerline goodness : 0.862041 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.29, Z:-1.72 [[ 0.4409462 -0.79391726 -0.41864284 4.38701943] [ 0.84733517 0.52203052 -0.09750511 -3.29310325] [ 0.29595533 -0.3117363 0.90290139 -1.71558214] [ 0. 0. 0. 1. ]] SLAMing on 190.218001145 meters Centerline goodness : 0.859956 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.29, Z:-1.72 [[ 0.43902754 -0.79693191 -0.41491487 4.38582113] [ 0.84870609 0.51940252 -0.09959416 -3.29332933] [ 0.29487759 -0.3084162 0.90439297 -1.71612683] [ 0. 0. 0. 1. ]] SLAMing on 190.278001145 meters Centerline goodness : 0.857863 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.29, Z:-1.72 [[ 0.43746089 -0.79775655 -0.41498489 4.38550001] [ 0.84938619 0.51809761 -0.10058804 -3.29178539] [ 0.29524745 -0.3084791 0.90425084 -1.71502774] [ 0. 0. 0. 1. ]] SLAMing on 190.338001145 meters Centerline goodness : 0.856500 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.29, Z:-1.72 [[ 0.43592294 -0.79797165 -0.41618799 4.387203 ] [ 0.84977223 0.51725135 -0.1016769 -3.2876452 ] [ 0.29640908 -0.3093417 0.90357588 -1.71512019] [ 0. 0. 0. 1. ]] SLAMing on 190.398001145 meters Centerline goodness : 0.857353 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.28, Z:-1.72 [[ 0.43527207 -0.79806824 -0.41668371 4.38787057] [ 0.84981153 0.51702037 -0.10251977 -3.2839915 ] [ 0.29725174 -0.30947863 0.90325211 -1.71628511] [ 0. 0. 0. 1. ]] SLAMing on 190.458001145 meters Centerline goodness : 0.855410 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.28, Z:-1.72 [[ 0.43729171 -0.79551154 -0.41944887 4.38630433] [ 0.8482705 0.51976288 -0.10140857 -3.28104541] [ 0.29868564 -0.31146097 0.90209697 -1.71725909] [ 0. 0. 0. 1. ]] SLAMing on 190.518001145 meters Centerline goodness : 0.852205 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.28, Z:-1.72 [[ 0.43815105 -0.79411995 -0.42118541 4.3857274 ] [ 0.847302 0.52132379 -0.10149297 -3.2775286 ] [ 0.30017157 -0.31240199 0.90127799 -1.7180082 ] [ 0. 0. 0. 1. ]] SLAMing on 190.578001145 meters Centerline goodness : 0.851711 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.27, Z:-1.72 [[ 0.4380285 -0.79366237 -0.42217423 4.38480075] [ 0.84685353 0.52186947 -0.10242733 -3.2729785 ] [ 0.30161256 -0.31265365 0.90070948 -1.71899951] [ 0. 0. 0. 1. ]] SLAMing on 190.638001145 meters Centerline goodness : 0.852993 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.27, Z:-1.72 [[ 0.43706891 -0.79224825 -0.4258092 4.38559501] [ 0.84670366 0.52212594 -0.10235927 -3.26810009] [ 0.30341998 -0.31579615 0.89900451 -1.71836754] [ 0. 0. 0. 1. ]] SLAMing on 190.698001145 meters Centerline goodness : 0.852705 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.27, Z:-1.71 [[ 0.43533818 -0.78793915 -0.43546822 4.38563013] [ 0.84234592 0.52720597 -0.11183568 -3.26784169] [ 0.31770115 -0.31812854 0.89323021 -1.71290415] [ 0. 0. 0. 1. ]] SLAMing on 190.75800114499998 meters Centerline goodness : 0.853459 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.27, Z:-1.71 [[ 0.43446165 -0.78914691 -0.4341546 4.3836997 ] [ 0.84278714 0.52622616 -0.11311883 -3.26574878] [ 0.31773088 -0.31675412 0.89370796 -1.71369206] [ 0. 0. 0. 1. ]] SLAMing on 190.81800114499998 meters Centerline goodness : 0.845700 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.26, Z:-1.71 [[ 0.43471783 -0.78683069 -0.43808433 4.38276472] [ 0.8417009 0.52797647 -0.11305061 -3.2598505 ] [ 0.32024991 -0.31959086 0.89179688 -1.71349188] [ 0. 0. 0. 1. ]] SLAMing on 190.87800114499998 meters Centerline goodness : 0.842591 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.26, Z:-1.71 [[ 0.43383186 -0.78730961 -0.43810215 4.38197305] [ 0.84176209 0.52756207 -0.11452003 -3.25514765] [ 0.3212888 -0.31909534 0.89160062 -1.7146276 ] [ 0. 0. 0. 1. ]] SLAMing on 190.938001145 meters Centerline goodness : 0.840675 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.25, Z:-1.71 [[ 0.43261187 -0.78752749 -0.43891619 4.38215113] [ 0.8420447 0.52690686 -0.11545507 -3.25244428] [ 0.322192 -0.31963982 0.89107952 -1.71384768] [ 0. 0. 0. 1. ]] SLAMing on 190.998001145 meters Centerline goodness : 0.842946 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.25, Z:-1.71 [[ 0.43097543 -0.78330976 -0.4479799 4.37998289] [ 0.83750398 0.53204054 -0.12457906 -3.2545914 ] [ 0.33592747 -0.32149444 0.88532145 -1.70671835] [ 0. 0. 0. 1. ]] SLAMing on 191.058001145 meters Centerline goodness : 0.840948 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.25, Z:-1.71 [[ 0.43048939 -0.78387657 -0.44745548 4.3775508 ] [ 0.83756428 0.53169483 -0.1256451 -3.25268958] [ 0.33640002 -0.32068384 0.885436 -1.70647824] [ 0. 0. 0. 1. ]] SLAMing on 191.118001145 meters Centerline goodness : 0.840142 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.26, Z:-1.70 [[ 0.43038334 -0.7778668 -0.45792294 4.37812964] [ 0.83226644 0.53836024 -0.13229069 -3.25696146] [ 0.34943204 -0.32417819 0.87909371 -1.70135087] [ 0. 0. 0. 1. ]] SLAMing on 191.178001145 meters Centerline goodness : 0.838653 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.25, Z:-1.70 [[ 0.43035832 -0.77806217 -0.45761444 4.3772577 ] [ 0.83200562 0.53853833 -0.13320331 -3.25435842] [ 0.35008337 -0.32341263 0.87911655 -1.70203301] [ 0. 0. 0. 1. ]] SLAMing on 191.238001145 meters Centerline goodness : 0.838803 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.26, Z:-1.70 [[ 0.43139682 -0.77105109 -0.46837699 4.38007927] [ 0.82650212 0.54590128 -0.13742646 -3.26040949] [ 0.36165042 -0.32782924 0.87277543 -1.70095137] [ 0. 0. 0. 1. ]] SLAMing on 191.298001145 meters Centerline goodness : 0.837615 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.26, Z:-1.70 [[ 0.43108145 -0.77091967 -0.46888341 4.37851059] [ 0.82630785 0.54603189 -0.13807427 -3.25862055] [ 0.36246947 -0.32792078 0.8724012 -1.70010872] [ 0. 0. 0. 1. ]] SLAMing on 191.358001145 meters Centerline goodness : 0.835343 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.26, Z:-1.70 [[ 0.43262917 -0.7680881 -0.47209392 4.3798985 ] [ 0.8247235 0.54870373 -0.13695021 -3.25629595] [ 0.36422952 -0.33009829 0.87084555 -1.70003205] [ 0. 0. 0. 1. ]] SLAMing on 191.418001145 meters Centerline goodness : 0.833354 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.25, Z:-1.70 [[ 0.43306753 -0.76719709 -0.47313966 4.38205591] [ 0.82406011 0.54967792 -0.13703697 -3.25347053] [ 0.36520879 -0.33054926 0.87026417 -1.70104642] [ 0. 0. 0. 1. ]] SLAMing on 191.47800114499998 meters Centerline goodness : 0.835519 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.25, Z:-1.70 [[ 0.43302888 -0.76734249 -0.4729392 4.38189279] [ 0.82384633 0.54981872 -0.13775558 -3.25165747] [ 0.36573654 -0.32997708 0.87025968 -1.70143172] [ 0. 0. 0. 1. ]] SLAMing on 191.53800114499998 meters Centerline goodness : 0.835586 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.25, Z:-1.70 [[ 0.43270041 -0.76709643 -0.4736385 4.38257917] [ 0.82360134 0.55002496 -0.13839572 -3.24905148] [ 0.36667585 -0.33020542 0.86977767 -1.70147052] [ 0. 0. 0. 1. ]] SLAMing on 191.59800114499998 meters Centerline goodness : 0.835941 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.25, Z:-1.70 [[ 0.432991 -0.76734623 -0.47296782 4.37890004] [ 0.82350521 0.55011485 -0.13861031 -3.24948024] [ 0.36654873 -0.32947445 0.8701084 -1.70097807] [ 0. 0. 0. 1. ]] SLAMing on 191.658001145 meters Centerline goodness : 0.834020 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.30, Z:-1.72 [[ 0.43460054 -0.77383538 -0.46076151 4.33783757] [ 0.82247604 0.54946676 -0.14703549 -3.30136699] [ 0.3669544 -0.3150636 0.87525962 -1.72303948] [ 0. 0. 0. 1. ]] SLAMing on 191.718001145 meters Centerline goodness : 0.837238 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-3.36, Z:-1.75 [[ 0.43338631 -0.78237301 -0.44729049 4.29312939] [ 0.82413635 0.54489135 -0.15457265 -3.35979134] [ 0.36465818 -0.30163868 0.88093048 -1.74718862] [ 0. 0. 0. 1. ]] SLAMing on 191.778001145 meters Centerline goodness : 0.834391 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-3.37, Z:-1.74 [[ 0.42942555 -0.7807728 -0.4538585 4.29450849] [ 0.82081132 0.54702345 -0.16442058 -3.36545348] [ 0.37664636 -0.30192579 0.87577299 -1.73963353] [ 0. 0. 0. 1. ]] SLAMing on 191.838001145 meters Centerline goodness : 0.834714 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-3.42, Z:-1.77 [[ 0.42995368 -0.78562198 -0.44490218 4.25148382] [ 0.82061673 0.5455262 -0.17026257 -3.42365109] [ 0.37646781 -0.29188915 0.87924553 -1.7670959 ] [ 0. 0. 0. 1. ]] SLAMing on 191.898001145 meters Centerline goodness : 0.836142 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-3.43, Z:-1.77 [[ 0.43219122 -0.77779172 -0.45634503 4.2545799 ] [ 0.81457485 0.55382373 -0.17247348 -3.43268478] [ 0.38688315 -0.29718566 0.87292733 -1.76628248] [ 0. 0. 0. 1. ]] SLAMing on 191.958001145 meters Centerline goodness : 0.837235 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-3.43, Z:-1.77 [[ 0.43369402 -0.77723975 -0.45585948 4.25426198] [ 0.81397076 0.55493122 -0.17176423 -3.43371814] [ 0.38647265 -0.29656316 0.87332078 -1.76749083] [ 0. 0. 0. 1. ]] SLAMing on 192.018001145 meters Centerline goodness : 0.832798 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-3.43, Z:-1.77 [[ 0.43483082 -0.77658164 -0.45589814 4.25482761] [ 0.81335353 0.55598035 -0.17129473 -3.43380055] [ 0.38649475 -0.29632213 0.87339281 -1.76835367] [ 0. 0. 0. 1. ]] SLAMing on 192.078001145 meters Centerline goodness : 0.835117 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.43, Z:-1.77 [[ 0.43697422 -0.77363443 -0.45884998 4.25857063] [ 0.81164832 0.55900181 -0.16954049 -3.43222269] [ 0.38766033 -0.29833999 0.87218847 -1.76963411] [ 0. 0. 0. 1. ]] SLAMing on 192.138001145 meters Centerline goodness : 0.835098 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.43, Z:-1.77 [[ 0.43731136 -0.77942465 -0.44861564 4.25901199] [ 0.81636808 0.55330595 -0.16551641 -3.42525438] [ 0.37722927 -0.29385328 0.87826438 -1.77143763] [ 0. 0. 0. 1. ]] SLAMing on 192.198001145 meters Centerline goodness : 0.838835 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.42, Z:-1.77 [[ 0.43725428 -0.7847176 -0.43934837 4.25925149] [ 0.82124781 0.54751107 -0.16057293 -3.41848726] [ 0.36655249 -0.29060269 0.88384917 -1.77251844] [ 0. 0. 0. 1. ]] SLAMing on 192.25800114499998 meters Centerline goodness : 0.836481 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.42, Z:-1.77 [[ 0.43533283 -0.78767742 -0.4359468 4.2600649 ] [ 0.82298617 0.54448442 -0.16195825 -3.42044671] [ 0.3649371 -0.28827244 0.88527957 -1.77302394] [ 0. 0. 0. 1. ]] SLAMing on 192.31800114499998 meters Centerline goodness : 0.842259 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.41, Z:-1.77 [[ 0.43382621 -0.79439001 -0.42513449 4.26132188] [ 0.82846822 0.53718238 -0.15835246 -3.41362303] [ 0.35416837 -0.28351297 0.89117067 -1.7741233 ] [ 0. 0. 0. 1. ]] SLAMing on 192.37800114499998 meters Centerline goodness : 0.841612 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.42, Z:-1.77 [[ 0.43299286 -0.79462046 -0.42555317 4.26177567] [ 0.82898833 0.53643097 -0.15817763 -3.41549258] [ 0.35397108 -0.28428883 0.89100187 -1.77220425] [ 0. 0. 0. 1. ]] SLAMing on 192.438001145 meters Centerline goodness : 0.844489 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.42, Z:-1.77 [[ 0.43332957 -0.79550778 -0.42354795 4.26297047] [ 0.82935788 0.5359046 -0.15802458 -3.41847996] [ 0.35269107 -0.2827961 0.89198395 -1.77306175] [ 0. 0. 0. 1. ]] SLAMing on 192.498001145 meters Centerline goodness : 0.848172 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.42, Z:-1.78 [[ 0.43353515 -0.80097104 -0.41290758 4.26293677] [ 0.83512336 0.52926202 -0.14983551 -3.41656291] [ 0.3385502 -0.27986981 0.89836332 -1.77901804] [ 0. 0. 0. 1. ]] SLAMing on 192.558001145 meters Centerline goodness : 0.847884 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.41, Z:-1.78 [[ 0.43336308 -0.80567633 -0.40383424 4.26473561] [ 0.83922611 0.52409199 -0.14500728 -3.41230728] [ 0.32847522 -0.27606744 0.90326674 -1.77743578] [ 0. 0. 0. 1. ]] SLAMing on 192.618001145 meters Centerline goodness : 0.849350 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.42, Z:-1.78 [[ 0.43468712 -0.80542171 -0.40291807 4.26810859] [ 0.83889795 0.52485795 -0.14413315 -3.41582095] [ 0.32756272 -0.27535432 0.90381561 -1.77828915] [ 0. 0. 0. 1. ]] SLAMing on 192.678001145 meters Centerline goodness : 0.852201 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.42, Z:-1.78 [[ 0.43572648 -0.8051273 -0.40238347 4.27250772] [ 0.83869836 0.52544287 -0.14316025 -3.41928876] [ 0.32669175 -0.27509965 0.90420832 -1.7789891 ] [ 0. 0. 0. 1. ]] SLAMing on 192.738001145 meters Centerline goodness : 0.854409 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.42, Z:-1.78 [[ 0.43638901 -0.80809974 -0.39565066 4.27420715] [ 0.84345108 0.52052128 -0.1328453 -3.41723912] [ 0.31329684 -0.27573975 0.90874236 -1.78457924] [ 0. 0. 0. 1. ]] SLAMing on 192.798001145 meters Centerline goodness : 0.857244 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-3.42, Z:-1.79 [[ 0.43535049 -0.811216 -0.39038257 4.27644541] [ 0.84489365 0.51788955 -0.13395945 -3.42259634] [ 0.3108451 -0.27151244 0.91085472 -1.78550282] [ 0. 0. 0. 1. ]] SLAMing on 192.858001145 meters Centerline goodness : 0.861445 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-3.43, Z:-1.78 [[ 0.43440384 -0.81296946 -0.38778081 4.27717512] [ 0.84583603 0.51617769 -0.13461798 -3.4259953 ] [ 0.30960411 -0.26952042 0.91186843 -1.78494909] [ 0. 0. 0. 1. ]] SLAMing on 192.918001145 meters Centerline goodness : 0.859113 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-3.42, Z:-1.79 [[ 0.43388963 -0.8161049 -0.38172318 4.28163385] [ 0.85059595 0.51072829 -0.12507257 -3.42340262] [ 0.29702916 -0.27042449 0.91577523 -1.7906174 ] [ 0. 0. 0. 1. ]] SLAMing on 192.97800114499998 meters Centerline goodness : 0.856919 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-3.43, Z:-1.79 [[ 0.4332833 -0.81775052 -0.37887949 4.28245988] [ 0.85138434 0.50928797 -0.12558052 -3.42678627] [ 0.2956523 -0.26816012 0.91688596 -1.79068353] [ 0. 0. 0. 1. ]] SLAMing on 193.03800114499998 meters Centerline goodness : 0.859625 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-3.43, Z:-1.79 [[ 0.43284673 -0.81809299 -0.37863911 4.28711818] [ 0.85201601 0.50846907 -0.12461112 -3.43148943] [ 0.29446976 -0.26866907 0.91711749 -1.78938633] [ 0. 0. 0. 1. ]] SLAMing on 193.09800114499998 meters Centerline goodness : 0.860983 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-3.43, Z:-1.79 [[ 0.43204441 -0.81739893 -0.38104674 4.29122672] [ 0.85233942 0.50815913 -0.12366003 -3.43227516] [ 0.29471196 -0.27135453 0.91624864 -1.78758293] [ 0. 0. 0. 1. ]] SLAMing on 193.158001145 meters Centerline goodness : 0.856964 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-3.44, Z:-1.79 [[ 0.43045315 -0.81949122 -0.37834405 4.29292068] [ 0.85380706 0.50564791 -0.12382932 -3.43740512] [ 0.29278592 -0.2697301 0.91734512 -1.78621601] [ 0. 0. 0. 1. ]] SLAMing on 193.218001145 meters Centerline goodness : 0.859356 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.44, Z:-1.79 [[ 0.42972377 -0.8194633 -0.37923263 4.29751426] [ 0.85414217 0.50512786 -0.1236406 -3.43667584] [ 0.2928799 -0.27078728 0.91700361 -1.78675286] [ 0. 0. 0. 1. ]] SLAMing on 193.278001145 meters Centerline goodness : 0.862783 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.44, Z:-1.79 [[ 0.42794228 -0.8219098 -0.3759384 4.30084925] [ 0.85559726 0.50244042 -0.12452695 -3.43968624] [ 0.29123657 -0.26836151 0.91823927 -1.78724319] [ 0. 0. 0. 1. ]] SLAMing on 193.338001145 meters Centerline goodness : 0.861603 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.44, Z:-1.79 [[ 0.42779538 -0.82562933 -0.36786862 4.3028395 ] [ 0.85992023 0.49713291 -0.11574134 -3.43597445] [ 0.27843905 -0.26682406 0.92264653 -1.79148007] [ 0. 0. 0. 1. ]] SLAMing on 193.398001145 meters Centerline goodness : 0.863584 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.44, Z:-1.79 [[ 0.42705513 -0.82533692 -0.36938175 4.30876599] [ 0.86023576 0.49669837 -0.11526128 -3.4359747 ] [ 0.2786007 -0.26853247 0.92210193 -1.79150548] [ 0. 0. 0. 1. ]] SLAMing on 193.458001145 meters Centerline goodness : 0.866499 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.44, Z:-1.79 [[ 0.42764233 -0.82424617 -0.37113379 4.31195435] [ 0.85981155 0.4976225 -0.11443751 -3.43637082] [ 0.2790092 -0.27016679 0.92150082 -1.79101122] [ 0. 0. 0. 1. ]] SLAMing on 193.518001145 meters Centerline goodness : 0.868970 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.44, Z:-1.80 [[ 0.43086295 -0.82753154 -0.3599287 4.31229832] [ 0.86237171 0.49507179 -0.1059196 -3.43527226] [ 0.26584236 -0.2647555 0.92694788 -1.79686366] [ 0. 0. 0. 1. ]] SLAMing on 193.578001145 meters Centerline goodness : 0.869414 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.44, Z:-1.80 [[ 0.43330287 -0.82535605 -0.36198898 4.31402267] [ 0.86094886 0.49783527 -0.10453285 -3.43552719] [ 0.26648769 -0.26635961 0.92630279 -1.79746191] [ 0. 0. 0. 1. ]] SLAMing on 193.638001145 meters Centerline goodness : 0.870097 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.43, Z:-1.80 [[ 0.4378281 -0.82116182 -0.36605985 4.31635685] [ 0.8581492 0.50311994 -0.10222659 -3.43474628] [ 0.26811658 -0.2693763 0.92495941 -1.79865863] [ 0. 0. 0. 1. ]] SLAMing on 193.698001145 meters Centerline goodness : 0.872352 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.43, Z:-1.80 [[ 0.44100541 -0.81795065 -0.36941977 4.32013093] [ 0.85607013 0.50698042 -0.10057231 -3.43344796] [ 0.26955177 -0.2718963 0.92380422 -1.8001282 ] [ 0. 0. 0. 1. ]] SLAMing on 193.75800114499998 meters Centerline goodness : 0.871892 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.43, Z:-1.80 [[ 0.44160865 -0.81715804 -0.3704518 4.3224777 ] [ 0.85554707 0.50788869 -0.10044045 -3.4318822 ] [ 0.270224 -0.27258358 0.92340521 -1.80100919] [ 0. 0. 0. 1. ]] SLAMing on 193.81800114499998 meters Centerline goodness : 0.877912 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.43, Z:-1.80 [[ 0.44154709 -0.81672727 -0.37147373 4.324118 ] [ 0.85547445 0.50806171 -0.10018364 -3.4310207 ] [ 0.27055429 -0.27355049 0.92302249 -1.80125207] [ 0. 0. 0. 1. ]] SLAMing on 193.87800114499998 meters Centerline goodness : 0.876193 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.43, Z:-1.80 [[ 0.44030164 -0.81745232 -0.37135718 4.32515618] [ 0.85616036 0.50683149 -0.10055484 -3.43019051] [ 0.2704143 -0.27366684 0.92302902 -1.80129525] [ 0. 0. 0. 1. ]] SLAMing on 193.938001145 meters Centerline goodness : 0.877910 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.43, Z:-1.80 [[ 0.43852972 -0.81984668 -0.36816179 4.32511519] [ 0.85742223 0.50441278 -0.1019552 -3.43159275] [ 0.26929314 -0.27095972 0.92415477 -1.80143624] [ 0. 0. 0. 1. ]] SLAMing on 193.998001145 meters Centerline goodness : 0.882576 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.43, Z:-1.80 [[ 0.4361527 -0.82049976 -0.36952802 4.3251787 ] [ 0.85851366 0.50246717 -0.10237692 -3.42986431] [ 0.26967594 -0.27259289 0.92356267 -1.79939939] [ 0. 0. 0. 1. ]] SLAMing on 194.058001145 meters Centerline goodness : 0.881073 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.43, Z:-1.80 [[ 0.43469561 -0.82072525 -0.37074221 4.32762328] [ 0.85900938 0.5014944 -0.10298668 -3.42693415] [ 0.27044891 -0.27370317 0.9230081 -1.79934544] [ 0. 0. 0. 1. ]] SLAMing on 194.118001145 meters Centerline goodness : 0.880375 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.42, Z:-1.80 [[ 0.43290928 -0.82100597 -0.37220795 4.33060602] [ 0.85973907 0.50017367 -0.10332006 -3.42481406] [ 0.270995 -0.2752735 0.92238073 -1.79876111] [ 0. 0. 0. 1. ]] SLAMing on 194.178001145 meters Centerline goodness : 0.887907 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.42, Z:-1.80 [[ 0.432406 -0.82006933 -0.37484843 4.33221907] [ 0.85971164 0.5003186 -0.10284548 -3.42238499] [ 0.27188406 -0.27779056 0.92136391 -1.79809103] [ 0. 0. 0. 1. ]] SLAMing on 194.238001145 meters Centerline goodness : 0.892061 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.42, Z:-1.80 [[ 0.4329659 -0.81783429 -0.37906147 4.33385536] [ 0.85899997 0.50181059 -0.10151444 -3.41970452] [ 0.27323905 -0.2816615 0.91978651 -1.79738248] [ 0. 0. 0. 1. ]] SLAMing on 194.298001145 meters Centerline goodness : 0.892728 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.41, Z:-1.80 [[ 0.43243295 -0.8188309 -0.37751518 4.34118431] [ 0.86200783 0.49823906 -0.09327559 -3.41109394] [ 0.26446975 -0.2850856 0.92129363 -1.8034982 ] [ 0. 0. 0. 1. ]] SLAMing on 194.358001145 meters Centerline goodness : 0.890524 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.41, Z:-1.80 [[ 0.43177254 -0.81855186 -0.37887377 4.34333417] [ 0.86215114 0.49797745 -0.09334817 -3.40928742] [ 0.26508091 -0.28634127 0.9207284 -1.80328336] [ 0. 0. 0. 1. ]] SLAMing on 194.418001145 meters Centerline goodness : 0.891766 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.41, Z:-1.80 [[ 0.42992707 -0.81860491 -0.38085262 4.34580251] [ 0.86278751 0.49678395 -0.09382651 -3.40565469] [ 0.26600831 -0.28825633 0.91986296 -1.80283168] [ 0. 0. 0. 1. ]] SLAMing on 194.47800114499998 meters Centerline goodness : 0.888882 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.40, Z:-1.80 [[ 0.42925708 -0.81864854 -0.38151399 4.34800426] [ 0.86287802 0.49649596 -0.09451605 -3.40248885] [ 0.26679558 -0.28862835 0.91951824 -1.80379631] [ 0. 0. 0. 1. ]] SLAMing on 194.53800114499998 meters Centerline goodness : 0.890708 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.40, Z:-1.80 [[ 0.42868694 -0.81858613 -0.38228818 4.35110214] [ 0.86297067 0.49625827 -0.09491763 -3.40016546] [ 0.26741193 -0.28921354 0.91915526 -1.80460962] [ 0. 0. 0. 1. ]] SLAMing on 194.59800114499998 meters Centerline goodness : 0.889614 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.40, Z:-1.80 [[ 0.43016643 -0.81571699 -0.38673329 4.35245952] [ 0.86172234 0.4987091 -0.0934015 -3.39744625] [ 0.2690566 -0.29307853 0.91744946 -1.80411062] [ 0. 0. 0. 1. ]] SLAMing on 194.658001145 meters Centerline goodness : 0.891805 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.39, Z:-1.80 [[ 0.43136587 -0.81345738 -0.39014173 4.3517253 ] [ 0.86077013 0.50060178 -0.09204695 -3.39490492] [ 0.27018192 -0.29611644 0.91614234 -1.80410601] [ 0. 0. 0. 1. ]] SLAMing on 194.718001145 meters Centerline goodness : 0.894906 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.39, Z:-1.80 [[ 0.43045013 -0.81387145 -0.39028957 4.35178967] [ 0.86124477 0.49974631 -0.09225545 -3.39327146] [ 0.27012985 -0.29642348 0.9160584 -1.80464189] [ 0. 0. 0. 1. ]] SLAMing on 194.778001145 meters Centerline goodness : 0.894827 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.39, Z:-1.81 [[ 0.42811515 -0.81568746 -0.38906476 4.35113987] [ 0.86244444 0.49738766 -0.0937822 -3.38992659] [ 0.27001297 -0.29539716 0.91642431 -1.8058091 ] [ 0. 0. 0. 1. ]] SLAMing on 194.838001145 meters Centerline goodness : 0.894375 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.39, Z:-1.81 [[ 0.42619175 -0.81607909 -0.39035306 4.35013948] [ 0.86325694 0.49589457 -0.09421267 -3.38674264] [ 0.27045896 -0.29682233 0.91583211 -1.80503528] [ 0. 0. 0. 1. ]] SLAMing on 194.898001145 meters Centerline goodness : 0.896749 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.38, Z:-1.81 [[ 0.42434776 -0.81648678 -0.39150775 4.35097077] [ 0.86392888 0.49456812 -0.0950225 -3.3826456 ] [ 0.27121187 -0.29791227 0.91525538 -1.80532983] [ 0. 0. 0. 1. ]] SLAMing on 194.958001145 meters Centerline goodness : 0.896512 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.38, Z:-1.81 [[ 0.42459035 -0.81630308 -0.39162777 4.35027347] [ 0.86378482 0.49483554 -0.09493985 -3.38205794] [ 0.27129103 -0.29797158 0.9152126 -1.8057066 ] [ 0. 0. 0. 1. ]] SLAMing on 195.018001145 meters Centerline goodness : 0.892772 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.38, Z:-1.81 [[ 0.42694957 -0.81389199 -0.39407345 4.34793872] [ 0.86239672 0.49756312 -0.09328902 -3.38129149] [ 0.2720036 -0.30001794 0.91433215 -1.80597931] [ 0. 0. 0. 1. ]] SLAMing on 195.078001145 meters Centerline goodness : 0.889455 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.38, Z:-1.81 [[ 0.42897948 -0.81185468 -0.39606638 4.34722162] [ 0.86112021 0.49997665 -0.09217011 -3.37888563] [ 0.27285267 -0.30152168 0.9135842 -1.80791708] [ 0. 0. 0. 1. ]] SLAMing on 195.138001145 meters Centerline goodness : 0.893934 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.38, Z:-1.81 [[ 0.43092217 -0.81198783 -0.39367735 4.344671 ] [ 0.86021129 0.50144589 -0.09267447 -3.37847417] [ 0.27265843 -0.29871022 0.91456524 -1.81105515] [ 0. 0. 0. 1. ]] SLAMing on 195.198001145 meters Centerline goodness : 0.892262 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.37, Z:-1.82 [[ 0.43433858 -0.81256518 -0.38870018 4.34519331] [ 0.86197349 0.50020006 -0.08247181 -3.37158328] [ 0.26144158 -0.29922856 0.91766583 -1.81784153] [ 0. 0. 0. 1. ]] SLAMing on 195.25800114499998 meters Centerline goodness : 0.894630 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.37, Z:-1.82 [[ 0.43464765 -0.81200532 -0.38952379 4.34576976] [ 0.86169483 0.50071253 -0.08227379 -3.37044787] [ 0.26184619 -0.29989053 0.91733431 -1.8181573 ] [ 0. 0. 0. 1. ]] SLAMing on 195.31800114499998 meters Centerline goodness : 0.893742 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.37, Z:-1.82 [[ 0.43450309 -0.81171881 -0.39028147 4.34580162] [ 0.86161138 0.50083364 -0.08241047 -3.3682332 ] [ 0.26236022 -0.30046336 0.91699994 -1.81878295] [ 0. 0. 0. 1. ]] SLAMing on 195.37800114499998 meters Centerline goodness : 0.891605 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.36, Z:-1.82 [[ 0.43304433 -0.81193664 -0.39144797 4.34801352] [ 0.86196105 0.50003302 -0.08360698 -3.3628498 ] [ 0.26362048 -0.30120737 0.91639422 -1.82029876] [ 0. 0. 0. 1. ]] SLAMing on 195.438001145 meters Centerline goodness : 0.892055 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.36, Z:-1.82 [[ 0.43142667 -0.81152031 -0.3940886 4.34854969] [ 0.86231287 0.49932435 -0.08421223 -3.35686577] [ 0.26511797 -0.30349627 0.91520625 -1.82073733] [ 0. 0. 0. 1. ]] SLAMing on 195.498001145 meters Centerline goodness : 0.893564 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.35, Z:-1.82 [[ 0.43068443 -0.81172887 -0.39447073 4.34869427] [ 0.86252976 0.4988495 -0.08480325 -3.35387205] [ 0.26561878 -0.30371931 0.91498702 -1.82175352] [ 0. 0. 0. 1. ]] SLAMing on 195.558001145 meters Centerline goodness : 0.890684 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.35, Z:-1.82 [[ 0.43186165 -0.8088945 -0.39898021 4.34707782] [ 0.86136568 0.50107208 -0.08352204 -3.34942503] [ 0.26747836 -0.30759789 0.91314778 -1.82180107] [ 0. 0. 0. 1. ]] SLAMing on 195.618001145 meters Centerline goodness : 0.890647 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.35, Z:-1.82 [[ 0.43223879 -0.80909231 -0.39816989 4.34539202] [ 0.86107975 0.50144951 -0.08420244 -3.34771124] [ 0.26778964 -0.30646046 0.91343894 -1.82309278] [ 0. 0. 0. 1. ]] SLAMing on 195.678001145 meters Centerline goodness : 0.890951 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.35, Z:-1.82 [[ 0.43254642 -0.80947232 -0.3970619 4.34209108] [ 0.860977 0.50156085 -0.08458909 -3.34713184] [ 0.26762323 -0.30527246 0.9138854 -1.82382669] [ 0. 0. 0. 1. ]] SLAMing on 195.738001145 meters Centerline goodness : 0.892144 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.35, Z:-1.82 [[ 0.43273646 -0.80913369 -0.39754474 4.33930409] [ 0.86087915 0.50179059 -0.08422166 -3.34750197] [ 0.26763079 -0.3057922 0.91370941 -1.82265346] [ 0. 0. 0. 1. ]] SLAMing on 195.798001145 meters Centerline goodness : 0.894198 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.35, Z:-1.82 [[ 0.43301886 -0.809355 -0.39678603 4.3372125 ] [ 0.86094841 0.5017329 -0.08385661 -3.34927246] [ 0.26695037 -0.30530081 0.91407271 -1.82210044] [ 0. 0. 0. 1. ]] SLAMing on 195.858001145 meters Centerline goodness : 0.894868 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.35, Z:-1.82 [[ 0.43258216 -0.80965314 -0.3966541 4.3368985 ] [ 0.86117122 0.50130929 -0.08410183 -3.34872592] [ 0.2669397 -0.30520614 0.91410744 -1.82209652] [ 0. 0. 0. 1. ]] SLAMing on 195.918001145 meters Centerline goodness : 0.896703 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.35, Z:-1.82 [[ 0.43090545 -0.81089406 -0.39594359 4.33587421] [ 0.86198362 0.49970715 -0.08530539 -3.3471875 ] [ 0.26702948 -0.30453833 0.91430392 -1.82170566] [ 0. 0. 0. 1. ]] SLAMing on 195.97800114499998 meters Centerline goodness : 0.894689 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.34, Z:-1.82 [[ 0.42894151 -0.81244819 -0.39488874 4.33557633] [ 0.86293296 0.49780154 -0.08683508 -3.34492846] [ 0.26712522 -0.30351534 0.91461607 -1.82192346] [ 0. 0. 0. 1. ]] SLAMing on 196.03800114499998 meters Centerline goodness : 0.895241 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.34, Z:-1.82 [[ 0.42758334 -0.81273638 -0.39576768 4.33725337] [ 0.86335482 0.49691828 -0.08769647 -3.34102035] [ 0.26793831 -0.30419039 0.91415386 -1.82297803] [ 0. 0. 0. 1. ]] SLAMing on 196.09800114499998 meters Centerline goodness : 0.898262 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.34, Z:-1.82 [[ 0.42854562 -0.81159677 -0.39706338 4.33390684] [ 0.86274711 0.49810091 -0.08696495 -3.34123231] [ 0.26835811 -0.30529683 0.91366174 -1.82157844] [ 0. 0. 0. 1. ]] SLAMing on 196.158001145 meters Centerline goodness : 0.893476 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.34, Z:-1.82 [[ 0.42895996 -0.8114729 -0.39686911 4.33369756] [ 0.86249387 0.49851916 -0.08708021 -3.34065882] [ 0.26851008 -0.30494325 0.91373516 -1.82220399] [ 0. 0. 0. 1. ]] SLAMing on 196.218001145 meters Centerline goodness : 0.893796 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.34, Z:-1.82 [[ 0.42939019 -0.81144508 -0.39646052 4.33341336] [ 0.86233289 0.49881519 -0.08697928 -3.34074143] [ 0.26833944 -0.30453289 0.91392213 -1.82289542] [ 0. 0. 0. 1. ]] SLAMing on 196.278001145 meters Centerline goodness : 0.892496 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.34, Z:-1.82 [[ 0.4298759 -0.80912756 -0.4006486 4.33506917] [ 0.86163108 0.50023657 -0.08576282 -3.3383842 ] [ 0.26981214 -0.30834392 0.9122091 -1.82170209] [ 0. 0. 0. 1. ]] SLAMing on 196.338001145 meters Centerline goodness : 0.891303 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.34, Z:-1.82 [[ 0.42956351 -0.80894299 -0.40135575 4.33747937] [ 0.86170243 0.50011806 -0.08573711 -3.33770241] [ 0.27008169 -0.30901969 0.9119006 -1.82188663] [ 0. 0. 0. 1. ]] SLAMing on 196.398001145 meters Centerline goodness : 0.892647 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.34, Z:-1.82 [[ 0.42731511 -0.81065382 -0.40030261 4.33760523] [ 0.86301199 0.49769823 -0.08664172 -3.33717913] [ 0.26946634 -0.30844264 0.91227793 -1.82139691] [ 0. 0. 0. 1. ]] SLAMing on 196.458001145 meters Centerline goodness : 0.892440 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.34, Z:-1.82 [[ 0.42481727 -0.81201079 -0.4002109 4.33760516] [ 0.86426544 0.49534463 -0.08762954 -3.33580187] [ 0.26939846 -0.30866191 0.91222382 -1.82016908] [ 0. 0. 0. 1. ]] SLAMing on 196.518001145 meters Centerline goodness : 0.893559 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.34, Z:-1.82 [[ 0.42278598 -0.81469865 -0.39688553 4.33764823] [ 0.86564634 0.49265485 -0.08914941 -3.33604556] [ 0.26815748 -0.30587138 0.91352847 -1.82117592] [ 0. 0. 0. 1. ]] SLAMing on 196.578001145 meters Centerline goodness : 0.889822 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.34, Z:-1.82 [[ 0.42244713 -0.81478495 -0.39706914 4.33697576] [ 0.86584321 0.49232395 -0.08906551 -3.33632259] [ 0.26805588 -0.30617415 0.91345686 -1.82038112] [ 0. 0. 0. 1. ]] SLAMing on 196.638001145 meters Centerline goodness : 0.890194 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.34, Z:-1.82 [[ 0.42307043 -0.81301752 -0.4000174 4.33558851] [ 0.86533317 0.49345899 -0.08773103 -3.33606634] [ 0.26871904 -0.30903192 0.91229894 -1.81869742] [ 0. 0. 0. 1. ]] SLAMing on 196.698001145 meters Centerline goodness : 0.890150 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.33, Z:-1.82 [[ 0.42341599 -0.81272585 -0.40024441 4.33769028] [ 0.86506028 0.49392373 -0.08780691 -3.33481958] [ 0.26905316 -0.30905669 0.91219206 -1.81988359] [ 0. 0. 0. 1. ]] SLAMing on 196.75800114499998 meters Centerline goodness : 0.886329 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.33, Z:-1.82 [[ 0.42433808 -0.81223313 -0.40026808 4.33602961] [ 0.86456283 0.49483473 -0.08757688 -3.33440621] [ 0.26919939 -0.3088947 0.91220379 -1.82046886] [ 0. 0. 0. 1. ]] SLAMing on 196.81800114499998 meters Centerline goodness : 0.884873 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.33, Z:-1.82 [[ 0.42510124 -0.81003133 -0.40390367 4.33714809] [ 0.86356835 0.49664573 -0.08713618 -3.33053224] [ 0.27118007 -0.31175673 0.91064214 -1.820248 ] [ 0. 0. 0. 1. ]] SLAMing on 196.87800114499998 meters Centerline goodness : 0.879813 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.33, Z:-1.82 [[ 0.42362553 -0.81067651 -0.40415963 4.34003273] [ 0.86402717 0.49561082 -0.08847018 -3.32583972] [ 0.27202658 -0.31172667 0.91039992 -1.82214135] [ 0. 0. 0. 1. ]] SLAMing on 196.938001145 meters Centerline goodness : 0.877663 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.32, Z:-1.82 [[ 0.42056252 -0.81155742 -0.40558812 4.33760065] [ 0.86545703 0.49300343 -0.08906031 -3.32392423] [ 0.27223389 -0.31356366 0.90970684 -1.81924511] [ 0. 0. 0. 1. ]] SLAMing on 196.998001145 meters Centerline goodness : 0.876567 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.32, Z:-1.82 [[ 0.41884493 -0.81261986 -0.40523807 4.33754809] [ 0.86634267 0.49131238 -0.08979158 -3.32312058] [ 0.2720649 -0.31346628 0.90979095 -1.81847843] [ 0. 0. 0. 1. ]] SLAMing on 197.058001145 meters Centerline goodness : 0.878315 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.34, Z:-1.82 [[ 0.41817953 -0.8136485 -0.40385887 4.32852907] [ 0.86490774 0.49252624 -0.09670835 -3.336544 ] [ 0.27759769 -0.30885921 0.90969528 -1.81640661] [ 0. 0. 0. 1. ]] SLAMing on 197.118001145 meters Centerline goodness : 0.875849 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.34, Z:-1.82 [[ 0.41769902 -0.81411596 -0.40341384 4.32664693] [ 0.8651254 0.49204365 -0.09721669 -3.33602659] [ 0.27764288 -0.30839625 0.90983855 -1.81588243] [ 0. 0. 0. 1. ]] SLAMing on 197.178001145 meters Centerline goodness : 0.875261 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.34, Z:-1.82 [[ 0.41905665 -0.81368494 -0.40287509 4.32424292] [ 0.86444204 0.49326833 -0.09708922 -3.3356819 ] [ 0.27772556 -0.30757628 0.91009084 -1.81703276] [ 0. 0. 0. 1. ]] SLAMing on 197.238001145 meters Centerline goodness : 0.871753 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.33, Z:-1.82 [[ 0.41885795 -0.81369343 -0.40306454 4.32363976] [ 0.86441922 0.49323845 -0.09744351 -3.33379393] [ 0.27809607 -0.30760175 0.90996909 -1.81770011] [ 0. 0. 0. 1. ]] SLAMing on 197.298001145 meters Centerline goodness : 0.872831 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.33, Z:-1.82 [[ 0.41801683 -0.81372511 -0.40387297 4.32572685] [ 0.86464175 0.49275939 -0.09789191 -3.33089244] [ 0.2786693 -0.30828496 0.90956242 -1.81860173] [ 0. 0. 0. 1. ]] SLAMing on 197.358001145 meters Centerline goodness : 0.869582 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.33, Z:-1.82 [[ 0.41613559 -0.81420798 -0.40484138 4.32697435] [ 0.8652934 0.49141461 -0.09888891 -3.32780331] [ 0.27946111 -0.30915538 0.90902389 -1.81813031] [ 0. 0. 0. 1. ]] SLAMing on 197.418001145 meters Centerline goodness : 0.868241 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.33, Z:-1.82 [[ 0.41576279 -0.81317543 -0.40729232 4.32683298] [ 0.8651838 0.49168662 -0.09849497 -3.32543692] [ 0.28035387 -0.31143217 0.90797121 -1.81736229] [ 0. 0. 0. 1. ]] SLAMing on 197.47800114499998 meters Centerline goodness : 0.864294 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.32, Z:-1.82 [[ 0.41659325 -0.81205408 -0.40867865 4.32668944] [ 0.86436496 0.49308879 -0.09867448 -3.32208736] [ 0.28164388 -0.31214038 0.90732855 -1.81835808] [ 0. 0. 0. 1. ]] SLAMing on 197.53800114499998 meters Centerline goodness : 0.859272 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.32, Z:-1.82 [[ 0.41689845 -0.81157337 -0.40932181 4.32813154] [ 0.86387269 0.49383144 -0.09926972 -3.31965822] [ 0.28270065 -0.31221654 0.90697364 -1.81890861] [ 0. 0. 0. 1. ]] SLAMing on 197.59800114499998 meters Centerline goodness : 0.859163 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.33, Z:-1.81 [[ 0.41739941 -0.80892565 -0.41402538 4.32119548] [ 0.86017376 0.49863777 -0.10705831 -3.32679461] [ 0.2930509 -0.3114477 0.90394773 -1.8115719 ] [ 0. 0. 0. 1. ]] SLAMing on 197.658001145 meters Centerline goodness : 0.858206 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.33, Z:-1.81 [[ 0.4154206 -0.80582258 -0.42199016 4.32106007] [ 0.85781789 0.50138457 -0.11296896 -3.33391988] [ 0.30261229 -0.31506108 0.8995345 -1.81083489] [ 0. 0. 0. 1. ]] SLAMing on 197.718001145 meters Centerline goodness : 0.857896 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.35, Z:-1.81 [[ 0.41352359 -0.80680918 -0.42196823 4.31520865] [ 0.85659795 0.50182619 -0.12004343 -3.34710461] [ 0.30860685 -0.31181633 0.89862806 -1.81035152] [ 0. 0. 0. 1. ]] SLAMing on 197.778001145 meters Centerline goodness : 0.858203 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.37, Z:-1.83 [[ 0.41147019 -0.80691134 -0.42377633 4.30239371] [ 0.85827838 0.49949642 -0.11773511 -3.37130979] [ 0.30667655 -0.31527357 0.89808244 -1.82587826] [ 0. 0. 0. 1. ]] SLAMing on 197.838001145 meters Centerline goodness : 0.859685 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.37, Z:-1.82 [[ 0.410511 -0.80628309 -0.42589704 4.30225704] [ 0.8585617 0.49910462 -0.11733021 -3.37034444] [ 0.30716855 -0.31749355 0.89713172 -1.82417211] [ 0. 0. 0. 1. ]] SLAMing on 197.898001145 meters Centerline goodness : 0.858574 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.36, Z:-1.83 [[ 0.41037315 -0.80633276 -0.42593586 4.30851938] [ 0.86076632 0.49673822 -0.11105173 -3.36182824] [ 0.30112327 -0.32105859 0.89791211 -1.82931721] [ 0. 0. 0. 1. ]] SLAMing on 197.958001145 meters Centerline goodness : 0.855662 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.36, Z:-1.83 [[ 0.41052997 -0.80627761 -0.42588914 4.30899763] [ 0.86081726 0.49674176 -0.11064024 -3.36289109] [ 0.30076367 -0.32119159 0.89798507 -1.8291301 ] [ 0. 0. 0. 1. ]] SLAMing on 198.018001145 meters Centerline goodness : 0.854538 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.36, Z:-1.83 [[ 0.4108271 -0.80381042 -0.43024401 4.31282131] [ 0.8601138 0.4982118 -0.10949549 -3.36041064] [ 0.30236626 -0.3250751 0.89604733 -1.82838192] [ 0. 0. 0. 1. ]] SLAMing on 198.078001145 meters Centerline goodness : 0.854999 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.36, Z:-1.83 [[ 0.41069823 -0.80403242 -0.42995212 4.31315661] [ 0.8602398 0.49798452 -0.1095395 -3.36013605] [ 0.30218281 -0.32487425 0.89618205 -1.82893671] [ 0. 0. 0. 1. ]] SLAMing on 198.138001145 meters Centerline goodness : 0.854872 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.36, Z:-1.83 [[ 0.41099159 -0.80341192 -0.43083083 4.3158052 ] [ 0.85981653 0.49867763 -0.10970939 -3.35783987] [ 0.30298753 -0.32534583 0.89573916 -1.83013802] [ 0. 0. 0. 1. ]] SLAMing on 198.198001145 meters Centerline goodness : 0.857422 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.35, Z:-1.84 [[ 0.41064464 -0.8052341 -0.42774878 4.32020774] [ 0.86343315 0.49417331 -0.10137028 -3.34932825] [ 0.29300884 -0.32770532 0.89819544 -1.83550435] [ 0. 0. 0. 1. ]] SLAMing on 198.25800114499998 meters Centerline goodness : 0.856316 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.35, Z:-1.83 [[ 0.40952079 -0.80570873 -0.42793244 4.31888586] [ 0.86399824 0.49312978 -0.10163689 -3.34946005] [ 0.29291595 -0.32811046 0.89807782 -1.83394374] [ 0. 0. 0. 1. ]] SLAMing on 198.31800114499998 meters Centerline goodness : 0.858698 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.35, Z:-1.83 [[ 0.40880678 -0.80664666 -0.42684679 4.32003709] [ 0.86446762 0.49219012 -0.10219896 -3.34933957] [ 0.29252822 -0.3272156 0.89853057 -1.83453107] [ 0. 0. 0. 1. ]] SLAMing on 198.37800114499998 meters Centerline goodness : 0.857447 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.35, Z:-1.83 [[ 0.40854125 -0.80678911 -0.4268318 4.31901579] [ 0.86475122 0.49176737 -0.10183405 -3.35105144] [ 0.29206056 -0.32749991 0.89857912 -1.83325764] [ 0. 0. 0. 1. ]] SLAMing on 198.438001145 meters Centerline goodness : 0.858022 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.35, Z:-1.83 [[ 0.4078491 -0.80715094 -0.42680964 4.31820192] [ 0.86503448 0.49117777 -0.1022729 -3.35065511] [ 0.29218908 -0.32749315 0.89853981 -1.83240494] [ 0. 0. 0. 1. ]] SLAMing on 198.498001145 meters Centerline goodness : 0.859081 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.35, Z:-1.83 [[ 0.40802756 -0.80671257 -0.42746736 4.32109019] [ 0.86476637 0.49163109 -0.10236212 -3.3488803 ] [ 0.29273305 -0.32789283 0.89821693 -1.83376029] [ 0. 0. 0. 1. ]] SLAMing on 198.558001145 meters Centerline goodness : 0.861089 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.35, Z:-1.84 [[ 0.40680134 -0.80940633 -0.42352575 4.32022062] [ 0.86581509 0.48947527 -0.10381812 -3.34982821] [ 0.29133642 -0.32446164 0.89991541 -1.83518153] [ 0. 0. 0. 1. ]] SLAMing on 198.618001145 meters Centerline goodness : 0.860765 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.35, Z:-1.83 [[ 0.40590349 -0.80952966 -0.42415102 4.31951229] [ 0.86620025 0.48877037 -0.10392619 -3.34887083] [ 0.29144379 -0.32521572 0.89960839 -1.83453024] [ 0. 0. 0. 1. ]] SLAMing on 198.678001145 meters Centerline goodness : 0.858895 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.35, Z:-1.84 [[ 0.40482249 -0.81204696 -0.42035519 4.31944857] [ 0.86710036 0.48684704 -0.10543687 -3.34960149] [ 0.29026836 -0.32180692 0.90121284 -1.8361387 ] [ 0. 0. 0. 1. ]] SLAMing on 198.738001145 meters Centerline goodness : 0.862422 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.34, Z:-1.84 [[ 0.40581064 -0.8155974 -0.41245437 4.32005338] [ 0.86993552 0.48306467 -0.09930114 -3.34222494] [ 0.28023189 -0.31851125 0.90554993 -1.83735716] [ 0. 0. 0. 1. ]] SLAMing on 198.798001145 meters Centerline goodness : 0.859937 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.34, Z:-1.84 [[ 0.40654615 -0.8151087 -0.41269605 4.31739192] [ 0.8697029 0.48364716 -0.0985002 -3.34451702] [ 0.27988764 -0.31887808 0.9055273 -1.83588443] [ 0. 0. 0. 1. ]] SLAMing on 198.858001145 meters Centerline goodness : 0.860199 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.35, Z:-1.84 [[ 0.40710047 -0.81545231 -0.41146899 4.31783553] [ 0.86957632 0.48385988 -0.09857299 -3.34574361] [ 0.27947491 -0.31767458 0.90607761 -1.83658125] [ 0. 0. 0. 1. ]] SLAMing on 198.918001145 meters Centerline goodness : 0.860356 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.35, Z:-1.84 [[ 0.40710682 -0.81569933 -0.4109728 4.31885294] [ 0.8697424 0.48361359 -0.09831604 -3.34653828] [ 0.27894836 -0.31741534 0.90633069 -1.83700795] [ 0. 0. 0. 1. ]] SLAMing on 198.97800114499998 meters Centerline goodness : 0.858701 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.35, Z:-1.84 [[ 0.40629533 -0.81558804 -0.41199545 4.31917108] [ 0.8701034 0.48300786 -0.09809937 -3.34635071] [ 0.27900572 -0.31862133 0.90588976 -1.83584992] [ 0. 0. 0. 1. ]] SLAMing on 199.03800114499998 meters Centerline goodness : 0.860019 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.35, Z:-1.84 [[ 0.4060527 -0.81570341 -0.41200625 4.31903053] [ 0.87024221 0.48275583 -0.09810866 -3.34671185] [ 0.27892599 -0.31870795 0.90588384 -1.83526873] [ 0. 0. 0. 1. ]] SLAMing on 199.09800114499998 meters Centerline goodness : 0.861136 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.35, Z:-1.84 [[ 0.40470712 -0.81812391 -0.40851612 4.31966535] [ 0.87142531 0.48045569 -0.09889514 -3.34952121] [ 0.27718238 -0.31596772 0.90737772 -1.83567149] [ 0. 0. 0. 1. ]] SLAMing on 199.158001145 meters Centerline goodness : 0.860637 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.35, Z:-1.84 [[ 0.40399747 -0.81848105 -0.40850313 4.32095334] [ 0.87189247 0.47964017 -0.09873617 -3.3502544 ] [ 0.27674819 -0.31628164 0.90740088 -1.83516283] [ 0. 0. 0. 1. ]] SLAMing on 199.218001145 meters Centerline goodness : 0.862879 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.35, Z:-1.83 [[ 0.40335777 -0.81874019 -0.40861597 4.32206496] [ 0.87229873 0.47893597 -0.09856603 -3.35082387] [ 0.27640085 -0.31667782 0.90736857 -1.83468255] [ 0. 0. 0. 1. ]] SLAMing on 199.278001145 meters Centerline goodness : 0.864276 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.34, Z:-1.84 [[ 0.40402931 -0.81974476 -0.4059296 4.327652 ] [ 0.87484736 0.47590644 -0.0903059 -3.34386034] [ 0.2672123 -0.31864021 0.90943169 -1.84085059] [ 0. 0. 0. 1. ]] SLAMing on 199.338001145 meters Centerline goodness : 0.863902 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.34, Z:-1.84 [[ 0.40429055 -0.81981067 -0.40553621 4.32818375] [ 0.8748445 0.47596445 -0.0900274 -3.34487245] [ 0.26682625 -0.31838389 0.90963479 -1.8410187 ] [ 0. 0. 0. 1. ]] SLAMing on 199.398001145 meters Centerline goodness : 0.859463 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.34, Z:-1.85 [[ 0.40433083 -0.82077766 -0.40353515 4.33287264] [ 0.87787911 0.4720601 -0.08054514 -3.33804029] [ 0.2566025 -0.3216882 0.91141202 -1.84589255] [ 0. 0. 0. 1. ]] SLAMing on 199.458001145 meters Centerline goodness : 0.861263 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.34, Z:-1.85 [[ 0.40464438 -0.82029558 -0.40420055 4.33421734] [ 0.87771742 0.47243713 -0.08009554 -3.33832746] [ 0.25666137 -0.32236365 0.91115675 -1.84580349] [ 0. 0. 0. 1. ]] SLAMing on 199.518001145 meters Centerline goodness : 0.865931 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.34, Z:-1.85 [[ 0.40450843 -0.82060443 -0.40370943 4.33615763] [ 0.87791115 0.47209867 -0.07996789 -3.33907911] [ 0.25621269 -0.32207332 0.91138566 -1.84629554] [ 0. 0. 0. 1. ]] SLAMing on 199.578001145 meters Centerline goodness : 0.864751 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.34, Z:-1.85 [[ 0.40408938 -0.82064775 -0.4040409 4.3386797 ] [ 0.87808968 0.47176118 -0.07999942 -3.33810489] [ 0.25626216 -0.32245723 0.911236 -1.84698439] [ 0. 0. 0. 1. ]] SLAMing on 199.638001145 meters Centerline goodness : 0.863232 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.33, Z:-1.85 [[ 0.404839 -0.82247333 -0.39955351 4.34171741] [ 0.88105154 0.46778053 -0.07021085 -3.33217684] [ 0.2446499 -0.32360314 0.91401719 -1.85341709] [ 0. 0. 0. 1. ]] SLAMing on 199.698001145 meters Centerline goodness : 0.860862 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.33, Z:-1.85 [[ 0.40512018 -0.82265239 -0.39889934 4.34199531] [ 0.88095388 0.46794349 -0.07035017 -3.33152781] [ 0.24453608 -0.32291165 0.91429217 -1.85482775] [ 0. 0. 0. 1. ]] SLAMing on 199.75800114499998 meters Centerline goodness : 0.860660 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.33, Z:-1.86 [[ 0.40646019 -0.82111622 -0.40069722 4.34341655] [ 0.88014041 0.46959713 -0.06950829 -3.33077052] [ 0.24524064 -0.32441746 0.91357011 -1.8551977 ] [ 0. 0. 0. 1. ]] SLAMing on 199.81800114499998 meters Centerline goodness : 0.859229 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.33, Z:-1.85 [[ 0.40742825 -0.81986797 -0.40226698 4.34186131] [ 0.87961388 0.47072991 -0.06850384 -3.33095702] [ 0.24552321 -0.32592922 0.91295591 -1.85454568] [ 0. 0. 0. 1. ]] SLAMing on 199.87800114499998 meters Centerline goodness : 0.856191 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.33, Z:-1.86 [[ 0.40879021 -0.81882214 -0.40301472 4.34346203] [ 0.87882681 0.47225813 -0.0680859 -3.32924451] [ 0.24607722 -0.32634729 0.91265736 -1.85668068] [ 0. 0. 0. 1. ]] SLAMing on 199.938001145 meters Centerline goodness : 0.856058 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.33, Z:-1.86 [[ 0.41004091 -0.81763215 -0.40415854 4.34436799] [ 0.87804963 0.47376753 -0.06762519 -3.32757703] [ 0.24676972 -0.32714216 0.91218568 -1.85805675] [ 0. 0. 0. 1. ]] SLAMing on 199.998001145 meters Centerline goodness : 0.851947 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.32, Z:-1.86 [[ 0.40868949 -0.81814211 -0.40449521 4.34604586] [ 0.87856836 0.47269307 -0.06840242 -3.3241784 ] [ 0.24716499 -0.32742135 0.91197847 -1.85921104] [ 0. 0. 0. 1. ]] SLAMing on 200.058001145 meters Centerline goodness : 0.855384 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.32, Z:-1.86 [[ 0.40632515 -0.81927431 -0.40458556 4.34851388] [ 0.87967212 0.47050405 -0.06930296 -3.32146722] [ 0.24713728 -0.32774311 0.9118704 -1.85966058] [ 0. 0. 0. 1. ]] SLAMing on 200.118001145 meters Centerline goodness : 0.852458 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.32, Z:-1.86 [[ 0.40252688 -0.82069427 -0.40550343 4.34912146] [ 0.88146154 0.46701099 -0.07018752 -3.31860482] [ 0.24697706 -0.32918331 0.91139491 -1.8581736 ] [ 0. 0. 0. 1. ]] SLAMing on 200.178001145 meters Centerline goodness : 0.852007 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.32, Z:-1.86 [[ 0.40039671 -0.82156051 -0.40585811 4.34963224] [ 0.88248453 0.46500155 -0.07067251 -3.31699618] [ 0.2467864 -0.32986646 0.91119954 -1.85752042] [ 0. 0. 0. 1. ]] SLAMing on 200.238001145 meters Centerline goodness : 0.853500 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.32, Z:-1.86 [[ 0.39862228 -0.82267034 -0.40535637 4.35082023] [ 0.88348919 0.46304836 -0.07094419 -3.3166447 ] [ 0.24606328 -0.32984803 0.91140174 -1.85750462] [ 0. 0. 0. 1. ]] SLAMing on 200.298001145 meters Centerline goodness : 0.850223 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.32, Z:-1.86 [[ 0.39818379 -0.82243559 -0.40626269 4.35063454] [ 0.88363727 0.46278786 -0.07079945 -3.3155894 ] [ 0.24624143 -0.33079766 0.91100937 -1.85720598] [ 0. 0. 0. 1. ]] SLAMing on 200.358001145 meters Centerline goodness : 0.849861 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.32, Z:-1.86 [[ 0.40010487 -0.82023507 -0.408816 4.35104732] [ 0.88262252 0.46497632 -0.06909786 -3.31602925] [ 0.24676625 -0.33318382 0.90999723 -1.85705753] [ 0. 0. 0. 1. ]] SLAMing on 200.418001145 meters Centerline goodness : 0.847351 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.32, Z:-1.86 [[ 0.4021798 -0.819173 -0.40890954 4.35276539] [ 0.88169721 0.46687407 -0.06810755 -3.31773952] [ 0.24670113 -0.33314292 0.91002986 -1.85816575] [ 0. 0. 0. 1. ]] SLAMing on 200.47800114499998 meters Centerline goodness : 0.848841 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.32, Z:-1.86 [[ 0.40388307 -0.81697628 -0.41161661 4.35242231] [ 0.88076012 0.46888124 -0.06642284 -3.31898061] [ 0.24726519 -0.33570843 0.90893332 -1.85662855] [ 0. 0. 0. 1. ]] SLAMing on 200.53800114499998 meters Centerline goodness : 0.851988 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.32, Z:-1.86 [[ 0.40470522 -0.81664776 -0.41146096 4.35495873] [ 0.88047639 0.46949891 -0.06581874 -3.32025826] [ 0.2469312 -0.33564447 0.90904773 -1.8573615 ] [ 0. 0. 0. 1. ]] SLAMing on 200.59800114499998 meters Centerline goodness : 0.850914 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.32, Z:-1.86 [[ 0.40525582 -0.81651698 -0.41117849 4.35635417] [ 0.88030602 0.46987086 -0.06544214 -3.32148209] [ 0.24663541 -0.33544209 0.90920272 -1.85767311] [ 0. 0. 0. 1. ]] SLAMing on 200.658001145 meters Centerline goodness : 0.851374 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.32, Z:-1.86 [[ 0.4055751 -0.81635409 -0.41118711 4.35846616] [ 0.88023964 0.470056 -0.06500413 -3.32263035] [ 0.24634736 -0.33557914 0.90923024 -1.85778293] [ 0. 0. 0. 1. ]] SLAMing on 200.718001145 meters Centerline goodness : 0.849577 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.32, Z:-1.86 [[ 0.40508398 -0.81687383 -0.41063868 4.35827592] [ 0.88057176 0.46941521 -0.06513631 -3.3232646 ] [ 0.24596819 -0.33521115 0.9094686 -1.8574212 ] [ 0. 0. 0. 1. ]] SLAMing on 200.778001145 meters Centerline goodness : 0.850712 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.32, Z:-1.86 [[ 0.40573643 -0.82054171 -0.40260309 4.36099699] [ 0.8838338 0.46445134 -0.05588165 -3.31960022] [ 0.23284277 -0.333161 0.91366733 -1.86382765] [ 0. 0. 0. 1. ]] SLAMing on 200.838001145 meters Centerline goodness : 0.849795 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.32, Z:-1.87 [[ 0.40731442 -0.82036239 -0.40137329 4.36069378] [ 0.88319488 0.46570188 -0.05557493 -3.32114325] [ 0.23251188 -0.33185436 0.91422694 -1.86519294] [ 0. 0. 0. 1. ]] SLAMing on 200.898001145 meters Centerline goodness : 0.848795 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.32, Z:-1.87 [[ 0.41032188 -0.81775012 -0.40363436 4.35932585] [ 0.8815465 0.46899645 -0.0540194 -3.32107795] [ 0.23347745 -0.33365711 0.91332426 -1.86572961] [ 0. 0. 0. 1. ]] SLAMing on 200.958001145 meters Centerline goodness : 0.848559 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.32, Z:-1.87 [[ 0.4112917 -0.81729925 -0.40356049 4.3583721 ] [ 0.88105057 0.46994994 -0.05382328 -3.32128652] [ 0.23364295 -0.33342013 0.91336848 -1.86613163] [ 0. 0. 0. 1. ]] SLAMing on 201.018001145 meters Centerline goodness : 0.848124 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.32, Z:-1.87 [[ 0.41531001 -0.81419366 -0.405717 4.35851844] [ 0.8789791 0.47406183 -0.05158601 -3.32236895] [ 0.23433594 -0.33519258 0.91254183 -1.86749804] [ 0. 0. 0. 1. ]] SLAMing on 201.078001145 meters Centerline goodness : 0.848846 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.32, Z:-1.87 [[ 0.41591156 -0.81348551 -0.40652047 4.35969315] [ 0.87866389 0.47471132 -0.05097974 -3.32302038] [ 0.23445115 -0.33599179 0.91221827 -1.86717181] [ 0. 0. 0. 1. ]] SLAMing on 201.138001145 meters Centerline goodness : 0.847400 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.32, Z:-1.87 [[ 0.41520563 -0.8129647 -0.40828015 4.36133779] [ 0.87899489 0.47417418 -0.05026755 -3.32347795] [ 0.23446165 -0.3380048 0.91147161 -1.86533418] [ 0. 0. 0. 1. ]] SLAMing on 201.19800114499998 meters Centerline goodness : 0.853584 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.33, Z:-1.86 [[ 0.41189012 -0.81550197 -0.4065748 4.36357917] [ 0.88099268 0.47037693 -0.05096512 -3.32555088] [ 0.23280556 -0.33719739 0.91219488 -1.86328574] [ 0. 0. 0. 1. ]] SLAMing on 201.25800114499998 meters Centerline goodness : 0.852110 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.33, Z:-1.86 [[ 0.40807849 -0.81847373 -0.40444121 4.36808419] [ 0.88322152 0.46606262 -0.05201327 -3.32678233] [ 0.23106643 -0.33598568 0.91308375 -1.86245848] [ 0. 0. 0. 1. ]] SLAMing on 201.31800114499998 meters Centerline goodness : 0.855455 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.33, Z:-1.86 [[ 0.40604932 -0.8189397 -0.40553879 4.37001363] [ 0.88427215 0.46409073 -0.05179336 -3.32650015] [ 0.23062244 -0.337576 0.9126093 -1.86079746] [ 0. 0. 0. 1. ]] SLAMing on 201.37800114499998 meters Centerline goodness : 0.852308 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.33, Z:-1.86 [[ 0.40342763 -0.82159793 -0.40276915 4.37301034] [ 0.88577745 0.46104544 -0.05324857 -3.3263946 ] [ 0.22944379 -0.33528188 0.91375139 -1.86170075] [ 0. 0. 0. 1. ]] SLAMing on 201.438001145 meters Centerline goodness : 0.853517 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.32, Z:-1.86 [[ 0.40317389 -0.82139182 -0.40344304 4.37576896] [ 0.88579458 0.46099864 -0.05336877 -3.32485761] [ 0.22982336 -0.33585076 0.91344704 -1.86245056] [ 0. 0. 0. 1. ]] SLAMing on 201.498001145 meters Centerline goodness : 0.853174 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.33, Z:-1.86 [[ 0.40527752 -0.81924108 -0.4057021 4.37552339] [ 0.88470989 0.46326641 -0.05169764 -3.326103 ] [ 0.23030098 -0.33797677 0.91254214 -1.8617537 ] [ 0. 0. 0. 1. ]] SLAMing on 201.558001145 meters Centerline goodness : 0.852831 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.33, Z:-1.86 [[ 0.40717415 -0.81865595 -0.40498352 4.37489989] [ 0.88385067 0.46495312 -0.05125021 -3.32716813] [ 0.23025464 -0.3370772 0.9128865 -1.86314972] [ 0. 0. 0. 1. ]] SLAMing on 201.618001145 meters Centerline goodness : 0.852328 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.33, Z:-1.86 [[ 0.40909504 -0.81651075 -0.40737138 4.37523731] [ 0.88270648 0.46724828 -0.05008305 -3.32612338] [ 0.23123692 -0.33910063 0.91188829 -1.86370274] [ 0. 0. 0. 1. ]] SLAMing on 201.678001145 meters Centerline goodness : 0.853008 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.32, Z:-1.86 [[ 0.41069924 -0.81404471 -0.41067913 4.37527925] [ 0.88170788 0.46929761 -0.04848671 -3.32496831] [ 0.23220108 -0.34218557 0.91048981 -1.86354167] [ 0. 0. 0. 1. ]] SLAMing on 201.738001145 meters Centerline goodness : 0.851026 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.32, Z:-1.86 [[ 0.41134236 -0.81344815 -0.41121717 4.37515378] [ 0.88138121 0.46996062 -0.04800181 -3.32499186] [ 0.23230286 -0.34269392 0.91027263 -1.86378549] [ 0. 0. 0. 1. ]] SLAMing on 201.798001145 meters Centerline goodness : 0.851358 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.32, Z:-1.86 [[ 0.41004497 -0.81346667 -0.41247436 4.37716176] [ 0.88189901 0.46896993 -0.04818035 -3.32297299] [ 0.23263118 -0.34400462 0.90969421 -1.86345672] [ 0. 0. 0. 1. ]] SLAMing on 201.858001145 meters Centerline goodness : 0.856097 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.32, Z:-1.86 [[ 0.40799998 -0.81401329 -0.41342275 4.3802919 ] [ 0.88287733 0.46710194 -0.04840869 -3.32151321] [ 0.23251589 -0.34525083 0.90925146 -1.86285606] [ 0. 0. 0. 1. ]] SLAMing on 201.918001145 meters Centerline goodness : 0.858776 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.32, Z:-1.86 [[ 0.40380398 -0.81639781 -0.41284011 4.38213669] [ 0.88504551 0.462852 -0.04962325 -3.32024618] [ 0.23159619 -0.34534422 0.9094507 -1.86129743] [ 0. 0. 0. 1. ]] SLAMing on 201.97800114499998 meters Centerline goodness : 0.859189 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.32, Z:-1.86 [[ 0.40075963 -0.81918943 -0.41026868 4.38364526] [ 0.88668937 0.45950413 -0.05136054 -3.31919019] [ 0.23059416 -0.34319765 0.91051727 -1.86191177] [ 0. 0. 0. 1. ]] SLAMing on 202.03800114499998 meters Centerline goodness : 0.858547 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.32, Z:-1.86 [[ 0.39921181 -0.81998945 -0.41017951 4.38377507] [ 0.88735651 0.45811991 -0.05219737 -3.31700239] [ 0.23071269 -0.34313765 0.91050986 -1.86219353] [ 0. 0. 0. 1. ]] SLAMing on 202.09800114499998 meters Centerline goodness : 0.860060 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.31, Z:-1.86 [[ 0.40135278 -0.8176425 -0.41276711 4.38463943] [ 0.88599866 0.46083455 -0.0513604 -3.31406185] [ 0.2322118 -0.34509747 0.90938739 -1.86414886] [ 0. 0. 0. 1. ]] SLAMing on 202.158001145 meters Centerline goodness : 0.861558 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.31, Z:-1.87 [[ 0.40661717 -0.81472116 -0.41339074 4.38255166] [ 0.8832421 0.46623367 -0.05009555 -3.31400402] [ 0.23355058 -0.3447544 0.90917464 -1.86758337] [ 0. 0. 0. 1. ]] SLAMing on 202.218001145 meters Centerline goodness : 0.864247 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.31, Z:-1.87 [[ 0.40896117 -0.81257758 -0.41529321 4.38035525] [ 0.88185434 0.46895224 -0.04916021 -3.31256059] [ 0.23469916 -0.3461235 0.90835831 -1.86853973] [ 0. 0. 0. 1. ]] SLAMing on 202.278001145 meters Centerline goodness : 0.862625 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.30, Z:-1.87 [[ 0.41125604 -0.81548603 -0.4072481 4.37749337] [ 0.88348757 0.46656132 -0.04207421 -3.30405786] [ 0.22431714 -0.34249536 0.91234793 -1.87260392] [ 0. 0. 0. 1. ]] SLAMing on 202.338001145 meters Centerline goodness : 0.866749 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.30, Z:-1.87 [[ 0.41161894 -0.81408351 -0.40968023 4.3768617 ] [ 0.88309482 0.46736186 -0.04142994 -3.30153718] [ 0.22519634 -0.34473314 0.91128792 -1.87284138] [ 0. 0. 0. 1. ]] SLAMing on 202.398001145 meters Centerline goodness : 0.865804 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.30, Z:-1.87 [[ 0.4109753 -0.81394621 -0.4105982 4.37760211] [ 0.88322865 0.467071 -0.04185482 -3.29838917] [ 0.22584608 -0.3454508 0.91085525 -1.87379782] [ 0. 0. 0. 1. ]] SLAMing on 202.458001145 meters Centerline goodness : 0.865994 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.29, Z:-1.87 [[ 0.41005125 -0.81208152 -0.4151886 4.3771991 ] [ 0.88319774 0.46716361 -0.04147175 -3.29261699] [ 0.22763945 -0.3496881 0.90878959 -1.87339019] [ 0. 0. 0. 1. ]] SLAMing on 202.518001145 meters Centerline goodness : 0.868986 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.29, Z:-1.87 [[ 0.40925409 -0.81264247 -0.41487746 4.37642005] [ 0.88346712 0.46657024 -0.0424035 -3.28961065] [ 0.22802836 -0.34917679 0.90888868 -1.87489001] [ 0. 0. 0. 1. ]] SLAMing on 202.578001145 meters Centerline goodness : 0.868592 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.28, Z:-1.88 [[ 0.40874547 -0.81155495 -0.41749935 4.37707204] [ 0.88328055 0.46688742 -0.04279737 -3.28313299] [ 0.22965761 -0.35127582 0.90766881 -1.87706346] [ 0. 0. 0. 1. ]] SLAMing on 202.638001145 meters Centerline goodness : 0.870946 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.28, Z:-1.88 [[ 0.40870332 -0.81180243 -0.41705925 4.37379334] [ 0.88323024 0.46693205 -0.04334502 -3.28163378] [ 0.22992593 -0.35064409 0.90784514 -1.8775692 ] [ 0. 0. 0. 1. ]] SLAMing on 202.69800114499998 meters Centerline goodness : 0.868789 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.28, Z:-1.88 [[ 0.41048847 -0.81073261 -0.41738693 4.37193649] [ 0.88217311 0.46893369 -0.04326428 -3.27930444] [ 0.23080256 -0.35044803 0.90769838 -1.8800333 ] [ 0. 0. 0. 1. ]] SLAMing on 202.75800114499998 meters Centerline goodness : 0.873737 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.28, Z:-1.88 [[ 0.41285907 -0.80725666 -0.42176306 4.36941685] [ 0.88053168 0.47214534 -0.04174614 -3.27593482] [ 0.23283332 -0.35414046 0.90574455 -1.88035337] [ 0. 0. 0. 1. ]] SLAMing on 202.81800114499998 meters Centerline goodness : 0.872663 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.27, Z:-1.88 [[ 0.41357471 -0.80509435 -0.4251812 4.36931736] [ 0.87975617 0.47364367 -0.0411188 -3.2726813 ] [ 0.23448889 -0.35705009 0.90417376 -1.88018072] [ 0. 0. 0. 1. ]] SLAMing on 202.87800114499998 meters Centerline goodness : 0.868763 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.27, Z:-1.88 [[ 0.41329215 -0.80532833 -0.4250128 4.36712516] [ 0.87988234 0.47338719 -0.04137206 -3.27230123] [ 0.2345137 -0.35686251 0.90424138 -1.87970386] [ 0. 0. 0. 1. ]] SLAMing on 202.938001145 meters Centerline goodness : 0.868871 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.27, Z:-1.88 [[ 0.41263983 -0.80523201 -0.42582834 4.36595082] [ 0.87990275 0.47326821 -0.04228886 -3.26838909] [ 0.23558336 -0.35723746 0.90381518 -1.88043964] [ 0. 0. 0. 1. ]] SLAMing on 202.998001145 meters Centerline goodness : 0.868353 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.27, Z:-1.88 [[ 0.41137461 -0.80569137 -0.42618348 4.36634654] [ 0.88034884 0.47235392 -0.04321686 -3.26540856] [ 0.23612889 -0.35741181 0.90360387 -1.88088229] [ 0. 0. 0. 1. ]] SLAMing on 203.058001145 meters Centerline goodness : 0.865217 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.26, Z:-1.88 [[ 0.40899757 -0.80605576 -0.42777927 4.36270737] [ 0.88118717 0.4706788 -0.04439193 -3.26134834] [ 0.237129 -0.35879741 0.90279248 -1.87908501] [ 0. 0. 0. 1. ]] SLAMing on 203.118001145 meters Centerline goodness : 0.867327 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.26, Z:-1.88 [[ 0.40742671 -0.80711877 -0.42727364 4.36451807] [ 0.88171856 0.46951341 -0.04614701 -3.25739631] [ 0.23785682 -0.35793358 0.9029439 -1.8805869 ] [ 0. 0. 0. 1. ]] SLAMing on 203.178001145 meters Centerline goodness : 0.866538 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.26, Z:-1.88 [[ 0.40701643 -0.80757016 -0.42681152 4.36354433] [ 0.88183899 0.46921613 -0.04686375 -3.25631753] [ 0.23811262 -0.35730472 0.90312553 -1.88063502] [ 0. 0. 0. 1. ]] SLAMing on 203.238001145 meters Centerline goodness : 0.867127 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.26, Z:-1.87 [[ 0.40593814 -0.80406437 -0.43439005 4.35926572] [ 0.87866497 0.47409131 -0.05643847 -3.25981961] [ 0.25132071 -0.3587728 0.89895494 -1.87111565] [ 0. 0. 0. 1. ]] SLAMing on 203.298001145 meters Centerline goodness : 0.869060 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.27, Z:-1.86 [[ 0.40533993 -0.80194946 -0.43883551 4.35592981] [ 0.87557114 0.4785812 -0.06584242 -3.26516378] [ 0.26282072 -0.35754314 0.89615187 -1.86488226] [ 0. 0. 0. 1. ]] SLAMing on 203.358001145 meters Centerline goodness : 0.872433 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.27, Z:-1.87 [[ 0.40504229 -0.80437568 -0.43464986 4.35393758] [ 0.8761096 0.47742011 -0.06709697 -3.26742188] [ 0.26148175 -0.35362381 0.8980966 -1.86566957] [ 0. 0. 0. 1. ]] SLAMing on 203.418001145 meters Centerline goodness : 0.875495 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.27, Z:-1.86 [[ 0.40469136 -0.80343071 -0.43671959 4.35089699] [ 0.87597206 0.47767861 -0.06705297 -3.26549982] [ 0.26248402 -0.3554184 0.89709526 -1.86398897] [ 0. 0. 0. 1. ]] SLAMing on 203.47800114499998 meters Centerline goodness : 0.877626 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.27, Z:-1.87 [[ 0.40577079 -0.80372555 -0.43517274 4.3494074 ] [ 0.87558486 0.47838126 -0.0671009 -3.26638083] [ 0.26210919 -0.35380307 0.89784306 -1.86513526] [ 0. 0. 0. 1. ]] SLAMing on 203.53800114499998 meters Centerline goodness : 0.878658 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.27, Z:-1.87 [[ 0.40725219 -0.80401939 -0.43324181 4.34846463] [ 0.87491497 0.4795462 -0.06752212 -3.2668934 ] [ 0.26204856 -0.35155122 0.89874485 -1.86694814] [ 0. 0. 0. 1. ]] SLAMing on 203.59800114499998 meters Centerline goodness : 0.878140 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.27, Z:-1.87 [[ 0.40870013 -0.80184669 -0.43589688 4.34602346] [ 0.8738097 0.48166509 -0.06674841 -3.26549126] [ 0.2634783 -0.35361083 0.897518 -1.86591617] [ 0. 0. 0. 1. ]] SLAMing on 203.658001145 meters Centerline goodness : 0.873767 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.87 [[ 0.41151322 -0.80126534 -0.43431639 4.34385807] [ 0.87239632 0.48422122 -0.0667418 -3.26560919] [ 0.26378311 -0.35143088 0.89828437 -1.86848732] [ 0. 0. 0. 1. ]] SLAMing on 203.718001145 meters Centerline goodness : 0.874422 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.26, Z:-1.87 [[ 0.41281783 -0.80686841 -0.42254563 4.3413463 ] [ 0.87529348 0.47973754 -0.06093618 -3.26095072] [ 0.25187848 -0.3446959 0.90429087 -1.8714603 ] [ 0. 0. 0. 1. ]] SLAMing on 203.778001145 meters Centerline goodness : 0.873864 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.26, Z:-1.87 [[ 0.41105878 -0.80759568 -0.42287102 4.33896171] [ 0.87626333 0.47795465 -0.06100765 -3.261807 ] [ 0.25138269 -0.34546864 0.90413393 -1.86855656] [ 0. 0. 0. 1. ]] SLAMing on 203.838001145 meters Centerline goodness : 0.871191 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.26, Z:-1.87 [[ 0.40797654 -0.81019986 -0.42086973 4.3373085 ] [ 0.87797657 0.47459917 -0.06255221 -3.26245902] [ 0.25042422 -0.34399392 0.90496182 -1.86617332] [ 0. 0. 0. 1. ]] SLAMing on 203.898001145 meters Centerline goodness : 0.874898 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.26, Z:-1.87 [[ 0.40279492 -0.81593047 -0.41474538 4.33879351] [ 0.88121508 0.46819061 -0.06524974 -3.26464109] [ 0.24741914 -0.33919762 0.90759503 -1.86605902] [ 0. 0. 0. 1. ]] SLAMing on 203.958001145 meters Centerline goodness : 0.875174 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.26, Z:-1.86 [[ 0.40060084 -0.81658381 -0.41558375 4.3390734 ] [ 0.88219129 0.46627191 -0.06579543 -3.26365901] [ 0.24750251 -0.34026666 0.90717204 -1.86406472] [ 0. 0. 0. 1. ]] SLAMing on 204.018001145 meters Centerline goodness : 0.878266 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.26, Z:-1.86 [[ 0.39988234 -0.81686801 -0.41571717 4.33976619] [ 0.88237466 0.46581776 -0.06654905 -3.2622796 ] [ 0.24801023 -0.34020651 0.90705593 -1.86387376] [ 0. 0. 0. 1. ]] SLAMing on 204.078001145 meters Centerline goodness : 0.880011 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.26, Z:-1.86 [[ 0.40061414 -0.8171405 -0.41447524 4.34107882] [ 0.88209473 0.46631831 -0.06675419 -3.26320184] [ 0.24782494 -0.33886375 0.90760903 -1.8646494 ] [ 0. 0. 0. 1. ]] SLAMing on 204.138001145 meters Centerline goodness : 0.883023 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.86 [[ 0.40293047 -0.81519483 -0.41605821 4.34047867] [ 0.88090964 0.46875406 -0.06532873 -3.26527353] [ 0.24828462 -0.34018675 0.90698827 -1.86343981] [ 0. 0. 0. 1. ]] SLAMing on 204.19800114499998 meters Centerline goodness : 0.882672 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.86 [[ 0.40345493 -0.81443805 -0.41703092 4.34004624] [ 0.88058796 0.46942573 -0.0648408 -3.26551214] [ 0.24857385 -0.34107206 0.90657646 -1.86268324] [ 0. 0. 0. 1. ]] SLAMing on 204.25800114499998 meters Centerline goodness : 0.884144 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.86 [[ 0.40185949 -0.81715501 -0.41323921 4.33888467] [ 0.88177233 0.46703018 -0.0660331 -3.26768751] [ 0.24695446 -0.33784688 0.90822518 -1.86260195] [ 0. 0. 0. 1. ]] SLAMing on 204.31800114499998 meters Centerline goodness : 0.887420 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.86 [[ 0.40007337 -0.8182369 -0.41283129 4.34191751] [ 0.88260696 0.46532121 -0.06694126 -3.26614321] [ 0.24687296 -0.33758635 0.90834421 -1.86306039] [ 0. 0. 0. 1. ]] SLAMing on 204.37800114499998 meters Centerline goodness : 0.882414 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.86 [[ 0.39705886 -0.81976878 -0.41270256 4.34204023] [ 0.88415385 0.46227872 -0.06760449 -3.26526371] [ 0.24620366 -0.3380496 0.90835358 -1.86176764] [ 0. 0. 0. 1. ]] SLAMing on 204.438001145 meters Centerline goodness : 0.890932 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.86 [[ 0.39471486 -0.82269324 -0.40911613 4.3409734 ] [ 0.88557437 0.45930999 -0.06922696 -3.26565291] [ 0.24486368 -0.33497785 0.90985253 -1.86214104] [ 0. 0. 0. 1. ]] SLAMing on 204.498001145 meters Centerline goodness : 0.886962 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.26, Z:-1.86 [[ 0.3949845 -0.82193995 -0.41036808 4.34346388] [ 0.88523998 0.45995693 -0.06920837 -3.26428805] [ 0.24563676 -0.335938 0.90928997 -1.86236155] [ 0. 0. 0. 1. ]] SLAMing on 204.558001145 meters Centerline goodness : 0.883613 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.26, Z:-1.86 [[ 0.39724941 -0.82052415 -0.41101463 4.34463922] [ 0.88404269 0.46234911 -0.06856977 -3.2643651 ] [ 0.2462954 -0.33611518 0.90904629 -1.86362624] [ 0. 0. 0. 1. ]] SLAMing on 204.618001145 meters Centerline goodness : 0.885737 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.86 [[ 0.39865226 -0.81983686 -0.41102786 4.34446262] [ 0.88347535 0.46355529 -0.06773328 -3.26584509] [ 0.24606438 -0.33613096 0.90910302 -1.86390665] [ 0. 0. 0. 1. ]] SLAMing on 204.678001145 meters Centerline goodness : 0.886038 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.86 [[ 0.40040634 -0.81919885 -0.4105947 4.34289954] [ 0.88275387 0.46503802 -0.06697204 -3.26820893] [ 0.24580556 -0.33563803 0.90935512 -1.86373543] [ 0. 0. 0. 1. ]] SLAMing on 204.738001145 meters Centerline goodness : 0.885831 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.86 [[ 0.40072472 -0.81942431 -0.40983349 4.34300226] [ 0.88266264 0.46519662 -0.06707281 -3.26846801] [ 0.24561425 -0.33486698 0.90969102 -1.86441734] [ 0. 0. 0. 1. ]] SLAMing on 204.798001145 meters Centerline goodness : 0.894801 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.87 [[ 0.4002683 -0.82172009 -0.40566165 4.34152088] [ 0.88326366 0.46389593 -0.06816065 -3.27087704] [ 0.24419376 -0.33102365 0.91147833 -1.86527282] [ 0. 0. 0. 1. ]] SLAMing on 204.858001145 meters Centerline goodness : 0.886216 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.86 [[ 0.39791769 -0.82343474 -0.40449565 4.34021252] [ 0.8846089 0.4612412 -0.0687288 -3.27137431] [ 0.24316374 -0.33047205 0.91195374 -1.86408379] [ 0. 0. 0. 1. ]] SLAMing on 204.918001145 meters Centerline goodness : 0.889998 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.86 [[ 0.39581471 -0.8245469 -0.40429335 4.3414627 ] [ 0.88562525 0.4591804 -0.06943539 -3.2700492 ] [ 0.24289632 -0.33056885 0.91198992 -1.86384898] [ 0. 0. 0. 1. ]] SLAMing on 204.97800114499998 meters Centerline goodness : 0.889820 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.86 [[ 0.39388133 -0.82641123 -0.40237044 4.3400932 ] [ 0.88680799 0.45679239 -0.07008777 -3.27166809] [ 0.24172107 -0.32921906 0.91279008 -1.86260159] [ 0. 0. 0. 1. ]] SLAMing on 205.03800114499998 meters Centerline goodness : 0.891241 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.86 [[ 0.39321972 -0.82680978 -0.40219876 4.34007348] [ 0.88723198 0.45598785 -0.06996067 -3.27257623] [ 0.24124191 -0.32933369 0.91287549 -1.86182845] [ 0. 0. 0. 1. ]] SLAMing on 205.09800114499998 meters Centerline goodness : 0.888936 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.86 [[ 0.39377171 -0.82602868 -0.40326228 4.34032119] [ 0.88700307 0.45656611 -0.06908652 -3.27382822] [ 0.24118334 -0.33049056 0.91247279 -1.86083385] [ 0. 0. 0. 1. ]] SLAMing on 205.158001145 meters Centerline goodness : 0.887352 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.28, Z:-1.86 [[ 0.39514716 -0.82561521 -0.40276327 4.34005172] [ 0.88645918 0.45770349 -0.06853934 -3.27575434] [ 0.24093327 -0.32995007 0.91273441 -1.86091165] [ 0. 0. 0. 1. ]] SLAMing on 205.218001145 meters Centerline goodness : 0.885074 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.28, Z:-1.86 [[ 0.39625168 -0.82542556 -0.40206622 4.34120896] [ 0.88609848 0.45848624 -0.06796953 -3.27768023] [ 0.24044562 -0.32933723 0.91308428 -1.86153786] [ 0. 0. 0. 1. ]] SLAMing on 205.278001145 meters Centerline goodness : 0.887235 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.28, Z:-1.86 [[ 0.39709814 -0.82464366 -0.40283484 4.34364844] [ 0.88576617 0.45926806 -0.06701604 -3.27914322] [ 0.24027352 -0.33020552 0.91281594 -1.86147581] [ 0. 0. 0. 1. ]] SLAMing on 205.338001145 meters Centerline goodness : 0.883845 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.28, Z:-1.86 [[ 0.39610916 -0.82666982 -0.39964303 4.34479241] [ 0.88654427 0.45763166 -0.06791553 -3.28114867] [ 0.23903302 -0.32739927 0.91415148 -1.86203971] [ 0. 0. 0. 1. ]] SLAMing on 205.398001145 meters Centerline goodness : 0.884653 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.28, Z:-1.86 [[ 0.39371055 -0.82935454 -0.39643794 4.34722596] [ 0.88807904 0.45450398 -0.06886034 -3.28366897] [ 0.23729225 -0.32495719 0.9154754 -1.86158917] [ 0. 0. 0. 1. ]] SLAMing on 205.458001145 meters Centerline goodness : 0.886232 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.28, Z:-1.86 [[ 0.39123511 -0.8297618 -0.39803321 4.35259336] [ 0.88904765 0.45251315 -0.06947026 -3.28070128] [ 0.23775903 -0.32669129 0.91473682 -1.86144893] [ 0. 0. 0. 1. ]] SLAMing on 205.518001145 meters Centerline goodness : 0.889991 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.28, Z:-1.86 [[ 0.3894184 -0.83000249 -0.39931088 4.35639346] [ 0.88997461 0.45075765 -0.06901261 -3.28120007] [ 0.23727307 -0.32850177 0.91421446 -1.8597708 ] [ 0. 0. 0. 1. ]] SLAMing on 205.578001145 meters Centerline goodness : 0.889660 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.28, Z:-1.86 [[ 0.38710348 -0.83092416 -0.39964477 4.35771342] [ 0.89133438 0.44815387 -0.06841886 -3.28436598] [ 0.23595323 -0.32973195 0.91411319 -1.85618377] [ 0. 0. 0. 1. ]] SLAMing on 205.638001145 meters Centerline goodness : 0.889974 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.29, Z:-1.86 [[ 0.38455982 -0.83325881 -0.39723231 4.35991298] [ 0.89269928 0.44522763 -0.06971631 -3.28528266] [ 0.23495053 -0.3277989 0.91506619 -1.85540904] [ 0. 0. 0. 1. ]] SLAMing on 205.69800114499998 meters Centerline goodness : 0.891894 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.29, Z:-1.85 [[ 0.38194944 -0.83503183 -0.39602584 4.36519372] [ 0.89410936 0.44230071 -0.07027474 -3.2864037 ] [ 0.23384415 -0.32724901 0.91554628 -1.85469182] [ 0. 0. 0. 1. ]] SLAMing on 205.75800114499998 meters Centerline goodness : 0.891158 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.29, Z:-1.85 [[ 0.38042907 -0.83488884 -0.39778682 4.36885568] [ 0.89468611 0.4411395 -0.07023319 -3.28513442] [ 0.23411638 -0.3291756 0.91478574 -1.85334485] [ 0. 0. 0. 1. ]] SLAMing on 205.81800114499998 meters Centerline goodness : 0.889706 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.29, Z:-1.85 [[ 0.37937788 -0.83622941 -0.39597071 4.37326378] [ 0.89549853 0.43949699 -0.07017684 -3.28839588] [ 0.23271187 -0.32796764 0.91557764 -1.85288334] [ 0. 0. 0. 1. ]] SLAMing on 205.87800114499998 meters Centerline goodness : 0.891372 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.32, Z:-1.87 [[ 0.37989413 -0.83767096 -0.39241282 4.36035478] [ 0.89853388 0.43496862 -0.05864445 -3.31932848] [ 0.21981202 -0.33031753 0.91791776 -1.87034074] [ 0. 0. 0. 1. ]] SLAMing on 205.938001145 meters Centerline goodness : 0.889570 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.35, Z:-1.88 [[ 0.38004349 -0.83872254 -0.39001468 4.34683347] [ 0.89972549 0.43303765 -0.05452007 -3.35236971] [ 0.21461826 -0.33018615 0.91919318 -1.88242769] [ 0. 0. 0. 1. ]] SLAMing on 205.998001145 meters Centerline goodness : 0.891102 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.36, Z:-1.88 [[ 0.37901776 -0.83597686 -0.39684786 4.34988196] [ 0.89806679 0.43572591 -0.06015785 -3.36228562] [ 0.22320746 -0.33359499 0.91591092 -1.88226179] [ 0. 0. 0. 1. ]] SLAMing on 206.058001145 meters Centerline goodness : 0.891941 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.37, Z:-1.88 [[ 0.37796931 -0.83179958 -0.40650788 4.35499065] [ 0.89591728 0.4393067 -0.06589268 -3.36840788] [ 0.23339114 -0.33929203 0.91126807 -1.88173652] [ 0. 0. 0. 1. ]] SLAMing on 206.118001145 meters Centerline goodness : 0.891990 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.37, Z:-1.88 [[ 0.37771368 -0.83097466 -0.40842807 4.35865625] [ 0.89584408 0.43948637 -0.0656896 -3.36717052] [ 0.23408496 -0.34107601 0.91042374 -1.88103019] [ 0. 0. 0. 1. ]] SLAMing on 206.178001145 meters Centerline goodness : 0.894948 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.37, Z:-1.88 [[ 0.37661875 -0.82999503 -0.41142018 4.36268088] [ 0.89624017 0.43880771 -0.06481783 -3.36718808] [ 0.23433282 -0.34431968 0.9091381 -1.87831516] [ 0. 0. 0. 1. ]] SLAMing on 206.238001145 meters Centerline goodness : 0.891817 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.37, Z:-1.88 [[ 0.37622542 -0.82954563 -0.41268449 4.36946967] [ 0.8964346 0.43850101 -0.06420187 -3.36777047] [ 0.23422094 -0.34579028 0.90860863 -1.87820039] [ 0. 0. 0. 1. ]] SLAMing on 206.298001145 meters Centerline goodness : 0.896864 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.37, Z:-1.88 [[ 0.37597907 -0.82874988 -0.41450378 4.37344103] [ 0.89639891 0.43862059 -0.06388249 -3.36620679] [ 0.23475249 -0.34754226 0.90780265 -1.87811851] [ 0. 0. 0. 1. ]] SLAMing on 206.358001145 meters Centerline goodness : 0.891980 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.37, Z:-1.88 [[ 0.37626349 -0.82860325 -0.41453883 4.37599079] [ 0.89634095 0.43879373 -0.06350562 -3.36680613] [ 0.234518 -0.34767328 0.90781309 -1.8787907 ] [ 0. 0. 0. 1. ]] SLAMing on 206.418001145 meters Centerline goodness : 0.893161 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.37, Z:-1.88 [[ 0.37652721 -0.82871618 -0.41407337 4.3782505 ] [ 0.8962594 0.43895717 -0.06352704 -3.3666201 ] [ 0.23440636 -0.3471975 0.90802398 -1.88009171] [ 0. 0. 0. 1. ]] SLAMing on 206.47800114499998 meters Centerline goodness : 0.890078 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.37, Z:-1.88 [[ 0.37614533 -0.82932164 -0.41320735 4.37899507] [ 0.89650953 0.43840661 -0.06379901 -3.36687103] [ 0.23406273 -0.34644663 0.90839934 -1.88049016] [ 0. 0. 0. 1. ]] SLAMing on 206.53800114499998 meters Centerline goodness : 0.892191 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.37, Z:-1.88 [[ 0.37637989 -0.83039628 -0.41082868 4.37588723] [ 0.89756037 0.43672811 -0.06044788 -3.3733055 ] [ 0.22961613 -0.34599217 0.90970646 -1.8835461 ] [ 0. 0. 0. 1. ]] SLAMing on 206.59800114499998 meters Centerline goodness : 0.894027 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.37, Z:-1.88 [[ 0.3766937 -0.82790562 -0.41554078 4.38043289] [ 0.89697588 0.43804162 -0.05961377 -3.36989689] [ 0.23137874 -0.35027393 0.90761889 -1.88294746] [ 0. 0. 0. 1. ]] SLAMing on 206.658001145 meters Centerline goodness : 0.891226 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.37, Z:-1.88 [[ 0.37660527 -0.8272576 -0.41690925 4.38299253] [ 0.89680295 0.4383771 -0.05974939 -3.36755701] [ 0.23219161 -0.35138351 0.90698219 -1.88331542] [ 0. 0. 0. 1. ]] SLAMing on 206.718001145 meters Centerline goodness : 0.893511 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.37, Z:-1.88 [[ 0.37574904 -0.82658235 -0.41901583 4.38449781] [ 0.89704343 0.43792354 -0.05946473 -3.36678471] [ 0.23264939 -0.35353159 0.90602962 -1.8812973 ] [ 0. 0. 0. 1. ]] SLAMing on 206.778001145 meters Centerline goodness : 0.893739 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.37, Z:-1.88 [[ 0.37498486 -0.82604642 -0.42075369 4.38867635] [ 0.8973148 0.43742162 -0.0590633 -3.36690412] [ 0.23283579 -0.35540067 0.90525016 -1.87977937] [ 0. 0. 0. 1. ]] SLAMing on 206.838001145 meters Centerline goodness : 0.897133 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.36, Z:-1.88 [[ 0.3730627 -0.82609041 -0.4223729 4.3937072 ] [ 0.8980351 0.43590116 -0.05935601 -3.36479802] [ 0.23314626 -0.35716218 0.90447664 -1.87912693] [ 0. 0. 0. 1. ]] SLAMing on 206.898001145 meters Centerline goodness : 0.896984 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.36, Z:-1.88 [[ 0.37027587 -0.82599254 -0.42500836 4.40026696] [ 0.89914209 0.43361219 -0.0593631 -3.36328663] [ 0.23332228 -0.36016217 0.90324079 -1.87708474] [ 0. 0. 0. 1. ]] SLAMing on 206.958001145 meters Centerline goodness : 0.894227 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.36, Z:-1.88 [[ 0.36864932 -0.82604473 -0.42631888 4.40543785] [ 0.89975409 0.43230732 -0.05960669 -3.36139914] [ 0.23353856 -0.36160819 0.90260692 -1.87693147] [ 0. 0. 0. 1. ]] SLAMing on 207.018001145 meters Centerline goodness : 0.893432 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.36, Z:-1.88 [[ 0.36772658 -0.82572183 -0.42773898 4.41206647] [ 0.89990614 0.43191693 -0.06013908 -3.35891009] [ 0.23440586 -0.36281019 0.90189947 -1.87761728] [ 0. 0. 0. 1. ]] SLAMing on 207.078001145 meters Centerline goodness : 0.898706 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.36, Z:-1.88 [[ 0.37007433 -0.82309802 -0.43076053 4.41463763] [ 0.89870671 0.43464179 -0.05841879 -3.36034675] [ 0.23531092 -0.36550808 0.90057349 -1.87662269] [ 0. 0. 0. 1. ]] SLAMing on 207.138001145 meters Centerline goodness : 0.899090 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.36, Z:-1.88 [[ 0.37423656 -0.81946504 -0.43407838 4.41634041] [ 0.89663224 0.43920511 -0.05612044 -3.36201233] [ 0.23663818 -0.36820635 0.89912539 -1.87652064] [ 0. 0. 0. 1. ]] SLAMing on 207.19800114499998 meters Centerline goodness : 0.899983 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.37, Z:-1.88 [[ 0.38221155 -0.81323962 -0.43881163 4.41742566] [ 0.89266765 0.44768703 -0.05216121 -3.3656266 ] [ 0.23886984 -0.37177633 0.89706385 -1.87695219] [ 0. 0. 0. 1. ]] SLAMing on 207.25800114499998 meters Centerline goodness : 0.901754 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.37, Z:-1.88 [[ 0.3863844 -0.80919776 -0.44261278 4.41976226] [ 0.89044291 0.45237133 -0.04971529 -3.36653857] [ 0.24045484 -0.3749122 0.89533363 -1.87714116] [ 0. 0. 0. 1. ]] SLAMing on 207.31800114499998 meters Centerline goodness : 0.904178 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.36, Z:-1.88 [[ 0.38623432 -0.80837828 -0.44423822 4.42263102] [ 0.89029166 0.45267282 -0.04967983 -3.36483901] [ 0.24125467 -0.37631352 0.89453022 -1.8768793 ] [ 0. 0. 0. 1. ]] SLAMing on 207.37800114499998 meters Centerline goodness : 0.900360 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.36, Z:-1.87 [[ 0.38133806 -0.80527453 -0.45399803 4.43455756] [ 0.89145502 0.45034136 -0.05000617 -3.35741666] [ 0.24472278 -0.38564957 0.88959832 -1.87406157] [ 0. 0. 0. 1. ]] SLAMing on 207.438001145 meters Centerline goodness : 0.898983 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.35, Z:-1.87 [[ 0.37855782 -0.8053508 -0.45618424 4.43947344] [ 0.89249645 0.44820318 -0.05063585 -3.35406275] [ 0.24524285 -0.38797422 0.88844356 -1.87263318] [ 0. 0. 0. 1. ]] SLAMing on 207.498001145 meters Centerline goodness : 0.896274 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.35, Z:-1.87 [[ 0.37210209 -0.80436339 -0.46318417 4.45021252] [ 0.89461168 0.44380618 -0.05201942 -3.34665207] [ 0.24740652 -0.39501343 0.88473409 -1.86973419] [ 0. 0. 0. 1. ]] SLAMing on 207.558001145 meters Centerline goodness : 0.895625 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.34, Z:-1.87 [[ 0.36940732 -0.80456036 -0.46499554 4.45233062] [ 0.89563128 0.44166691 -0.0526778 -3.34391552] [ 0.24775562 -0.39700499 0.88374442 -1.86779431] [ 0. 0. 0. 1. ]] SLAMing on 207.618001145 meters Centerline goodness : 0.895963 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.34, Z:-1.87 [[ 0.37037618 -0.80487753 -0.46367407 4.45948124] [ 0.89764213 0.4385065 -0.04416631 -3.33555447] [ 0.23887256 -0.39985523 0.88490434 -1.87272777] [ 0. 0. 0. 1. ]] SLAMing on 207.678001145 meters Centerline goodness : 0.897235 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.34, Z:-1.87 [[ 0.37516123 -0.80131555 -0.46599082 4.45666571] [ 0.89526197 0.44355798 -0.04198008 -3.33729914] [ 0.24033324 -0.40143457 0.88379309 -1.87318974] [ 0. 0. 0. 1. ]] SLAMing on 207.738001145 meters Centerline goodness : 0.896329 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.33, Z:-1.88 [[ 0.38086633 -0.80270296 -0.45892133 4.45544025] [ 0.89526366 0.44423581 -0.03402242 -3.33177736] [ 0.23117918 -0.3978976 0.88782526 -1.87585416] [ 0. 0. 0. 1. ]] SLAMing on 207.798001145 meters Centerline goodness : 0.899657 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.33, Z:-1.88 [[ 0.38667006 -0.79859986 -0.46122069 4.45416319] [ 0.8923003 0.45032996 -0.03167167 -3.33359411] [ 0.23299449 -0.39930088 0.88672001 -1.87726089] [ 0. 0. 0. 1. ]] SLAMing on 207.858001145 meters Centerline goodness : 0.899115 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.33, Z:-1.88 [[ 0.38657372 -0.79844784 -0.46156452 4.45729114] [ 0.89217715 0.45053986 -0.03215226 -3.33134734] [ 0.23362512 -0.3993681 0.88652379 -1.8788281 ] [ 0. 0. 0. 1. ]] SLAMing on 207.918001145 meters Centerline goodness : 0.900650 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.33, Z:-1.88 [[ 0.38421314 -0.79873293 -0.46303992 4.45892597] [ 0.89325452 0.4483912 -0.03227517 -3.33001947] [ 0.23340227 -0.40121196 0.8857496 -1.87682005] [ 0. 0. 0. 1. ]] SLAMing on 207.97800114499998 meters Centerline goodness : 0.901248 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.33, Z:-1.87 [[ 0.38068073 -0.7992996 -0.46497563 4.46015951] [ 0.89489319 0.4450976 -0.03246997 -3.32873703] [ 0.23291277 -0.40374284 0.88472785 -1.87329787] [ 0. 0. 0. 1. ]] SLAMing on 208.03800114499998 meters Centerline goodness : 0.899459 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.33, Z:-1.87 [[ 0.37864015 -0.80024317 -0.46501882 4.46221757] [ 0.89584157 0.4431355 -0.03314826 -3.32705201] [ 0.23259302 -0.40403193 0.88467999 -1.87306279] [ 0. 0. 0. 1. ]] SLAMing on 208.09800114499998 meters Centerline goodness : 0.902420 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.33, Z:-1.87 [[ 0.37770217 -0.80111839 -0.46427406 4.46194773] [ 0.89630467 0.44215093 -0.03377106 -3.32629398] [ 0.23233383 -0.4033756 0.88504752 -1.87344148] [ 0. 0. 0. 1. ]] SLAMing on 208.158001145 meters Centerline goodness : 0.903819 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.32, Z:-1.87 [[ 0.37973284 -0.79871698 -0.4667485 4.45786091] [ 0.89502401 0.44479647 -0.03298668 -3.32438613] [ 0.2339551 -0.40522499 0.8837747 -1.87361126] [ 0. 0. 0. 1. ]] SLAMing on 208.218001145 meters Centerline goodness : 0.899857 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.32, Z:-1.88 [[ 0.38474113 -0.79634264 -0.46670405 4.45452756] [ 0.89249126 0.44993028 -0.03197009 -3.32419907] [ 0.23544343 -0.40422908 0.88383553 -1.87783783] [ 0. 0. 0. 1. ]] SLAMing on 208.278001145 meters Centerline goodness : 0.903310 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.32, Z:-1.88 [[ 0.39258783 -0.79706879 -0.45886397 4.44955854] [ 0.89155661 0.45232836 -0.02293171 -3.32076719] [ 0.22583534 -0.40010049 0.88821056 -1.88204595] [ 0. 0. 0. 1. ]] SLAMing on 208.338001145 meters Centerline goodness : 0.905207 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.31, Z:-1.88 [[ 0.39668802 -0.79822326 -0.45329708 4.44899552] [ 0.89190331 0.45196527 -0.01535822 -3.31286532] [ 0.21713382 -0.39820474 0.89122718 -1.88331104] [ 0. 0. 0. 1. ]] SLAMing on 208.398001145 meters Centerline goodness : 0.906519 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.31, Z:-1.88 [[ 0.39715391 -0.79579548 -0.45714147 4.4517376 ] [ 0.89137448 0.45304337 -0.01425601 -3.31087696] [ 0.21844978 -0.40182241 0.88927973 -1.88238311] [ 0. 0. 0. 1. ]] SLAMing on 208.458001145 meters Centerline goodness : 0.903164 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.31, Z:-1.88 [[ 0.39569418 -0.79564876 -0.45866018 4.45371631] [ 0.8918769 0.45203849 -0.01472411 -3.30786715] [ 0.21904728 -0.40324218 0.88848975 -1.88202577] [ 0. 0. 0. 1. ]] SLAMing on 208.518001145 meters Centerline goodness : 0.903493 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.30, Z:-1.88 [[ 0.39442924 -0.79566668 -0.45971743 4.45620794] [ 0.89222626 0.45131856 -0.01561616 -3.30349046] [ 0.21990426 -0.40401249 0.88792794 -1.88344784] [ 0. 0. 0. 1. ]] SLAMing on 208.578001145 meters Centerline goodness : 0.904450 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.30, Z:-1.88 [[ 0.39382586 -0.79622905 -0.4592608 4.45539275] [ 0.89248544 0.45078488 -0.01620903 -3.30231009] [ 0.21993392 -0.40350005 0.88815358 -1.88395176] [ 0. 0. 0. 1. ]] SLAMing on 208.638001145 meters Centerline goodness : 0.904987 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.30, Z:-1.89 [[ 0.3931706 -0.79745357 -0.45769496 4.45215905] [ 0.8927428 0.45022466 -0.01755108 -3.29943306] [ 0.22006173 -0.40170332 0.88893604 -1.8862129 ] [ 0. 0. 0. 1. ]] SLAMing on 208.69800114499998 meters Centerline goodness : 0.904425 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.30, Z:-1.89 [[ 0.39317692 -0.79825664 -0.45628746 4.44920912] [ 0.8927125 0.45024867 -0.01845335 -3.29797979] [ 0.22017334 -0.40007809 0.88964106 -1.88788337] [ 0. 0. 0. 1. ]] SLAMing on 208.75800114499998 meters Centerline goodness : 0.906721 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.29, Z:-1.89 [[ 0.39553305 -0.80258377 -0.44655671 4.4470453 ] [ 0.8941984 0.44750305 -0.01225748 -3.2895944 ] [ 0.20967314 -0.39446206 0.89467137 -1.89313237] [ 0. 0. 0. 1. ]] SLAMing on 208.81800114499998 meters Centerline goodness : 0.905053 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.29, Z:-1.89 [[ 0.39522653 -0.80119568 -0.44931222 4.44511572] [ 0.89404043 0.44782236 -0.01211818 -3.28542706] [ 0.21092109 -0.39691386 0.89329261 -1.8933391 ] [ 0. 0. 0. 1. ]] SLAMing on 208.87800114499998 meters Centerline goodness : 0.903833 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.28, Z:-1.89 [[ 0.39577522 -0.79886377 -0.4529665 4.44599329] [ 0.89344545 0.44903001 -0.01128172 -3.28210824] [ 0.2124081 -0.40023583 0.89145615 -1.8933442 ] [ 0. 0. 0. 1. ]] SLAMing on 208.938001145 meters Centerline goodness : 0.906887 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.27, Z:-1.90 [[ 3.98525012e-01 -7.95804279e-01 -4.55931315e-01 4.45367100e+00] [ 8.93667661e-01 4.48724623e-01 -2.07939229e-03 -3.27110298e+00] [ 2.06242397e-01 -4.06622382e-01 8.90012535e-01 -1.89957008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.998001145 meters Centerline goodness : 0.908960 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.27, Z:-1.90 [[ 3.99573473e-01 -7.94790611e-01 -4.56781046e-01 4.45375963e+00] [ 8.92979915e-01 4.50092028e-01 -2.00934719e-03 -3.26943318e+00] [ 2.07190517e-01 -4.07093418e-01 8.89576887e-01 -1.90074843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.058001145 meters Centerline goodness : 0.909950 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.26, Z:-1.90 [[ 3.99091895e-01 -7.92437256e-01 -4.61268745e-01 4.45518349e+00] [ 8.92674936e-01 4.50696947e-01 -1.92885396e-03 -3.26351809e+00] [ 2.09420911e-01 -4.10993258e-01 8.87258375e-01 -1.90091843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.118001145 meters Centerline goodness : 0.914418 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.26, Z:-1.90 [[ 3.95506538e-01 -7.93728756e-01 -4.62135522e-01 4.45836170e+00] [ 8.94099440e-01 4.47850611e-01 -4.00258046e-03 -3.25714469e+00] [ 2.10144639e-01 -4.11612065e-01 8.86800281e-01 -1.90216431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.178001145 meters Centerline goodness : 0.916159 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.25, Z:-1.90 [[ 0.39359446 -0.79414626 -0.4630498 4.46078856] [ 0.89477796 0.44648148 -0.00516565 -3.25254677] [ 0.21084544 -0.41229359 0.88631721 -1.9032804 ] [ 0. 0. 0. 1. ]] SLAMing on 209.238001145 meters Centerline goodness : 0.908582 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.25, Z:-1.90 [[ 0.39079601 -0.79402586 -0.46561938 4.4606945 ] [ 0.89576334 0.44448839 -0.00617358 -3.24621037] [ 0.2118644 -0.41467216 0.88496355 -1.90341881] [ 0. 0. 0. 1. ]] SLAMing on 209.298001145 meters Centerline goodness : 0.906747 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.24, Z:-1.90 [[ 0.39001294 -0.79492375 -0.4647431 4.45780682] [ 0.89612 0.4437566 -0.0070023 -3.24453014] [ 0.21179911 -0.41373459 0.88541788 -1.90424194] [ 0. 0. 0. 1. ]] SLAMing on 209.358001145 meters Centerline goodness : 0.905725 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.24, Z:-1.91 [[ 0.39115504 -0.79332971 -0.4665037 4.45345168] [ 0.8952886 0.44543447 -0.00681613 -3.24157726] [ 0.21320427 -0.41498928 0.88449298 -1.90518094] [ 0. 0. 0. 1. ]] SLAMing on 209.418001145 meters Centerline goodness : 0.908256 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.23, Z:-1.91 [[ 3.93750006e-01 -7.97436894e-01 -4.57225691e-01 4.45023025e+00] [ 8.96623624e-01 4.42793476e-01 -1.18753018e-04 -3.23427582e+00] [ 2.02551251e-01 -4.09912597e-01 8.89350692e-01 -1.90924342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47800114499998 meters Centerline goodness : 0.911538 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.23, Z:-1.91 [[ 3.96621811e-01 -7.94918250e-01 -4.59125381e-01 4.44721483e+00] [ 8.95075872e-01 4.45912308e-01 1.18220905e-03 -3.23438656e+00] [ 2.03789899e-01 -4.11420940e-01 8.88370692e-01 -1.90947046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53800114499998 meters Centerline goodness : 0.909257 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.23, Z:-1.91 [[ 0.40039254 -0.79811213 -0.45022532 4.44257669] [ 0.8958443 0.44427437 0.00912565 -3.229276 ] [ 0.19274028 -0.40698563 0.89286835 -1.9134338 ] [ 0. 0. 0. 1. ]] SLAMing on 209.59800114499998 meters Centerline goodness : 0.908964 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.23, Z:-1.91 [[ 0.40209085 -0.79784076 -0.44919157 4.4397193 ] [ 0.89501869 0.44593553 0.00911256 -3.22951456] [ 0.19304011 -0.40569893 0.89338899 -1.91492772] [ 0. 0. 0. 1. ]] SLAMing on 209.658001145 meters Centerline goodness : 0.911533 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.23, Z:-1.92 [[ 0.40240031 -0.79830755 -0.44808374 4.43941521] [ 0.89493518 0.44610724 0.00890775 -3.22960022] [ 0.19278228 -0.40459039 0.89394721 -1.9162185 ] [ 0. 0. 0. 1. ]] SLAMing on 209.718001145 meters Centerline goodness : 0.910968 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.23, Z:-1.92 [[ 0.40132419 -0.79926322 -0.44734461 4.43748773] [ 0.89550598 0.44497098 0.00835882 -3.22921327] [ 0.19237447 -0.40395437 0.89432261 -1.91581037] [ 0. 0. 0. 1. ]] SLAMing on 209.778001145 meters Centerline goodness : 0.904962 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.23, Z:-1.92 [[ 0.40018402 -0.79982854 -0.44735562 4.44024127] [ 0.89601656 0.44395226 0.00779207 -3.22674362] [ 0.19237222 -0.4039563 0.89432222 -1.91747011] [ 0. 0. 0. 1. ]] SLAMing on 209.838001145 meters Centerline goodness : 0.907343 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.23, Z:-1.92 [[ 0.39874588 -0.80265532 -0.44356077 4.43738404] [ 0.89694612 0.44209468 0.00632139 -3.22810969] [ 0.19102196 -0.40037074 0.89622201 -1.91756112] [ 0. 0. 0. 1. ]] SLAMing on 209.898001145 meters Centerline goodness : 0.910890 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.23, Z:-1.92 [[ 0.39861151 -0.80247133 -0.44401423 4.43504021] [ 0.89697918 0.44202677 0.00637912 -3.22767642] [ 0.19114712 -0.4008143 0.89599703 -1.91690053] [ 0. 0. 0. 1. ]] SLAMing on 209.958001145 meters Centerline goodness : 0.907216 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.23, Z:-1.92 [[ 0.4001668 -0.80031078 -0.44650776 4.43340591] [ 0.89604117 0.44390944 0.00739162 -3.2261154 ] [ 0.19229341 -0.40304722 0.89474923 -1.91726259] [ 0. 0. 0. 1. ]] SLAMing on 210.018001145 meters Centerline goodness : 0.911017 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.23, Z:-1.92 [[ 0.40003804 -0.80101362 -0.44536136 4.4315852 ] [ 0.8961661 0.44366343 0.00700571 -3.22620967] [ 0.19197888 -0.40192031 0.8953235 -1.91779911] [ 0. 0. 0. 1. ]] SLAMing on 210.078001145 meters Centerline goodness : 0.904178 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.22, Z:-1.92 [[ 0.39949091 -0.80067398 -0.44646185 4.43194081] [ 0.89635219 0.44328632 0.00707054 -3.22471411] [ 0.19224923 -0.40301167 0.89477473 -1.91765058] [ 0. 0. 0. 1. ]] SLAMing on 210.138001145 meters Centerline goodness : 0.904134 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.22, Z:-1.92 [[ 0.39837063 -0.80125424 -0.44642186 4.42937926] [ 0.89691072 0.44215991 0.00676577 -3.22373461] [ 0.19196875 -0.40309584 0.89479704 -1.91716379] [ 0. 0. 0. 1. ]] SLAMing on 210.19800114499998 meters Centerline goodness : 0.904405 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.22, Z:-1.92 [[ 0.39784231 -0.80205329 -0.44545709 4.42844446] [ 0.89718258 0.44161711 0.00614368 -3.22288138] [ 0.19179391 -0.40210056 0.89528221 -1.9179544 ] [ 0. 0. 0. 1. ]] SLAMing on 210.25800114499998 meters Centerline goodness : 0.904189 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.22, Z:-1.92 [[ 0.39773591 -0.80084782 -0.44771522 4.42858967] [ 0.89692584 0.44214132 0.00592275 -3.21901594] [ 0.19321018 -0.40392304 0.89415659 -1.91868175] [ 0. 0. 0. 1. ]] SLAMing on 210.31800114499998 meters Centerline goodness : 0.901351 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.22, Z:-1.92 [[ 0.39847648 -0.79893224 -0.45047061 4.42861778] [ 0.89620764 0.44359384 0.0060298 -3.21545449] [ 0.19500859 -0.40611794 0.89277089 -1.91929962] [ 0. 0. 0. 1. ]] SLAMing on 210.37800114499998 meters Centerline goodness : 0.902727 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.21, Z:-1.92 [[ 0.39823154 -0.7991345 -0.45032843 4.42788682] [ 0.89621436 0.44358888 0.00535976 -3.21380651] [ 0.19547752 -0.40572523 0.89284689 -1.91992384] [ 0. 0. 0. 1. ]] SLAMing on 210.438001145 meters Centerline goodness : 0.903083 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.21, Z:-1.92 [[ 0.39764926 -0.79980207 -0.44965733 4.42439293] [ 0.89645684 0.44310698 0.00462023 -3.21265266] [ 0.19555103 -0.40493562 0.89318919 -1.91998787] [ 0. 0. 0. 1. ]] SLAMing on 210.498001145 meters Centerline goodness : 0.901794 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.21, Z:-1.92 [[ 3.97309552e-01 -7.99924385e-01 -4.49740035e-01 4.42312160e+00] [ 8.96541848e-01 4.42939178e-01 4.19529100e-03 -3.21190853e+00] [ 1.95851566e-01 -4.04877591e-01 8.93149652e-01 -1.91946296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.558001145 meters Centerline goodness : 0.904189 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.21, Z:-1.92 [[ 3.97120374e-01 -8.00588803e-01 -4.48723721e-01 4.42108012e+00] [ 8.96659063e-01 4.42706345e-01 3.69010823e-03 -3.21153048e+00] [ 1.95698579e-01 -4.03817608e-01 8.93662915e-01 -1.91998631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.618001145 meters Centerline goodness : 0.903415 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.22, Z:-1.92 [[ 3.95519958e-01 -7.97193861e-01 -4.56120501e-01 4.41700770e+00] [ 8.95209434e-01 4.45638081e-01 -2.60182358e-03 -3.21826413e+00] [ 2.05338823e-01 -4.07294302e-01 8.89914220e-01 -1.91926839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.678001145 meters Centerline goodness : 0.899438 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.23, Z:-1.93 [[ 3.94763901e-01 -8.00638376e-01 -4.50710166e-01 4.40939359e+00] [ 8.97159085e-01 4.41706066e-01 1.15194426e-03 -3.22596978e+00] [ 1.98159124e-01 -4.04813467e-01 8.92669602e-01 -1.92624623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.738001145 meters Centerline goodness : 0.898949 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.23, Z:-1.93 [[ 3.93578232e-01 -8.03513733e-01 -4.46611528e-01 4.40642090e+00] [ 8.97920830e-01 4.40156584e-01 -6.04032336e-04 -3.22611487e+00] [ 1.97064353e-01 -4.00784059e-01 8.94727768e-01 -1.92776901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.798001145 meters Centerline goodness : 0.899893 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.22, Z:-1.93 [[ 3.94972688e-01 -8.01796097e-01 -4.48463593e-01 4.40448837e+00] [ 8.97028636e-01 4.41972399e-01 -1.55938133e-04 -3.22390249e+00] [ 1.98333560e-01 -4.02223094e-01 8.93801086e-01 -1.92885746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.858001145 meters Centerline goodness : 0.899502 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.22, Z:-1.93 [[ 3.95233508e-01 -8.02343268e-01 -4.47253568e-01 4.40076508e+00] [ 8.96891323e-01 4.42250297e-01 -7.93833477e-04 -3.22309158e+00] [ 1.98434950e-01 -4.00824094e-01 8.94406851e-01 -1.92964769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.918001145 meters Centerline goodness : 0.898337 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.22, Z:-1.93 [[ 3.96178245e-01 -8.00746793e-01 -4.49274272e-01 4.39788925e+00] [ 8.96201925e-01 4.43646172e-01 -4.28565431e-04 -3.22101647e+00] [ 1.99661983e-01 -4.02470679e-01 8.93393779e-01 -1.92972068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97800114499998 meters Centerline goodness : 0.900297 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.22, Z:-1.93 [[ 3.95469303e-01 -8.01407206e-01 -4.48720983e-01 4.39434382e+00] [ 8.96505499e-01 4.43031159e-01 -1.13201351e-03 -3.21993192e+00] [ 1.99704581e-01 -4.01833153e-01 8.93671191e-01 -1.92945199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03800114499998 meters Centerline goodness : 0.899702 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.22, Z:-1.93 [[ 3.94490186e-01 -8.02694513e-01 -4.47279567e-01 4.39066399e+00] [ 8.96973333e-01 4.42078918e-01 -2.25171286e-03 -3.21852919e+00] [ 1.99540305e-01 -4.00309566e-01 8.94391368e-01 -1.93009804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09800114499998 meters Centerline goodness : 0.899094 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.22, Z:-1.93 [[ 3.93485736e-01 -8.02466286e-01 -4.48571996e-01 4.38827499e+00] [ 8.97300085e-01 4.41413689e-01 -2.55214136e-03 -3.21503555e+00] [ 2.00053827e-01 -4.01499459e-01 8.93743056e-01 -1.93070408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.158001145 meters Centerline goodness : 0.895887 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.21, Z:-1.93 [[ 3.92745175e-01 -8.03264459e-01 -4.47791733e-01 4.38608016e+00] [ 8.97666185e-01 4.40664745e-01 -3.16277508e-03 -3.21416295e+00] [ 1.99866575e-01 -4.00725332e-01 8.94132295e-01 -1.93079029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.218001145 meters Centerline goodness : 0.897521 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.21, Z:-1.93 [[ 3.93151320e-01 -8.03341586e-01 -4.47296698e-01 4.38307015e+00] [ 8.97441204e-01 4.41120649e-01 -3.44372608e-03 -3.21331438e+00] [ 2.00078298e-01 -4.00068581e-01 8.94379005e-01 -1.93153032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.278001145 meters Centerline goodness : 0.899033 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.21, Z:-1.93 [[ 3.92956564e-01 -8.03839821e-01 -4.46572146e-01 4.38077424e+00] [ 8.97540320e-01 4.40915355e-01 -3.87610392e-03 -3.21271308e+00] [ 2.00016283e-01 -3.99293366e-01 8.94739233e-01 -1.93177747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.338001145 meters Centerline goodness : 0.891970 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.21, Z:-1.93 [[ 0.39314087 -0.80464821 -0.44495114 4.37772446] [ 0.89747238 0.4410465 -0.0046167 -3.21242465] [ 0.19995896 -0.39751634 0.89554295 -1.93268265] [ 0. 0. 0. 1. ]] SLAMing on 211.398001145 meters Centerline goodness : 0.894434 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.21, Z:-1.93 [[ 0.39313024 -0.80516733 -0.44402047 4.37632115] [ 0.89746217 0.44106081 -0.0051985 -3.21139737] [ 0.20002569 -0.39644789 0.89600156 -1.93377663] [ 0. 0. 0. 1. ]] SLAMing on 211.458001145 meters Centerline goodness : 0.892885 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.21, Z:-1.93 [[ 0.39408497 -0.80508919 -0.44331528 4.37282114] [ 0.89695573 0.44208606 -0.00550835 -3.21082566] [ 0.20041822 -0.39546343 0.89634883 -1.93460132] [ 0. 0. 0. 1. ]] SLAMing on 211.518001145 meters Centerline goodness : 0.895208 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.21, Z:-1.93 [[ 0.39474631 -0.80504562 -0.44280571 4.36932177] [ 0.89663402 0.44273701 -0.00560184 -3.21072001] [ 0.20055621 -0.39482336 0.89660009 -1.93470801] [ 0. 0. 0. 1. ]] SLAMing on 211.578001145 meters Centerline goodness : 0.887088 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.21, Z:-1.94 [[ 0.39444213 -0.80548867 -0.44227075 4.36828662] [ 0.89667392 0.44264444 -0.00646461 -3.20932027] [ 0.20097586 -0.39402273 0.89685829 -1.93518094] [ 0. 0. 0. 1. ]] SLAMing on 211.638001145 meters Centerline goodness : 0.886221 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.21, Z:-1.94 [[ 0.39376014 -0.80611212 -0.44174223 4.36631317] [ 0.89697345 0.44202758 -0.00708876 -3.20836251] [ 0.20097658 -0.39343978 0.89711401 -1.93513417] [ 0. 0. 0. 1. ]] SLAMing on 211.69800114499998 meters Centerline goodness : 0.883935 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.21, Z:-1.94 [[ 0.39176602 -0.80737938 -0.44120053 4.36414832] [ 0.89779658 0.44032684 -0.008578 -3.20560018] [ 0.20119814 -0.39274776 0.89736754 -1.93513869] [ 0. 0. 0. 1. ]] SLAMing on 211.75800114499998 meters Centerline goodness : 0.887496 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.21, Z:-1.93 [[ 0.39002728 -0.80989342 -0.43812256 4.36155853] [ 0.89879457 0.43825574 -0.01001098 -3.20617555] [ 0.20011755 -0.38987762 0.8988595 -1.93491118] [ 0. 0. 0. 1. ]] SLAMing on 211.81800114499998 meters Centerline goodness : 0.885608 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.21, Z:-1.93 [[ 0.38862989 -0.81119512 -0.43695457 4.35995982] [ 0.89961702 0.43655748 -0.01033342 -3.20803048] [ 0.1991382 -0.38907589 0.89942422 -1.93283833] [ 0. 0. 0. 1. ]] SLAMing on 211.87800114499998 meters Centerline goodness : 0.886105 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.21, Z:-1.93 [[ 0.38796606 -0.81130264 -0.43734466 4.35829086] [ 0.89996438 0.43584486 -0.01016693 -3.20906916] [ 0.19886288 -0.38965019 0.8992365 -1.93070252] [ 0. 0. 0. 1. ]] SLAMing on 211.938001145 meters Centerline goodness : 0.886295 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.22, Z:-1.92 [[ 0.38757382 -0.81072486 -0.43876159 4.35210136] [ 0.89790121 0.43976774 -0.01943569 -3.21609867] [ 0.20871019 -0.3864318 0.8983933 -1.92341538] [ 0. 0. 0. 1. ]] SLAMing on 211.998001145 meters Centerline goodness : 0.882745 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.22, Z:-1.92 [[ 0.38748041 -0.81290027 -0.43480119 4.35044352] [ 0.89821082 0.4390885 -0.02046007 -3.21806747] [ 0.20754821 -0.38261526 0.90029401 -1.92450579] [ 0. 0. 0. 1. ]] SLAMing on 212.058001145 meters Centerline goodness : 0.880764 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.22, Z:-1.92 [[ 0.38716513 -0.81325193 -0.43442428 4.35055106] [ 0.89836065 0.43876817 -0.02075194 -3.2178595 ] [ 0.2074881 -0.38223525 0.90046927 -1.92448959] [ 0. 0. 0. 1. ]] SLAMing on 212.118001145 meters Centerline goodness : 0.884802 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.22, Z:-1.92 [[ 0.38805393 -0.81304154 -0.43402488 4.34696281] [ 0.89793411 0.43964119 -0.02073542 -3.21826605] [ 0.20767397 -0.38167928 0.90066223 -1.92420888] [ 0. 0. 0. 1. ]] SLAMing on 212.178001145 meters Centerline goodness : 0.882107 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.22, Z:-1.93 [[ 0.38937367 -0.813209 -0.43252662 4.34565267] [ 0.89735076 0.44081919 -0.02097762 -3.21882327] [ 0.20772522 -0.37995996 0.90137709 -1.92560646] [ 0. 0. 0. 1. ]] SLAMing on 212.238001145 meters Centerline goodness : 0.882424 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.22, Z:-1.93 [[ 0.39219626 -0.81045163 -0.43514393 4.3444012 ] [ 0.89566332 0.44427409 -0.020193 -3.21714774] [ 0.20968862 -0.38182284 0.90013444 -1.9262534 ] [ 0. 0. 0. 1. ]] SLAMing on 212.298001145 meters Centerline goodness : 0.881751 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.23, Z:-1.93 [[ 0.3938686 -0.81051074 -0.43352032 4.33484414] [ 0.89380903 0.44774745 -0.02505258 -3.23037932] [ 0.214413 -0.37761695 0.90079548 -1.92505081] [ 0. 0. 0. 1. ]] SLAMing on 212.358001145 meters Centerline goodness : 0.882874 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.23, Z:-1.93 [[ 0.3937607 -0.81119904 -0.4323293 4.33461123] [ 0.89389309 0.44754823 -0.02560718 -3.23044543] [ 0.21426073 -0.37637307 0.90135212 -1.92548348] [ 0. 0. 0. 1. ]] SLAMing on 212.418001145 meters Centerline goodness : 0.881923 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.23, Z:-1.92 [[ 0.39257416 -0.81150853 -0.43282725 4.33379572] [ 0.89442044 0.44647856 -0.02586437 -3.23003847] [ 0.21423725 -0.37697586 0.90110577 -1.9240066 ] [ 0. 0. 0. 1. ]] SLAMing on 212.47800114499998 meters Centerline goodness : 0.880873 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.23, Z:-1.92 [[ 0.38965509 -0.81454662 -0.42974727 4.33256369] [ 0.89608994 0.44303575 -0.0272422 -3.23132214] [ 0.21258345 -0.37447715 0.90253817 -1.92282617] [ 0. 0. 0. 1. ]] SLAMing on 212.53800114499998 meters Centerline goodness : 0.882565 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.23, Z:-1.92 [[ 0.38896757 -0.81650916 -0.42663453 4.33152876] [ 0.8967047 0.44174909 -0.02790006 -3.23461244] [ 0.21124607 -0.37171297 0.90399368 -1.92195161] [ 0. 0. 0. 1. ]] SLAMing on 212.59800114499998 meters Centerline goodness : 0.885914 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.23, Z:-1.92 [[ 0.38930956 -0.81581232 -0.42765445 4.33057549] [ 0.8964108 0.44235073 -0.0278119 -3.23441212] [ 0.21186255 -0.37252663 0.90351435 -1.92073318] [ 0. 0. 0. 1. ]] SLAMing on 212.658001145 meters Centerline goodness : 0.884682 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.24, Z:-1.92 [[ 0.39194772 -0.81498979 -0.42681217 4.33010516] [ 0.89531762 0.44462062 -0.02681172 -3.2379651 ] [ 0.21162076 -0.37162366 0.90394276 -1.92070096] [ 0. 0. 0. 1. ]] SLAMing on 212.718001145 meters Centerline goodness : 0.883743 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.24, Z:-1.92 [[ 0.39297735 -0.8147866 -0.42625298 4.32949547] [ 0.89484362 0.44557815 -0.02673957 -3.23914539] [ 0.21171606 -0.37092171 0.90420871 -1.92065702] [ 0. 0. 0. 1. ]] SLAMing on 212.778001145 meters Centerline goodness : 0.887724 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.26, Z:-1.92 [[ 0.39540945 -0.81740778 -0.41892229 4.31537923] [ 0.89400528 0.44714017 -0.02863949 -3.25845775] [ 0.21072713 -0.36319442 0.90757032 -1.91840035] [ 0. 0. 0. 1. ]] SLAMing on 212.838001145 meters Centerline goodness : 0.885333 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.27, Z:-1.91 [[ 0.39505626 -0.81625884 -0.4214879 4.31269551] [ 0.89146781 0.45142985 -0.03868122 -3.26500668] [ 0.22184611 -0.36046163 0.90600867 -1.91204152] [ 0. 0. 0. 1. ]] SLAMing on 212.898001145 meters Centerline goodness : 0.886894 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.27, Z:-1.91 [[ 0.39558467 -0.8164636 -0.42059478 4.31225594] [ 0.89136906 0.45165018 -0.03838374 -3.26729409] [ 0.22130063 -0.35972116 0.90643627 -1.9114477 ] [ 0. 0. 0. 1. ]] SLAMing on 212.958001145 meters Centerline goodness : 0.887277 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.27, Z:-1.91 [[ 0.39595271 -0.81669319 -0.41980196 4.3117916 ] [ 0.89130583 0.45178657 -0.03824673 -3.26863773] [ 0.22089673 -0.35902803 0.90680952 -1.91133709] [ 0. 0. 0. 1. ]] SLAMing on 213.018001145 meters Centerline goodness : 0.890684 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.27, Z:-1.91 [[ 0.39520948 -0.81737113 -0.41918242 4.31142484] [ 0.89181951 0.45077868 -0.03816466 -3.27087864] [ 0.22015319 -0.35875203 0.90709953 -1.90950173] [ 0. 0. 0. 1. ]] SLAMing on 213.078001145 meters Centerline goodness : 0.888499 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.27, Z:-1.91 [[ 0.39229486 -0.82022093 -0.41634405 4.31071035] [ 0.89351844 0.44730291 -0.03930529 -3.27258004] [ 0.21847092 -0.35659182 0.90835716 -1.90813985] [ 0. 0. 0. 1. ]] SLAMing on 213.138001145 meters Centerline goodness : 0.886008 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.27, Z:-1.91 [[ 0.39087688 -0.8224049 -0.41335873 4.30941221] [ 0.89448055 0.44530249 -0.0401278 -3.27484032] [ 0.21707097 -0.35405631 0.90968364 -1.90739384] [ 0. 0. 0. 1. ]] SLAMing on 213.19800114499998 meters Centerline goodness : 0.887606 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.28, Z:-1.91 [[ 0.38922372 -0.82482308 -0.41008754 4.30687816] [ 0.89560851 0.44295927 -0.04089604 -3.27802584] [ 0.21538408 -0.35136018 0.91112882 -1.90571439] [ 0. 0. 0. 1. ]] SLAMing on 213.25800114499998 meters Centerline goodness : 0.890763 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.28, Z:-1.90 [[ 0.38849559 -0.8252067 -0.41000621 4.30750176] [ 0.8959707 0.44221103 -0.04105995 -3.2785732 ] [ 0.21519221 -0.35140193 0.91115805 -1.9047311 ] [ 0. 0. 0. 1. ]] SLAMing on 213.31800114499998 meters Centerline goodness : 0.890510 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.28, Z:-1.90 [[ 0.38699745 -0.82729937 -0.40719618 4.30557944] [ 0.8969739 0.4401128 -0.04169596 -3.28191988] [ 0.21370729 -0.34910811 0.91238847 -1.90265475] [ 0. 0. 0. 1. ]] SLAMing on 213.37800114499998 meters Centerline goodness : 0.892263 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.28, Z:-1.90 [[ 0.38730856 -0.82727348 -0.40695291 4.30704343] [ 0.89679138 0.44046543 -0.0418977 -3.28209174] [ 0.21390955 -0.34872452 0.91248776 -1.90282266] [ 0. 0. 0. 1. ]] SLAMing on 213.438001145 meters Centerline goodness : 0.892921 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.29, Z:-1.90 [[ 0.38737153 -0.82621596 -0.40903605 4.30324737] [ 0.89430295 0.44454547 -0.05100545 -3.28920419] [ 0.22397664 -0.34604409 0.91109163 -1.89655109] [ 0. 0. 0. 1. ]] SLAMing on 213.498001145 meters Centerline goodness : 0.891647 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.29, Z:-1.90 [[ 0.38845078 -0.82554013 -0.40937696 4.30475938] [ 0.89370192 0.44576458 -0.05090013 -3.28886757] [ 0.22450585 -0.34608878 0.91094439 -1.89725018] [ 0. 0. 0. 1. ]] SLAMing on 213.558001145 meters Centerline goodness : 0.893404 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.29, Z:-1.90 [[ 0.39024168 -0.82481216 -0.40914097 4.3038746 ] [ 0.89306941 0.44716982 -0.04966062 -3.29325346] [ 0.22391618 -0.34601164 0.91111881 -1.89561926] [ 0. 0. 0. 1. ]] SLAMing on 213.618001145 meters Centerline goodness : 0.891444 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.30, Z:-1.89 [[ 0.39142524 -0.82435241 -0.40893691 4.30273106] [ 0.89264348 0.44810428 -0.04888935 -3.29585016] [ 0.22354844 -0.34589834 0.91125213 -1.89462849] [ 0. 0. 0. 1. ]] SLAMing on 213.678001145 meters Centerline goodness : 0.894806 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.30, Z:-1.89 [[ 0.39337813 -0.82370378 -0.40836961 4.30145474] [ 0.89186589 0.44974252 -0.04803021 -3.29904796] [ 0.22322384 -0.34531689 0.91155217 -1.89392767] [ 0. 0. 0. 1. ]] SLAMing on 213.738001145 meters Centerline goodness : 0.897676 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.30, Z:-1.89 [[ 0.39426255 -0.82356808 -0.40778997 4.30132862] [ 0.89152742 0.45044235 -0.04775512 -3.30065524] [ 0.22301547 -0.34472788 0.91182607 -1.89377901] [ 0. 0. 0. 1. ]] SLAMing on 213.798001145 meters Centerline goodness : 0.895463 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.30, Z:-1.89 [[ 0.39520451 -0.82357134 -0.40687055 4.3009038 ] [ 0.89118762 0.45113709 -0.04753897 -3.30211289] [ 0.22270613 -0.34381038 0.91224799 -1.89411819] [ 0. 0. 0. 1. ]] SLAMing on 213.858001145 meters Centerline goodness : 0.894496 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.30, Z:-1.89 [[ 0.3953035 -0.82369379 -0.40652636 4.30042897] [ 0.89117776 0.45115586 -0.04754572 -3.30281888] [ 0.22256986 -0.34349226 0.91240108 -1.89362724] [ 0. 0. 0. 1. ]] SLAMing on 213.918001145 meters Centerline goodness : 0.896925 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.30, Z:-1.89 [[ 0.39451388 -0.82423415 -0.40619807 4.30100148] [ 0.8916849 0.45016635 -0.04741629 -3.30420457] [ 0.22193882 -0.3434943 0.91255401 -1.89270453] [ 0. 0. 0. 1. ]] SLAMing on 213.97800114499998 meters Centerline goodness : 0.896388 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.30, Z:-1.89 [[ 0.39379445 -0.82460649 -0.40614046 4.30241613] [ 0.89208744 0.44936916 -0.04740637 -3.30443164] [ 0.2215986 -0.34364443 0.91258017 -1.89252107] [ 0. 0. 0. 1. ]] SLAMing on 214.03800114499998 meters Centerline goodness : 0.896178 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.30, Z:-1.89 [[ 0.39402125 -0.82377592 -0.40760335 4.30390052] [ 0.89183065 0.44990496 -0.04715527 -3.30295053] [ 0.22222814 -0.34493298 0.91194073 -1.89277797] [ 0. 0. 0. 1. ]] SLAMing on 214.09800114499998 meters Centerline goodness : 0.894672 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.30, Z:-1.89 [[ 0.39669114 -0.82104331 -0.41051677 4.30450237] [ 0.89038479 0.45293143 -0.04547577 -3.30339121] [ 0.22327352 -0.34747806 0.91071836 -1.89247109] [ 0. 0. 0. 1. ]] SLAMing on 214.158001145 meters Centerline goodness : 0.893606 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.31, Z:-1.89 [[ 0.39810255 -0.82107206 -0.4090905 4.304258 ] [ 0.88985686 0.4539917 -0.04523599 -3.30541304] [ 0.2228657 -0.34602342 0.91137186 -1.89331417] [ 0. 0. 0. 1. ]] SLAMing on 214.218001145 meters Centerline goodness : 0.895117 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.31, Z:-1.89 [[ 0.39931785 -0.82010859 -0.40983797 4.3036276 ] [ 0.88921079 0.45530774 -0.04471047 -3.30586562] [ 0.22326984 -0.34657866 0.91106192 -1.89303648] [ 0. 0. 0. 1. ]] SLAMing on 214.278001145 meters Centerline goodness : 0.897090 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.30, Z:-1.89 [[ 0.39938987 -0.81926816 -0.41144552 4.30580649] [ 0.88895574 0.45580728 -0.04469236 -3.30355375] [ 0.22415489 -0.34790718 0.91033795 -1.89351696] [ 0. 0. 0. 1. ]] SLAMing on 214.338001145 meters Centerline goodness : 0.897516 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.31, Z:-1.89 [[ 0.39759407 -0.82183823 -0.4080452 4.30557853] [ 0.89015633 0.45335399 -0.04573699 -3.30531662] [ 0.22257732 -0.34503926 0.91181536 -1.89369408] [ 0. 0. 0. 1. ]] SLAMing on 214.398001145 meters Centerline goodness : 0.895089 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.30, Z:-1.89 [[ 0.39545676 -0.82240318 -0.40898284 4.30797322] [ 0.8910785 0.45148535 -0.04626104 -3.30320734] [ 0.22269499 -0.34614157 0.91136873 -1.89318421] [ 0. 0. 0. 1. ]] SLAMing on 214.458001145 meters Centerline goodness : 0.897124 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.30, Z:-1.89 [[ 0.39171785 -0.82357108 -0.41022895 4.30947552] [ 0.89279024 0.44802064 -0.04693713 -3.30073891] [ 0.2224471 -0.34786229 0.91077391 -1.89153313] [ 0. 0. 0. 1. ]] SLAMing on 214.518001145 meters Centerline goodness : 0.896007 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.30, Z:-1.89 [[ 0.38883867 -0.82467172 -0.41075668 4.31276961] [ 0.8940601 0.44538493 -0.04784151 -3.29798002] [ 0.22239837 -0.34863853 0.91048896 -1.89150543] [ 0. 0. 0. 1. ]] SLAMing on 214.578001145 meters Centerline goodness : 0.896655 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.30, Z:-1.89 [[ 0.38599143 -0.82567003 -0.41143604 4.31490807] [ 0.89534599 0.4427243 -0.04848459 -3.29575187] [ 0.222185 -0.34966297 0.91014814 -1.89096776] [ 0. 0. 0. 1. ]] SLAMing on 214.638001145 meters Centerline goodness : 0.898739 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.29, Z:-1.89 [[ 0.38591336 -0.82424878 -0.41434868 4.31474422] [ 0.89525134 0.44302455 -0.04747933 -3.29475104] [ 0.22270141 -0.3526233 0.90887892 -1.8896244 ] [ 0. 0. 0. 1. ]] SLAMing on 214.69800114499998 meters Centerline goodness : 0.898430 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.30, Z:-1.89 [[ 0.38574642 -0.8245023 -0.41399959 4.31411364] [ 0.89537931 0.44276251 -0.04751055 -3.29513626] [ 0.22247605 -0.35235965 0.90903635 -1.88943341] [ 0. 0. 0. 1. ]] SLAMing on 214.75800114499998 meters Centerline goodness : 0.897375 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.29, Z:-1.89 [[ 0.38405037 -0.82400489 -0.41655882 4.31492464] [ 0.89594005 0.44162129 -0.04756111 -3.29216552] [ 0.22315183 -0.35494587 0.9078638 -1.88829217] [ 0. 0. 0. 1. ]] SLAMing on 214.81800114499998 meters Centerline goodness : 0.897491 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.29, Z:-1.89 [[ 0.38183499 -0.82447585 -0.41766209 4.31766499] [ 0.89678976 0.43980923 -0.04833183 -3.28884533] [ 0.22354007 -0.3561003 0.90731605 -1.88835126] [ 0. 0. 0. 1. ]] SLAMing on 214.87800114499998 meters Centerline goodness : 0.896809 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.29, Z:-1.89 [[ 0.37667984 -0.82700599 -0.41734085 4.31925115] [ 0.89914581 0.43478105 -0.05002248 -3.28597391] [ 0.22282079 -0.35640782 0.90737223 -1.88680042] [ 0. 0. 0. 1. ]] SLAMing on 214.938001145 meters Centerline goodness : 0.897628 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.28, Z:-1.89 [[ 0.37488063 -0.82700486 -0.41896 4.32014107] [ 0.89976679 0.43344057 -0.05048766 -3.28299555] [ 0.2233478 -0.35803944 0.90659998 -1.88608808] [ 0. 0. 0. 1. ]] SLAMing on 214.998001145 meters Centerline goodness : 0.895678 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.28, Z:-1.89 [[ 0.37478862 -0.8277171 -0.41763369 4.31905572] [ 0.89983482 0.43322732 -0.05110175 -3.28186407] [ 0.22322811 -0.35664898 0.90717733 -1.88784747] [ 0. 0. 0. 1. ]] SLAMing on 215.058001145 meters Centerline goodness : 0.893444 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.28, Z:-1.89 [[ 0.37581039 -0.8264483 -0.41922519 4.31785087] [ 0.89918137 0.43462404 -0.05074265 -3.27992193] [ 0.22414152 -0.35788986 0.90646314 -1.88857127] [ 0. 0. 0. 1. ]] SLAMing on 215.118001145 meters Centerline goodness : 0.892172 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.28, Z:-1.89 [[ 0.37722628 -0.82482502 -0.42114608 4.31761642] [ 0.89824299 0.4365882 -0.05050032 -3.27632362] [ 0.22552133 -0.35924147 0.90558583 -1.89079476] [ 0. 0. 0. 1. ]] SLAMing on 215.178001145 meters Centerline goodness : 0.894756 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.27, Z:-1.89 [[ 0.37704631 -0.82293727 -0.42498274 4.31873124] [ 0.89794275 0.43725741 -0.05004773 -3.27189615] [ 0.22701299 -0.36273986 0.90381685 -1.89108463] [ 0. 0. 0. 1. ]] SLAMing on 215.238001145 meters Centerline goodness : 0.893153 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.27, Z:-1.89 [[ 0.37621347 -0.82112928 -0.42919707 4.31956659] [ 0.89791938 0.43735019 -0.04965478 -3.26784831] [ 0.22848241 -0.36670358 0.90184493 -1.88991603] [ 0. 0. 0. 1. ]] SLAMing on 215.298001145 meters Centerline goodness : 0.891405 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.27, Z:-1.89 [[ 0.37439038 -0.82186134 -0.42939001 4.31929366] [ 0.8987653 0.43556545 -0.05003685 -3.26638089] [ 0.2281508 -0.36718753 0.90173196 -1.88959813] [ 0. 0. 0. 1. ]] SLAMing on 215.358001145 meters Centerline goodness : 0.891602 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.26, Z:-1.89 [[ 0.3729606 -0.82143101 -0.43145276 4.31968209] [ 0.8992036 0.43464079 -0.05020227 -3.26290731] [ 0.22876467 -0.36924041 0.90073761 -1.88935994] [ 0. 0. 0. 1. ]] SLAMing on 215.418001145 meters Centerline goodness : 0.888703 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.26, Z:-1.89 [[ 0.37105272 -0.82195379 -0.43210166 4.32069151] [ 0.89985491 0.43316688 -0.05126004 -3.25880146] [ 0.22930551 -0.36980863 0.9003669 -1.89020232] [ 0. 0. 0. 1. ]] SLAMing on 215.47800114499998 meters Centerline goodness : 0.884980 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.26, Z:-1.89 [[ 0.37040375 -0.822423 -0.43176553 4.3209129 ] [ 0.90001858 0.43272212 -0.0521356 -3.25522256] [ 0.22971201 -0.36928578 0.90047788 -1.89261032] [ 0. 0. 0. 1. ]] SLAMing on 215.53800114499998 meters Centerline goodness : 0.884004 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.89 [[ 0.37132546 -0.82147251 -0.43278207 4.32096476] [ 0.89946111 0.43391036 -0.05187973 -3.2534799 ] [ 0.2304064 -0.37000638 0.90000454 -1.89378092] [ 0. 0. 0. 1. ]] SLAMing on 215.59800114499998 meters Centerline goodness : 0.883238 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.89 [[ 0.37345891 -0.81962569 -0.43444467 4.31929763] [ 0.89838815 0.43625799 -0.050771 -3.2537975 ] [ 0.23114317 -0.37133906 0.89926644 -1.89385689] [ 0. 0. 0. 1. ]] SLAMing on 215.658001145 meters Centerline goodness : 0.881962 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.89 [[ 0.37427549 -0.8196219 -0.43374854 4.31800027] [ 0.89808691 0.43689516 -0.05062133 -3.2541136 ] [ 0.23099299 -0.37059756 0.89961085 -1.89497293] [ 0. 0. 0. 1. ]] SLAMing on 215.718001145 meters Centerline goodness : 0.881256 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.90 [[ 0.37371758 -0.81962869 -0.43421651 4.3198046 ] [ 0.89825905 0.43651351 -0.05085895 -3.25254482] [ 0.23122683 -0.37103203 0.89937166 -1.89553555] [ 0. 0. 0. 1. ]] SLAMing on 215.778001145 meters Centerline goodness : 0.879271 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.90 [[ 0.37366521 -0.81926283 -0.4349514 4.3192042 ] [ 0.89830076 0.43647931 -0.05041376 -3.25258922] [ 0.23114941 -0.37187931 0.89904156 -1.89507325] [ 0. 0. 0. 1. ]] SLAMing on 215.838001145 meters Centerline goodness : 0.884971 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.90 [[ 0.37433898 -0.81790138 -0.43692981 4.32065502] [ 0.89780055 0.43756587 -0.04990272 -3.25065902] [ 0.23200107 -0.3735953 0.89811027 -1.89572743] [ 0. 0. 0. 1. ]] SLAMing on 215.898001145 meters Centerline goodness : 0.880080 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.90 [[ 0.37503604 -0.81822183 -0.43573042 4.3197776 ] [ 0.89758824 0.43799905 -0.04992179 -3.25173184] [ 0.23169661 -0.37238403 0.89869172 -1.89646674] [ 0. 0. 0. 1. ]] SLAMing on 215.958001145 meters Centerline goodness : 0.877195 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.90 [[ 0.37574713 -0.81822847 -0.4351049 4.31994604] [ 0.89730786 0.43857942 -0.04986685 -3.25151176] [ 0.23163053 -0.37168572 0.89899779 -1.89793395] [ 0. 0. 0. 1. ]] SLAMing on 216.018001145 meters Centerline goodness : 0.875947 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.90 [[ 0.37543249 -0.81878739 -0.43432437 4.32015964] [ 0.89752328 0.4381115 -0.05010257 -3.25147966] [ 0.23130585 -0.3710061 0.89936204 -1.89850004] [ 0. 0. 0. 1. ]] SLAMing on 216.078001145 meters Centerline goodness : 0.876473 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.90 [[ 0.37517604 -0.81905133 -0.43404822 4.32027371] [ 0.89770628 0.43773994 -0.05007184 -3.25190151] [ 0.23101164 -0.37086205 0.89949706 -1.89829736] [ 0. 0. 0. 1. ]] SLAMing on 216.138001145 meters Centerline goodness : 0.875355 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.90 [[ 0.37524296 -0.81912894 -0.43384386 4.32084296] [ 0.89775155 0.43767065 -0.04986529 -3.25205615] [ 0.23072683 -0.3707724 0.89960711 -1.89882662] [ 0. 0. 0. 1. ]] SLAMing on 216.19800114499998 meters Centerline goodness : 0.874721 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.90 [[ 0.37510207 -0.81939574 -0.43346172 4.32118362] [ 0.89787613 0.4374137 -0.04987691 -3.25210649] [ 0.23047102 -0.370486 0.89979066 -1.89920414] [ 0. 0. 0. 1. ]] SLAMing on 216.25800114499998 meters Centerline goodness : 0.874950 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.90 [[ 0.37530901 -0.81858058 -0.43482064 4.32079856] [ 0.89766904 0.43787826 -0.049527 -3.25152433] [ 0.23094035 -0.37173709 0.8991541 -1.8985795 ] [ 0. 0. 0. 1. ]] SLAMing on 216.31800114499998 meters Centerline goodness : 0.876840 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.90 [[ 0.37613254 -0.81837327 -0.43449914 4.31932426] [ 0.89737049 0.4385328 -0.04914459 -3.25328405] [ 0.23076075 -0.37142183 0.89933048 -1.89794829] [ 0. 0. 0. 1. ]] SLAMing on 216.37800114499998 meters Centerline goodness : 0.874552 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.90 [[ 0.37607725 -0.81868208 -0.43396491 4.31887032] [ 0.89746241 0.43833981 -0.04918772 -3.25422712] [ 0.23049321 -0.37096881 0.89958603 -1.89754109] [ 0. 0. 0. 1. ]] SLAMing on 216.438001145 meters Centerline goodness : 0.879098 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.90 [[ 0.37414659 -0.8194651 -0.43415583 4.31709165] [ 0.89840634 0.43637501 -0.04942562 -3.25486298] [ 0.22995732 -0.37155592 0.89948087 -1.89504089] [ 0. 0. 0. 1. ]] SLAMing on 216.498001145 meters Centerline goodness : 0.875069 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.89 [[ 0.37277757 -0.82023249 -0.43388426 4.31701816] [ 0.89908706 0.43493344 -0.04975301 -3.25475247] [ 0.22951981 -0.37155292 0.89959385 -1.89421867] [ 0. 0. 0. 1. ]] SLAMing on 216.558001145 meters Centerline goodness : 0.880484 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.26, Z:-1.90 [[ 0.37121877 -0.82291669 -0.43012179 4.31724597] [ 0.90012742 0.4326447 -0.05088407 -3.25615147] [ 0.22796326 -0.36827529 0.90133571 -1.89515474] [ 0. 0. 0. 1. ]] SLAMing on 216.618001145 meters Centerline goodness : 0.879602 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.90 [[ 0.37046476 -0.82264688 -0.43128641 4.31877361] [ 0.9002945 0.43226235 -0.05117687 -3.25401123] [ 0.22852938 -0.36932556 0.90076243 -1.89516597] [ 0. 0. 0. 1. ]] SLAMing on 216.678001145 meters Centerline goodness : 0.874108 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.89 [[ 0.37039975 -0.82213391 -0.43231916 4.3177113 ] [ 0.90025534 0.43237391 -0.05092279 -3.2535186 ] [ 0.22878888 -0.37033585 0.90028163 -1.89450473] [ 0. 0. 0. 1. ]] SLAMing on 216.738001145 meters Centerline goodness : 0.875077 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.25, Z:-1.89 [[ 0.37066033 -0.82223396 -0.43190534 4.3165087 ] [ 0.90016534 0.43255742 -0.0509552 -3.25402858] [ 0.22872096 -0.36989915 0.9004784 -1.89439967] [ 0. 0. 0. 1. ]] SLAMing on 216.798001145 meters Centerline goodness : 0.873419 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.25, Z:-1.90 [[ 0.37156098 -0.82233583 -0.43093645 4.31468556] [ 0.89980219 0.43330377 -0.05102802 -3.25460435] [ 0.22868856 -0.36879754 0.90093835 -1.89511368] [ 0. 0. 0. 1. ]] SLAMing on 216.858001145 meters Centerline goodness : 0.868648 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.25, Z:-1.90 [[ 0.37321878 -0.82034659 -0.43328883 4.31357877] [ 0.89886424 0.4353626 -0.05002487 -3.25371177] [ 0.22967549 -0.37079761 0.89986571 -1.89522384] [ 0. 0. 0. 1. ]] SLAMing on 216.918001145 meters Centerline goodness : 0.866296 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.25, Z:-1.90 [[ 0.37329017 -0.82002831 -0.43382948 4.31203128] [ 0.89872991 0.43562945 -0.05011517 -3.2525032 ] [ 0.23008476 -0.37118803 0.89960016 -1.89539554] [ 0. 0. 0. 1. ]] SLAMing on 216.97800114499998 meters Centerline goodness : 0.859815 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.25, Z:-1.90 [[ 0.3724502 -0.82028346 -0.43406899 4.31216588] [ 0.89888497 0.43519216 -0.05112331 -3.24873505] [ 0.23083902 -0.3711372 0.89942789 -1.89686209] [ 0. 0. 0. 1. ]] SLAMing on 217.03800114499998 meters Centerline goodness : 0.860570 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.25, Z:-1.90 [[ 0.37130481 -0.82134491 -0.43304189 4.31162559] [ 0.89942898 0.43397327 -0.05191052 -3.24789166] [ 0.23056505 -0.3702158 0.89987778 -1.89710509] [ 0. 0. 0. 1. ]] SLAMing on 217.09800114499998 meters Centerline goodness : 0.857891 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.24, Z:-1.90 [[ 0.36946829 -0.82079374 -0.43564988 4.31215155] [ 0.89991024 0.4329114 -0.05243356 -3.24302459] [ 0.23163493 -0.37267325 0.89858773 -1.89693113] [ 0. 0. 0. 1. ]] SLAMing on 217.158001145 meters Centerline goodness : 0.859487 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.24, Z:-1.90 [[ 0.36870484 -0.82126215 -0.43541386 4.3120357 ] [ 0.90020096 0.43223864 -0.05299045 -3.24133784] [ 0.23172174 -0.37242213 0.89866945 -1.89760847] [ 0. 0. 0. 1. ]] SLAMing on 217.218001145 meters Centerline goodness : 0.855181 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.25, Z:-1.90 [[ 0.36584891 -0.81898613 -0.44205916 4.30992943] [ 0.89883378 0.43411025 -0.06038311 -3.24838951] [ 0.24135534 -0.37524661 0.89495116 -1.89584882] [ 0. 0. 0. 1. ]] SLAMing on 217.278001145 meters Centerline goodness : 0.850571 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.24, Z:-1.89 [[ 0.36279054 -0.81953125 -0.44356686 4.31067167] [ 0.89996428 0.43162052 -0.06138415 -3.24483599] [ 0.24175879 -0.37692474 0.89413669 -1.89455518] [ 0. 0. 0. 1. ]] SLAMing on 217.338001145 meters Centerline goodness : 0.852424 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.24, Z:-1.89 [[ 0.36124793 -0.82039234 -0.44323396 4.31073203] [ 0.90060448 0.43016743 -0.06218965 -3.24377401] [ 0.24168473 -0.3767126 0.89424611 -1.89395921] [ 0. 0. 0. 1. ]] SLAMing on 217.398001145 meters Centerline goodness : 0.855623 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.24, Z:-1.89 [[ 0.3599967 -0.82117075 -0.44281031 4.30909585] [ 0.90103661 0.42910873 -0.0632355 -3.24221008] [ 0.24194092 -0.37622372 0.89438264 -1.89358559] [ 0. 0. 0. 1. ]] SLAMing on 217.458001145 meters Centerline goodness : 0.857924 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.24, Z:-1.89 [[ 0.35948005 -0.82185328 -0.44196299 4.30696628] [ 0.90125458 0.4285568 -0.06386907 -3.24123989] [ 0.24189725 -0.37536151 0.89475665 -1.89403931] [ 0. 0. 0. 1. ]] SLAMing on 217.518001145 meters Centerline goodness : 0.858402 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.24, Z:-1.89 [[ 0.35979101 -0.82235696 -0.44077143 4.30637297] [ 0.90118598 0.42865997 -0.06414412 -3.24155315] [ 0.24169043 -0.37413855 0.89532457 -1.89487712] [ 0. 0. 0. 1. ]] SLAMing on 217.578001145 meters Centerline goodness : 0.863749 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.24, Z:-1.90 [[ 0.36043581 -0.82244776 -0.44007465 4.3039993 ] [ 0.90091147 0.42921649 -0.0642786 -3.24191059] [ 0.24175309 -0.37329999 0.89565761 -1.89503545] [ 0. 0. 0. 1. ]] SLAMing on 217.638001145 meters Centerline goodness : 0.863107 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.24, Z:-1.89 [[ 0.3607562 -0.82238971 -0.4399206 4.30267994] [ 0.90079532 0.42947648 -0.06416962 -3.24261847] [ 0.24170799 -0.37312884 0.8957411 -1.89454482] [ 0. 0. 0. 1. ]] SLAMing on 217.69800114499998 meters Centerline goodness : 0.867229 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.24, Z:-1.90 [[ 0.36103443 -0.82297112 -0.4386031 4.30292736] [ 0.90077344 0.42948792 -0.06439976 -3.24338369] [ 0.24137388 -0.3718315 0.89637045 -1.89518341] [ 0. 0. 0. 1. ]] SLAMing on 217.75800114499998 meters Centerline goodness : 0.870849 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36231534 -0.82267731 -0.43809775 4.30171391] [ 0.90029112 0.4305623 -0.06396871 -3.24523697] [ 0.24125398 -0.37123867 0.89664841 -1.8949416 ] [ 0. 0. 0. 1. ]] SLAMing on 217.81800114499998 meters Centerline goodness : 0.872908 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.90 [[ 0.36363447 -0.82227909 -0.43775229 4.3007469 ] [ 0.89979033 0.43168578 -0.06344092 -3.2468694 ] [ 0.24113758 -0.37081597 0.89685461 -1.89500032] [ 0. 0. 0. 1. ]] SLAMing on 217.87800114499998 meters Centerline goodness : 0.876435 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.90 [[ 0.36563111 -0.82198074 -0.43664809 4.29970099] [ 0.89895249 0.43345853 -0.06323071 -3.24830502] [ 0.24124326 -0.36940678 0.89740756 -1.89595001] [ 0. 0. 0. 1. ]] SLAMing on 217.938001145 meters Centerline goodness : 0.877266 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.24, Z:-1.90 [[ 0.36733379 -0.82649058 -0.42659021 4.2973495 ] [ 0.90125628 0.429615 -0.05628557 -3.24408352] [ 0.22978905 -0.36379151 0.90269194 -1.89815054] [ 0. 0. 0. 1. ]] SLAMing on 217.998001145 meters Centerline goodness : 0.881179 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.90 [[ 0.36763359 -0.82638165 -0.42654297 4.29670528] [ 0.90118829 0.42979951 -0.05596468 -3.24533181] [ 0.22957615 -0.36382104 0.9027342 -1.89741433] [ 0. 0. 0. 1. ]] SLAMing on 218.058001145 meters Centerline goodness : 0.877420 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.90 [[ 0.36676852 -0.82737461 -0.42536115 4.29674987] [ 0.90175109 0.42859587 -0.05612978 -3.24714802] [ 0.22874839 -0.36298324 0.90328143 -1.89639628] [ 0. 0. 0. 1. ]] SLAMing on 218.118001145 meters Centerline goodness : 0.879276 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.90 [[ 0.36624798 -0.82758821 -0.42539414 4.29682919] [ 0.90192336 0.42818501 -0.05649646 -3.24701465] [ 0.2289032 -0.3629812 0.90324303 -1.89558575] [ 0. 0. 0. 1. ]] SLAMing on 218.178001145 meters Centerline goodness : 0.882287 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36526294 -0.8279743 -0.42548976 4.2962215 ] [ 0.90241011 0.42715318 -0.05653457 -3.24832589] [ 0.22855848 -0.36331628 0.90319561 -1.89343206] [ 0. 0. 0. 1. ]] SLAMing on 218.238001145 meters Centerline goodness : 0.883840 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36485965 -0.82725256 -0.42723604 4.29671811] [ 0.90251549 0.42699581 -0.05603903 -3.24870895] [ 0.22878643 -0.36514076 0.90240179 -1.8914348 ] [ 0. 0. 0. 1. ]] SLAMing on 218.298001145 meters Centerline goodness : 0.884109 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.3646299 -0.8274876 -0.42697694 4.29647503] [ 0.90266719 0.42667466 -0.05604178 -3.24939252] [ 0.22855412 -0.36498356 0.90252424 -1.89079814] [ 0. 0. 0. 1. ]] SLAMing on 218.358001145 meters Centerline goodness : 0.884641 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36489623 -0.82771975 -0.42629891 4.29655542] [ 0.90272244 0.42661168 -0.05562975 -3.25220819] [ 0.22790994 -0.36453051 0.90287018 -1.88957862] [ 0. 0. 0. 1. ]] SLAMing on 218.418001145 meters Centerline goodness : 0.887503 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36464797 -0.82803516 -0.42589862 4.29641419] [ 0.90287239 0.42627873 -0.05574847 -3.25277806] [ 0.22771322 -0.36420354 0.90305175 -1.88916002] [ 0. 0. 0. 1. ]] SLAMing on 218.47800114499998 meters Centerline goodness : 0.887736 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36424178 -0.82840998 -0.42551712 4.29757953] [ 0.90310854 0.42576664 -0.0558367 -3.25241943] [ 0.22742668 -0.36395009 0.90322613 -1.88985924] [ 0. 0. 0. 1. ]] SLAMing on 218.53800114499998 meters Centerline goodness : 0.889223 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.3633511 -0.82895077 -0.42522535 4.29821083] [ 0.9036612 0.42462268 -0.05560583 -3.25410597] [ 0.22665482 -0.36405522 0.90337777 -1.88853902] [ 0. 0. 0. 1. ]] SLAMing on 218.59800114499998 meters Centerline goodness : 0.889368 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36242179 -0.82925625 -0.42542275 4.2995265 ] [ 0.90411304 0.42366069 -0.05559881 -3.25385826] [ 0.22634056 -0.36448004 0.90328526 -1.88820628] [ 0. 0. 0. 1. ]] SLAMing on 218.658001145 meters Centerline goodness : 0.891989 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36157678 -0.82894657 -0.42674328 4.30223003] [ 0.90452453 0.42285923 -0.05500412 -3.25437621] [ 0.22604781 -0.36611155 0.90269858 -1.8868478 ] [ 0. 0. 0. 1. ]] SLAMing on 218.718001145 meters Centerline goodness : 0.891892 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36051523 -0.82932298 -0.42691001 4.30427715] [ 0.90505646 0.42172604 -0.05495412 -3.25451812] [ 0.22561378 -0.36656587 0.90262278 -1.88631122] [ 0. 0. 0. 1. ]] SLAMing on 218.778001145 meters Centerline goodness : 0.893224 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.26, Z:-1.89 [[ 0.36145452 -0.82948115 -0.42580706 4.30496698] [ 0.90478222 0.42234715 -0.05469936 -3.25658501] [ 0.22521049 -0.36549133 0.90315908 -1.88653842] [ 0. 0. 0. 1. ]] SLAMing on 218.838001145 meters Centerline goodness : 0.889097 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.26, Z:-1.89 [[ 0.36341495 -0.82840086 -0.42624124 4.30423613] [ 0.90398788 0.42417885 -0.05364897 -3.25883116] [ 0.22524537 -0.36582008 0.90301727 -1.88615702] [ 0. 0. 0. 1. ]] SLAMing on 218.898001145 meters Centerline goodness : 0.889342 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.26, Z:-1.89 [[ 0.36454141 -0.82752078 -0.4269882 4.30460591] [ 0.90345199 0.42538826 -0.0530974 -3.25912703] [ 0.22557496 -0.36640714 0.90269693 -1.88624234] [ 0. 0. 0. 1. ]] SLAMing on 218.958001145 meters Centerline goodness : 0.887105 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.26, Z:-1.89 [[ 0.36397113 -0.82987836 -0.42287932 4.3044169 ] [ 0.90417839 0.42379707 -0.0534554 -3.26312423] [ 0.2235765 -0.36290212 0.90460798 -1.88647603] [ 0. 0. 0. 1. ]] SLAMing on 219.018001145 meters Centerline goodness : 0.889602 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.26, Z:-1.89 [[ 0.3632683 -0.83036404 -0.42253012 4.30570228] [ 0.90453452 0.42301268 -0.05364304 -3.26301137] [ 0.22327885 -0.36270626 0.90476004 -1.88660235] [ 0. 0. 0. 1. ]] SLAMing on 219.078001145 meters Centerline goodness : 0.891159 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.26, Z:-1.89 [[ 0.36325558 -0.83020449 -0.42285446 4.30501022] [ 0.90458224 0.42295265 -0.05331065 -3.26348266] [ 0.22310616 -0.36314125 0.90462814 -1.88604258] [ 0. 0. 0. 1. ]] SLAMing on 219.138001145 meters Centerline goodness : 0.891240 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.26, Z:-1.89 [[ 0.36335915 -0.8298424 -0.42347576 4.30541557] [ 0.90443296 0.42326244 -0.05338469 -3.2622657 ] [ 0.22354226 -0.36360762 0.9043331 -1.88635873] [ 0. 0. 0. 1. ]] SLAMing on 219.19800114499998 meters Centerline goodness : 0.891060 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.26, Z:-1.89 [[ 0.36395786 -0.82986201 -0.42292283 4.30680745] [ 0.90419886 0.42376317 -0.05337777 -3.26215197] [ 0.22351531 -0.36297909 0.90459222 -1.88771127] [ 0. 0. 0. 1. ]] SLAMing on 219.25800114499998 meters Centerline goodness : 0.893842 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.26, Z:-1.89 [[ 0.36501886 -0.82763199 -0.42636431 4.30619597] [ 0.90346135 0.42545528 -0.05239643 -3.26014067] [ 0.22476391 -0.36607799 0.90303272 -1.88728932] [ 0. 0. 0. 1. ]] SLAMing on 219.31800114499998 meters Centerline goodness : 0.893195 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.26, Z:-1.89 [[ 0.36663519 -0.82566953 -0.42877555 4.30626169] [ 0.90256794 0.42746937 -0.05139114 -3.25898064] [ 0.22572051 -0.36815726 0.90194816 -1.88782512] [ 0. 0. 0. 1. ]] SLAMing on 219.37800114499998 meters Centerline goodness : 0.895467 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.26, Z:-1.89 [[ 0.3656412 -0.82603438 -0.42892158 4.30723376] [ 0.90301406 0.42650255 -0.05158663 -3.25814144] [ 0.22554847 -0.36846002 0.90186756 -1.88782727] [ 0. 0. 0. 1. ]] SLAMing on 219.438001145 meters Centerline goodness : 0.896322 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.25, Z:-1.89 [[ 0.36234548 -0.82636023 -0.43108528 4.30793641] [ 0.90423856 0.42380601 -0.05235546 -3.25459421] [ 0.22596101 -0.37083317 0.90079098 -1.88588423] [ 0. 0. 0. 1. ]] SLAMing on 219.498001145 meters Centerline goodness : 0.896863 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.25, Z:-1.89 [[ 0.36136902 -0.82600556 -0.43258207 4.30802957] [ 0.90451878 0.423194 -0.05246526 -3.25234866] [ 0.22640273 -0.37231929 0.90006675 -1.88554735] [ 0. 0. 0. 1. ]] SLAMing on 219.558001145 meters Centerline goodness : 0.896181 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.25, Z:-1.89 [[ 0.36047736 -0.8270042 -0.43141642 4.30847468] [ 0.9050166 0.42207477 -0.05289464 -3.25228932] [ 0.22583408 -0.37137171 0.90060093 -1.8861058 ] [ 0. 0. 0. 1. ]] SLAMing on 219.618001145 meters Centerline goodness : 0.894447 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.25, Z:-1.89 [[ 0.36039321 -0.82560531 -0.43415735 4.308928 ] [ 0.90479823 0.4225878 -0.05253301 -3.24916509] [ 0.22684113 -0.37389226 0.899304 -1.88639542] [ 0. 0. 0. 1. ]] SLAMing on 219.678001145 meters Centerline goodness : 0.894094 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.25, Z:-1.89 [[ 0.35965043 -0.82608443 -0.43386182 4.30881176] [ 0.90512124 0.4218485 -0.05290911 -3.24798921] [ 0.22673135 -0.37366877 0.89942457 -1.88699237] [ 0. 0. 0. 1. ]] SLAMing on 219.738001145 meters Centerline goodness : 0.892702 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.25, Z:-1.89 [[ 0.36031844 -0.82576879 -0.43390843 4.30979194] [ 0.90471496 0.42268994 -0.05314182 -3.24624107] [ 0.22729158 -0.37341547 0.89938836 -1.88871952] [ 0. 0. 0. 1. ]] SLAMing on 219.798001145 meters Centerline goodness : 0.895179 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.25, Z:-1.89 [[ 0.36070006 -0.82581523 -0.43350279 4.30910041] [ 0.90457744 0.42298685 -0.05312042 -3.24654197] [ 0.22723364 -0.37297631 0.89958521 -1.88895707] [ 0. 0. 0. 1. ]] SLAMing on 219.858001145 meters Centerline goodness : 0.895840 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.25, Z:-1.89 [[ 0.36204351 -0.82498467 -0.43396404 4.30734439] [ 0.90390961 0.42445242 -0.05279731 -3.24648831] [ 0.22775406 -0.37314934 0.89938182 -1.88925788] [ 0. 0. 0. 1. ]] SLAMing on 219.918001145 meters Centerline goodness : 0.892103 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36343177 -0.82488361 -0.43299467 4.30489937] [ 0.90335603 0.42564659 -0.05265795 -3.24735661] [ 0.22773939 -0.37201077 0.89985708 -1.89005033] [ 0. 0. 0. 1. ]] SLAMing on 219.97800114499998 meters Centerline goodness : 0.892209 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36341114 -0.82503211 -0.43272896 4.30422461] [ 0.90338504 0.42557704 -0.05272245 -3.24766661] [ 0.22765723 -0.37176094 0.8999811 -1.88978128] [ 0. 0. 0. 1. ]] SLAMing on 220.03800114499998 meters Centerline goodness : 0.897949 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36333528 -0.82536309 -0.43216113 4.30270367] [ 0.90345152 0.42541298 -0.05290703 -3.24803059] [ 0.22751446 -0.37121364 0.90024308 -1.88958847] [ 0. 0. 0. 1. ]] SLAMing on 220.09800114499998 meters Centerline goodness : 0.900846 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36381898 -0.82390513 -0.43452973 4.30203317] [ 0.90307283 0.42630433 -0.05219271 -3.24647901] [ 0.22824375 -0.37342329 0.89914394 -1.88942629] [ 0. 0. 0. 1. ]] SLAMing on 220.158001145 meters Centerline goodness : 0.897417 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36321987 -0.82449085 -0.43391953 4.30200785] [ 0.90343874 0.42551689 -0.05228593 -3.24651948] [ 0.22774936 -0.37302843 0.89943317 -1.88975085] [ 0. 0. 0. 1. ]] SLAMing on 220.218001145 meters Centerline goodness : 0.901336 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36200839 -0.82521388 -0.43355735 4.3020852 ] [ 0.90398949 0.42428664 -0.05276222 -3.24535072] [ 0.22749271 -0.37283092 0.89958 -1.89003349] [ 0. 0. 0. 1. ]] SLAMing on 220.278001145 meters Centerline goodness : 0.895657 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.24, Z:-1.89 [[ 0.3606383 -0.82517988 -0.43476222 4.30383658] [ 0.90441204 0.42332368 -0.05325339 -3.24274276] [ 0.22798876 -0.37399897 0.89896935 -1.88997207] [ 0. 0. 0. 1. ]] SLAMing on 220.338001145 meters Centerline goodness : 0.896367 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.24, Z:-1.89 [[ 0.36025435 -0.82542453 -0.43461609 4.30220955] [ 0.90459367 0.42291841 -0.05338833 -3.24255872] [ 0.22787518 -0.37391759 0.899032 -1.88968178] [ 0. 0. 0. 1. ]] SLAMing on 220.398001145 meters Centerline goodness : 0.898810 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.24, Z:-1.89 [[ 0.36144621 -0.82538538 -0.43369991 4.30222787] [ 0.90413863 0.42390886 -0.05324117 -3.24280446] [ 0.22779372 -0.37288102 0.89948305 -1.89143901] [ 0. 0. 0. 1. ]] SLAMing on 220.458001145 meters Centerline goodness : 0.895102 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.24, Z:-1.89 [[ 0.36233725 -0.82504178 -0.43361017 4.30122782] [ 0.90378755 0.42470391 -0.05286448 -3.24357653] [ 0.22777134 -0.3727367 0.89954853 -1.8915358 ] [ 0. 0. 0. 1. ]] SLAMing on 220.518001145 meters Centerline goodness : 0.896170 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36395832 -0.82401065 -0.43421285 4.29945413] [ 0.90308072 0.42630611 -0.05204139 -3.24510489] [ 0.22799025 -0.37318836 0.89930579 -1.89082831] [ 0. 0. 0. 1. ]] SLAMing on 220.578001145 meters Centerline goodness : 0.894393 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.24, Z:-1.89 [[ 0.36515243 -0.82309587 -0.4349447 4.2997363 ] [ 0.90249356 0.42760893 -0.05153627 -3.2449633 ] [ 0.22840553 -0.3737162 0.89898116 -1.89136525] [ 0. 0. 0. 1. ]] SLAMing on 220.638001145 meters Centerline goodness : 0.896366 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.3663101 -0.82278196 -0.43456502 4.30141087] [ 0.90200335 0.42867122 -0.05129269 -3.24538846] [ 0.22848822 -0.37319007 0.89917868 -1.89246947] [ 0. 0. 0. 1. ]] SLAMing on 220.69800114499998 meters Centerline goodness : 0.896890 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36740028 -0.82224021 -0.43467007 4.29896807] [ 0.90158054 0.42963446 -0.05066322 -3.24731765] [ 0.22840658 -0.37327639 0.89916359 -1.8913699 ] [ 0. 0. 0. 1. ]] SLAMing on 220.75800114499998 meters Centerline goodness : 0.892557 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36809224 -0.821805 -0.43490763 4.29825831] [ 0.90130091 0.43027331 -0.05021499 -3.24824169] [ 0.22839608 -0.37349889 0.89907386 -1.89091177] [ 0. 0. 0. 1. ]] SLAMing on 220.81800114499998 meters Centerline goodness : 0.890441 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36547564 -0.82472294 -0.43157807 4.29869798] [ 0.90268072 0.42717195 -0.05188098 -3.24885006] [ 0.22714548 -0.37061597 0.90058244 -1.89074199] [ 0. 0. 0. 1. ]] SLAMing on 220.87800114499998 meters Centerline goodness : 0.895335 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36023365 -0.82732667 -0.43100151 4.30107541] [ 0.90495306 0.4220896 -0.05385466 -3.24579193] [ 0.22647665 -0.37063587 0.90074268 -1.88927647] [ 0. 0. 0. 1. ]] SLAMing on 220.938001145 meters Centerline goodness : 0.893856 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.35712167 -0.83015442 -0.42814455 4.30033597] [ 0.90657471 0.41842924 -0.05512954 -3.24682859] [ 0.22491423 -0.36845707 0.90202715 -1.88818235] [ 0. 0. 0. 1. ]] SLAMing on 220.998001145 meters Centerline goodness : 0.894604 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.35734979 -0.83053605 -0.42721305 4.29969828] [ 0.90662096 0.41835245 -0.05495148 -3.24895267] [ 0.22436481 -0.36768341 0.90247955 -1.8874755 ] [ 0. 0. 0. 1. ]] SLAMing on 221.058001145 meters Centerline goodness : 0.893471 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.35934181 -0.829271 -0.42799892 4.29773375] [ 0.90582514 0.42023365 -0.05370745 -3.25206617] [ 0.22439758 -0.36839285 0.90218204 -1.88568899] [ 0. 0. 0. 1. ]] SLAMing on 221.118001145 meters Centerline goodness : 0.891486 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36063084 -0.82923898 -0.42697554 4.2968907 ] [ 0.90536329 0.42126006 -0.05345349 -3.25362122] [ 0.22419346 -0.367291 0.9026819 -1.88629499] [ 0. 0. 0. 1. ]] SLAMing on 221.178001145 meters Centerline goodness : 0.894424 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.25, Z:-1.89 [[ 0.36091757 -0.82899291 -0.42721104 4.29821843] [ 0.90528878 0.42147152 -0.05304704 -3.25423936] [ 0.2240329 -0.36760375 0.90259445 -1.88626029] [ 0. 0. 0. 1. ]] SLAMing on 221.238001145 meters Centerline goodness : 0.891432 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.26, Z:-1.89 [[ 0.36031914 -0.8297583 -0.42622914 4.29949586] [ 0.90578385 0.42044106 -0.05277256 -3.25662024] [ 0.2229927 -0.3670565 0.90307462 -1.8853413 ] [ 0. 0. 0. 1. ]] SLAMing on 221.298001145 meters Centerline goodness : 0.890752 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.26, Z:-1.88 [[ 0.35972613 -0.82954392 -0.42714634 4.30233839] [ 0.90601199 0.4199708 -0.05260033 -3.25615635] [ 0.22302328 -0.368078 0.90265121 -1.88498257] [ 0. 0. 0. 1. ]] SLAMing on 221.358001145 meters Centerline goodness : 0.887751 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.26, Z:-1.89 [[ 0.3598224 -0.82940128 -0.42734221 4.30617668] [ 0.90599967 0.4200282 -0.05235372 -3.25607993] [ 0.22291802 -0.36833386 0.90257283 -1.88592536] [ 0. 0. 0. 1. ]] SLAMing on 221.418001145 meters Centerline goodness : 0.888446 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.26, Z:-1.89 [[ 0.36115901 -0.82902326 -0.42694802 4.3057665 ] [ 0.90547153 0.42121591 -0.0519468 -3.25714024] [ 0.2229024 -0.36782822 0.90278288 -1.88645236] [ 0. 0. 0. 1. ]] SLAMing on 221.47800114499998 meters Centerline goodness : 0.886242 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.26, Z:-1.89 [[ 0.3622349 -0.82887903 -0.42631611 4.30747354] [ 0.90507314 0.42210584 -0.05166496 -3.25771053] [ 0.22277452 -0.36713242 0.90309762 -1.88786265] [ 0. 0. 0. 1. ]] SLAMing on 221.53800114499998 meters Centerline goodness : 0.887874 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.26, Z:-1.89 [[ 0.36327425 -0.82841279 -0.42633797 4.30976404] [ 0.90470065 0.4229825 -0.05101508 -3.25911209] [ 0.22259505 -0.36717577 0.90312424 -1.88829186] [ 0. 0. 0. 1. ]] SLAMing on 221.59800114499998 meters Centerline goodness : 0.888609 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.26, Z:-1.89 [[ 0.36350284 -0.8276468 -0.42762888 4.30930061] [ 0.90460067 0.4232834 -0.05028715 -3.26035581] [ 0.2226282 -0.36855385 0.90255456 -1.88645483] [ 0. 0. 0. 1. ]] SLAMing on 221.658001145 meters Centerline goodness : 0.892887 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.26, Z:-1.89 [[ 0.3633708 -0.82767566 -0.42768524 4.31230063] [ 0.90486362 0.42281806 -0.0494644 -3.26317087] [ 0.22177352 -0.3690229 0.90257332 -1.88503511] [ 0. 0. 0. 1. ]] SLAMing on 221.718001145 meters Centerline goodness : 0.886373 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.26, Z:-1.88 [[ 0.35991012 -0.82995714 -0.42618759 4.31386882] [ 0.90662177 0.41894479 -0.05022172 -3.26451496] [ 0.22023095 -0.36831564 0.90323968 -1.88279868] [ 0. 0. 0. 1. ]] SLAMing on 221.778001145 meters Centerline goodness : 0.888719 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.26, Z:-1.88 [[ 0.35745464 -0.82971782 -0.42871264 4.31892955] [ 0.90754853 0.41693363 -0.05021973 -3.26272009] [ 0.22041292 -0.37112625 0.90204404 -1.88091639] [ 0. 0. 0. 1. ]] SLAMing on 221.838001145 meters Centerline goodness : 0.886276 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.26, Z:-1.88 [[ 0.35353834 -0.83181776 -0.42789001 4.32238494] [ 0.90936152 0.41284196 -0.05121669 -3.26273869] [ 0.21925391 -0.37099964 0.90237852 -1.87883333] [ 0. 0. 0. 1. ]] SLAMing on 221.898001145 meters Centerline goodness : 0.884705 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.26, Z:-1.88 [[ 0.35295188 -0.83224858 -0.42753627 4.32443749] [ 0.90965485 0.41217472 -0.05138145 -3.26224299] [ 0.21898178 -0.37077527 0.9025368 -1.8794555 ] [ 0. 0. 0. 1. ]] SLAMing on 221.958001145 meters Centerline goodness : 0.883257 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.26, Z:-1.88 [[ 0.35262953 -0.83198008 -0.42832413 4.32872716] [ 0.90965157 0.41214691 -0.05166184 -3.26021083] [ 0.21951409 -0.37140822 0.90214716 -1.88049408] [ 0. 0. 0. 1. ]] SLAMing on 222.018001145 meters Centerline goodness : 0.883594 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.26, Z:-1.88 [[ 0.35366153 -0.83164849 -0.42811716 4.3282167 ] [ 0.90923676 0.41309819 -0.05136543 -3.2607651 ] [ 0.21957241 -0.37109388 0.90226232 -1.88110839] [ 0. 0. 0. 1. ]] SLAMing on 222.078001145 meters Centerline goodness : 0.883980 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.26, Z:-1.88 [[ 0.35757561 -0.82880728 -0.43036981 4.33006533] [ 0.90743662 0.41725186 -0.04959497 -3.26165215] [ 0.22067728 -0.37279937 0.90128917 -1.88236683] [ 0. 0. 0. 1. ]] SLAMing on 222.138001145 meters Centerline goodness : 0.883951 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.26, Z:-1.88 [[ 0.35972975 -0.82781601 -0.43048248 4.33061081] [ 0.90652478 0.41932023 -0.0488198 -3.26320095] [ 0.22092382 -0.3726811 0.90127768 -1.8829591 ] [ 0. 0. 0. 1. ]] SLAMing on 222.19800114499998 meters Centerline goodness : 0.885219 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.27, Z:-1.88 [[ 0.36293402 -0.82515657 -0.43289206 4.33107571] [ 0.90501568 0.42276362 -0.04709072 -3.26504873] [ 0.22186823 -0.37468328 0.90021493 -1.88227996] [ 0. 0. 0. 1. ]] SLAMing on 222.25800114499998 meters Centerline goodness : 0.882874 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.27, Z:-1.88 [[ 0.36495033 -0.82408486 -0.43323827 4.3330663 ] [ 0.90407052 0.42484137 -0.04654368 -3.26557956] [ 0.22241348 -0.37469182 0.90007682 -1.88337303] [ 0. 0. 0. 1. ]] SLAMing on 222.31800114499998 meters Centerline goodness : 0.885286 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.88 [[ 0.36660875 -0.82285095 -0.43418239 4.33616155] [ 0.90325489 0.4266439 -0.04588668 -3.26607888] [ 0.22299916 -0.37535491 0.89965553 -1.88383687] [ 0. 0. 0. 1. ]] SLAMing on 222.37800114499998 meters Centerline goodness : 0.885898 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.88 [[ 0.3673338 -0.82264127 -0.43396684 4.33745873] [ 0.90317376 0.42693042 -0.04480603 -3.27010705] [ 0.22213293 -0.37548869 0.89981398 -1.88210409] [ 0. 0. 0. 1. ]] SLAMing on 222.438001145 meters Centerline goodness : 0.884979 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.88 [[ 0.36689915 -0.82197528 -0.43559344 4.34098136] [ 0.90328188 0.42674019 -0.04443716 -3.26983013] [ 0.22241147 -0.3771597 0.89904599 -1.88094297] [ 0. 0. 0. 1. ]] SLAMing on 222.498001145 meters Centerline goodness : 0.887855 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.27, Z:-1.88 [[ 0.36538712 -0.82226502 -0.43631696 4.3447555 ] [ 0.90400332 0.42522269 -0.04431313 -3.26987473] [ 0.22196901 -0.37824053 0.89870121 -1.87978318] [ 0. 0. 0. 1. ]] SLAMing on 222.558001145 meters Centerline goodness : 0.888311 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.27, Z:-1.88 [[ 0.36262157 -0.82449038 -0.43442054 4.34903894] [ 0.90558293 0.42181273 -0.04464944 -3.27274059] [ 0.22005715 -0.37721298 0.89960281 -1.87793314] [ 0. 0. 0. 1. ]] SLAMing on 222.618001145 meters Centerline goodness : 0.887256 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.28, Z:-1.88 [[ 0.36107908 -0.82637217 -0.43212375 4.35005142] [ 0.90660868 0.41958362 -0.04483622 -3.27640385] [ 0.21836345 -0.37557772 0.90069905 -1.87602208] [ 0. 0. 0. 1. ]] SLAMing on 222.678001145 meters Centerline goodness : 0.891100 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.28, Z:-1.87 [[ 0.36130727 -0.8256793 -0.43325598 4.35337096] [ 0.90656049 0.41977816 -0.04398148 -3.2777092 ] [ 0.218186 -0.37688192 0.90019714 -1.87499612] [ 0. 0. 0. 1. ]] SLAMing on 222.738001145 meters Centerline goodness : 0.888199 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.28, Z:-1.87 [[ 0.36009472 -0.8267639 -0.43219584 4.35678196] [ 0.90741413 0.417977 -0.04352949 -3.28174063] [ 0.21663653 -0.37650588 0.90072856 -1.87256896] [ 0. 0. 0. 1. ]] SLAMing on 222.798001145 meters Centerline goodness : 0.888622 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.28, Z:-1.87 [[ 0.35815171 -0.82615134 -0.43497278 4.36241824] [ 0.90819798 0.41633169 -0.04294597 -3.28159792] [ 0.21657282 -0.37966022 0.89941888 -1.86966473] [ 0. 0. 0. 1. ]] SLAMing on 222.858001145 meters Centerline goodness : 0.894283 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.28, Z:-1.87 [[ 0.3531039 -0.82430687 -0.44253342 4.37460212] [ 0.90992959 0.41258252 -0.04247117 -3.27974482] [ 0.21759083 -0.38767752 0.89574571 -1.86519108] [ 0. 0. 0. 1. ]] SLAMing on 222.918001145 meters Centerline goodness : 0.890693 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.27, Z:-1.86 [[ 0.3484373 -0.82012075 -0.45386496 4.38859205] [ 0.91086729 0.41050628 -0.04248967 -3.27300066] [ 0.22116107 -0.39860576 0.89005687 -1.86211977] [ 0. 0. 0. 1. ]] SLAMing on 222.97800114499998 meters Centerline goodness : 0.892234 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.27, Z:-1.86 [[ 0.34282593 -0.81763475 -0.46254059 4.40304771] [ 0.91256683 0.40670675 -0.04256058 -3.26894923] [ 0.22291739 -0.40750833 0.88557597 -1.85827654] [ 0. 0. 0. 1. ]] SLAMing on 223.03800114499998 meters Centerline goodness : 0.888047 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.26, Z:-1.86 [[ 0.33738693 -0.81530304 -0.47058583 4.41906532] [ 0.91412934 0.40313064 -0.04304921 -3.26440694] [ 0.22480572 -0.41565207 0.88130343 -1.85557216] [ 0. 0. 0. 1. ]] SLAMing on 223.09800114499998 meters Centerline goodness : 0.884788 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.27, Z:-1.85 [[ 0.33298181 -0.81167593 -0.47990133 4.42588043] [ 0.91282844 0.40505523 -0.05171545 -3.26833016] [ 0.23636273 -0.42084728 0.87579691 -1.85097575] [ 0. 0. 0. 1. ]] SLAMing on 223.158001145 meters Centerline goodness : 0.885466 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.27, Z:-1.85 [[ 0.33034737 -0.80724176 -0.48911282 4.43204991] [ 0.91094253 0.4083387 -0.05867885 -3.27448842] [ 0.24709171 -0.42616927 0.87024447 -1.84842456] [ 0. 0. 0. 1. ]] SLAMing on 223.218001145 meters Centerline goodness : 0.883077 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.27, Z:-1.85 [[ 0.33211107 -0.80453689 -0.49236432 4.43526678] [ 0.90992217 0.41077951 -0.0574616 -3.27321384] [ 0.24848315 -0.42892958 0.86849038 -1.84843348] [ 0. 0. 0. 1. ]] SLAMing on 223.278001145 meters Centerline goodness : 0.881942 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.27, Z:-1.85 [[ 0.33353481 -0.80415024 -0.49203345 4.43564045] [ 0.90928681 0.41220566 -0.05730601 -3.27325665] [ 0.24890162 -0.42828597 0.86868815 -1.84997455] [ 0. 0. 0. 1. ]] SLAMing on 223.338001145 meters Centerline goodness : 0.880225 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.27, Z:-1.85 [[ 0.33516864 -0.80183966 -0.49468692 4.43784453] [ 0.90832849 0.41444448 -0.05634836 -3.27180682] [ 0.25020261 -0.43045202 0.86724259 -1.85036645] [ 0. 0. 0. 1. ]] SLAMing on 223.398001145 meters Centerline goodness : 0.881082 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.26, Z:-1.86 [[ 0.33727414 -0.80285488 -0.49159963 4.44127231] [ 0.91002418 0.41175402 -0.04811051 -3.26313145] [ 0.24104388 -0.43114112 0.86949134 -1.85610115] [ 0. 0. 0. 1. ]] SLAMing on 223.458001145 meters Centerline goodness : 0.879441 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.26, Z:-1.86 [[ 0.33870922 -0.8036164 -0.48936361 4.43701132] [ 0.90932254 0.41318108 -0.0491315 -3.26105757] [ 0.24167866 -0.42834807 0.87069475 -1.86022029] [ 0. 0. 0. 1. ]] SLAMing on 223.518001145 meters Centerline goodness : 0.882553 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.25, Z:-1.87 [[ 0.34297916 -0.80696288 -0.48080787 4.43630314] [ 0.91029161 0.41184457 -0.04187167 -3.2526829 ] [ 0.23180699 -0.42331425 0.87582564 -1.86636836] [ 0. 0. 0. 1. ]] SLAMing on 223.578001145 meters Centerline goodness : 0.881073 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.24, Z:-1.87 [[ 0.34677153 -0.81089863 -0.47137345 4.43046812] [ 0.91121382 0.41038885 -0.03564212 -3.24434686] [ 0.22234856 -0.41716233 0.88121321 -1.87171688] [ 0. 0. 0. 1. ]] SLAMing on 223.638001145 meters Centerline goodness : 0.878825 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.24, Z:-1.88 [[ 0.34679259 -0.81087468 -0.47139914 4.42979185] [ 0.91087163 0.41103332 -0.03693892 -3.23882157] [ 0.22371358 -0.41657396 0.88114606 -1.87538876] [ 0. 0. 0. 1. ]] SLAMing on 223.69800114499998 meters Centerline goodness : 0.879976 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.22, Z:-1.88 [[ 0.34842232 -0.81478413 -0.46338829 4.42668677] [ 0.91183146 0.40916777 -0.03383982 -3.22392101] [ 0.21717569 -0.41074147 0.88550898 -1.8805077 ] [ 0. 0. 0. 1. ]] SLAMing on 223.75800114499998 meters Centerline goodness : 0.882860 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.22, Z:-1.88 [[ 0.34961166 -0.81339213 -0.4649354 4.42110566] [ 0.91100602 0.41099078 -0.03397964 -3.22056594] [ 0.21872293 -0.41167927 0.8846923 -1.88185052] [ 0. 0. 0. 1. ]] SLAMing on 223.81800114499998 meters Centerline goodness : 0.885658 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.21, Z:-1.89 [[ 0.35259745 -0.81631177 -0.45750425 4.41512661] [ 0.91229253 0.40870424 -0.0261376 -3.21208333] [ 0.20832036 -0.40816166 0.88882321 -1.88663802] [ 0. 0. 0. 1. ]] SLAMing on 223.87800114499998 meters Centerline goodness : 0.888889 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.21, Z:-1.89 [[ 0.35358797 -0.81428409 -0.4603444 4.41235546] [ 0.91146444 0.41054926 -0.02611276 -3.20717057] [ 0.21025726 -0.4103544 0.88735627 -1.88836157] [ 0. 0. 0. 1. ]] SLAMing on 223.938001145 meters Centerline goodness : 0.888469 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.20, Z:-1.89 [[ 0.35300687 -0.81187392 -0.46502354 4.40928774] [ 0.91109132 0.41134922 -0.02654104 -3.19931397] [ 0.21283505 -0.41430974 0.88490038 -1.88924681] [ 0. 0. 0. 1. ]] SLAMing on 223.998001145 meters Centerline goodness : 0.888838 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.19, Z:-1.89 [[ 0.35216969 -0.80988382 -0.46911055 4.40872339] [ 0.91093912 0.41166601 -0.02685187 -3.19232663] [ 0.21486376 -0.41787474 0.88273114 -1.89016196] [ 0. 0. 0. 1. ]] SLAMing on 224.058001145 meters Centerline goodness : 0.885357 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.18, Z:-1.89 [[ 0.35218176 -0.81593527 -0.45849498 4.40614271] [ 0.91352428 0.40623017 -0.02122363 -3.18357754] [ 0.2035716 -0.41137172 0.88844353 -1.89468596] [ 0. 0. 0. 1. ]] SLAMing on 224.118001145 meters Centerline goodness : 0.886407 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.18, Z:-1.89 [[ 0.35130634 -0.81560548 -0.45975163 4.4075924 ] [ 0.91373458 0.40573811 -0.02158006 -3.18108012] [ 0.20413958 -0.41250975 0.8877853 -1.89477256] [ 0. 0. 0. 1. ]] SLAMing on 224.178001145 meters Centerline goodness : 0.886761 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.18, Z:-1.89 [[ 0.35002957 -0.81611596 -0.45981958 4.40732303] [ 0.9142943 0.40445971 -0.02186941 -3.18059519] [ 0.20382647 -0.41275548 0.88774303 -1.8939603 ] [ 0. 0. 0. 1. ]] SLAMing on 224.238001145 meters Centerline goodness : 0.882527 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.18, Z:-1.89 [[ 0.34799799 -0.81637679 -0.46089731 4.41140656] [ 0.91503415 0.40274902 -0.02248853 -3.17800887] [ 0.20398505 -0.41391081 0.88716849 -1.89369471] [ 0. 0. 0. 1. ]] SLAMing on 224.298001145 meters Centerline goodness : 0.884565 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.18, Z:-1.89 [[ 0.34799507 -0.81591671 -0.4617135 4.41519725] [ 0.9149526 0.40293661 -0.02244621 -3.17683127] [ 0.20435551 -0.4146348 0.88674506 -1.89421752] [ 0. 0. 0. 1. ]] SLAMing on 224.358001145 meters Centerline goodness : 0.885109 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.18, Z:-1.89 [[ 0.35010455 -0.81488795 -0.46193553 4.41612312] [ 0.91418623 0.40474332 -0.02112783 -3.17975535] [ 0.20418213 -0.41489815 0.88666182 -1.89405255] [ 0. 0. 0. 1. ]] SLAMing on 224.418001145 meters Centerline goodness : 0.886185 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.18, Z:-1.89 [[ 0.3532802 -0.81175597 -0.46502187 4.415829 ] [ 0.91280103 0.4079756 -0.01871329 -3.18302905] [ 0.2049082 -0.41786141 0.88510139 -1.8918825 ] [ 0. 0. 0. 1. ]] SLAMing on 224.47800114499998 meters Centerline goodness : 0.886002 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.19, Z:-1.89 [[ 0.35685309 -0.81083974 -0.46389091 4.41567843] [ 0.91153285 0.41087698 -0.01696967 -3.18921089] [ 0.20436178 -0.41679613 0.88572979 -1.89131088] [ 0. 0. 0. 1. ]] SLAMing on 224.53800114499998 meters Centerline goodness : 0.888386 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.19, Z:-1.89 [[ 0.3589646 -0.81073168 -0.46244844 4.41627261] [ 0.91086779 0.41239056 -0.01593432 -3.19417411] [ 0.20362783 -0.41550953 0.88650298 -1.89070162] [ 0. 0. 0. 1. ]] SLAMing on 224.59800114499998 meters Centerline goodness : 0.890360 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.20, Z:-1.89 [[ 0.35965426 -0.81015396 -0.46292481 4.41660479] [ 0.91063175 0.41293954 -0.01519039 -3.19616182] [ 0.20346651 -0.41609074 0.88626738 -1.88938327] [ 0. 0. 0. 1. ]] SLAMing on 224.658001145 meters Centerline goodness : 0.892477 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.20, Z:-1.89 [[ 0.36005992 -0.81082687 -0.46142891 4.41844625] [ 0.91068528 0.41283508 -0.01481594 -3.19930959] [ 0.20250721 -0.41488189 0.88705346 -1.88887941] [ 0. 0. 0. 1. ]] SLAMing on 224.718001145 meters Centerline goodness : 0.888127 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.20, Z:-1.89 [[ 0.35870565 -0.81281517 -0.45897903 4.42416358] [ 0.9115743 0.4108554 -0.01516986 -3.2018413 ] [ 0.20090431 -0.41295198 0.88831758 -1.88868629] [ 0. 0. 0. 1. ]] SLAMing on 224.778001145 meters Centerline goodness : 0.893609 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.20, Z:-1.89 [[ 0.35540415 -0.81490411 -0.45784187 4.42982075] [ 0.91312541 0.40735587 -0.01622265 -3.20123014] [ 0.19972448 -0.41230145 0.88888562 -1.88784519] [ 0. 0. 0. 1. ]] SLAMing on 224.838001145 meters Centerline goodness : 0.889660 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.20, Z:-1.89 [[ 0.35374427 -0.81467592 -0.45953034 4.43436982] [ 0.91376513 0.40591899 -0.01621926 -3.19981684] [ 0.19974553 -0.41416533 0.88801397 -1.88655271] [ 0. 0. 0. 1. ]] SLAMing on 224.898001145 meters Centerline goodness : 0.889280 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.20, Z:-1.88 [[ 0.35310453 -0.8138876 -0.46141539 4.44086463] [ 0.91402151 0.40536731 -0.01555711 -3.20034912] [ 0.19970446 -0.4162503 0.88704781 -1.88483726] [ 0. 0. 0. 1. ]] SLAMing on 224.958001145 meters Centerline goodness : 0.886422 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.20, Z:-1.88 [[ 0.35398654 -0.81240033 -0.46335648 4.44345071] [ 0.91359376 0.40636836 -0.01453285 -3.20164676] [ 0.2000999 -0.41817515 0.8860528 -1.88296659] [ 0. 0. 0. 1. ]] SLAMing on 225.018001145 meters Centerline goodness : 0.888142 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.20, Z:-1.88 [[ 0.35714534 -0.80789639 -0.46877566 4.44766779] [ 0.91197082 0.41008129 -0.01193976 -3.20296261] [ 0.20188222 -0.42324549 0.88323656 -1.88034732] [ 0. 0. 0. 1. ]] SLAMing on 225.078001145 meters Centerline goodness : 0.886867 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.20, Z:-1.88 [[ 0.35850428 -0.80651707 -0.47011158 4.45177344] [ 0.91134145 0.41150459 -0.01098818 -3.20414852] [ 0.20231522 -0.42449286 0.88253859 -1.87968668] [ 0. 0. 0. 1. ]] SLAMing on 225.138001145 meters Centerline goodness : 0.885711 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.20, Z:-1.88 [[ 0.35833549 -0.80550823 -0.47196627 4.45896222] [ 0.91135319 0.41149474 -0.01036558 -3.20452733] [ 0.2025612 -0.42641361 0.88155567 -1.8784311 ] [ 0. 0. 0. 1. ]] SLAMing on 225.19800114499998 meters Centerline goodness : 0.885952 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.21, Z:-1.87 [[ 0.35521584 -0.80009582 -0.48339257 4.46326511] [ 0.90975734 0.41475183 -0.01795845 -3.20911812] [ 0.21485643 -0.43339081 0.87521947 -1.87214705] [ 0. 0. 0. 1. ]] SLAMing on 225.25800114499998 meters Centerline goodness : 0.885491 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.21, Z:-1.87 [[ 0.35382787 -0.79934605 -0.48564568 4.46893683] [ 0.91028067 0.41361793 -0.01758728 -3.2086452 ] [ 0.21493009 -0.43585101 0.87397881 -1.86983392] [ 0. 0. 0. 1. ]] SLAMing on 225.31800114499998 meters Centerline goodness : 0.883396 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.21, Z:-1.87 [[ 0.35144296 -0.79521082 -0.4940927 4.47308285] [ 0.90824765 0.41761806 -0.02610271 -3.21335897] [ 0.2270992 -0.43958493 0.86901729 -1.86662525] [ 0. 0. 0. 1. ]] SLAMing on 225.37800114499998 meters Centerline goodness : 0.886030 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-3.21, Z:-1.87 [[ 0.35137861 -0.79465232 -0.49503612 4.47586489] [ 0.90805934 0.41800523 -0.02645503 -3.21117332] [ 0.22795024 -0.44022644 0.86846956 -1.86720874] [ 0. 0. 0. 1. ]] SLAMing on 225.438001145 meters Centerline goodness : 0.888087 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-3.21, Z:-1.87 [[ 0.3526477 -0.79430184 -0.49469606 4.47402533] [ 0.9074914 0.41924965 -0.02625047 -3.21213185] [ 0.22825194 -0.43967525 0.86866951 -1.8674849 ] [ 0. 0. 0. 1. ]] SLAMing on 225.498001145 meters Centerline goodness : 0.890322 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.23, Z:-1.87 [[ 0.35528421 -0.79445312 -0.49256204 4.46445997] [ 0.90600169 0.42236449 -0.02773394 -3.2302205 ] [ 0.23007403 -0.43640861 0.86983531 -1.87029056] [ 0. 0. 0. 1. ]] SLAMing on 225.558001145 meters Centerline goodness : 0.893043 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.25, Z:-1.88 [[ 0.35848095 -0.79152101 -0.49496051 4.45334119] [ 0.90474373 0.42523666 -0.02475016 -3.25456881] [ 0.23006562 -0.43893995 0.86856291 -1.87701245] [ 0. 0. 0. 1. ]] SLAMing on 225.618001145 meters Centerline goodness : 0.893496 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.26, Z:-1.88 [[ 0.35891492 -0.79140459 -0.49483215 4.45136817] [ 0.90458563 0.4255853 -0.02453535 -3.25559744] [ 0.23001068 -0.43881195 0.86864213 -1.87638826] [ 0. 0. 0. 1. ]] SLAMing on 225.678001145 meters Centerline goodness : 0.895960 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.25, Z:-1.88 [[ 0.35818041 -0.79106407 -0.49590768 4.45300477] [ 0.90473438 0.42524866 -0.02488528 -3.25364067] [ 0.23056993 -0.43975131 0.8680186 -1.87610905] [ 0. 0. 0. 1. ]] SLAMing on 225.738001145 meters Centerline goodness : 0.895248 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.25, Z:-1.88 [[ 0.35765881 -0.79071565 -0.49683894 4.4552742 ] [ 0.90479318 0.42510396 -0.02521763 -3.25132698] [ 0.23114817 -0.44051718 0.86747631 -1.87637798] [ 0. 0. 0. 1. ]] SLAMing on 225.798001145 meters Centerline goodness : 0.901242 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-3.25, Z:-1.88 [[ 0.3567294 -0.79064337 -0.49762155 4.45596257] [ 0.90507452 0.42448088 -0.02561445 -3.24991546] [ 0.23148273 -0.44124715 0.86701597 -1.8756698 ] [ 0. 0. 0. 1. ]] SLAMing on 225.858001145 meters Centerline goodness : 0.901780 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.25, Z:-1.88 [[ 0.35547883 -0.79085024 -0.49818742 4.45348266] [ 0.90543403 0.42366058 -0.02647487 -3.24743844] [ 0.23200003 -0.44166459 0.86666509 -1.87507157] [ 0. 0. 0. 1. ]] SLAMing on 225.918001145 meters Centerline goodness : 0.901899 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.25, Z:-1.88 [[ 0.35544616 -0.79099756 -0.4979768 4.45419903] [ 0.90537868 0.42375465 -0.02685972 -3.24618836] [ 0.23226596 -0.44131039 0.86677429 -1.87619778] [ 0. 0. 0. 1. ]] SLAMing on 225.97800114499998 meters Centerline goodness : 0.903439 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.25, Z:-1.88 [[ 0.3567241 -0.79098019 -0.49708979 4.45051634] [ 0.90485426 0.42488121 -0.02673421 -3.24715326] [ 0.23235034 -0.44025708 0.86728716 -1.8768209 ] [ 0. 0. 0. 1. ]] SLAMing on 226.03800114499998 meters Centerline goodness : 0.902997 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.25, Z:-1.88 [[ 0.35745353 -0.79113401 -0.49632041 4.44629411] [ 0.90452854 0.42556375 -0.02690004 -3.24711756] [ 0.23249752 -0.43932046 0.86772256 -1.87761508] [ 0. 0. 0. 1. ]] SLAMing on 226.09800114499998 meters Centerline goodness : 0.904332 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.25, Z:-1.88 [[ 0.35861915 -0.79036005 -0.49671249 4.44735392] [ 0.90383021 0.42704179 -0.02694909 -3.2456364 ] [ 0.23341648 -0.4392793 0.86749666 -1.87922104] [ 0. 0. 0. 1. ]] SLAMing on 226.158001145 meters Centerline goodness : 0.903831 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.24, Z:-1.88 [[ 0.35945922 -0.78758309 -0.50050169 4.44889467] [ 0.90304877 0.4287444 -0.02609906 -3.24296052] [ 0.23514247 -0.44259589 0.86534207 -1.87863352] [ 0. 0. 0. 1. ]] SLAMing on 226.218001145 meters Centerline goodness : 0.905861 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.23, Z:-1.88 [[ 0.35940737 -0.79031677 -0.49621138 4.4510675 ] [ 0.9046739 0.42551245 -0.02245648 -3.22856773] [ 0.22889186 -0.44083846 0.86791127 -1.87825081] [ 0. 0. 0. 1. ]] SLAMing on 226.278001145 meters Centerline goodness : 0.906127 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.23, Z:-1.88 [[ 0.35773445 -0.79112093 -0.49613883 4.45090105] [ 0.90528673 0.42414615 -0.02357938 -3.22536486] [ 0.22908951 -0.44071274 0.86792297 -1.87907223] [ 0. 0. 0. 1. ]] SLAMing on 226.338001145 meters Centerline goodness : 0.908678 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.22, Z:-1.88 [[ 0.35493369 -0.79294015 -0.49524539 4.44917461] [ 0.90650559 0.42144679 -0.02510415 -3.22241797] [ 0.22862567 -0.4400324 0.86839034 -1.87931039] [ 0. 0. 0. 1. ]] SLAMing on 226.398001145 meters Centerline goodness : 0.908080 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-3.22, Z:-1.88 [[ 0.35233436 -0.79474429 -0.49420848 4.44557289] [ 0.90758944 0.41900491 -0.02676362 -3.21903039] [ 0.22834601 -0.43910865 0.86893135 -1.87997827] [ 0. 0. 0. 1. ]] SLAMing on 226.458001145 meters Centerline goodness : 0.906254 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-3.21, Z:-1.88 [[ 0.35442618 -0.79933526 -0.48522699 4.43991358] [ 0.909513 0.41521053 -0.01965513 -3.21215685] [ 0.21718239 -0.43435396 0.87416729 -1.8836709 ] [ 0. 0. 0. 1. ]] SLAMing on 226.518001145 meters Centerline goodness : 0.912769 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.21, Z:-1.89 [[ 0.35508849 -0.80036473 -0.48304086 4.43168649] [ 0.90919909 0.41584828 -0.02066941 -3.21093541] [ 0.21741478 -0.43184084 0.87535382 -1.8854318 ] [ 0. 0. 0. 1. ]] SLAMing on 226.578001145 meters Centerline goodness : 0.910630 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.21, Z:-1.89 [[ 0.35564639 -0.80088409 -0.48176791 4.42705499] [ 0.90893852 0.41639018 -0.02121263 -3.20971385] [ 0.21759229 -0.43035322 0.87604207 -1.88741028] [ 0. 0. 0. 1. ]] SLAMing on 226.638001145 meters Centerline goodness : 0.909767 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.20, Z:-1.89 [[ 0.35814227 -0.80502582 -0.47293503 4.42120345] [ 0.91042971 0.41341763 -0.0142694 -3.20157802] [ 0.20700692 -0.42546362 0.88098175 -1.89238186] [ 0. 0. 0. 1. ]] SLAMing on 226.69800114499998 meters Centerline goodness : 0.908562 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.20, Z:-1.89 [[ 0.35891026 -0.80341656 -0.47508448 4.41684548] [ 0.90978075 0.41484492 -0.01423669 -3.19772812] [ 0.20852437 -0.42711302 0.87982501 -1.89372383] [ 0. 0. 0. 1. ]] SLAMing on 226.75800114499998 meters Centerline goodness : 0.908908 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.19, Z:-1.90 [[ 0.35983336 -0.80348869 -0.47426351 4.42109935] [ 0.91144664 0.41138255 -0.00542382 -3.18778515] [ 0.19946172 -0.43031421 0.88036623 -1.89928568] [ 0. 0. 0. 1. ]] SLAMing on 226.81800114499998 meters Centerline goodness : 0.907442 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.17, Z:-1.90 [[ 3.58995479e-01 -8.02680038e-01 -4.76263585e-01 4.42610427e+00] [ 9.13362907e-01 4.07139978e-01 2.28869415e-03 -3.17421812e+00] [ 1.92068856e-01 -4.35823123e-01 8.79299585e-01 -1.90476026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87800114499998 meters Centerline goodness : 0.907287 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.17, Z:-1.91 [[ 3.57572678e-01 -8.00943106e-01 -4.80241524e-01 4.42590397e+00] [ 9.13458333e-01 4.06929659e-01 1.45809393e-03 -3.16634904e+00] [ 1.94256669e-01 -4.39201997e-01 8.77135082e-01 -1.90607611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.938001145 meters Centerline goodness : 0.907706 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.16, Z:-1.91 [[ 3.56769147e-01 -8.00974042e-01 -4.80787229e-01 4.42635129e+00] [ 9.13519908e-01 4.06793986e-01 1.75327916e-04 -3.16094606e+00] [ 1.95440920e-01 -4.39271257e-01 8.76837276e-01 -1.90890836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.998001145 meters Centerline goodness : 0.910131 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-3.16, Z:-1.91 [[ 3.56878626e-01 -7.99172925e-01 -4.83694410e-01 4.42693017e+00] [ 9.13063850e-01 4.07816612e-01 -1.30292483e-04 -3.15505052e+00] [ 1.97362742e-01 -4.41597382e-01 8.75236940e-01 -1.91124078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.058001145 meters Centerline goodness : 0.905167 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.14, Z:-1.92 [[ 0.35898813 -0.80148568 -0.47827631 4.42314148] [ 0.91397573 0.40572275 0.00611669 -3.14222833] [ 0.18914515 -0.43932876 0.87818811 -1.91571469] [ 0. 0. 0. 1. ]] SLAMing on 227.118001145 meters Centerline goodness : 0.907882 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-3.14, Z:-1.92 [[ 0.35936941 -0.80156409 -0.47785839 4.41821276] [ 0.91373599 0.40626861 0.00568878 -3.14134386] [ 0.18957894 -0.43868078 0.87841846 -1.91625061] [ 0. 0. 0. 1. ]] SLAMing on 227.178001145 meters Centerline goodness : 0.909138 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.14, Z:-1.92 [[ 0.35937892 -0.80102244 -0.47875865 4.41431895] [ 0.91350835 0.4067878 0.00511633 -3.13755511] [ 0.19065488 -0.43918873 0.87793165 -1.91804596] [ 0. 0. 0. 1. ]] SLAMing on 227.238001145 meters Centerline goodness : 0.905023 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-3.13, Z:-1.92 [[ 0.35782287 -0.80052375 -0.48075411 4.40940053] [ 0.91392536 0.40585824 0.00441854 -3.13317604] [ 0.19158087 -0.44095443 0.87684432 -1.91790052] [ 0. 0. 0. 1. ]] SLAMing on 227.298001145 meters Centerline goodness : 0.906906 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.13, Z:-1.92 [[ 0.35845861 -0.80591371 -0.47117993 4.40485797] [ 0.91597319 0.40109395 0.01080556 -3.12588221] [ 0.18027907 -0.43546152 0.88197093 -1.92124584] [ 0. 0. 0. 1. ]] SLAMing on 227.358001145 meters Centerline goodness : 0.910209 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.12, Z:-1.92 [[ 0.35700279 -0.80614103 -0.4718958 4.40306603] [ 0.91628393 0.40042485 0.00914824 -3.11993436] [ 0.18158404 -0.43565649 0.88160686 -1.92350965] [ 0. 0. 0. 1. ]] SLAMing on 227.418001145 meters Centerline goodness : 0.912083 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.12, Z:-1.92 [[ 0.35724228 -0.80458567 -0.47436258 4.40061913] [ 0.91592912 0.40123376 0.00923697 -3.11686487] [ 0.18289835 -0.43778234 0.8802811 -1.92372015] [ 0. 0. 0. 1. ]] SLAMing on 227.47800114499998 meters Centerline goodness : 0.910066 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-3.11, Z:-1.93 [[ 0.35690567 -0.80547663 -0.47310224 4.39506075] [ 0.9159761 0.4011525 0.00802808 -3.11453604] [ 0.18331971 -0.43621562 0.88097095 -1.92524404] [ 0. 0. 0. 1. ]] SLAMing on 227.53800114499998 meters Centerline goodness : 0.912207 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-3.11, Z:-1.93 [[ 0.35686099 -0.80601815 -0.47221286 4.39216314] [ 0.91593646 0.40125714 0.00728792 -3.11336124] [ 0.18360459 -0.43511775 0.88145442 -1.92630106] [ 0. 0. 0. 1. ]] SLAMing on 227.59800114499998 meters Centerline goodness : 0.910440 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.12, Z:-1.92 [[ 3.56191335e-01 -8.05856010e-01 -4.72994529e-01 4.38208933e+00] [ 9.14487019e-01 4.04614643e-01 -6.95122216e-04 -3.12217749e+00] [ 1.91940681e-01 -4.32299760e-01 8.81065090e-01 -1.92222939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.658001145 meters Centerline goodness : 0.910241 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-3.12, Z:-1.92 [[ 3.55905507e-01 -8.04615412e-01 -4.75316009e-01 4.37908188e+00] [ 9.14340848e-01 4.04944547e-01 -8.53495350e-04 -3.11888170e+00] [ 1.93163361e-01 -4.34297079e-01 8.79814732e-01 -1.92215929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.718001145 meters Centerline goodness : 0.910077 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.12, Z:-1.92 [[ 3.54447275e-01 -8.05986970e-01 -4.74080303e-01 4.37495340e+00] [ 9.14927590e-01 4.03612366e-01 -2.13617140e-03 -3.11657388e+00] [ 1.93066399e-01 -4.32991989e-01 8.80479019e-01 -1.92318536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.778001145 meters Centerline goodness : 0.912414 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.11, Z:-1.92 [[ 3.52903819e-01 -8.07292806e-01 -4.73008689e-01 4.37217263e+00] [ 9.15556258e-01 4.02176219e-01 -3.32059236e-03 -3.11450894e+00] [ 1.92913537e-01 -4.31894216e-01 8.81051504e-01 -1.92392070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.838001145 meters Centerline goodness : 0.908925 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.11, Z:-1.92 [[ 0.35069741 -0.80867791 -0.47228314 4.36803861] [ 0.91637379 0.4002931 -0.004951 -3.11107937] [ 0.19305544 -0.43105159 0.88143299 -1.92447294] [ 0. 0. 0. 1. ]] SLAMing on 227.898001145 meters Centerline goodness : 0.906775 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-3.11, Z:-1.92 [[ 0.34945695 -0.8094111 -0.47194651 4.36578261] [ 0.91680358 0.39929408 -0.00595338 -3.10905926] [ 0.19326418 -0.4306018 0.88160708 -1.92470856] [ 0. 0. 0. 1. ]] SLAMing on 227.958001145 meters Centerline goodness : 0.907923 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.11, Z:-1.92 [[ 0.34869738 -0.80976226 -0.47190594 4.36120078] [ 0.91703159 0.39875929 -0.00664054 -3.1075985 ] [ 0.19355413 -0.43043712 0.88162389 -1.92437873] [ 0. 0. 0. 1. ]] SLAMing on 228.018001145 meters Centerline goodness : 0.905272 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.11, Z:-1.92 [[ 0.34893311 -0.80994275 -0.47142171 4.35878388] [ 0.91693994 0.39896785 -0.00676764 -3.10775663] [ 0.19356351 -0.42990394 0.88188195 -1.92442231] [ 0. 0. 0. 1. ]] SLAMing on 228.078001145 meters Centerline goodness : 0.905004 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.11, Z:-1.92 [[ 0.34853379 -0.80990214 -0.47178674 4.35663205] [ 0.91707577 0.39865386 -0.00686481 -3.10771881] [ 0.19363943 -0.43027157 0.88168597 -1.92333955] [ 0. 0. 0. 1. ]] SLAMing on 228.138001145 meters Centerline goodness : 0.908193 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.11, Z:-1.92 [[ 0.34758154 -0.81037082 -0.47168443 4.35534815] [ 0.91745506 0.39777209 -0.00731942 -3.10712236] [ 0.19355435 -0.43020517 0.88173705 -1.92274627] [ 0. 0. 0. 1. ]] SLAMing on 228.19800114499998 meters Centerline goodness : 0.907494 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-3.11, Z:-1.92 [[ 0.34685674 -0.81106526 -0.47102394 4.35533267] [ 0.91779749 0.39697411 -0.00770166 -3.10690969] [ 0.19323086 -0.42963322 0.8820868 -1.92278093] [ 0. 0. 0. 1. ]] SLAMing on 228.25800114499998 meters Centerline goodness : 0.908140 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.11, Z:-1.92 [[ 0.34805808 -0.8110199 -0.47021516 4.35341667] [ 0.91733508 0.39804495 -0.007521 -3.10813624] [ 0.19326645 -0.42872712 0.88251977 -1.92301558] [ 0. 0. 0. 1. ]] SLAMing on 228.31800114499998 meters Centerline goodness : 0.911726 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-3.11, Z:-1.92 [[ 0.34950328 -0.81035281 -0.47029328 4.35122095] [ 0.91668816 0.39953862 -0.00719067 -3.10901068] [ 0.19372731 -0.42859912 0.88248089 -1.92283014] [ 0. 0. 0. 1. ]] SLAMing on 228.37800114499998 meters Centerline goodness : 0.909949 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.12, Z:-1.92 [[ 0.35314014 -0.81194363 -0.46480059 4.33932702] [ 0.91457944 0.4042484 -0.01129989 -3.12084914] [ 0.19706976 -0.42110661 0.88534328 -1.91923291] [ 0. 0. 0. 1. ]] SLAMing on 228.438001145 meters Centerline goodness : 0.908353 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.12, Z:-1.92 [[ 0.35375864 -0.8124834 -0.46338488 4.33790825] [ 0.9143208 0.40481926 -0.01178297 -3.12049393] [ 0.19716059 -0.41951411 0.88607879 -1.92076795] [ 0. 0. 0. 1. ]] SLAMing on 228.498001145 meters Centerline goodness : 0.911855 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.12, Z:-1.92 [[ 0.35273209 -0.81307095 -0.4631368 4.33696319] [ 0.9147376 0.40386029 -0.01232845 -3.11980719] [ 0.19706647 -0.41930001 0.88620106 -1.92035133] [ 0. 0. 0. 1. ]] SLAMing on 228.558001145 meters Centerline goodness : 0.910857 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-3.12, Z:-1.92 [[ 0.35033697 -0.81429824 -0.46279843 4.33581127] [ 0.91571827 0.40159684 -0.01341757 -3.11809065] [ 0.1967843 -0.41909231 0.88636199 -1.91968725] [ 0. 0. 0. 1. ]] SLAMing on 228.618001145 meters Centerline goodness : 0.910112 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.12, Z:-1.92 [[ 0.34811529 -0.81530038 -0.46271054 4.33495318] [ 0.91664912 0.39944099 -0.01418774 -3.11689675] [ 0.19639283 -0.41920423 0.88639589 -1.91868222] [ 0. 0. 0. 1. ]] SLAMing on 228.678001145 meters Centerline goodness : 0.911033 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.12, Z:-1.91 [[ 0.34568225 -0.8147571 -0.46548324 4.33112549] [ 0.915291 0.40207478 -0.0240469 -3.12235408] [ 0.20675145 -0.41774004 0.88472996 -1.91035613] [ 0. 0. 0. 1. ]] SLAMing on 228.738001145 meters Centerline goodness : 0.902836 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.12, Z:-1.91 [[ 0.34607233 -0.81464369 -0.46539187 4.32840168] [ 0.91517956 0.40234632 -0.02374465 -3.12380295] [ 0.20659214 -0.41769976 0.88478619 -1.90921864] [ 0. 0. 0. 1. ]] SLAMing on 228.798001145 meters Centerline goodness : 0.909190 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.13, Z:-1.90 [[ 0.34588942 -0.81197143 -0.47017327 4.3254322 ] [ 0.91238817 0.40796666 -0.03333208 -3.12940866] [ 0.21887972 -0.41745132 0.88194448 -1.9020926 ] [ 0. 0. 0. 1. ]] SLAMing on 228.858001145 meters Centerline goodness : 0.905526 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-3.13, Z:-1.90 [[ 0.34556772 -0.8121468 -0.47010693 4.32511166] [ 0.91252751 0.40764484 -0.03345496 -3.12963006] [ 0.218807 -0.41742455 0.88197519 -1.90152814] [ 0. 0. 0. 1. ]] SLAMing on 228.918001145 meters Centerline goodness : 0.905017 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.13, Z:-1.90 [[ 0.34353478 -0.81517115 -0.46634734 4.32473837] [ 0.9137495 0.40481118 -0.03449288 -3.13176514] [ 0.21690022 -0.41427514 0.88392896 -1.90122552] [ 0. 0. 0. 1. ]] SLAMing on 228.97800114499998 meters Centerline goodness : 0.906020 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.14, Z:-1.89 [[ 0.34149731 -0.81423119 -0.46947541 4.32112314] [ 0.91163512 0.40849199 -0.04533991 -3.13708773] [ 0.22869411 -0.41250681 0.88178066 -1.89340575] [ 0. 0. 0. 1. ]] SLAMing on 229.03800114499998 meters Centerline goodness : 0.902696 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.14, Z:-1.89 [[ 0.34217368 -0.81462426 -0.46829957 4.32113748] [ 0.91150561 0.40880527 -0.04511953 -3.13849913] [ 0.22819879 -0.41141897 0.88241699 -1.89405282] [ 0. 0. 0. 1. ]] SLAMing on 229.09800114499998 meters Centerline goodness : 0.905306 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.14, Z:-1.89 [[ 0.34268127 -0.81492093 -0.46741141 4.32193872] [ 0.91137466 0.40910081 -0.04508616 -3.13922665] [ 0.22796004 -0.41053674 0.88288947 -1.89476135] [ 0. 0. 0. 1. ]] SLAMing on 229.158001145 meters Centerline goodness : 0.904564 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.14, Z:-1.89 [[ 0.34351538 -0.81430116 -0.46787905 4.3203757 ] [ 0.91104367 0.40990044 -0.04450913 -3.1407083 ] [ 0.22802766 -0.41096868 0.88267102 -1.89365167] [ 0. 0. 0. 1. ]] SLAMing on 229.218001145 meters Centerline goodness : 0.902021 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.14, Z:-1.89 [[ 0.34298328 -0.81646539 -0.46448546 4.31937775] [ 0.91157818 0.40863749 -0.0451732 -3.14326018] [ 0.22668852 -0.40792116 0.88442786 -1.89383222] [ 0. 0. 0. 1. ]] SLAMing on 229.278001145 meters Centerline goodness : 0.910214 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.15, Z:-1.89 [[ 0.34121923 -0.81906925 -0.46118868 4.31967865] [ 0.91283381 0.40580693 -0.045334 -3.14839612] [ 0.22428525 -0.40551979 0.88614323 -1.89145659] [ 0. 0. 0. 1. ]] SLAMing on 229.338001145 meters Centerline goodness : 0.903621 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.16, Z:-1.89 [[ 0.33829231 -0.82189554 -0.4583078 4.31041683] [ 0.9130683 0.4045408 -0.05150752 -3.16370304] [ 0.227738 -0.40104172 0.8872998 -1.88559608] [ 0. 0. 0. 1. ]] SLAMing on 229.398001145 meters Centerline goodness : 0.908606 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.17, Z:-1.89 [[ 0.33541125 -0.82513823 -0.45458354 4.31212207] [ 0.91466408 0.40077843 -0.05259537 -3.16583116] [ 0.22558572 -0.39815016 0.88914989 -1.88510421] [ 0. 0. 0. 1. ]] SLAMing on 229.458001145 meters Centerline goodness : 0.903654 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.17, Z:-1.88 [[ 0.33526215 -0.82519209 -0.45459575 4.3150014 ] [ 0.91485462 0.40040505 -0.05212312 -3.16687977] [ 0.22503402 -0.39841412 0.88917146 -1.88493113] [ 0. 0. 0. 1. ]] SLAMing on 229.518001145 meters Centerline goodness : 0.905357 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.17, Z:-1.88 [[ 0.33519337 -0.82514588 -0.45473034 4.3147757 ] [ 0.91489004 0.40033365 -0.05204973 -3.16743506] [ 0.22499248 -0.39858153 0.88910694 -1.88416521] [ 0. 0. 0. 1. ]] SLAMing on 229.578001145 meters Centerline goodness : 0.906379 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.17, Z:-1.88 [[ 0.3372776 -0.82436417 -0.45460701 4.31291502] [ 0.91413075 0.40218584 -0.05110299 -3.17011757] [ 0.22496398 -0.39833436 0.88922491 -1.88370358] [ 0. 0. 0. 1. ]] SLAMing on 229.638001145 meters Centerline goodness : 0.909281 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.17, Z:-1.88 [[ 0.33859394 -0.8245618 -0.4532681 4.31325785] [ 0.91376005 0.40308083 -0.05067959 -3.17316075] [ 0.22449214 -0.39701848 0.88993236 -1.88357211] [ 0. 0. 0. 1. ]] SLAMing on 229.69800114499998 meters Centerline goodness : 0.906613 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.18, Z:-1.88 [[ 0.34043531 -0.82387733 -0.45313348 4.31320315] [ 0.91322941 0.40445569 -0.049271 -3.17819906] [ 0.22386567 -0.39704123 0.89008001 -1.88152136] [ 0. 0. 0. 1. ]] SLAMing on 229.75800114499998 meters Centerline goodness : 0.911932 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.18, Z:-1.88 [[ 0.3420754 -0.82319701 -0.45313476 4.31299266] [ 0.91269696 0.40578698 -0.04817871 -3.18200206] [ 0.22353675 -0.39709396 0.89013915 -1.87994478] [ 0. 0. 0. 1. ]] SLAMing on 229.81800114499998 meters Centerline goodness : 0.911801 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.18, Z:-1.88 [[ 0.34322643 -0.82204663 -0.45435114 4.31731052] [ 0.91206556 0.4072457 -0.04782632 -3.18070052] [ 0.22434801 -0.39798277 0.8895379 -1.88125607] [ 0. 0. 0. 1. ]] SLAMing on 229.87800114499998 meters Centerline goodness : 0.915527 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.18, Z:-1.88 [[ 0.34628356 -0.82783113 -0.44134263 4.31558598] [ 0.91410251 0.40353523 -0.03969785 -3.18130688] [ 0.21096042 -0.3896857 0.89646013 -1.88491202] [ 0. 0. 0. 1. ]] SLAMing on 229.938001145 meters Centerline goodness : 0.918017 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.18, Z:-1.88 [[ 0.34621661 -0.82764901 -0.44173654 4.31525 ] [ 0.91412234 0.40350383 -0.03956025 -3.18182396] [ 0.21098439 -0.39010482 0.89627218 -1.88395836] [ 0. 0. 0. 1. ]] SLAMing on 229.998001145 meters Centerline goodness : 0.916594 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.18, Z:-1.88 [[ 0.34564724 -0.83014625 -0.43747593 4.31535997] [ 0.91472446 0.40206943 -0.04024094 -3.18468211] [ 0.20930157 -0.38626076 0.89832927 -1.88494766] [ 0. 0. 0. 1. ]] SLAMing on 230.058001145 meters Centerline goodness : 0.926789 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.18, Z:-1.89 [[ 0.34605426 -0.82969565 -0.43800864 4.31806472] [ 0.91454741 0.40250634 -0.03989588 -3.18469574] [ 0.20940269 -0.38677353 0.89808504 -1.88535475] [ 0. 0. 0. 1. ]] SLAMing on 230.118001145 meters Centerline goodness : 0.924079 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.19, Z:-1.89 [[ 0.34696901 -0.82920309 -0.43821769 4.31768687] [ 0.91420389 0.40333844 -0.03936185 -3.18556971] [ 0.20938901 -0.38696297 0.89800663 -1.88537308] [ 0. 0. 0. 1. ]] SLAMing on 230.178001145 meters Centerline goodness : 0.918601 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.19, Z:-1.89 [[ 0.34824756 -0.82911252 -0.43737405 4.31628934] [ 0.91380385 0.40429666 -0.0388168 -3.18788571] [ 0.20901236 -0.38615623 0.89844154 -1.88526894] [ 0. 0. 0. 1. ]] SLAMing on 230.238001145 meters Centerline goodness : 0.924568 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.19, Z:-1.89 [[ 0.34894472 -0.82921811 -0.43661756 4.31616804] [ 0.91361896 0.40474285 -0.0385179 -3.18929664] [ 0.20865758 -0.38546147 0.89882227 -1.88553557] [ 0. 0. 0. 1. ]] SLAMing on 230.298001145 meters Centerline goodness : 0.923004 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.19, Z:-1.89 [[ 0.34938916 -0.82912482 -0.43643929 4.31452195] [ 0.9134563 0.40512379 -0.03837066 -3.18982914] [ 0.20862601 -0.38526193 0.89891514 -1.88540003] [ 0. 0. 0. 1. ]] SLAMing on 230.358001145 meters Centerline goodness : 0.921030 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.19, Z:-1.89 [[ 0.34709159 -0.83065803 -0.43535578 4.31513663] [ 0.91447393 0.40272868 -0.03933243 -3.18830338] [ 0.20800206 -0.38446956 0.89939886 -1.88586937] [ 0. 0. 0. 1. ]] SLAMing on 230.41800114499998 meters Centerline goodness : 0.922177 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.18, Z:-1.89 [[ 0.34425302 -0.83109961 -0.43676458 4.31742545] [ 0.91547417 0.40035792 -0.04025637 -3.18469979] [ 0.20831921 -0.38598832 0.89867465 -1.88537848] [ 0. 0. 0. 1. ]] SLAMing on 230.47800114499998 meters Centerline goodness : 0.923084 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.18, Z:-1.88 [[ 0.34310552 -0.83111424 -0.43763881 4.31680539] [ 0.91582645 0.39950677 -0.04069717 -3.18299221] [ 0.20866366 -0.38683777 0.89822938 -1.88463775] [ 0. 0. 0. 1. ]] SLAMing on 230.53800114499998 meters Centerline goodness : 0.926612 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-3.18, Z:-1.89 [[ 0.34293469 -0.83186617 -0.43634214 4.3150578 ] [ 0.91594078 0.39919498 -0.04118082 -3.18228723] [ 0.20844252 -0.38554123 0.89883796 -1.88599987] [ 0. 0. 0. 1. ]] SLAMing on 230.59800114499998 meters Centerline goodness : 0.930981 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.18, Z:-1.89 [[ 0.34355831 -0.83182954 -0.43592121 4.31372452] [ 0.91558388 0.39996637 -0.04162999 -3.18117916] [ 0.20898288 -0.38482011 0.89902149 -1.88712247] [ 0. 0. 0. 1. ]] SLAMing on 230.658001145 meters Centerline goodness : 0.928607 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.18, Z:-1.89 [[ 0.34768098 -0.82814299 -0.4396557 4.3133383 ] [ 0.91334141 0.40513986 -0.04085536 -3.17605248] [ 0.21195613 -0.38735112 0.89723671 -1.89103458] [ 0. 0. 0. 1. ]] SLAMing on 230.718001145 meters Centerline goodness : 0.925110 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.17, Z:-1.89 [[ 0.3527974 -0.82533157 -0.44086482 4.30859234] [ 0.91079758 0.41087789 -0.04033772 -3.17408511] [ 0.2144336 -0.38730756 0.89666665 -1.89412615] [ 0. 0. 0. 1. ]] SLAMing on 230.778001145 meters Centerline goodness : 0.927477 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-3.17, Z:-1.90 [[ 0.35524506 -0.82341004 -0.44248938 4.3057954 ] [ 0.90951229 0.41376924 -0.03977948 -3.17217492] [ 0.21584332 -0.38831806 0.89589103 -1.8957653 ] [ 0. 0. 0. 1. ]] SLAMing on 230.838001145 meters Centerline goodness : 0.925574 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.17, Z:-1.90 [[ 0.35576778 -0.82202438 -0.44464054 4.30206169] [ 0.90900566 0.41488841 -0.03970278 -3.16935213] [ 0.21711286 -0.3900558 0.89482874 -1.89596545] [ 0. 0. 0. 1. ]] SLAMing on 230.898001145 meters Centerline goodness : 0.921697 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.17, Z:-1.90 [[ 0.35437945 -0.82320237 -0.44356854 4.29943167] [ 0.90959211 0.41350349 -0.04070691 -3.16737701] [ 0.21692717 -0.38904076 0.89531553 -1.89675882] [ 0. 0. 0. 1. ]] SLAMing on 230.958001145 meters Centerline goodness : 0.923806 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.16, Z:-1.90 [[ 0.35082122 -0.82305543 -0.44665896 4.29812593] [ 0.91072246 0.41089423 -0.04183945 -3.16058046] [ 0.21796578 -0.39210418 0.89372548 -1.89648101] [ 0. 0. 0. 1. ]] SLAMing on 231.018001145 meters Centerline goodness : 0.920493 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.15, Z:-1.90 [[ 0.34825339 -0.82388912 -0.44713119 4.29778409] [ 0.91156909 0.40885297 -0.0433709 -3.15494716] [ 0.21854373 -0.39248691 0.89341629 -1.89811762] [ 0. 0. 0. 1. ]] SLAMing on 231.078001145 meters Centerline goodness : 0.921072 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-3.15, Z:-1.90 [[ 0.34715759 -0.82330086 -0.44906269 4.29653797] [ 0.91172071 0.40844636 -0.04401051 -3.15121273] [ 0.21965191 -0.39414118 0.89241569 -1.89780001] [ 0. 0. 0. 1. ]] SLAMing on 231.138001145 meters Centerline goodness : 0.922161 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-3.15, Z:-1.90 [[ 0.3462551 -0.82384223 -0.44876653 4.2910873 ] [ 0.91191079 0.40789165 -0.0452008 -3.14863641] [ 0.22028644 -0.39358403 0.89250518 -1.8977483 ] [ 0. 0. 0. 1. ]] SLAMing on 231.19800114499998 meters Centerline goodness : 0.922363 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-3.15, Z:-1.90 [[ 0.34488735 -0.82510439 -0.44749913 4.28748163] [ 0.91243198 0.40658338 -0.04645256 -3.1465654 ] [ 0.22027392 -0.39229161 0.89307709 -1.89847737] [ 0. 0. 0. 1. ]] SLAMing on 231.25800114499998 meters Centerline goodness : 0.918244 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-3.15, Z:-1.90 [[ 0.34385447 -0.82603527 -0.44657568 4.28479556] [ 0.91282469 0.4055943 -0.04737461 -3.1451701 ] [ 0.22026165 -0.39135533 0.8934908 -1.89877951] [ 0. 0. 0. 1. ]] SLAMing on 231.31800114499998 meters Centerline goodness : 0.917791 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-3.17, Z:-1.91 [[ 0.34381985 -0.82675977 -0.44525968 4.2698378 ] [ 0.91372375 0.40390191 -0.04440888 -3.16779741] [ 0.21655671 -0.39157569 0.89429954 -1.90686692] [ 0. 0. 0. 1. ]] SLAMing on 231.37800114499998 meters Centerline goodness : 0.917517 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.18, Z:-1.90 [[ 0.34330862 -0.82603676 -0.44699269 4.26100749] [ 0.91224411 0.40651151 -0.05058736 -3.18036815] [ 0.22349469 -0.39039938 0.89310607 -1.90328869] [ 0. 0. 0. 1. ]] SLAMing on 231.438001145 meters Centerline goodness : 0.918948 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.18, Z:-1.90 [[ 0.34290549 -0.82627867 -0.446855 4.25976386] [ 0.91237538 0.40617488 -0.05092281 -3.18023393] [ 0.22357771 -0.39023779 0.89315591 -1.90266411] [ 0. 0. 0. 1. ]] SLAMing on 231.498001145 meters Centerline goodness : 0.920096 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.18, Z:-1.90 [[ 0.34276723 -0.82727316 -0.44511767 4.25824446] [ 0.91251203 0.40579483 -0.05150089 -3.1800846 ] [ 0.22323175 -0.38852241 0.89398989 -1.90382834] [ 0. 0. 0. 1. ]] SLAMing on 231.558001145 meters Centerline goodness : 0.919309 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.18, Z:-1.90 [[ 0.34262257 -0.82780892 -0.44423211 4.25695416] [ 0.91255059 0.40563616 -0.05206469 -3.17960823] [ 0.22329622 -0.38754573 0.89439762 -1.90414794] [ 0. 0. 0. 1. ]] SLAMing on 231.618001145 meters Centerline goodness : 0.924447 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-3.18, Z:-1.91 [[ 0.34503932 -0.82734994 -0.44321546 4.25514978] [ 0.91144691 0.40808933 -0.05222666 -3.17959784] [ 0.22408123 -0.38594712 0.89489241 -1.90585144] [ 0. 0. 0. 1. ]] SLAMing on 231.678001145 meters Centerline goodness : 0.917837 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-3.18, Z:-1.91 [[ 0.34916004 -0.82484345 -0.4446578 4.25345302] [ 0.90957644 0.41241855 -0.05080984 -3.1802912 ] [ 0.22529529 -0.38670949 0.89425824 -1.90710309] [ 0. 0. 0. 1. ]] SLAMing on 231.738001145 meters Centerline goodness : 0.917478 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-3.18, Z:-1.91 [[ 0.35588628 -0.82127952 -0.44592029 4.25090007] [ 0.90650998 0.41934766 -0.04885891 -3.18157731] [ 0.22712245 -0.38684298 0.89373816 -1.90989724] [ 0. 0. 0. 1. ]] SLAMing on 231.798001145 meters Centerline goodness : 0.918755 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-3.18, Z:-1.91 [[ 0.36060248 -0.8199102 -0.44464943 4.24829291] [ 0.90452917 0.42372706 -0.047774 -3.1843 ] [ 0.22758039 -0.38497096 0.89442972 -1.911869 ] [ 0. 0. 0. 1. ]] SLAMing on 231.858001145 meters Centerline goodness : 0.918975 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-3.19, Z:-1.91 [[ 0.36367708 -0.81728055 -0.4469804 4.24631057] [ 0.90304548 0.4270623 -0.04611559 -3.18544615] [ 0.22857785 -0.38687245 0.89335428 -1.91138665] [ 0. 0. 0. 1. ]] SLAMing on 231.91800114499998 meters Centerline goodness : 0.918705 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-3.19, Z:-1.91 [[ 0.36391602 -0.81766534 -0.44608129 4.24575209] [ 0.90303234 0.42708655 -0.0461484 -3.18618291] [ 0.22824927 -0.38603169 0.89380188 -1.91168842] [ 0. 0. 0. 1. ]] SLAMing on 231.97800114499998 meters Centerline goodness : 0.920890 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:-3.19, Z:-1.91 [[ 0.36258223 -0.82025208 -0.44240327 4.24348878] [ 0.90396787 0.4249972 -0.04711121 -3.18903815] [ 0.22666321 -0.38283666 0.89557796 -1.91092514] [ 0. 0. 0. 1. ]] SLAMing on 232.03800114499998 meters Centerline goodness : 0.922278 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:-3.19, Z:-1.91 [[ 0.36091886 -0.82124211 -0.44192644 4.24287492] [ 0.90473632 0.42329088 -0.0477181 -3.18845862] [ 0.22625154 -0.38260454 0.89578123 -1.91028591] [ 0. 0. 0. 1. ]] SLAMing on 232.09800114499998 meters Centerline goodness : 0.923469 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:-3.19, Z:-1.91 [[ 0.35898298 -0.82360361 -0.43909944 4.24160903] [ 0.90583698 0.4208129 -0.04874285 -3.19008663] [ 0.22492349 -0.38025466 0.89711527 -1.90938482] [ 0. 0. 0. 1. ]] SLAMing on 232.158001145 meters Centerline goodness : 0.924593 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.21, Z:-1.90 [[ 0.35954577 -0.82834747 -0.42961297 4.22862942] [ 0.90542978 0.42103997 -0.05405783 -3.20670464] [ 0.2256629 -0.36954812 0.90139361 -1.90385735] [ 0. 0. 0. 1. ]] SLAMing on 232.218001145 meters Centerline goodness : 0.926077 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.21, Z:-1.90 [[ 0.36055473 -0.8280164 -0.42940556 4.227611 ] [ 0.90507545 0.42186875 -0.05352751 -3.20835518] [ 0.22547444 -0.36934484 0.90152408 -1.90337704] [ 0. 0. 0. 1. ]] SLAMing on 232.278001145 meters Centerline goodness : 0.926518 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.21, Z:-1.90 [[ 0.36404548 -0.82706084 -0.42830043 4.22656734] [ 0.90370381 0.42493525 -0.05243518 -3.2117902 ] [ 0.22536704 -0.36796794 0.90211379 -1.90424874] [ 0. 0. 0. 1. ]] SLAMing on 232.338001145 meters Centerline goodness : 0.926032 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.21, Z:-1.90 [[ 0.36668296 -0.82607324 -0.42795632 4.22504928] [ 0.90252988 0.42749208 -0.05186846 -3.21334924] [ 0.22579509 -0.36722409 0.90230984 -1.90468842] [ 0. 0. 0. 1. ]] SLAMing on 232.398001145 meters Centerline goodness : 0.926294 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.22, Z:-1.91 [[ 0.37238128 -0.8227851 -0.42936798 4.2235074 ] [ 0.89997888 0.43312041 -0.04944414 -3.21703323] [ 0.22664993 -0.36801005 0.90177515 -1.90512965] [ 0. 0. 0. 1. ]] SLAMing on 232.458001145 meters Centerline goodness : 0.928525 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.22, Z:-1.91 [[ 0.37550253 -0.82177405 -0.42858518 4.2231362 ] [ 0.89869596 0.43589341 -0.04839945 -3.22019697] [ 0.22659087 -0.36699365 0.9022041 -1.90565636] [ 0. 0. 0. 1. ]] SLAMing on 232.518001145 meters Centerline goodness : 0.928629 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.22, Z:-1.91 [[ 0.37771477 -0.82113932 -0.42785719 4.22169742] [ 0.89776652 0.43787006 -0.04780251 -3.22216375] [ 0.22659837 -0.36606015 0.90258138 -1.90602362] [ 0. 0. 0. 1. ]] SLAMing on 232.578001145 meters Centerline goodness : 0.927735 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.23, Z:-1.91 [[ 0.38218847 -0.82165969 -0.42285616 4.21866351] [ 0.89619696 0.44114043 -0.04718191 -3.22820708] [ 0.22530642 -0.36093002 0.9049677 -1.90804163] [ 0. 0. 0. 1. ]] SLAMing on 232.638001145 meters Centerline goodness : 0.925941 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.23, Z:-1.91 [[ 0.38375703 -0.82103201 -0.42265468 4.21745529] [ 0.89551508 0.44258046 -0.04663978 -3.23004035] [ 0.22535146 -0.3605953 0.90508991 -1.90761563] [ 0. 0. 0. 1. ]] SLAMing on 232.69800114499998 meters Centerline goodness : 0.925844 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.24, Z:-1.90 [[ 0.3858738 -0.82372247 -0.41543074 4.20652931] [ 0.89354818 0.44572926 -0.05382456 -3.24207892] [ 0.22950614 -0.35043789 0.90803096 -1.90053934] [ 0. 0. 0. 1. ]] SLAMing on 232.75800114499998 meters Centerline goodness : 0.924540 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.26, Z:-1.90 [[ 0.38539746 -0.82610037 -0.41112891 4.19771117] [ 0.89233678 0.4471054 -0.06190176 -3.2570013 ] [ 0.23495503 -0.34300866 0.90947303 -1.895034 ] [ 0. 0. 0. 1. ]] SLAMing on 232.81800114499998 meters Centerline goodness : 0.925196 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.29, Z:-1.90 [[ 0.38534485 -0.83110845 -0.40095896 4.1751668 ] [ 0.8947449 0.44280292 -0.05794087 -3.29481235] [ 0.22570094 -0.33642877 0.91426187 -1.90213375] [ 0. 0. 0. 1. ]] SLAMing on 232.87800114499998 meters Centerline goodness : 0.924546 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.31, Z:-1.90 [[ 0.38262714 -0.83129132 -0.40317641 4.17068927] [ 0.89420592 0.4429578 -0.06468513 -3.30900617] [ 0.23236232 -0.33577245 0.91283329 -1.89669164] [ 0. 0. 0. 1. ]] SLAMing on 232.938001145 meters Centerline goodness : 0.924574 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.31, Z:-1.90 [[ 0.37903297 -0.83299267 -0.40305982 4.17361569] [ 0.89587172 0.43942995 -0.06569005 -3.30773647] [ 0.23183588 -0.3361912 0.91281302 -1.89526965] [ 0. 0. 0. 1. ]] SLAMing on 232.998001145 meters Centerline goodness : 0.928925 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.31, Z:-1.89 [[ 0.37342456 -0.83503289 -0.40407199 4.17609989] [ 0.89832617 0.43418054 -0.06706224 -3.30647293] [ 0.23143937 -0.33794576 0.91226558 -1.89128698] [ 0. 0. 0. 1. ]] SLAMing on 233.058001145 meters Centerline goodness : 0.930831 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.30, Z:-1.89 [[ 0.3706215 -0.83599064 -0.40467191 4.17877444] [ 0.89942602 0.43172874 -0.06814055 -3.3039257 ] [ 0.23167335 -0.33871809 0.91191969 -1.89048797] [ 0. 0. 0. 1. ]] SLAMing on 233.118001145 meters Centerline goodness : 0.925373 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.31, Z:-1.88 [[ 0.36642165 -0.83521031 -0.41007183 4.17878122] [ 0.89769476 0.43324487 -0.08026835 -3.3063996 ] [ 0.24470247 -0.33870727 0.90851422 -1.88387939] [ 0. 0. 0. 1. ]] SLAMing on 233.178001145 meters Centerline goodness : 0.926095 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.31, Z:-1.88 [[ 0.36294377 -0.8382035 -0.40704632 4.17745425] [ 0.89952257 0.4291678 -0.08169548 -3.30780002] [ 0.24316861 -0.33649649 0.90974675 -1.88216515] [ 0. 0. 0. 1. ]] SLAMing on 233.238001145 meters Centerline goodness : 0.927261 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.31, Z:-1.88 [[ 0.36074771 -0.83922313 -0.40689756 4.17658254] [ 0.90052956 0.4269544 -0.08219766 -3.3076582 ] [ 0.24270888 -0.33677066 0.90976806 -1.88065489] [ 0. 0. 0. 1. ]] SLAMing on 233.298001145 meters Centerline goodness : 0.925388 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.31, Z:-1.88 [[ 0.36030612 -0.83994976 -0.40578799 4.17628669] [ 0.9008091 0.42629534 -0.08255455 -3.30795858] [ 0.24232721 -0.33579261 0.91023121 -1.88078877] [ 0. 0. 0. 1. ]] SLAMing on 233.358001145 meters Centerline goodness : 0.929158 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.31, Z:-1.88 [[ 0.36026679 -0.83995084 -0.40582069 4.17634591] [ 0.90074146 0.42637767 -0.08286676 -3.30717207] [ 0.24263689 -0.33568537 0.91018826 -1.88086521] [ 0. 0. 0. 1. ]] SLAMing on 233.41800114499998 meters Centerline goodness : 0.927726 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.30, Z:-1.88 [[ 0.35978382 -0.83893388 -0.40834489 4.1769194 ] [ 0.90063962 0.42658958 -0.08288311 -3.30491795] [ 0.24372912 -0.33795158 0.90905712 -1.8798131 ] [ 0. 0. 0. 1. ]] SLAMing on 233.47800114499998 meters Centerline goodness : 0.925632 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.30, Z:-1.88 [[ 0.35748796 -0.83907622 -0.4100652 4.17974307] [ 0.9014269 0.42481902 -0.08341668 -3.30163879] [ 0.24419645 -0.33982334 0.90823356 -1.87930961] [ 0. 0. 0. 1. ]] SLAMing on 233.53800114499998 meters Centerline goodness : 0.929330 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.30, Z:-1.88 [[ 0.35224911 -0.84269618 -0.40716547 4.1775776 ] [ 0.90398411 0.41900384 -0.08513821 -3.30274698] [ 0.24234954 -0.33808126 0.90937768 -1.87631468] [ 0. 0. 0. 1. ]] SLAMing on 233.59800114499998 meters Centerline goodness : 0.933523 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.31, Z:-1.87 [[ 0.34793889 -0.84074912 -0.41482459 4.17815254] [ 0.90321373 0.41920468 -0.09204562 -3.30946973] [ 0.25128369 -0.34264901 0.90523376 -1.87359269] [ 0. 0. 0. 1. ]] SLAMing on 233.658001145 meters Centerline goodness : 0.930351 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.31, Z:-1.87 [[ 0.34388966 -0.84322518 -0.4131721 4.179039 ] [ 0.90514997 0.41476906 -0.09311373 -3.30875087] [ 0.24988685 -0.34196187 0.90588004 -1.87288041] [ 0. 0. 0. 1. ]] SLAMing on 233.718001145 meters Centerline goodness : 0.928846 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.31, Z:-1.87 [[ 0.34129425 -0.84527941 -0.41112158 4.17739976] [ 0.90640654 0.4117761 -0.09416806 -3.30864112] [ 0.24888836 -0.34050427 0.9067036 -1.87241462] [ 0. 0. 0. 1. ]] SLAMing on 233.778001145 meters Centerline goodness : 0.924323 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.31, Z:-1.87 [[ 0.34076629 -0.84538121 -0.41135014 4.17514745] [ 0.90659123 0.41133444 -0.09432031 -3.30803883] [ 0.2489391 -0.34078525 0.90658411 -1.87184538] [ 0. 0. 0. 1. ]] SLAMing on 233.838001145 meters Centerline goodness : 0.925047 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.31, Z:-1.87 [[ 0.34094314 -0.84510925 -0.41176222 4.17611768] [ 0.90642792 0.41167578 -0.09440067 -3.30516195] [ 0.24929141 -0.34104751 0.90638865 -1.87408881] [ 0. 0. 0. 1. ]] SLAMing on 233.898001145 meters Centerline goodness : 0.919993 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.31, Z:-1.87 [[ 0.34225062 -0.84413081 -0.41268352 4.17608472] [ 0.9058445 0.41310587 -0.09375114 -3.3050106 ] [ 0.24962021 -0.34174071 0.906037 -1.87461433] [ 0. 0. 0. 1. ]] SLAMing on 233.958001145 meters Centerline goodness : 0.916719 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.30, Z:-1.88 [[ 0.34454147 -0.84208145 -0.41495783 4.17510942] [ 0.90472518 0.41580768 -0.09260841 -3.30429912] [ 0.25052648 -0.34351536 0.90511529 -1.8750196 ] [ 0. 0. 0. 1. ]] SLAMing on 234.018001145 meters Centerline goodness : 0.914181 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.31, Z:-1.88 [[ 0.35069757 -0.83876951 -0.41650561 4.17386353] [ 0.90202824 0.42208452 -0.09049701 -3.30516897] [ 0.2517067 -0.34396275 0.9046178 -1.87811868] [ 0. 0. 0. 1. ]] SLAMing on 234.078001145 meters Centerline goodness : 0.912030 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.31, Z:-1.88 [[ 0.35461604 -0.83785491 -0.41502603 4.1728439 ] [ 0.90050794 0.42551065 -0.08958866 -3.30709771] [ 0.25166029 -0.34196466 0.90538791 -1.88096576] [ 0. 0. 0. 1. ]] SLAMing on 234.138001145 meters Centerline goodness : 0.913918 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.31, Z:-1.88 [[ 0.35794671 -0.8367438 -0.41440796 4.17016819] [ 0.89905664 0.42868837 -0.08901367 -3.30858918] [ 0.25213351 -0.34071408 0.90572767 -1.88211225] [ 0. 0. 0. 1. ]] SLAMing on 234.19800114499998 meters Centerline goodness : 0.912978 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.31, Z:-1.88 [[ 0.35853283 -0.83702946 -0.41332298 4.16892242] [ 0.89884388 0.42908421 -0.08925486 -3.30863238] [ 0.25205931 -0.33951203 0.90619958 -1.88295598] [ 0. 0. 0. 1. ]] SLAMing on 234.25800114499998 meters Centerline goodness : 0.913556 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.31, Z:-1.89 [[ 0.36080381 -0.8381954 -0.40896098 4.16842442] [ 0.8983078 0.43021195 -0.08922319 -3.31257584] [ 0.25072637 -0.33518077 0.90817957 -1.88545085] [ 0. 0. 0. 1. ]] SLAMing on 234.31800114499998 meters Centerline goodness : 0.914426 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.31, Z:-1.89 [[ 0.36296765 -0.83729668 -0.40888721 4.16725995] [ 0.89744618 0.43218634 -0.08834774 -3.31446326] [ 0.25068874 -0.33488689 0.90829837 -1.8855858 ] [ 0. 0. 0. 1. ]] SLAMing on 234.37800114499998 meters Centerline goodness : 0.913475 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.32, Z:-1.89 [[ 0.36707844 -0.83443572 -0.41106015 4.16551626] [ 0.89549111 0.43658039 -0.08656348 -3.31528669] [ 0.25169246 -0.33632512 0.90748902 -1.88620963] [ 0. 0. 0. 1. ]] SLAMing on 234.438001145 meters Centerline goodness : 0.914267 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:-3.32, Z:-1.89 [[ 0.36915989 -0.83437539 -0.4093149 4.16490628] [ 0.89467342 0.43826781 -0.08649167 -3.31638111] [ 0.25155606 -0.33427391 0.90828437 -1.88814162] [ 0. 0. 0. 1. ]] SLAMing on 234.498001145 meters Centerline goodness : 0.910383 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.32, Z:-1.89 [[ 0.3705728 -0.83488228 -0.406998 4.16507426] [ 0.89428613 0.43907086 -0.08642392 -3.31795834] [ 0.25085476 -0.33194632 0.90933137 -1.89024395] [ 0. 0. 0. 1. ]] SLAMing on 234.558001145 meters Centerline goodness : 0.908584 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.32, Z:-1.89 [[ 0.37027869 -0.8348189 -0.4073955 4.16503594] [ 0.89442967 0.43881159 -0.08625515 -3.31847884] [ 0.25077729 -0.33244818 0.90916938 -1.88922446] [ 0. 0. 0. 1. ]] SLAMing on 234.618001145 meters Centerline goodness : 0.906165 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.32, Z:-1.89 [[ 0.36947583 -0.83420425 -0.40937865 4.16829576] [ 0.8946679 0.43839968 -0.08587824 -3.31771422] [ 0.25111146 -0.334528 0.90831385 -1.88826672] [ 0. 0. 0. 1. ]] SLAMing on 234.678001145 meters Centerline goodness : 0.907257 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.32, Z:-1.89 [[ 0.3693438 -0.83577403 -0.4062843 4.16937276] [ 0.89523326 0.43727934 -0.08569828 -3.32217117] [ 0.24928412 -0.33206709 0.90971912 -1.88810363] [ 0. 0. 0. 1. ]] SLAMing on 234.738001145 meters Centerline goodness : 0.904685 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.32, Z:-1.89 [[ 0.36994626 -0.83513342 -0.40705274 4.17064495] [ 0.89499372 0.43790195 -0.08501841 -3.32268135] [ 0.2492509 -0.3328574 0.90943935 -1.88805671] [ 0. 0. 0. 1. ]] SLAMing on 234.798001145 meters Centerline goodness : 0.905585 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.32, Z:-1.89 [[ 0.37143299 -0.83439991 -0.40720304 4.17279583] [ 0.89438913 0.43927486 -0.08429524 -3.32342616] [ 0.24921 -0.33288794 0.90943939 -1.88928453] [ 0. 0. 0. 1. ]] SLAMing on 234.858001145 meters Centerline goodness : 0.905710 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.32, Z:-1.89 [[ 0.37308386 -0.83378573 -0.40695182 4.17403393] [ 0.8937255 0.44074239 -0.08367124 -3.32434526] [ 0.24912481 -0.33248683 0.90960944 -1.89048984] [ 0. 0. 0. 1. ]] SLAMing on 234.91800114499998 meters Centerline goodness : 0.908358 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.33, Z:-1.89 [[ 0.37639579 -0.8329497 -0.40561189 4.17447979] [ 0.89243866 0.44353133 -0.08266309 -3.32771857] [ 0.24875578 -0.33086969 0.91029985 -1.89191293] [ 0. 0. 0. 1. ]] SLAMing on 234.97800114499998 meters Centerline goodness : 0.906194 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.33, Z:-1.89 [[ 0.37933922 -0.83149088 -0.40586288 4.175534 ] [ 0.89093596 0.44661517 -0.0822679 -3.32781923] [ 0.24966952 -0.3303904 0.91022377 -1.89344505] [ 0. 0. 0. 1. ]] SLAMing on 235.03800114499998 meters Centerline goodness : 0.907164 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.33, Z:-1.89 [[ 0.38034747 -0.83241345 -0.40301817 4.17600012] [ 0.89077449 0.44691156 -0.08240664 -3.33033629] [ 0.24870988 -0.32765515 0.91147435 -1.89479438] [ 0. 0. 0. 1. ]] SLAMing on 235.09800114499998 meters Centerline goodness : 0.911344 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.33, Z:-1.89 [[ 0.38102539 -0.8319389 -0.40335755 4.17913088] [ 0.89044703 0.44762201 -0.08208905 -3.33132408] [ 0.24884479 -0.32789052 0.91135288 -1.89461315] [ 0. 0. 0. 1. ]] SLAMing on 235.158001145 meters Centerline goodness : 0.913757 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.33, Z:-1.89 [[ 0.38147131 -0.83117135 -0.40451678 4.18224859] [ 0.89018023 0.44824859 -0.08156194 -3.3314445 ] [ 0.24911603 -0.3289793 0.91088628 -1.89444541] [ 0. 0. 0. 1. ]] SLAMing on 235.218001145 meters Centerline goodness : 0.913948 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.33, Z:-1.89 [[ 0.38132026 -0.83063402 -0.405761 4.18382863] [ 0.89009802 0.44842519 -0.0814884 -3.33035165] [ 0.24964049 -0.33009389 0.9103393 -1.89408184] [ 0. 0. 0. 1. ]] SLAMing on 235.278001145 meters Centerline goodness : 0.918427 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-3.33, Z:-1.89 [[ 0.37971015 -0.83258761 -0.40325931 4.1870527 ] [ 0.89121382 0.44612455 -0.0819196 -3.33288213] [ 0.24810912 -0.32828456 0.9114116 -1.89393553] [ 0. 0. 0. 1. ]] SLAMing on 235.338001145 meters Centerline goodness : 0.923437 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-3.34, Z:-1.89 [[ 0.37525144 -0.83722655 -0.39779148 4.18895319] [ 0.89406398 0.4401767 -0.08303051 -3.33903251] [ 0.24461389 -0.32449371 0.91371105 -1.89149299] [ 0. 0. 0. 1. ]] SLAMing on 235.398001145 meters Centerline goodness : 0.917756 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-3.34, Z:-1.89 [[ 0.37198911 -0.83856102 -0.39804463 4.1906358 ] [ 0.89567095 0.43685129 -0.08327364 -3.34019158] [ 0.24371633 -0.32554012 0.91357866 -1.88857044] [ 0. 0. 0. 1. ]] SLAMing on 235.458001145 meters Centerline goodness : 0.917068 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-3.34, Z:-1.89 [[ 0.37001621 -0.84048439 -0.39582067 4.19331599] [ 0.89685107 0.43431461 -0.08383901 -3.34190679] [ 0.24237607 -0.3239704 0.91449277 -1.88830963] [ 0. 0. 0. 1. ]] SLAMing on 235.518001145 meters Centerline goodness : 0.929712 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.34, Z:-1.89 [[ 0.36688668 -0.84233445 -0.39479974 4.19814991] [ 0.89844311 0.43089658 -0.08442817 -3.3432133 ] [ 0.24123462 -0.32372954 0.9148798 -1.88674314] [ 0. 0. 0. 1. ]] SLAMing on 235.578001145 meters Centerline goodness : 0.925155 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.34, Z:-1.89 [[ 0.36531559 -0.84217611 -0.39659038 4.20148199] [ 0.89903183 0.42968736 -0.08432401 -3.34208213] [ 0.24142554 -0.3257425 0.91411462 -1.88542798] [ 0. 0. 0. 1. ]] SLAMing on 235.638001145 meters Centerline goodness : 0.933555 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.34, Z:-1.88 [[ 0.36310671 -0.84261936 -0.39767592 4.20473286] [ 0.90002478 0.42761465 -0.08426799 -3.34148746] [ 0.24105789 -0.32731991 0.91364806 -1.88424467] [ 0. 0. 0. 1. ]] SLAMing on 235.69800114499998 meters Centerline goodness : 0.928153 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.34, Z:-1.88 [[ 0.36103264 -0.84333486 -0.39804741 4.20826628] [ 0.90093839 0.42562137 -0.08459588 -3.34047928] [ 0.24076014 -0.32807432 0.91345596 -1.88373414] [ 0. 0. 0. 1. ]] SLAMing on 235.75800114499998 meters Centerline goodness : 0.925058 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.34, Z:-1.88 [[ 0.35958985 -0.8430707 -0.39990865 4.21099276] [ 0.90137913 0.42465773 -0.08474362 -3.33828703] [ 0.24126916 -0.32999636 0.91262895 -1.8828786 ] [ 0. 0. 0. 1. ]] SLAMing on 235.81800114499998 meters Centerline goodness : 0.923221 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.34, Z:-1.88 [[ 0.3580764 -0.84326172 -0.40086276 4.21375633] [ 0.90197973 0.42335509 -0.08487065 -3.3368645 ] [ 0.24127546 -0.33117991 0.91219845 -1.88251803] [ 0. 0. 0. 1. ]] SLAMing on 235.87800114499998 meters Centerline goodness : 0.928382 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.33, Z:-1.88 [[ 0.35755855 -0.84294155 -0.40199681 4.21575311] [ 0.90207656 0.42313934 -0.08491746 -3.3346093 ] [ 0.24168112 -0.33226893 0.9116949 -1.8829074 ] [ 0. 0. 0. 1. ]] SLAMing on 235.938001145 meters Centerline goodness : 0.925457 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.33, Z:-1.88 [[ 0.3556114 -0.84316253 -0.40325858 4.21748859] [ 0.90274277 0.4216084 -0.08545083 -3.33155116] [ 0.24206614 -0.33365148 0.91108763 -1.88259219] [ 0. 0. 0. 1. ]] SLAMing on 235.998001145 meters Centerline goodness : 0.923608 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.33, Z:-1.88 [[ 0.3538557 -0.8434116 -0.40428087 4.21978881] [ 0.90332088 0.42024368 -0.08606185 -3.32796742] [ 0.24248204 -0.33474187 0.91057693 -1.88295732] [ 0. 0. 0. 1. ]] SLAMing on 236.058001145 meters Centerline goodness : 0.924254 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.32, Z:-1.88 [[ 0.35045849 -0.84423733 -0.40551472 4.22240131] [ 0.90456152 0.41734696 -0.08712044 -3.32346544] [ 0.24279066 -0.33628091 0.90992738 -1.88261914] [ 0. 0. 0. 1. ]] SLAMing on 236.118001145 meters Centerline goodness : 0.921600 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.32, Z:-1.88 [[ 0.34782349 -0.84483511 -0.40653714 4.22412454] [ 0.90543341 0.41522112 -0.08821425 -3.31812942] [ 0.2433293 -0.33740932 0.9093656 -1.88337621] [ 0. 0. 0. 1. ]] SLAMing on 236.178001145 meters Centerline goodness : 0.920070 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.31, Z:-1.88 [[ 0.34479338 -0.84488447 -0.40900826 4.22438808] [ 0.90634961 0.41302208 -0.08912436 -3.31275777] [ 0.24422923 -0.33997498 0.90816799 -1.88252926] [ 0. 0. 0. 1. ]] SLAMing on 236.238001145 meters Centerline goodness : 0.919485 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.31, Z:-1.88 [[ 0.34371484 -0.84509999 -0.40947053 4.22394219] [ 0.90676191 0.41207299 -0.08932352 -3.3108311 ] [ 0.24421905 -0.34059046 0.90794008 -1.88272107] [ 0. 0. 0. 1. ]] SLAMing on 236.298001145 meters Centerline goodness : 0.920032 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.31, Z:-1.88 [[ 0.3415171 -0.84455435 -0.41242456 4.22429503] [ 0.90728384 0.41079304 -0.08991729 -3.30535793] [ 0.24536118 -0.34347785 0.90654336 -1.88223733] [ 0. 0. 0. 1. ]] SLAMing on 236.358001145 meters Centerline goodness : 0.921437 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.30, Z:-1.88 [[ 0.3395707 -0.8445357 -0.41406665 4.22456868] [ 0.90780942 0.40946491 -0.09066718 -3.30025834] [ 0.24611743 -0.34510569 0.90571975 -1.88272277] [ 0. 0. 0. 1. ]] SLAMing on 236.41800114499998 meters Centerline goodness : 0.920799 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.30, Z:-1.88 [[ 0.33793017 -0.8447777 -0.41491425 4.22476333] [ 0.9081803 0.40838606 -0.09181153 -3.29513929] [ 0.24700553 -0.34579106 0.90521644 -1.88389057] [ 0. 0. 0. 1. ]] SLAMing on 236.47800114499998 meters Centerline goodness : 0.915379 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.29, Z:-1.89 [[ 0.33738288 -0.84467333 -0.41557161 4.22427781] [ 0.9080931 0.40836113 -0.0927799 -3.28988621] [ 0.248072 -0.34607536 0.90481607 -1.88617897] [ 0. 0. 0. 1. ]] SLAMing on 236.53800114499998 meters Centerline goodness : 0.917230 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.28, Z:-1.89 [[ 0.33686922 -0.84291332 -0.41954293 4.22478396] [ 0.90781112 0.40898674 -0.09278371 -3.28372718] [ 0.24979612 -0.34960976 0.90298112 -1.88665156] [ 0. 0. 0. 1. ]] SLAMing on 236.59800114499998 meters Centerline goodness : 0.916772 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.28, Z:-1.89 [[ 0.33464018 -0.84329178 -0.42056501 4.22405741] [ 0.90846063 0.40730024 -0.09383928 -3.27842416] [ 0.25043012 -0.35066436 0.9023964 -1.88753021] [ 0. 0. 0. 1. ]] SLAMing on 236.658001145 meters Centerline goodness : 0.918966 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.27, Z:-1.89 [[ 0.33226535 -0.84350644 -0.42201496 4.22849589] [ 0.91121213 0.40259023 -0.08725576 -3.26865655] [ 0.2434999 -0.35555309 0.90238008 -1.89277271] [ 0. 0. 0. 1. ]] SLAMing on 236.718001145 meters Centerline goodness : 0.916233 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.27, Z:-1.89 [[ 0.3297122 -0.84411839 -0.42279311 4.22624634] [ 0.9121361 0.40033773 -0.08796273 -3.26587871] [ 0.24351099 -0.35664247 0.90194709 -1.89188763] [ 0. 0. 0. 1. ]] SLAMing on 236.778001145 meters Centerline goodness : 0.918088 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.26, Z:-1.89 [[ 0.32874534 -0.84292037 -0.42592457 4.22645257] [ 0.91213389 0.40029533 -0.08817834 -3.26076078] [ 0.24482294 -0.35951202 0.90045146 -1.89234217] [ 0. 0. 0. 1. ]] SLAMing on 236.838001145 meters Centerline goodness : 0.919615 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.25, Z:-1.90 [[ 0.32786238 -0.84432285 -0.4238221 4.22877646] [ 0.91519977 0.3951412 -0.07920107 -3.25155116] [ 0.23434085 -0.36191484 0.90227602 -1.89863867] [ 0. 0. 0. 1. ]] SLAMing on 236.898001145 meters Centerline goodness : 0.918312 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.25, Z:-1.90 [[ 0.32638957 -0.84530526 -0.42299984 4.22836264] [ 0.91575795 0.3936674 -0.08008342 -3.24921162] [ 0.23421618 -0.36122708 0.90258395 -1.89993659] [ 0. 0. 0. 1. ]] SLAMing on 236.958001145 meters Centerline goodness : 0.920818 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.24, Z:-1.90 [[ 0.32491347 -0.8442811 -0.42616975 4.22942205] [ 0.91597248 0.39309861 -0.0804232 -3.24429888] [ 0.23542653 -0.36422919 0.90106129 -1.89970001] [ 0. 0. 0. 1. ]] SLAMing on 237.018001145 meters Centerline goodness : 0.917335 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.24, Z:-1.90 [[ 0.32340035 -0.84474802 -0.42639536 4.22944098] [ 0.91649531 0.39175759 -0.08100826 -3.2419047 ] [ 0.23547519 -0.36459124 0.90090214 -1.90010536] [ 0. 0. 0. 1. ]] SLAMing on 237.078001145 meters Centerline goodness : 0.923483 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.24, Z:-1.90 [[ 0.32289928 -0.8451336 -0.42601086 4.22840167] [ 0.9167062 0.39121003 -0.08126781 -3.24126068] [ 0.23534188 -0.36428548 0.90106065 -1.90032336] [ 0. 0. 0. 1. ]] SLAMing on 237.138001145 meters Centerline goodness : 0.923758 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.24, Z:-1.90 [[ 0.32307288 -0.84462547 -0.42688609 4.22611552] [ 0.91658945 0.3915387 -0.0810014 -3.24062657] [ 0.23555827 -0.36510993 0.90067033 -1.90006136] [ 0. 0. 0. 1. ]] SLAMing on 237.19800114499998 meters Centerline goodness : 0.923562 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.24, Z:-1.90 [[ 0.32271952 -0.84469006 -0.42702554 4.22492561] [ 0.91667245 0.39129376 -0.08124541 -3.24001638] [ 0.23571962 -0.36522307 0.90058224 -1.89972604] [ 0. 0. 0. 1. ]] SLAMing on 237.25800114499998 meters Centerline goodness : 0.928119 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.24, Z:-1.90 [[ 0.32195602 -0.84513933 -0.42671283 4.22591117] [ 0.91697074 0.39052028 -0.08160007 -3.23820976] [ 0.23560344 -0.36501155 0.90069839 -1.90116423] [ 0. 0. 0. 1. ]] SLAMing on 237.31800114499998 meters Centerline goodness : 0.924119 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.24, Z:-1.90 [[ 0.32129966 -0.84558297 -0.42632846 4.22631093] [ 0.91724407 0.38981692 -0.08189071 -3.23701348] [ 0.23543544 -0.36473579 0.90085401 -1.90195116] [ 0. 0. 0. 1. ]] SLAMing on 237.37800114499998 meters Centerline goodness : 0.925911 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.24, Z:-1.90 [[ 0.32423102 -0.84297596 -0.42926189 4.2266595 ] [ 0.91587649 0.39329399 -0.08056109 -3.23564631] [ 0.23673718 -0.36703047 0.89957998 -1.90336194] [ 0. 0. 0. 1. ]] SLAMing on 237.438001145 meters Centerline goodness : 0.923101 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.23, Z:-1.91 [[ 0.32666765 -0.84129735 -0.43070526 4.22677696] [ 0.91473798 0.39607445 -0.0798715 -3.23420105] [ 0.23778703 -0.36789103 0.89895135 -1.90524543] [ 0. 0. 0. 1. ]] SLAMing on 237.498001145 meters Centerline goodness : 0.926343 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.23, Z:-1.91 [[ 0.33002727 -0.83879043 -0.43302726 4.22574119] [ 0.91318947 0.39988203 -0.07860888 -3.23336403] [ 0.2390962 -0.36949286 0.89794657 -1.9066799 ] [ 0. 0. 0. 1. ]] SLAMing on 237.558001145 meters Centerline goodness : 0.925543 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.23, Z:-1.91 [[ 0.33043756 -0.83927638 -0.43177098 4.22464956] [ 0.913113 0.40002689 -0.07876002 -3.2338384 ] [ 0.23882143 -0.36823043 0.89853808 -1.90750245] [ 0. 0. 0. 1. ]] SLAMing on 237.618001145 meters Centerline goodness : 0.926984 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.23, Z:-1.91 [[ 0.33049431 -0.8389652 -0.43233193 4.22512394] [ 0.91308493 0.40014276 -0.07849635 -3.23368979] [ 0.2388502 -0.36881318 0.89829139 -1.90743392] [ 0. 0. 0. 1. ]] SLAMing on 237.678001145 meters Centerline goodness : 0.926237 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.23, Z:-1.91 [[ 0.33085286 -0.8391445 -0.43170928 4.22222264] [ 0.91294446 0.40042743 -0.07867838 -3.23413505] [ 0.23889076 -0.36809563 0.89857488 -1.90721495] [ 0. 0. 0. 1. ]] SLAMing on 237.738001145 meters Centerline goodness : 0.927209 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.23, Z:-1.91 [[ 0.33102883 -0.83962123 -0.43064615 4.22174896] [ 0.91292939 0.400413 -0.07892631 -3.23392284] [ 0.23870452 -0.36702264 0.89906314 -1.90834024] [ 0. 0. 0. 1. ]] SLAMing on 237.798001145 meters Centerline goodness : 0.931025 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.23, Z:-1.91 [[ 0.33027615 -0.83960489 -0.43125549 4.22086182] [ 0.91311656 0.39991573 -0.07928151 -3.23228164] [ 0.239031 -0.36760174 0.89873975 -1.90830848] [ 0. 0. 0. 1. ]] SLAMing on 237.858001145 meters Centerline goodness : 0.929003 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.23, Z:-1.91 [[ 0.32819049 -0.84022673 -0.43163647 4.2188222 ] [ 0.9138793 0.3980344 -0.07995769 -3.23065322] [ 0.23898875 -0.36822229 0.89849693 -1.90711024] [ 0. 0. 0. 1. ]] SLAMing on 237.91800114499998 meters Centerline goodness : 0.929544 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.23, Z:-1.91 [[ 0.32489626 -0.84308379 -0.42854655 4.22028602] [ 0.91531522 0.39433422 -0.08184476 -3.22852217] [ 0.23799256 -0.36566413 0.89980514 -1.90862497] [ 0. 0. 0. 1. ]] SLAMing on 237.97800114499998 meters Centerline goodness : 0.932003 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.23, Z:-1.91 [[ 0.3238495 -0.84371873 -0.42808902 4.21940288] [ 0.91577817 0.39319303 -0.08215586 -3.22793049] [ 0.23763806 -0.36542844 0.89999456 -1.9086059 ] [ 0. 0. 0. 1. ]] SLAMing on 238.03800114499998 meters Centerline goodness : 0.933083 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.22, Z:-1.91 [[ 0.32291386 -0.84256334 -0.43106109 4.21907885] [ 0.9158152 0.39308137 -0.08227727 -3.2238742 ] [ 0.2387659 -0.36820383 0.89856374 -1.90835743] [ 0. 0. 0. 1. ]] SLAMing on 238.09800114499998 meters Centerline goodness : 0.928671 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.22, Z:-1.91 [[ 0.32350764 -0.84134406 -0.43299304 4.2181696 ] [ 0.91542423 0.39409038 -0.08180009 -3.22235965] [ 0.23946041 -0.36990937 0.89767799 -1.90858944] [ 0. 0. 0. 1. ]] SLAMing on 238.158001145 meters Centerline goodness : 0.932096 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.22, Z:-1.91 [[ 0.32379091 -0.84165405 -0.4321781 4.21692941] [ 0.91551376 0.39397609 -0.08134733 -3.22436741] [ 0.23873415 -0.36932547 0.89811174 -1.90827011] [ 0. 0. 0. 1. ]] SLAMing on 238.218001145 meters Centerline goodness : 0.929884 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.22, Z:-1.91 [[ 0.32401723 -0.8396444 -0.4359015 4.2175567 ] [ 0.91520264 0.39489864 -0.08036908 -3.22258977] [ 0.23961835 -0.37289724 0.89639874 -1.90737702] [ 0. 0. 0. 1. ]] SLAMing on 238.278001145 meters Centerline goodness : 0.935763 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.22, Z:-1.91 [[ 0.32365336 -0.84031963 -0.43486943 4.21555883] [ 0.91539432 0.39437092 -0.08077638 -3.22257094] [ 0.23937783 -0.37193346 0.89686329 -1.90750769] [ 0. 0. 0. 1. ]] SLAMing on 238.338001145 meters Centerline goodness : 0.928876 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.22, Z:-1.91 [[ 0.32373083 -0.84035764 -0.43473829 4.21728358] [ 0.91525488 0.3946026 -0.08122378 -3.21993671] [ 0.23980588 -0.3716017 0.89688646 -1.9096805 ] [ 0. 0. 0. 1. ]] SLAMing on 238.398001145 meters Centerline goodness : 0.929327 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.22, Z:-1.91 [[ 0.32409239 -0.84005356 -0.43505648 4.21575858] [ 0.91508662 0.3950246 -0.08106812 -3.2193084 ] [ 0.23995958 -0.3718408 0.89674624 -1.91019058] [ 0. 0. 0. 1. ]] SLAMing on 238.458001145 meters Centerline goodness : 0.930200 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.22, Z:-1.91 [[ 0.32413028 -0.8402359 -0.43467597 4.21357465] [ 0.91502153 0.39510225 -0.08142367 -3.21853815] [ 0.24015654 -0.371346 0.89689854 -1.91058149] [ 0. 0. 0. 1. ]] SLAMing on 238.518001145 meters Centerline goodness : 0.932167 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.22, Z:-1.91 [[ 0.32473626 -0.83998861 -0.43470163 4.21395989] [ 0.91461594 0.39595026 -0.08186016 -3.21564046] [ 0.24088183 -0.37100207 0.89684637 -1.91303296] [ 0. 0. 0. 1. ]] SLAMing on 238.578001145 meters Centerline goodness : 0.930721 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.22, Z:-1.91 [[ 0.32575818 -0.83823436 -0.43731541 4.2120856 ] [ 0.91409152 0.3973809 -0.08077816 -3.21531332] [ 0.24149182 -0.37343216 0.895673 -1.91219125] [ 0. 0. 0. 1. ]] SLAMing on 238.638001145 meters Centerline goodness : 0.929661 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.22, Z:-1.91 [[ 0.32541562 -0.8380954 -0.43783648 4.20942679] [ 0.91414598 0.39722447 -0.08093118 -3.2153659 ] [ 0.24174741 -0.37391019 0.89540458 -1.91075922] [ 0. 0. 0. 1. ]] SLAMing on 238.69800114499998 meters Centerline goodness : 0.936015 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.22, Z:-1.91 [[ 0.32547241 -0.83854708 -0.4369285 4.20821434] [ 0.91423735 0.39701585 -0.08092274 -3.21652776] [ 0.24132506 -0.37311823 0.89584876 -1.91056709] [ 0. 0. 0. 1. ]] SLAMing on 238.75800114499998 meters Centerline goodness : 0.928502 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.22, Z:-1.91 [[ 0.32415804 -0.8392499 -0.43655603 4.20781886] [ 0.91485252 0.39555584 -0.08111995 -3.21693118] [ 0.2407622 -0.3730887 0.89601249 -1.90965219] [ 0. 0. 0. 1. ]] SLAMing on 238.81800114499998 meters Centerline goodness : 0.929095 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.22, Z:-1.91 [[ 0.32012001 -0.84175268 -0.43471325 4.20552933] [ 0.91664869 0.39112232 -0.08233168 -3.21791279] [ 0.23932897 -0.37212331 0.89679757 -1.9070063 ] [ 0. 0. 0. 1. ]] SLAMing on 238.87800114499998 meters Centerline goodness : 0.929516 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.22, Z:-1.91 [[ 0.3178718 -0.84422612 -0.43155507 4.20451142] [ 0.91779645 0.388197 -0.08338318 -3.21926573] [ 0.23792265 -0.36957455 0.89822462 -1.90655653] [ 0. 0. 0. 1. ]] SLAMing on 238.938001145 meters Centerline goodness : 0.930792 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.23, Z:-1.90 [[ 0.31609756 -0.84178333 -0.43758789 4.20616905] [ 0.91569654 0.39134694 -0.09136424 -3.22728248] [ 0.24815758 -0.3718177 0.89452189 -1.90383604] [ 0. 0. 0. 1. ]] SLAMing on 238.998001145 meters Centerline goodness : 0.932304 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.23, Z:-1.90 [[ 0.31594752 -0.84202644 -0.43722837 4.20509006] [ 0.91583822 0.39103687 -0.09127168 -3.22874752] [ 0.24782558 -0.37159339 0.89470712 -1.90271175] [ 0. 0. 0. 1. ]] SLAMing on 239.058001145 meters Centerline goodness : 0.932863 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.23, Z:-1.90 [[ 0.31584736 -0.84211316 -0.4371337 4.20434899] [ 0.91588389 0.39091892 -0.09131864 -3.22896499] [ 0.24778447 -0.37152096 0.89474859 -1.90228748] [ 0. 0. 0. 1. ]] SLAMing on 239.118001145 meters Centerline goodness : 0.932063 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.23, Z:-1.90 [[ 0.31570181 -0.84380659 -0.43396177 4.2033132 ] [ 0.91624363 0.38997873 -0.09172893 -3.23128948] [ 0.24663733 -0.36865572 0.8962494 -1.90291484] [ 0. 0. 0. 1. ]] SLAMing on 239.178001145 meters Centerline goodness : 0.932227 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.23, Z:-1.90 [[ 0.31567302 -0.84412611 -0.43336089 4.20359064] [ 0.91636422 0.3897218 -0.09161621 -3.23252721] [ 0.24622582 -0.36819565 0.89655162 -1.90257908] [ 0. 0. 0. 1. ]] SLAMing on 239.238001145 meters Centerline goodness : 0.933713 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.24, Z:-1.90 [[ 0.31560916 -0.84425436 -0.43315751 4.20348528] [ 0.91664423 0.38925501 -0.0907959 -3.23625038] [ 0.24526357 -0.36839531 0.89673334 -1.90042336] [ 0. 0. 0. 1. ]] SLAMing on 239.298001145 meters Centerline goodness : 0.936339 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.24, Z:-1.90 [[ 0.31521254 -0.84421268 -0.43352741 4.20319519] [ 0.91684034 0.38884401 -0.09057667 -3.23719563] [ 0.24504051 -0.36892451 0.89657674 -1.89905849] [ 0. 0. 0. 1. ]] SLAMing on 239.358001145 meters Centerline goodness : 0.936039 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.24, Z:-1.90 [[ 0.31310316 -0.84669507 -0.43020213 4.2037194 ] [ 0.9180203 0.38587589 -0.09131556 -3.23927707] [ 0.24332106 -0.3663431 0.89810222 -1.89879052] [ 0. 0. 0. 1. ]] SLAMing on 239.41800114499998 meters Centerline goodness : 0.931915 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.24, Z:-1.90 [[ 0.31079491 -0.84889509 -0.42753204 4.2043405 ] [ 0.91923263 0.38283634 -0.0919114 -3.24139988] [ 0.24169793 -0.36443581 0.89931566 -1.89782814] [ 0. 0. 0. 1. ]] SLAMing on 239.47800114499998 meters Centerline goodness : 0.937895 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.24, Z:-1.90 [[ 0.31019533 -0.84904637 -0.42766706 4.20492342] [ 0.91956521 0.38210728 -0.09161792 -3.24243715] [ 0.24120256 -0.3648483 0.8992814 -1.89680112] [ 0. 0. 0. 1. ]] SLAMing on 239.53800114499998 meters Centerline goodness : 0.935472 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.24, Z:-1.90 [[ 0.30962021 -0.85035932 -0.42546957 4.2067499 ] [ 0.92005242 0.38090129 -0.09174835 -3.24450241] [ 0.24008097 -0.36304717 0.90030988 -1.89699208] [ 0. 0. 0. 1. ]] SLAMing on 239.59800114499998 meters Centerline goodness : 0.931891 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.25, Z:-1.90 [[ 0.31010596 -0.85086575 -0.42410114 4.2083308 ] [ 0.9201595 0.38078846 -0.09114079 -3.24724188] [ 0.2390414 -0.36197739 0.90101697 -1.89718225] [ 0. 0. 0. 1. ]] SLAMing on 239.658001145 meters Centerline goodness : 0.929126 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.25, Z:-1.90 [[ 0.31262599 -0.84986624 -0.42425507 4.20857205] [ 0.91939097 0.3829802 -0.08970177 -3.2507624 ] [ 0.2387158 -0.36201317 0.90108891 -1.89698896] [ 0. 0. 0. 1. ]] SLAMing on 239.718001145 meters Centerline goodness : 0.934602 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.25, Z:-1.90 [[ 0.31554603 -0.84912708 -0.42357279 4.20797404] [ 0.91846448 0.38546988 -0.08852103 -3.25377733] [ 0.23844015 -0.3611041 0.90152655 -1.89794544] [ 0. 0. 0. 1. ]] SLAMing on 239.778001145 meters Centerline goodness : 0.933301 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.26, Z:-1.90 [[ 0.31918654 -0.84832716 -0.42244643 4.20778509] [ 0.91731748 0.38851449 -0.0870927 -3.2575107 ] [ 0.23800966 -0.35971868 0.90219392 -1.89944996] [ 0. 0. 0. 1. ]] SLAMing on 239.838001145 meters Centerline goodness : 0.932580 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.26, Z:-1.90 [[ 0.32051097 -0.84886037 -0.42036745 4.20934927] [ 0.91705857 0.38920771 -0.08672333 -3.25990345] [ 0.23722625 -0.3577058 0.90320002 -1.90089298] [ 0. 0. 0. 1. ]] SLAMing on 239.898001145 meters Centerline goodness : 0.930885 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.26, Z:-1.90 [[ 0.32067846 -0.8487754 -0.42041127 4.20954416] [ 0.91710027 0.38921426 -0.0862517 -3.26098133] [ 0.23683839 -0.35790023 0.90322478 -1.90047732] [ 0. 0. 0. 1. ]] SLAMing on 239.958001145 meters Centerline goodness : 0.933782 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.26, Z:-1.90 [[ 0.32053031 -0.84903031 -0.42000935 4.21106773] [ 0.91732201 0.38878067 -0.08584824 -3.26230396] [ 0.23617927 -0.35776686 0.90345018 -1.90043414] [ 0. 0. 0. 1. ]] SLAMing on 240.018001145 meters Centerline goodness : 0.930019 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.26, Z:-1.90 [[ 0.32024295 -0.84926794 -0.41974804 4.21168626] [ 0.91755779 0.38828566 -0.08556836 -3.26339136] [ 0.23565261 -0.35774042 0.90359816 -1.89990611] [ 0. 0. 0. 1. ]] SLAMing on 240.078001145 meters Centerline goodness : 0.928895 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.26, Z:-1.90 [[ 0.31919654 -0.85003356 -0.41899466 4.21317774] [ 0.91814866 0.38690686 -0.08547589 -3.26408374] [ 0.23476928 -0.35741578 0.9039565 -1.89994884] [ 0. 0. 0. 1. ]] SLAMing on 240.138001145 meters Centerline goodness : 0.927766 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.26, Z:-1.90 [[ 0.31821259 -0.84998446 -0.41984183 4.2155156 ] [ 0.91840455 0.38622107 -0.08582758 -3.26162553] [ 0.23510387 -0.35827323 0.90353 -1.90047463] [ 0. 0. 0. 1. ]] SLAMing on 240.19800114499998 meters Centerline goodness : 0.923484 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.26, Z:-1.90 [[ 0.31779589 -0.84992333 -0.42028098 4.21732024] [ 0.91857277 0.38584717 -0.08570899 -3.26093463] [ 0.2350103 -0.35882069 0.90333707 -1.90079277] [ 0. 0. 0. 1. ]] SLAMing on 240.25800114499998 meters Centerline goodness : 0.929996 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.26, Z:-1.90 [[ 0.31813098 -0.84972515 -0.42042816 4.21753007] [ 0.9185664 0.38600124 -0.08508119 -3.26211331] [ 0.23458142 -0.35912422 0.90332793 -1.90064833] [ 0. 0. 0. 1. ]] SLAMing on 240.31800114499998 meters Centerline goodness : 0.925882 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.26, Z:-1.90 [[ 0.31760545 -0.84927148 -0.42174012 4.22013557] [ 0.91856711 0.38592911 -0.08540012 -3.25922822] [ 0.23528968 -0.36027306 0.90268604 -1.90145405] [ 0. 0. 0. 1. ]] SLAMing on 240.37800114499998 meters Centerline goodness : 0.924680 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.26, Z:-1.90 [[ 0.3170905 -0.84855922 -0.42355739 4.22109807] [ 0.91858619 0.38588429 -0.08539744 -3.25768518] [ 0.23590893 -0.36199525 0.90183503 -1.90054772] [ 0. 0. 0. 1. ]] SLAMing on 240.438001145 meters Centerline goodness : 0.924946 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.26, Z:-1.90 [[ 0.31613115 -0.84862561 -0.42414111 4.22361248] [ 0.91882248 0.38521084 -0.08589447 -3.25505004] [ 0.236276 -0.36255647 0.90151343 -1.90143647] [ 0. 0. 0. 1. ]] SLAMing on 240.498001145 meters Centerline goodness : 0.920743 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.25, Z:-1.90 [[ 0.31484781 -0.84864735 -0.4250512 4.2271591 ] [ 0.91910973 0.38436571 -0.08660428 -3.25161643] [ 0.2368716 -0.36340153 0.90101675 -1.9023708 ] [ 0. 0. 0. 1. ]] SLAMing on 240.558001145 meters Centerline goodness : 0.924201 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.25, Z:-1.90 [[ 0.31435835 -0.84858626 -0.42553518 4.22855426] [ 0.91914813 0.38416606 -0.08708129 -3.24890396] [ 0.23737216 -0.36375513 0.90074228 -1.9036293 ] [ 0. 0. 0. 1. ]] SLAMing on 240.618001145 meters Centerline goodness : 0.923012 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.25, Z:-1.90 [[ 0.31482988 -0.8485772 -0.42520451 4.22811389] [ 0.91893641 0.38463991 -0.08722396 -3.2479216 ] [ 0.23756689 -0.3632752 0.90088462 -1.90497906] [ 0. 0. 0. 1. ]] SLAMing on 240.678001145 meters Centerline goodness : 0.925123 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-3.25, Z:-1.91 [[ 0.31755021 -0.84618041 -0.42794927 4.22733302] [ 0.91768923 0.38787948 -0.08599991 -3.24730257] [ 0.23876418 -0.36541515 0.89970186 -1.90555946] [ 0. 0. 0. 1. ]] SLAMing on 240.738001145 meters Centerline goodness : 0.923376 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.25, Z:-1.91 [[ 0.32225441 -0.84862698 -0.41950487 4.22316445] [ 0.91909517 0.38662157 -0.07607784 -3.2453689 ] [ 0.22675134 -0.36104848 0.90455947 -1.90997539] [ 0. 0. 0. 1. ]] SLAMing on 240.798001145 meters Centerline goodness : 0.920522 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.25, Z:-1.91 [[ 0.32404493 -0.84856581 -0.41824748 4.22061692] [ 0.91845102 0.38817228 -0.0759606 -3.24600383] [ 0.22680964 -0.35952518 0.90515139 -1.91152182] [ 0. 0. 0. 1. ]] SLAMing on 240.858001145 meters Centerline goodness : 0.920314 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.24, Z:-1.91 [[ 0.32619469 -0.84729788 -0.41914595 4.21882325] [ 0.91744808 0.39060474 -0.07561061 -3.24470253] [ 0.2277851 -0.35988086 0.904765 -1.91313067] [ 0. 0. 0. 1. ]] SLAMing on 240.91800114499998 meters Centerline goodness : 0.926832 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.24, Z:-1.91 [[ 0.3268259 -0.84576271 -0.4217467 4.21953453] [ 0.91694186 0.39185949 -0.07525795 -3.24148882] [ 0.22891581 -0.36212096 0.90358506 -1.9140895 ] [ 0. 0. 0. 1. ]] SLAMing on 240.97800114499998 meters Centerline goodness : 0.919713 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.24, Z:-1.92 [[ 0.32599511 -0.84578278 -0.422349 4.22043063] [ 0.91714494 0.39129966 -0.07569509 -3.23826023] [ 0.22928662 -0.36267902 0.90326717 -1.91548135] [ 0. 0. 0. 1. ]] SLAMing on 241.03800114499998 meters Centerline goodness : 0.920134 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.24, Z:-1.92 [[ 0.32475931 -0.84596934 -0.42292702 4.22110816] [ 0.91753949 0.39029047 -0.07612254 -3.23573221] [ 0.22946172 -0.36333074 0.90296074 -1.91607964] [ 0. 0. 0. 1. ]] SLAMing on 241.09800114499998 meters Centerline goodness : 0.915843 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.23, Z:-1.92 [[ 0.32249349 -0.84632434 -0.42394935 4.21919342] [ 0.91828661 0.38839325 -0.07681391 -3.23283203] [ 0.22966855 -0.36453503 0.90242261 -1.9154078 ] [ 0. 0. 0. 1. ]] SLAMing on 241.158001145 meters Centerline goodness : 0.918300 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.23, Z:-1.92 [[ 0.321218 -0.84618773 -0.42518857 4.21960142] [ 0.91855359 0.38762645 -0.0774922 -3.22868072] [ 0.23038729 -0.36566659 0.90178137 -1.91625289] [ 0. 0. 0. 1. ]] SLAMing on 241.218001145 meters Centerline goodness : 0.914898 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.22, Z:-1.92 [[ 0.31990436 -0.84680486 -0.42495026 4.21976146] [ 0.91892767 0.38653801 -0.07848754 -3.22466314] [ 0.23072306 -0.36539005 0.90180762 -1.91834972] [ 0. 0. 0. 1. ]] SLAMing on 241.278001145 meters Centerline goodness : 0.915727 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.22, Z:-1.92 [[ 0.32028287 -0.84407079 -0.4300737 4.22016673] [ 0.91819109 0.388317 -0.07832647 -3.2188969 ] [ 0.23311801 -0.36980321 0.89938956 -1.91844573] [ 0. 0. 0. 1. ]] SLAMing on 241.338001145 meters Centerline goodness : 0.915470 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.21, Z:-1.92 [[ 0.32240929 -0.84675538 -0.42315195 4.21797307] [ 0.92008204 0.38539119 -0.07016174 -3.21170825] [ 0.22248887 -0.36671371 0.90333812 -1.92155255] [ 0. 0. 0. 1. ]] SLAMing on 241.398001145 meters Centerline goodness : 0.913229 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.21, Z:-1.92 [[ 0.32331931 -0.84473256 -0.42648743 4.21799744] [ 0.9193878 0.38711619 -0.06976483 -3.2081702 ] [ 0.22403281 -0.36955102 0.90179895 -1.92227724] [ 0. 0. 0. 1. ]] SLAMing on 241.458001145 meters Centerline goodness : 0.914037 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.21, Z:-1.92 [[ 0.32218456 -0.84463602 -0.42753609 4.21742786] [ 0.91968628 0.38633255 -0.07017341 -3.20586415] [ 0.2244421 -0.37059028 0.90127054 -1.92220267] [ 0. 0. 0. 1. ]] SLAMing on 241.518001145 meters Centerline goodness : 0.911735 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.20, Z:-1.92 [[ 0.32061676 -0.84503736 -0.42792143 4.21773928] [ 0.92016937 0.38504171 -0.07093103 -3.20278943] [ 0.22470697 -0.37101852 0.90102832 -1.92263815] [ 0. 0. 0. 1. ]] SLAMing on 241.578001145 meters Centerline goodness : 0.913673 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-3.20, Z:-1.92 [[ 0.31902662 -0.84560211 -0.42799426 4.21513463] [ 0.92070589 0.3836243 -0.07164542 -3.20145677] [ 0.22477252 -0.37120004 0.9009372 -1.92165554] [ 0. 0. 0. 1. ]] SLAMing on 241.638001145 meters Centerline goodness : 0.912001 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.20, Z:-1.92 [[ 0.3190572 -0.84555834 -0.42805793 4.21433913] [ 0.92066137 0.38371359 -0.07173933 -3.20012306] [ 0.22491143 -0.37120745 0.90089948 -1.92265 ] [ 0. 0. 0. 1. ]] SLAMing on 241.69800114499998 meters Centerline goodness : 0.911946 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.20, Z:-1.92 [[ 0.31918404 -0.84541156 -0.42825324 4.21375242] [ 0.9206486 0.38379426 -0.07147119 -3.19941238] [ 0.2247837 -0.37145829 0.90082797 -1.92329138] [ 0. 0. 0. 1. ]] SLAMing on 241.75800114499998 meters Centerline goodness : 0.914380 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.20, Z:-1.92 [[ 0.31906072 -0.84540453 -0.42835899 4.21237771] [ 0.92067804 0.38371276 -0.0715295 -3.1994016 ] [ 0.22483818 -0.37155846 0.90077306 -1.92280145] [ 0. 0. 0. 1. ]] SLAMing on 241.81800114499998 meters Centerline goodness : 0.912352 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.20, Z:-1.92 [[ 0.31940578 -0.84522812 -0.42844997 4.21266061] [ 0.92059941 0.38396719 -0.07117539 -3.19941367] [ 0.22467017 -0.37169695 0.90075784 -1.92312679] [ 0. 0. 0. 1. ]] SLAMing on 241.87800114499998 meters Centerline goodness : 0.909449 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.20, Z:-1.92 [[ 0.31984013 -0.84513236 -0.42831483 4.21224691] [ 0.92051769 0.38423744 -0.0707727 -3.20234834] [ 0.22438689 -0.37163543 0.90085383 -1.92105903] [ 0. 0. 0. 1. ]] SLAMing on 241.938001145 meters Centerline goodness : 0.909802 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.20, Z:-1.92 [[ 0.31968359 -0.84481515 -0.42905682 4.21261296] [ 0.92066012 0.38401048 -0.07014908 -3.20260932] [ 0.22402532 -0.37259 0.90054947 -1.92043804] [ 0. 0. 0. 1. ]] SLAMing on 241.998001145 meters Centerline goodness : 0.907299 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.20, Z:-1.92 [[ 0.31972098 -0.84484883 -0.42896264 4.21235938] [ 0.92075036 0.3838649 -0.0697604 -3.20397882] [ 0.22360069 -0.37266364 0.90062453 -1.91977094] [ 0. 0. 0. 1. ]] SLAMing on 242.058001145 meters Centerline goodness : 0.906217 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.20, Z:-1.92 [[ 0.32066172 -0.84478689 -0.42838204 4.21277555] [ 0.92049511 0.38455465 -0.06932871 -3.20409285] [ 0.22330429 -0.37209252 0.90093416 -1.92114282] [ 0. 0. 0. 1. ]] SLAMing on 242.118001145 meters Centerline goodness : 0.901909 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.20, Z:-1.92 [[ 0.32243712 -0.84428282 -0.42804302 4.21287718] [ 0.91969198 0.38644894 -0.06945414 -3.20307996] [ 0.22405571 -0.37127314 0.90108562 -1.92303883] [ 0. 0. 0. 1. ]] SLAMing on 242.178001145 meters Centerline goodness : 0.900000 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.20, Z:-1.92 [[ 0.32400169 -0.84359728 -0.42821318 4.21154221] [ 0.91898798 0.38814412 -0.06931982 -3.20227706] [ 0.22468644 -0.37106302 0.90101511 -1.92405753] [ 0. 0. 0. 1. ]] SLAMing on 242.238001145 meters Centerline goodness : 0.898569 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.20, Z:-1.93 [[ 0.3258651 -0.84196925 -0.42999968 4.21219996] [ 0.91800139 0.39052893 -0.06899711 -3.20039084] [ 0.22602076 -0.37225655 0.90018869 -1.92524468] [ 0. 0. 0. 1. ]] SLAMing on 242.298001145 meters Centerline goodness : 0.893019 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.20, Z:-1.92 [[ 0.32674895 -0.84057761 -0.43204677 4.21048041] [ 0.91750951 0.39179366 -0.06836691 -3.19956309] [ 0.22674088 -0.3740682 0.89925611 -1.9248006 ] [ 0. 0. 0. 1. ]] SLAMing on 242.358001145 meters Centerline goodness : 0.888432 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.20, Z:-1.93 [[ 0.32755716 -0.83937884 -0.43376199 4.21071268] [ 0.91698937 0.3930507 -0.06812954 -3.19720585] [ 0.22767695 -0.37543882 0.89844805 -1.92565212] [ 0. 0. 0. 1. ]] SLAMing on 242.41800114499998 meters Centerline goodness : 0.884088 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.19, Z:-1.93 [[ 0.3281999 -0.83713358 -0.43759821 4.21148521] [ 0.91625146 0.3947837 -0.06803743 -3.19245231] [ 0.22971305 -0.37862013 0.89659284 -1.92629885] [ 0. 0. 0. 1. ]] SLAMing on 242.47800114499998 meters Centerline goodness : 0.881020 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.19, Z:-1.93 [[ 0.32736434 -0.83634313 -0.43973033 4.21273167] [ 0.91623602 0.39471782 -0.0686251 -3.18777116] [ 0.23096353 -0.38043135 0.89550423 -1.92708943] [ 0. 0. 0. 1. ]] SLAMing on 242.53800114499998 meters Centerline goodness : 0.877971 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.18, Z:-1.93 [[ 0.32531641 -0.8366606 -0.4406453 4.21258011] [ 0.91675012 0.39329127 -0.06993709 -3.18358345] [ 0.23181555 -0.38120995 0.8949528 -1.92706738] [ 0. 0. 0. 1. ]] SLAMing on 242.59800114499998 meters Centerline goodness : 0.876917 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.18, Z:-1.93 [[ 0.32366983 -0.83654455 -0.44207584 4.21395938] [ 0.91705603 0.39237497 -0.07106422 -3.17848303] [ 0.23290788 -0.38240697 0.89415817 -1.927596 ] [ 0. 0. 0. 1. ]] SLAMing on 242.658001145 meters Centerline goodness : 0.874772 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.17, Z:-1.93 [[ 0.32228236 -0.83781366 -0.44068396 4.21258962] [ 0.91737065 0.39128274 -0.07299935 -3.17460809] [ 0.23359188 -0.38074413 0.89468919 -1.92948645] [ 0. 0. 0. 1. ]] SLAMing on 242.718001145 meters Centerline goodness : 0.870433 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.17, Z:-1.93 [[ 0.32252773 -0.83757351 -0.44096086 4.21296684] [ 0.91698329 0.39201882 -0.07391141 -3.17054895] [ 0.2347712 -0.38051526 0.89447785 -1.93159811] [ 0. 0. 0. 1. ]] SLAMing on 242.778001145 meters Centerline goodness : 0.867224 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.17, Z:-1.93 [[ 0.32535278 -0.8353365 -0.44312356 4.20778568] [ 0.91563118 0.39533988 -0.07297893 -3.17009812] [ 0.23614638 -0.38199385 0.89348508 -1.93177002] [ 0. 0. 0. 1. ]] SLAMing on 242.838001145 meters Centerline goodness : 0.869657 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-3.17, Z:-1.93 [[ 0.3259744 -0.83529596 -0.44274298 4.20548793] [ 0.91533037 0.39599814 -0.07318327 -3.16973704] [ 0.23645509 -0.38140022 0.89365702 -1.93205232] [ 0. 0. 0. 1. ]] SLAMing on 242.898001145 meters Centerline goodness : 0.862802 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.17, Z:-1.93 [[ 0.32889417 -0.83396506 -0.44309244 4.20234682] [ 0.91403892 0.3990688 -0.07264255 -3.16907922] [ 0.23740572 -0.38111203 0.89352792 -1.93417575] [ 0. 0. 0. 1. ]] SLAMing on 242.958001145 meters Centerline goodness : 0.858429 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-3.17, Z:-1.93 [[ 0.32914918 -0.83408076 -0.4426851 4.19890337] [ 0.91386236 0.39940002 -0.07304249 -3.16795767] [ 0.23773177 -0.38051137 0.89369721 -1.93464117] [ 0. 0. 0. 1. ]] SLAMing on 243.018001145 meters Centerline goodness : 0.861717 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-3.17, Z:-1.93 [[ 0.32829261 -0.83471863 -0.44211851 4.19412483] [ 0.91411288 0.39866621 -0.07391144 -3.16675427] [ 0.23795297 -0.37988164 0.89390622 -1.93444491] [ 0. 0. 0. 1. ]] SLAMing on 243.078001145 meters Centerline goodness : 0.857223 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-3.17, Z:-1.93 [[ 0.32652786 -0.83571331 -0.44154595 4.19238047] [ 0.91479054 0.39694305 -0.07479628 -3.16500203] [ 0.23777684 -0.37949899 0.89411559 -1.93433339] [ 0. 0. 0. 1. ]] SLAMing on 243.138001145 meters Centerline goodness : 0.853361 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-3.16, Z:-1.93 [[ 0.32499091 -0.83625728 -0.44164994 4.19105864] [ 0.91512159 0.39590396 -0.07623994 -3.16153104] [ 0.23860716 -0.3793861 0.89394228 -1.934713 ] [ 0. 0. 0. 1. ]] SLAMing on 243.19800114499998 meters Centerline goodness : 0.850357 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.16, Z:-1.93 [[ 0.32457498 -0.8330183 -0.44803079 4.18422034] [ 0.91158397 0.40185354 -0.08676638 -3.16239202] [ 0.25232074 -0.38025549 0.88979773 -1.92903814] [ 0. 0. 0. 1. ]] SLAMing on 243.25800114499998 meters Centerline goodness : 0.845569 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.16, Z:-1.93 [[ 0.32612985 -0.83120341 -0.45026682 4.18282984] [ 0.91040647 0.40442701 -0.08717139 -3.15777111] [ 0.25455722 -0.38149663 0.88862869 -1.9307159 ] [ 0. 0. 0. 1. ]] SLAMing on 243.31800114499998 meters Centerline goodness : 0.841894 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-3.15, Z:-1.93 [[ 0.32851119 -0.82893037 -0.45271939 4.17851268] [ 0.90870871 0.40808905 -0.08781693 -3.15181819] [ 0.25754395 -0.38254121 0.88731806 -1.93316169] [ 0. 0. 0. 1. ]] SLAMing on 243.37800114499998 meters Centerline goodness : 0.842601 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.15, Z:-1.93 [[ 0.32898427 -0.82758846 -0.454826 4.17493194] [ 0.90797808 0.40956892 -0.0884822 -3.14733091] [ 0.25950945 -0.38386279 0.88617391 -1.93384727] [ 0. 0. 0. 1. ]] SLAMing on 243.438001145 meters Centerline goodness : 0.840136 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-3.15, Z:-1.93 [[ 0.33102674 -0.82396215 -0.45989963 4.1659666 ] [ 0.90334495 0.41758355 -0.09793812 -3.14933509] [ 0.27274383 -0.38302787 0.88255337 -1.92993522] [ 0. 0. 0. 1. ]] SLAMing on 243.498001145 meters Centerline goodness : 0.839206 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:-3.15, Z:-1.92 [[ 0.33222846 -0.82105683 -0.46420893 4.1598896 ] [ 0.89857633 0.4251134 -0.10880796 -3.14976185] [ 0.28667896 -0.38097805 0.87901701 -1.92402847] [ 0. 0. 0. 1. ]] SLAMing on 243.558001145 meters Centerline goodness : 0.838323 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:-3.23, Z:-1.95 [[ 0.33815739 -0.82707932 -0.44898705 4.10698986] [ 0.89588177 0.42900737 -0.11553581 -3.22549636] [ 0.28817603 -0.36317002 0.88603731 -1.94997265] [ 0. 0. 0. 1. ]] SLAMing on 243.618001145 meters Centerline goodness : 0.834170 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-3.30, Z:-1.97 [[ 0.3444374 -0.83367588 -0.43167976 4.05704271] [ 0.8929187 0.43291761 -0.1236064 -3.29739961] [ 0.28992944 -0.34288026 0.89351779 -1.9730273 ] [ 0. 0. 0. 1. ]] SLAMing on 243.678001145 meters Centerline goodness : 0.833870 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:-3.38, Z:-2.00 [[ 0.34884032 -0.84078281 -0.41399843 4.0053715 ] [ 0.89124316 0.43422689 -0.1308917 -3.37624117] [ 0.28982074 -0.32331297 0.90081778 -1.99582242] [ 0. 0. 0. 1. ]] SLAMing on 243.738001145 meters Centerline goodness : 0.830827 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:-3.44, Z:-2.01 [[ 0.35469107 -0.8454891 -0.39917719 3.96166705] [ 0.88965117 0.43651563 -0.13407048 -3.43567522] [ 0.28760221 -0.30757485 0.90701856 -2.01315986] [ 0. 0. 0. 1. ]] SLAMing on 243.798001145 meters Centerline goodness : 0.831111 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:-3.52, Z:-2.04 [[ 0.35779244 -0.85066064 -0.38517663 3.9100334 ] [ 0.88905039 0.43647818 -0.13811664 -3.52438162] [ 0.28561158 -0.29302435 0.91244877 -2.04005351] [ 0. 0. 0. 1. ]] SLAMing on 243.858001145 meters Centerline goodness : 0.828715 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-3.61, Z:-2.07 [[ 0.36053012 -0.85586709 -0.37082281 3.85688774] [ 0.88865306 0.4359657 -0.14223098 -3.61014436] [ 0.28339684 -0.27825427 0.91774767 -2.06773089] [ 0. 0. 0. 1. ]] SLAMing on 243.91800114499998 meters Centerline goodness : 0.827707 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:-3.70, Z:-2.10 [[ 0.36359432 -0.86009682 -0.35781647 3.80395037] [ 0.88805373 0.43603483 -0.14571961 -3.69629995] [ 0.28135341 -0.26477743 0.92235198 -2.09528479] [ 0. 0. 0. 1. ]] SLAMing on 243.97800114499998 meters Centerline goodness : 0.827303 with order 1 Centerline is valid? [False, False] Translation: X:3.75, Y:-3.79, Z:-2.13 [[ 0.36680828 -0.86252576 -0.34856993 3.75211698] [ 0.88732477 0.43693936 -0.14744067 -3.78948992] [ 0.2794753 -0.25521227 0.92561345 -2.12640576] [ 0. 0. 0. 1. ]] SLAMing on 244.03800114499998 meters Centerline goodness : 0.824339 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:-3.87, Z:-2.15 [[ 0.37306485 -0.86447162 -0.33691458 3.69751385] [ 0.88505996 0.44053588 -0.150323 -3.8727778 ] [ 0.27837293 -0.24210938 0.92945767 -2.15342967] [ 0. 0. 0. 1. ]] SLAMing on 244.09800114499998 meters Centerline goodness : 0.823756 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:-3.96, Z:-2.18 [[ 0.37898974 -0.86581055 -0.32670916 3.64400253] [ 0.88316076 0.44384609 -0.15174889 -3.96337661] [ 0.27639437 -0.23102543 0.93286301 -2.18101131] [ 0. 0. 0. 1. ]] SLAMing on 244.158001145 meters Centerline goodness : 0.819873 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:-4.05, Z:-2.21 [[ 0.38568331 -0.86612386 -0.31792741 3.58731522] [ 0.88068428 0.44832148 -0.15298055 -4.05375125] [ 0.2750338 -0.22099163 0.93569178 -2.21023085] [ 0. 0. 0. 1. ]] SLAMing on 244.218001145 meters Centerline goodness : 0.822184 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:-4.14, Z:-2.23 [[ 0.39230491 -0.868036 -0.30431949 3.53387577] [ 0.87851914 0.45162484 -0.15568917 -4.13926021] [ 0.27258205 -0.20627287 0.93976089 -2.23392093] [ 0. 0. 0. 1. ]] SLAMing on 244.278001145 meters Centerline goodness : 0.822433 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:-4.22, Z:-2.26 [[ 0.40026231 -0.86941098 -0.28968021 3.47932074] [ 0.87592075 0.45587708 -0.15792063 -4.2225446 ] [ 0.2693565 -0.19052723 0.94400553 -2.25709566] [ 0. 0. 0. 1. ]] SLAMing on 244.338001145 meters Centerline goodness : 0.821681 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:-4.31, Z:-2.28 [[ 0.40732256 -0.87072662 -0.27554217 3.42353197] [ 0.87327079 0.45965342 -0.1616071 -4.30611534] [ 0.26736951 -0.17479671 0.94760733 -2.27707674] [ 0. 0. 0. 1. ]] SLAMing on 244.398001145 meters Centerline goodness : 0.822909 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:-4.40, Z:-2.31 [[ 0.41207328 -0.87070633 -0.26845129 3.37036408] [ 0.87194223 0.46233611 -0.16112748 -4.40138337] [ 0.26440945 -0.16767769 0.94972198 -2.30624499] [ 0. 0. 0. 1. ]] SLAMing on 244.458001145 meters Centerline goodness : 0.821963 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:-4.48, Z:-2.33 [[ 0.41612844 -0.87268985 -0.25543991 3.32092985] [ 0.87004711 0.46378134 -0.16710747 -4.48337794] [ 0.26430126 -0.15270658 0.95227388 -2.32765952] [ 0. 0. 0. 1. ]] SLAMing on 244.518001145 meters Centerline goodness : 0.825526 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:-4.57, Z:-2.35 [[ 0.42183485 -0.87222647 -0.2475406 3.27034883] [ 0.86782675 0.46748176 -0.1683376 -4.57253994] [ 0.26254923 -0.14381168 0.95414155 -2.35431862] [ 0. 0. 0. 1. ]] SLAMing on 244.578001145 meters Centerline goodness : 0.826334 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-4.65, Z:-2.37 [[ 0.42905525 -0.8736346 -0.22950856 3.22298801] [ 0.86441308 0.47084871 -0.17632787 -4.64712237] [ 0.26210994 -0.1227358 0.95720129 -2.36703771] [ 0. 0. 0. 1. ]] SLAMing on 244.638001145 meters Centerline goodness : 0.829963 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:-4.73, Z:-2.39 [[ 0.43647839 -0.87196342 -0.22173499 3.17313359] [ 0.86083783 0.47639978 -0.17888956 -4.73478194] [ 0.26161966 -0.11279644 0.95855731 -2.39092247] [ 0. 0. 0. 1. ]] SLAMing on 244.69800114499998 meters Centerline goodness : 0.833451 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:-4.81, Z:-2.39 [[ 0.44479933 -0.87441622 -0.19377777 3.12132398] [ 0.85748234 0.47823918 -0.18976649 -4.80612499] [ 0.25860703 -0.08175301 0.96251694 -2.39256348] [ 0. 0. 0. 1. ]] SLAMing on 244.75800114499998 meters Centerline goodness : 0.839345 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-4.90, Z:-2.42 [[ 0.45095174 -0.87302991 -0.18563757 3.07319777] [ 0.85529377 0.48214184 -0.18976781 -4.89683954] [ 0.25517661 -0.07319853 0.96411974 -2.41829997] [ 0. 0. 0. 1. ]] SLAMing on 244.81800114499998 meters Centerline goodness : 0.843536 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:-4.98, Z:-2.44 [[ 0.4561911 -0.87294248 -0.17280364 3.02429295] [ 0.85378107 0.48410196 -0.19158072 -4.98219813] [ 0.25089353 -0.06013906 0.96614478 -2.43853161] [ 0. 0. 0. 1. ]] SLAMing on 244.87800114499998 meters Centerline goodness : 0.851703 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:-5.09, Z:-2.47 [[ 0.45922237 -0.87109998 -0.1740679 2.97202756] [ 0.85311493 0.48709132 -0.18691433 -5.08724549] [ 0.24760803 -0.06266469 0.96683163 -2.4736621 ] [ 0. 0. 0. 1. ]] SLAMing on 244.938001145 meters Centerline goodness : 0.855464 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-5.18, Z:-2.50 [[ 0.46220501 -0.87065497 -0.16830461 2.92268669] [ 0.8527407 0.48846314 -0.18503259 -5.18283226] [ 0.24331014 -0.0579972 0.96821305 -2.50360289] [ 0. 0. 0. 1. ]] SLAMing on 244.998001145 meters Centerline goodness : 0.141886 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:-5.25, Z:-2.53 [[ 0.4630691 -0.87142139 -0.16183872 2.8845336 ] [ 0.85339952 0.48767687 -0.18406663 -5.25251537] [ 0.2393246 -0.05287752 0.96949869 -2.52527573] [ 0. 0. 0. 1. ]] SLAMing on 245.058001145 meters Centerline goodness : 0.129463 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:-5.33, Z:-2.55 [[ 0.46459216 -0.87096266 -0.15993176 2.84566654] [ 0.8534946 0.48855924 -0.18126456 -5.32510197] [ 0.23601081 -0.0522868 0.97034272 -2.54932916] [ 0. 0. 0. 1. ]] SLAMing on 245.118001145 meters Centerline goodness : 0.130738 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:-5.38, Z:-2.57 [[ 0.46511665 -0.87018598 -0.16261264 2.81551943] [ 0.85409744 0.48941455 -0.17604251 -5.38102247] [ 0.23277472 -0.05700673 0.97085847 -2.57007713] [ 0. 0. 0. 1. ]] SLAMing on 245.178001145 meters Centerline goodness : 0.133313 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:-5.43, Z:-2.59 [[ 0.4659195 -0.8695369 -0.16378219 2.79192239] [ 0.85417951 0.49030371 -0.17314627 -5.42857528] [ 0.23086008 -0.05922717 0.97118266 -2.58929538] [ 0. 0. 0. 1. ]] Total time of SLAM: 10529.93 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%| | 0/8174 [00:00