+ python -m lidar_slam --result /working/result.json --no-model /working/1f219b02-5278-45ed-9747-10bbed87cf76 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/1f219b02-5278-45ed-9747-10bbed87cf76 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 0.013201008 Adjusted end_distance from 9.223372036854776e+18 to 154.573201008 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.013201008 meters Centerline goodness : 0.851412 with order 1 Centerline is valid? [0, False] SLAMing on 0.073201008 meters Centerline goodness : 0.847612 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.00 [[ 9.99980408e-01 8.60811255e-04 -6.20027835e-03 5.25638929e-02] [-9.20371900e-04 9.99953402e-01 -9.60968543e-03 2.56601293e-02] [ 6.19171731e-03 9.61520372e-03 9.99934603e-01 -1.22114043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.133201008 meters Centerline goodness : 0.821746 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:0.07, Z:-0.00 [[ 9.99902205e-01 3.88056758e-03 -1.34358182e-02 1.24633911e-01] [-3.99786185e-03 9.99954039e-01 -8.71414400e-03 6.61921380e-02] [ 1.34013848e-02 8.76700635e-03 9.99871763e-01 -9.63969198e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.193201008 meters Centerline goodness : 0.163004 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:0.00 [[ 9.99932662e-01 4.85931556e-03 -1.05384205e-02 1.77067978e-01] [-5.03813094e-03 9.99842655e-01 -1.70083088e-02 9.17641533e-02] [ 1.04541136e-02 1.70602575e-02 9.99799810e-01 2.23880798e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.253201008 meters Centerline goodness : 0.163030 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:0.13, Z:0.00 [[ 0.99994194 0.00345226 -0.01020801 0.2418329 ] [-0.00373278 0.99961236 -0.02758971 0.12541606] [ 0.0101088 0.02762622 0.99956721 0.00281948] [ 0. 0. 0. 1. ]] SLAMing on 0.313201008 meters Centerline goodness : 0.163472 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.14, Z:0.00 [[ 0.99994064 0.0026846 -0.01055957 0.28379653] [-0.00299412 0.99956307 -0.02940585 0.14338459] [ 0.01047602 0.02943572 0.99951178 0.00173661] [ 0. 0. 0. 1. ]] SLAMing on 0.373201008 meters Centerline goodness : 0.164541 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:0.17, Z:0.01 [[ 0.99992995 -0.00320999 -0.01139284 0.33497454] [ 0.00286033 0.99952834 -0.03057652 0.16533493] [ 0.01148561 0.03054179 0.9994675 0.00743572] [ 0. 0. 0. 1. ]] SLAMing on 0.433201008 meters Centerline goodness : 0.138160 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:0.18, Z:0.01 [[ 0.99993893 -0.00581832 -0.00939635 0.37449532] [ 0.00555035 0.99958413 -0.02829766 0.17705218] [ 0.00955709 0.02824377 0.99955538 0.00981375] [ 0. 0. 0. 1. ]] SLAMing on 0.493201008 meters Centerline goodness : 0.170631 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:0.19, Z:0.01 [[ 0.99992981 -0.00623982 -0.0100715 0.41703978] [ 0.00596086 0.9996042 -0.02749367 0.18849616] [ 0.01023907 0.0274317 0.99957124 0.00930292] [ 0. 0. 0. 1. ]] SLAMing on 0.553201008 meters Centerline goodness : 0.143702 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:0.20, Z:0.01 [[ 0.99987188 -0.00324089 -0.01567565 0.48151177] [ 0.00262785 0.99923688 -0.03897116 0.2040902 ] [ 0.01578998 0.03892498 0.99911737 0.00853937] [ 0. 0. 0. 1. ]] SLAMing on 0.613201008 meters Centerline goodness : 0.153729 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:0.22, Z:0.00 [[ 0.99995646 -0.00397071 -0.00844489 0.50805343] [ 0.00381085 0.99981481 -0.01886311 0.2215529 ] [ 0.00851823 0.01883011 0.99978641 0.00153864] [ 0. 0. 0. 1. ]] SLAMing on 0.6732010079999999 meters Centerline goodness : 0.159610 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:0.23, Z:0.00 [[ 9.99965152e-01 -7.63634989e-03 -3.37365245e-03 5.46641349e-01] [ 7.58104092e-03 9.99841425e-01 -1.61137568e-02 2.29173477e-01] [ 3.49616775e-03 1.60876194e-02 9.99864473e-01 3.54884608e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.733201008 meters Centerline goodness : 0.126039 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:0.24, Z:-0.00 [[ 0.99991994 -0.01227881 -0.00305824 0.60195478] [ 0.01220099 0.99963066 -0.02428323 0.23611548] [ 0.00335528 0.02424397 0.99970044 -0.00456198] [ 0. 0. 0. 1. ]] SLAMing on 0.793201008 meters Centerline goodness : 0.169317 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:0.24, Z:-0.01 [[ 0.99988768 -0.01421044 -0.00476296 0.63183817] [ 0.01409608 0.9996305 -0.02324142 0.24358689] [ 0.00509147 0.02317167 0.99971854 -0.01237033] [ 0. 0. 0. 1. ]] SLAMing on 0.853201008 meters Centerline goodness : 0.341324 with order 2 Centerline is valid? [False, False] Translation: X:0.67, Y:0.25, Z:-0.02 [[ 0.99980061 -0.01851006 -0.00749101 0.66776646] [ 0.01838164 0.99968882 -0.01686332 0.25203225] [ 0.00780082 0.01672226 0.99982974 -0.01610377] [ 0. 0. 0. 1. ]] SLAMing on 0.9132010079999999 meters Centerline goodness : 0.249618 with order 2 Centerline is valid? [False, False] Translation: X:0.69, Y:0.26, Z:-0.02 [[ 0.99977898 -0.02097154 -0.00147977 0.68567486] [ 0.0209477 0.99967379 -0.01461178 0.25666458] [ 0.00178572 0.01457755 0.99989215 -0.01636297] [ 0. 0. 0. 1. ]] SLAMing on 0.973201008 meters Centerline goodness : 0.119947 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:0.26, Z:-0.02 [[ 0.99975218 -0.02221018 -0.00151403 0.68747984] [ 0.02218499 0.99964122 -0.01500848 0.25887627] [ 0.00184683 0.01497117 0.99988622 -0.0165358 ] [ 0. 0. 0. 1. ]] SLAMing on 1.033201008 meters Centerline goodness : 0.108873 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:0.26, Z:-0.02 [[ 0.99969389 -0.02458278 0.0027936 0.72520217] [ 0.02463075 0.9995221 -0.0186786 0.2622676 ] [-0.00233309 0.0187417 0.99982164 -0.02353214] [ 0. 0. 0. 1. ]] SLAMing on 1.093201008 meters Centerline goodness : 0.108588 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:0.27, Z:-0.03 [[ 0.99970045 -0.02441218 0.00174624 0.73596455] [ 0.02443646 0.99957994 -0.015582 0.26733903] [-0.00136511 0.01562001 0.99987707 -0.02959826] [ 0. 0. 0. 1. ]] SLAMing on 1.153201008 meters Centerline goodness : 0.109092 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:0.27, Z:-0.03 [[ 0.99992844 -0.01123047 0.0041223 0.79261709] [ 0.01128485 0.99984634 -0.01341458 0.27285985] [-0.00397101 0.01346014 0.99990152 -0.03142379] [ 0. 0. 0. 1. ]] SLAMing on 1.213201008 meters Centerline goodness : 0.830757 with order 2 Centerline is valid? [False, False] Translation: X:0.80, Y:0.28, Z:-0.04 [[ 0.99998788 -0.00358763 0.00337075 0.80078823] [ 0.00360613 0.99997838 -0.00549863 0.27646191] [-0.00335095 0.00551072 0.9999792 -0.03671051] [ 0. 0. 0. 1. ]] SLAMing on 1.273201008 meters Centerline goodness : 0.620281 with order 2 Centerline is valid? [False, False] Translation: X:0.86, Y:0.27, Z:-0.04 [[ 0.99996442 0.00801363 0.00263317 0.85915568] [-0.00798892 0.99992515 -0.0092671 0.27412985] [-0.00270723 0.00924574 0.99995359 -0.04356988] [ 0. 0. 0. 1. ]] SLAMing on 1.3332010079999999 meters Centerline goodness : 0.796427 with order 2 Centerline is valid? [False, False] Translation: X:0.88, Y:0.27, Z:-0.05 [[ 0.99997493 0.00540782 0.00457048 0.88354543] [-0.00537506 0.99995999 -0.00715031 0.26549836] [-0.00460896 0.00712556 0.99996399 -0.04891039] [ 0. 0. 0. 1. ]] SLAMing on 1.393201008 meters Centerline goodness : 0.808236 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:0.25, Z:-0.05 [[ 9.99957834e-01 -6.58179512e-04 9.15951321e-03 9.20912462e-01] [ 6.81229064e-04 9.99996609e-01 -2.51356803e-03 2.48329042e-01] [-9.15782777e-03 2.51970177e-03 9.99954892e-01 -5.23057140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.453201008 meters Centerline goodness : 0.794247 with order 2 Centerline is valid? [False, False] Translation: X:0.94, Y:0.23, Z:-0.06 [[ 0.99990376 -0.00124061 0.01381797 0.94011175] [ 0.00116545 0.99998449 0.00544591 0.23414202] [-0.01382451 -0.00542928 0.9998897 -0.05718756] [ 0. 0. 0. 1. ]] SLAMing on 1.513201008 meters Centerline goodness : 0.806356 with order 2 Centerline is valid? [False, False] Translation: X:0.99, Y:0.21, Z:-0.06 [[ 0.99987626 0.00316245 0.01541013 0.98804035] [-0.00333507 0.99993184 0.01118876 0.21247798] [-0.01537369 -0.01123877 0.99981865 -0.06006054] [ 0. 0. 0. 1. ]] SLAMing on 1.573201008 meters Centerline goodness : 0.801339 with order 2 Centerline is valid? [False, False] Translation: X:1.01, Y:0.20, Z:-0.06 [[ 0.99978873 0.00138364 0.0205079 1.00855475] [-0.00170121 0.99987879 0.01547593 0.19880633] [-0.020484 -0.01550755 0.99966991 -0.06451957] [ 0. 0. 0. 1. ]] SLAMing on 1.633201008 meters Centerline goodness : 0.799061 with order 2 Centerline is valid? [False, False] Translation: X:1.05, Y:0.18, Z:-0.07 [[ 0.99967555 -0.0061973 0.02470603 1.04746158] [ 0.00572194 0.99979804 0.01926494 0.18186168] [-0.02482043 -0.01911732 0.99950912 -0.07068774] [ 0. 0. 0. 1. ]] SLAMing on 1.693201008 meters Centerline goodness : 0.780327 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.17, Z:-0.08 [[ 0.99968161 -0.01068739 0.02285753 1.07296104] [ 0.01023412 0.99975047 0.01985593 0.17237924] [-0.02306403 -0.01961568 0.99954153 -0.07558518] [ 0. 0. 0. 1. ]] SLAMing on 1.753201008 meters Centerline goodness : 0.738355 with order 3 Centerline is valid? [False, False] Translation: X:1.12, Y:0.15, Z:-0.08 [[ 0.99965806 -0.01229935 0.02307573 1.11904995] [ 0.01170471 0.99960041 0.02572977 0.14823481] [-0.02338297 -0.02545088 0.99940257 -0.08342557] [ 0. 0. 0. 1. ]] SLAMing on 1.8132010079999998 meters Centerline goodness : 0.749573 with order 3 Centerline is valid? [False, False] Translation: X:1.16, Y:0.13, Z:-0.09 [[ 0.9996853 -0.01002904 0.02299383 1.15971863] [ 0.00920671 0.99932393 0.03559394 0.13355197] [-0.02333526 -0.03537104 0.99910177 -0.08741242] [ 0. 0. 0. 1. ]] SLAMing on 1.873201008 meters Centerline goodness : 0.763108 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:0.12, Z:-0.10 [[ 0.99979714 -0.00306143 0.01990728 1.21497987] [ 0.00219351 0.99905212 0.04347468 0.11506828] [-0.0200215 -0.04342219 0.99885617 -0.09515506] [ 0. 0. 0. 1. ]] SLAMing on 1.933201008 meters Centerline goodness : 0.770429 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:0.10, Z:-0.10 [[ 0.99989643 0.00536307 0.01335553 1.25898893] [-0.00587177 0.99924728 0.03834566 0.10258001] [-0.01313983 -0.0384201 0.99917528 -0.09802478] [ 0. 0. 0. 1. ]] SLAMing on 1.993201008 meters Centerline goodness : 0.875171 with order 3 Centerline is valid? [False, False] Translation: X:1.30, Y:0.09, Z:-0.10 [[ 0.99981094 0.01654805 0.01021043 1.30123311] [-0.01689568 0.99924601 0.03495628 0.08750456] [-0.00962427 -0.03512219 0.99933668 -0.10075365] [ 0. 0. 0. 1. ]] SLAMing on 2.053201008 meters Centerline goodness : 0.825304 with order 3 Centerline is valid? [False, False] Translation: X:1.35, Y:0.07, Z:-0.10 [[ 0.99953407 0.02835164 0.01130585 1.35216042] [-0.02879046 0.99875449 0.0407501 0.06896757] [-0.01013643 -0.04105662 0.9991054 -0.10469 ] [ 0. 0. 0. 1. ]] SLAMing on 2.113201008 meters Centerline goodness : 0.156819 with order 2 Centerline is valid? [False, False] Translation: X:1.39, Y:0.05, Z:-0.11 [[ 0.99942888 0.03087532 0.01373437 1.39054486] [-0.03146359 0.99849565 0.04490523 0.05082805] [-0.01232725 -0.04531172 0.99889684 -0.10753396] [ 0. 0. 0. 1. ]] SLAMing on 2.173201008 meters SLAMing on 2.2332010079999995 meters SLAMing on 2.2932010079999996 meters Centerline goodness : 0.680629 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.02, Z:-0.12 [[ 0.99967734 0.01834162 0.01757278 1.46891457] [-0.01923926 0.99844331 0.05235277 -0.01938239] [-0.01658519 -0.05267397 0.99847403 -0.11763585] [ 0. 0. 0. 1. ]] SLAMing on 2.3532010079999996 meters Centerline goodness : 0.127972 with order 1 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.03, Z:-0.12 [[ 0.99958215 0.0195048 0.02133302 1.49703824] [-0.02042566 0.99882993 0.04383568 -0.03348773] [-0.02045305 -0.0442531 0.99881096 -0.12020226] [ 0. 0. 0. 1. ]] SLAMing on 2.4132010079999997 meters Centerline goodness : 0.689430 with order 1 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.05, Z:-0.12 [[ 0.999422 0.02177473 0.02610618 1.53595556] [-0.02298073 0.99863885 0.04682245 -0.05133973] [-0.0250511 -0.04739532 0.99856203 -0.12404261] [ 0. 0. 0. 1. ]] SLAMing on 2.4732010079999998 meters Centerline goodness : 0.881621 with order 2 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.06, Z:-0.13 [[ 0.99946239 0.02330099 0.02306498 1.54662007] [-0.02439417 0.9985346 0.04830706 -0.0607558 ] [-0.02190558 -0.04884374 0.99856619 -0.12999111] [ 0. 0. 0. 1. ]] SLAMing on 2.533201008 meters Centerline goodness : 0.851420 with order 1 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.08, Z:-0.13 [[ 0.99948792 0.02801845 0.01545502 1.57095549] [-0.02868189 0.99859662 0.04452126 -0.07813031] [-0.01418591 -0.04494174 0.99888888 -0.13327926] [ 0. 0. 0. 1. ]] SLAMing on 2.593201008 meters Centerline goodness : 0.862503 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.09, Z:-0.13 [[ 0.99964911 0.02400889 0.01119041 1.5812803 ] [-0.02442808 0.99894199 0.03896376 -0.08842249] [-0.01024309 -0.03922345 0.99917796 -0.13474737] [ 0. 0. 0. 1. ]] SLAMing on 2.6532010079999995 meters Centerline goodness : 0.863847 with order 1 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.10, Z:-0.13 [[ 0.99978569 0.02041271 0.00344952 1.59920935] [-0.0205138 0.99926509 0.03237993 -0.10405928] [-0.00278602 -0.03244375 0.99946968 -0.13195497] [ 0. 0. 0. 1. ]] SLAMing on 2.7132010079999995 meters Centerline goodness : 0.868110 with order 1 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.11, Z:-0.14 [[ 0.99981969 0.01534069 0.01119167 1.6095932 ] [-0.01554344 0.99971245 0.01825986 -0.11136138] [-0.01090834 -0.01843053 0.99977064 -0.13707148] [ 0. 0. 0. 1. ]] SLAMing on 2.7732010079999996 meters Centerline goodness : 0.869934 with order 1 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.13, Z:-0.14 [[ 0.99989366 0.00809637 0.01212906 1.63333281] [-0.0082472 0.99988864 0.0124371 -0.1253423 ] [-0.01202702 -0.01253581 0.99984909 -0.14133124] [ 0. 0. 0. 1. ]] SLAMing on 2.8332010079999996 meters Centerline goodness : 0.848785 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.13, Z:-0.15 [[ 9.99946082e-01 1.35859957e-03 1.02950009e-02 1.65965244e+00] [-1.38854360e-03 9.99994825e-01 2.90200913e-03 -1.28379252e-01] [-1.02910050e-02 -2.91614772e-03 9.99942794e-01 -1.47094208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8932010079999997 meters Centerline goodness : 0.849449 with order 2 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.13, Z:-0.15 [[ 9.99911929e-01 -7.58036946e-04 1.32498637e-02 1.67281937e+00] [ 9.01851052e-04 9.99940715e-01 -1.08514037e-02 -1.30081662e-01] [-1.32408524e-02 1.08623974e-02 9.99853333e-01 -1.52446268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9532010079999997 meters Centerline goodness : 0.853503 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.14, Z:-0.16 [[ 0.9998726 -0.01129287 0.0112806 1.68128796] [ 0.01150521 0.99975443 -0.01893965 -0.13959765] [-0.01106395 0.01906703 0.99975699 -0.15721781] [ 0. 0. 0. 1. ]] SLAMing on 3.013201008 meters Centerline goodness : 0.880080 with order 1 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.15, Z:-0.16 [[ 0.99987239 -0.01572173 0.00283552 1.70390475] [ 0.01579002 0.99953911 -0.02592761 -0.14626479] [-0.00242659 0.02596907 0.9996598 -0.15696203] [ 0. 0. 0. 1. ]] SLAMing on 3.073201008 meters Centerline goodness : 0.879808 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.14, Z:-0.16 [[ 0.99988417 -0.01473142 0.00382604 1.72818588] [ 0.01483974 0.99943913 -0.03002005 -0.14420189] [-0.00338165 0.03007335 0.99954197 -0.16155723] [ 0. 0. 0. 1. ]] SLAMing on 3.133201008 meters Centerline goodness : 0.884731 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.14, Z:-0.17 [[ 0.99998426 -0.00333283 0.00451461 1.77403575] [ 0.00360595 0.99807558 -0.06190428 -0.13763872] [-0.0042996 0.06191959 0.99807188 -0.16692533] [ 0. 0. 0. 1. ]] SLAMing on 3.1932010079999995 meters Centerline goodness : 0.884819 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.14, Z:-0.17 [[ 0.99997726 0.00594037 -0.00319126 1.80087207] [-0.00616136 0.9972095 -0.0743993 -0.13884711] [ 0.0027404 0.07441727 0.99722343 -0.16965001] [ 0. 0. 0. 1. ]] SLAMing on 3.2532010079999996 meters Centerline goodness : 0.886202 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.17 [[ 0.9998927 0.01342309 -0.00586554 1.83039687] [-0.01384425 0.99678607 -0.07890413 -0.14309278] [ 0.00478755 0.07897687 0.99686495 -0.17233106] [ 0. 0. 0. 1. ]] SLAMing on 3.3132010079999996 meters Centerline goodness : 0.889627 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.15, Z:-0.17 [[ 0.99972774 0.01964456 -0.01259124 1.84552323] [-0.02057796 0.99667182 -0.07887857 -0.14805442] [ 0.0109998 0.0791162 0.99680471 -0.17214855] [ 0. 0. 0. 1. ]] SLAMing on 3.3732010079999997 meters Centerline goodness : 0.886317 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.15, Z:-0.18 [[ 0.99981209 0.01757758 -0.00817371 1.86849351] [-0.01809484 0.99750537 -0.06823211 -0.14730005] [ 0.00695396 0.06836719 0.99763599 -0.17576266] [ 0. 0. 0. 1. ]] SLAMing on 3.4332010079999997 meters Centerline goodness : 0.887130 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.14, Z:-0.18 [[ 0.99986479 0.01017456 -0.01291846 1.88357049] [-0.01107214 0.99738452 -0.07142503 -0.14443795] [ 0.01215796 0.07155841 0.99736231 -0.17856147] [ 0. 0. 0. 1. ]] SLAMing on 3.4932010079999998 meters Centerline goodness : 0.887933 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.14, Z:-0.18 [[ 9.99930924e-01 -4.29363223e-04 -1.17457668e-02 1.90501822e+00] [-3.47954133e-04 9.97813173e-01 -6.60965257e-02 -1.44468367e-01] [ 1.17484603e-02 6.60960470e-02 9.97744099e-01 -1.78178037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.553201008 meters Centerline goodness : 0.890353 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.14, Z:-0.18 [[ 0.99981537 -0.01570909 -0.01106605 1.93183743] [ 0.01499663 0.99797822 -0.06176223 -0.14221297] [ 0.01201391 0.06158487 0.99802954 -0.1757061 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6132010079999994 meters Centerline goodness : 0.891699 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.13, Z:-0.18 [[ 0.99962978 -0.02354352 -0.01363838 1.97165375] [ 0.02267773 0.99791106 -0.0604917 -0.1343015 ] [ 0.01503408 0.06016002 0.99807552 -0.17521854] [ 0. 0. 0. 1. ]] SLAMing on 3.6732010079999995 meters Centerline goodness : 0.892308 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.12, Z:-0.18 [[ 0.99933864 -0.03444819 -0.01164522 2.00516838] [ 0.03380808 0.99811089 -0.05129974 -0.12494661] [ 0.01339041 0.05087211 0.9986154 -0.17701677] [ 0. 0. 0. 1. ]] SLAMing on 3.7332010079999995 meters Centerline goodness : 0.892229 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.12, Z:-0.18 [[ 0.99904299 -0.03986213 -0.01800306 2.0405183 ] [ 0.03882847 0.99775772 -0.05451503 -0.12201911] [ 0.02013578 0.05376383 0.99835064 -0.17877026] [ 0. 0. 0. 1. ]] SLAMing on 3.7932010079999996 meters Centerline goodness : 0.888222 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.11, Z:-0.18 [[ 0.9990678 -0.03738786 -0.02157957 2.0906409 ] [ 0.03611049 0.99773105 -0.05682232 -0.11238133] [ 0.02365507 0.05599011 0.99815106 -0.18117432] [ 0. 0. 0. 1. ]] SLAMing on 3.8532010079999996 meters Centerline goodness : 0.888411 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.10, Z:-0.18 [[ 0.99935967 -0.02883154 -0.02118961 2.14830333] [ 0.02752692 0.99785015 -0.05947561 -0.1023435 ] [ 0.02285882 0.05885424 0.99800484 -0.17998286] [ 0. 0. 0. 1. ]] SLAMing on 3.9132010079999997 meters Centerline goodness : 0.896847 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.09, Z:-0.18 [[ 0.99978176 -0.01922745 -0.00816916 2.20926297] [ 0.01857931 0.99714951 -0.07312769 -0.09152631] [ 0.00955194 0.07295995 0.99728913 -0.17726979] [ 0. 0. 0. 1. ]] SLAMing on 3.9732010079999998 meters Centerline goodness : 0.901088 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.09, Z:-0.18 [[ 0.99990618 -0.01287179 -0.0046852 2.26473742] [ 0.01247677 0.99700433 -0.07633275 -0.08767158] [ 0.0056537 0.07626713 0.99707139 -0.17627627] [ 0. 0. 0. 1. ]] SLAMing on 4.033201008 meters Centerline goodness : 0.900420 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.08, Z:-0.18 [[ 9.99995948e-01 -1.36193150e-03 2.49968407e-03 2.32790076e+00] [ 1.58968279e-03 9.95618313e-01 -9.34967784e-02 -7.84953895e-02] [-2.36139503e-03 9.35003733e-02 9.95616444e-01 -1.81459549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.093201008 meters Centerline goodness : 0.901622 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.08, Z:-0.19 [[ 9.99987499e-01 4.90427022e-03 9.74845179e-04 2.38959523e+00] [-4.78464383e-03 9.95141921e-01 -9.83344523e-02 -7.61460883e-02] [-1.45236803e-03 9.83285587e-02 9.95152946e-01 -1.85309186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.153201008 meters Centerline goodness : 0.899814 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.08, Z:-0.19 [[ 9.99987294e-01 5.01682671e-03 4.93315160e-04 2.43397788e+00] [-4.93821728e-03 9.94554646e-01 -1.04099328e-01 -7.58478434e-02] [-1.01287717e-03 1.04095570e-01 9.94566783e-01 -1.89078886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.213201008 meters Centerline goodness : 0.897473 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.09, Z:-0.19 [[ 0.99998679 0.0037465 -0.00351895 2.46592497] [-0.00407031 0.99527223 -0.09703929 -0.08559604] [ 0.00313875 0.09705233 0.99527433 -0.18765912] [ 0. 0. 0. 1. ]] SLAMing on 4.273201008 meters Centerline goodness : 0.892285 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.10, Z:-0.19 [[ 0.99996929 0.00335372 -0.00708272 2.49507305] [-0.00397979 0.99590527 -0.09031533 -0.10019898] [ 0.00675083 0.09034075 0.99588803 -0.18715922] [ 0. 0. 0. 1. ]] SLAMing on 4.3332010080000005 meters Centerline goodness : 0.893223 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.11, Z:-0.19 [[ 0.99992573 0.00589703 -0.01066613 2.52591095] [-0.00674681 0.99665261 -0.08147432 -0.10857629] [ 0.01014996 0.08154023 0.99661837 -0.1868011 ] [ 0. 0. 0. 1. ]] SLAMing on 4.393201008 meters Centerline goodness : 0.900653 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.12, Z:-0.18 [[ 0.99986958 0.01042473 -0.01233487 2.55323019] [-0.01125701 0.99752203 -0.06944843 -0.12268083] [ 0.01158032 0.06957822 0.99750928 -0.184729 ] [ 0. 0. 0. 1. ]] SLAMing on 4.453201008 meters Centerline goodness : 0.900866 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.14, Z:-0.18 [[ 0.99989567 0.00723809 -0.01250072 2.54817247] [-0.00786463 0.99867683 -0.05082054 -0.14007879] [ 0.01211633 0.05091355 0.99862956 -0.17893184] [ 0. 0. 0. 1. ]] SLAMing on 4.513201008 meters Centerline goodness : 0.900238 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.15, Z:-0.18 [[ 9.99899530e-01 1.01047455e-03 -1.41389330e-02 2.54988764e+00] [-1.52331579e-03 9.99339488e-01 -3.63079464e-02 -1.51247280e-01] [ 1.40929058e-02 3.63258366e-02 9.99240623e-01 -1.78087382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.573201008 meters Centerline goodness : 0.903923 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.17, Z:-0.18 [[ 0.99980428 -0.00661124 -0.01864636 2.54746015] [ 0.00613939 0.99966232 -0.02524996 -0.16590279] [ 0.01880699 0.02513054 0.99950726 -0.17617367] [ 0. 0. 0. 1. ]] SLAMing on 4.633201008 meters Centerline goodness : 0.893196 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.17, Z:-0.18 [[ 0.99976604 -0.00921372 -0.0195696 2.55182157] [ 0.00868701 0.99960222 -0.02683171 -0.17245116] [ 0.01980904 0.02665543 0.99944839 -0.17930491] [ 0. 0. 0. 1. ]] SLAMing on 4.693201008 meters Centerline goodness : 0.907689 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.18, Z:-0.18 [[ 0.99974475 -0.01155875 -0.01941229 2.5499502 ] [ 0.01101427 0.99954934 -0.02792492 -0.17987853] [ 0.01972632 0.02770398 0.99942151 -0.17711231] [ 0. 0. 0. 1. ]] SLAMing on 4.7532010080000004 meters Centerline goodness : 0.911910 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.19, Z:-0.17 [[ 0.99974698 -0.01238146 -0.01877971 2.54902823] [ 0.01199619 0.99971807 -0.02049086 -0.18974703] [ 0.01902812 0.02026039 0.99961365 -0.16847398] [ 0. 0. 0. 1. ]] SLAMing on 4.813201008 meters Centerline goodness : 0.909730 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.19, Z:-0.17 [[ 0.9997412 -0.01233425 -0.01911554 2.54987845] [ 0.01195641 0.99973333 -0.0197562 -0.19196693] [ 0.01935412 0.01952253 0.99962207 -0.16869131] [ 0. 0. 0. 1. ]] SLAMing on 4.873201008 meters Centerline goodness : 0.912098 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.20, Z:-0.17 [[ 0.99977026 -0.01010696 -0.0189016 2.54803958] [ 0.0097986 0.99981854 -0.01633601 -0.20092986] [ 0.01906327 0.01614705 0.99968788 -0.16674236] [ 0. 0. 0. 1. ]] SLAMing on 4.933201008 meters Centerline goodness : 0.910948 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.20, Z:-0.17 [[ 9.99870681e-01 -2.74523760e-03 -1.58456420e-02 2.56553176e+00] [ 2.53214785e-03 9.99906308e-01 -1.34522789e-02 -2.04598304e-01] [ 1.58810870e-02 1.34104158e-02 9.99783953e-01 -1.66388427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.993201008 meters Centerline goodness : 0.911033 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.20, Z:-0.17 [[ 0.9998893 0.0073335 -0.01294612 2.5833601 ] [-0.00747782 0.99991004 -0.01113486 -0.20478639] [ 0.0128633 0.01123044 0.9998542 -0.168795 ] [ 0. 0. 0. 1. ]] SLAMing on 5.053201008 meters Centerline goodness : 0.914865 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.21, Z:-0.17 [[ 0.99992173 0.00963068 -0.00798697 2.59784928] [-0.00972768 0.99987831 -0.01219601 -0.20902608] [ 0.00786854 0.01227275 0.99989373 -0.16632445] [ 0. 0. 0. 1. ]] SLAMing on 5.113201008 meters Centerline goodness : 0.913432 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.22, Z:-0.16 [[ 0.99995246 0.00603982 -0.00765548 2.59666177] [-0.00613035 0.99991089 -0.01185885 -0.22070705] [ 0.00758317 0.01190522 0.99990038 -0.16354338] [ 0. 0. 0. 1. ]] SLAMing on 5.173201008 meters Centerline goodness : 0.915999 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.23, Z:-0.16 [[ 9.99969192e-01 -9.34128249e-04 -7.79375413e-03 2.59762664e+00] [ 7.99975259e-04 9.99851779e-01 -1.71982816e-02 -2.28335426e-01] [ 7.80866433e-03 1.71915169e-02 9.99821722e-01 -1.64384844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.233201008 meters Centerline goodness : 0.920941 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.24, Z:-0.17 [[ 0.9999132 -0.00788464 -0.01055557 2.60535394] [ 0.00767537 0.99977605 -0.01972137 -0.24125392] [ 0.0107087 0.01963864 0.99974979 -0.16803798] [ 0. 0. 0. 1. ]] SLAMing on 5.293201008 meters Centerline goodness : 0.921164 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.25, Z:-0.17 [[ 0.9998824 -0.01098925 -0.0106965 2.60623662] [ 0.01075601 0.99970831 -0.02162413 -0.24800829] [ 0.01093101 0.02150654 0.99970895 -0.16868788] [ 0. 0. 0. 1. ]] SLAMing on 5.353201008 meters Centerline goodness : 0.922588 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.26, Z:-0.17 [[ 0.99989978 -0.00919351 -0.01076611 2.60561928] [ 0.00899474 0.99979083 -0.01836833 -0.25785834] [ 0.01093273 0.01826965 0.99977332 -0.16758632] [ 0. 0. 0. 1. ]] SLAMing on 5.413201008 meters Centerline goodness : 0.922732 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.26, Z:-0.17 [[ 0.99990939 -0.00805938 -0.01078229 2.60535767] [ 0.00787963 0.99983097 -0.01661147 -0.26222721] [ 0.01091435 0.01652501 0.99980388 -0.16718077] [ 0. 0. 0. 1. ]] SLAMing on 5.473201008 meters Centerline goodness : 0.920903 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.27, Z:-0.16 [[ 0.99991856 -0.00699521 -0.01067417 2.60378875] [ 0.00687455 0.99991253 -0.01129902 -0.27382115] [ 0.01075228 0.01122472 0.99987919 -0.16233196] [ 0. 0. 0. 1. ]] SLAMing on 5.533201008 meters Centerline goodness : 0.921980 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.28, Z:-0.16 [[ 0.9998861 -0.01055748 -0.0107851 2.6041488 ] [ 0.01040923 0.99985182 -0.01371071 -0.27908151] [ 0.01092826 0.01359688 0.99984784 -0.16227461] [ 0. 0. 0. 1. ]] SLAMing on 5.593201008 meters Centerline goodness : 0.922498 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.29, Z:-0.16 [[ 0.99977142 -0.01844229 -0.01081652 2.60495884] [ 0.0182264 0.99963921 -0.0197295 -0.28622072] [ 0.01117647 0.01952785 0.99974684 -0.16259385] [ 0. 0. 0. 1. ]] SLAMing on 5.653201008 meters Centerline goodness : 0.924442 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.29, Z:-0.16 [[ 0.99969644 -0.0222264 -0.01063068 2.60455671] [ 0.02198217 0.99950369 -0.02256455 -0.28978953] [ 0.01112694 0.02232402 0.99968887 -0.16214772] [ 0. 0. 0. 1. ]] SLAMing on 5.713201008 meters Centerline goodness : 0.927328 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.30, Z:-0.16 [[ 0.99963619 -0.0250034 -0.01011517 2.60257559] [ 0.02475046 0.99939579 -0.0244023 -0.29522162] [ 0.0107192 0.02414307 0.99965104 -0.16042741] [ 0. 0. 0. 1. ]] SLAMing on 5.773201008 meters Centerline goodness : 0.926653 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.30, Z:-0.16 [[ 0.99974217 -0.01995309 -0.01083856 2.6068686 ] [ 0.01974424 0.99962364 -0.01904561 -0.29528348] [ 0.0112145 0.0188267 0.99975987 -0.16418404] [ 0. 0. 0. 1. ]] SLAMing on 5.833201008 meters Centerline goodness : 0.923933 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.30, Z:-0.17 [[ 0.99978639 -0.01698569 -0.01177531 2.60996594] [ 0.01680133 0.99973741 -0.01558269 -0.2973159 ] [ 0.01203691 0.01538152 0.99980924 -0.16577332] [ 0. 0. 0. 1. ]] SLAMing on 5.893201008 meters Centerline goodness : 0.925447 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.30, Z:-0.17 [[ 0.99980055 -0.01601302 -0.01193496 2.60996816] [ 0.01583906 0.99976897 -0.01453039 -0.30012772] [ 0.01216487 0.01433846 0.9998232 -0.16555471] [ 0. 0. 0. 1. ]] SLAMing on 5.953201008 meters Centerline goodness : 0.924277 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.30, Z:-0.17 [[ 0.99985783 -0.01162263 -0.01221577 2.61075238] [ 0.0114985 0.99988203 -0.01018356 -0.30038955] [ 0.01233269 0.01004165 0.99987353 -0.16609107] [ 0. 0. 0. 1. ]] SLAMing on 6.013201008 meters Centerline goodness : 0.926292 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.30, Z:-0.17 [[ 0.99995745 -0.00528305 -0.0075629 2.6258249 ] [ 0.00521009 0.99994002 -0.00963393 -0.3017003 ] [ 0.00761334 0.00959412 0.99992499 -0.1660646 ] [ 0. 0. 0. 1. ]] SLAMing on 6.073201008 meters Centerline goodness : 0.927813 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.31, Z:-0.16 [[ 0.99996201 -0.00453751 -0.00744307 2.62401147] [ 0.00448396 0.99996405 -0.00719673 -0.30871874] [ 0.00747546 0.00716308 0.9999464 -0.16296865] [ 0. 0. 0. 1. ]] SLAMing on 6.133201008 meters Centerline goodness : 0.928295 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.31, Z:-0.16 [[ 0.99995981 -0.0049214 -0.00749362 2.62416118] [ 0.0048746 0.99996858 -0.00625065 -0.31235027] [ 0.00752414 0.00621387 0.99995239 -0.16237037] [ 0. 0. 0. 1. ]] SLAMing on 6.193201008 meters Centerline goodness : 0.933342 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.32, Z:-0.16 [[ 0.99993574 -0.00878195 -0.00716939 2.62279955] [ 0.00872365 0.99992895 -0.00812415 -0.31937759] [ 0.00724023 0.00806109 0.9999413 -0.16014815] [ 0. 0. 0. 1. ]] SLAMing on 6.2532010080000004 meters Centerline goodness : 0.929581 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.32, Z:-0.16 [[ 0.99993333 -0.0089442 -0.00730341 2.62341993] [ 0.00888913 0.99993208 -0.00753784 -0.32165904] [ 0.00737033 0.00747242 0.99994492 -0.1603177 ] [ 0. 0. 0. 1. ]] SLAMing on 6.313201008 meters Centerline goodness : 0.927514 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.33, Z:-0.16 [[ 0.99993587 -0.0078852 -0.00812832 2.62775463] [ 0.00783841 0.99995262 -0.00577166 -0.32585375] [ 0.00817344 0.00570757 0.99995031 -0.1638878 ] [ 0. 0. 0. 1. ]] SLAMing on 6.373201008 meters Centerline goodness : 0.929385 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.33, Z:-0.17 [[ 0.99993219 -0.00778252 -0.0086625 2.62979288] [ 0.00773649 0.99995584 -0.00533461 -0.3286777 ] [ 0.00870363 0.00526723 0.99994825 -0.16534474] [ 0. 0. 0. 1. ]] SLAMing on 6.433201008 meters Centerline goodness : 0.928330 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.33, Z:-0.17 [[ 9.99947158e-01 -4.71414150e-03 -9.13551424e-03 2.63208050e+00] [ 4.69847219e-03 9.99987455e-01 -1.73591203e-03 -3.31658296e-01] [ 9.14358297e-03 1.69289734e-03 9.99956764e-01 -1.66869680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.493201008 meters Centerline goodness : 0.926438 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.33, Z:-0.17 [[ 9.99995550e-01 -1.43701453e-03 -2.61429039e-03 2.64261371e+00] [ 1.41658172e-03 9.99968569e-01 -7.80094576e-03 -3.31318551e-01] [ 2.62541829e-03 7.79720769e-03 9.99966155e-01 -1.69021265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.553201008 meters Centerline goodness : 0.930477 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.34, Z:-0.16 [[ 9.99997834e-01 -3.24390711e-04 -2.05576335e-03 2.63889637e+00] [ 3.14803798e-04 9.99989083e-01 -4.66204126e-03 -3.37273831e-01] [ 2.05725323e-03 4.66138400e-03 9.99987020e-01 -1.63363723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.613201008 meters Centerline goodness : 0.927109 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.34, Z:-0.16 [[ 9.99996170e-01 -1.16561663e-03 -2.51009214e-03 2.64096232e+00] [ 1.15296957e-03 9.99986664e-01 -5.03404972e-03 -3.38068420e-01] [ 2.51592644e-03 5.03113638e-03 9.99984179e-01 -1.64764431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.673201008 meters Centerline goodness : 0.931444 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.34, Z:-0.17 [[ 9.99994444e-01 6.58962911e-04 -3.26775221e-03 2.64534973e+00] [-6.68606666e-04 9.99995422e-01 -2.95097543e-03 -3.39832559e-01] [ 3.26579267e-03 2.95314388e-03 9.99990307e-01 -1.68498269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.733201008 meters Centerline goodness : 0.927443 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.34, Z:-0.17 [[ 9.99993261e-01 8.55550238e-04 -3.57002603e-03 2.64615105e+00] [-8.65832301e-04 9.99995479e-01 -2.87955759e-03 -3.40135189e-01] [ 3.56754628e-03 2.88262923e-03 9.99989481e-01 -1.68863798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.793201008 meters Centerline goodness : 0.927837 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.34, Z:-0.17 [[ 9.99981192e-01 4.47599994e-03 -4.19294150e-03 2.64847528e+00] [-4.47143074e-03 9.99989400e-01 1.09847698e-03 -3.42615655e-01] [ 4.19781383e-03 -1.07970787e-03 9.99990606e-01 -1.70116674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.853201008 meters Centerline goodness : 0.924889 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.34, Z:-0.18 [[ 9.99906648e-01 1.34645710e-02 -2.32403005e-03 2.66340379e+00] [-1.34709065e-02 9.99905530e-01 -2.73229085e-03 -3.42242455e-01] [ 2.28702137e-03 2.76334257e-03 9.99993567e-01 -1.76196224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.913201008 meters Centerline goodness : 0.928783 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.34, Z:-0.18 [[ 0.99978314 0.02051071 0.00360441 2.67402711] [-0.02048646 0.99976807 -0.00664216 -0.34478053] [-0.00373981 0.00656688 0.99997144 -0.17972849] [ 0. 0. 0. 1. ]] SLAMing on 6.973201008 meters Centerline goodness : 0.925633 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.35, Z:-0.18 [[ 0.99969544 0.02355014 0.00737683 2.69042215] [-0.02347881 0.99967814 -0.00961067 -0.34781059] [-0.00760078 0.00943454 0.99992661 -0.17980888] [ 0. 0. 0. 1. ]] SLAMing on 7.033201008 meters Centerline goodness : 0.931226 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.36, Z:-0.18 [[ 0.99976195 0.02056869 0.00727868 2.68922262] [-0.0204931 0.99973681 -0.01031195 -0.35675189] [-0.00748886 0.01016034 0.99992034 -0.17719875] [ 0. 0. 0. 1. ]] SLAMing on 7.093201008 meters Centerline goodness : 0.929290 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.36, Z:-0.18 [[ 0.99983252 0.01690604 0.00700871 2.68953386] [-0.01681729 0.99978001 -0.01253413 -0.36306837] [-0.00721907 0.01241417 0.99989688 -0.17674365] [ 0. 0. 0. 1. ]] SLAMing on 7.153201008 meters Centerline goodness : 0.927484 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.37, Z:-0.18 [[ 0.99994114 0.00879272 0.00635721 2.69316196] [-0.00867463 0.99979361 -0.01837064 -0.37251007] [-0.00651743 0.01831441 0.99981103 -0.17960555] [ 0. 0. 0. 1. ]] SLAMing on 7.2132010079999995 meters Centerline goodness : 0.923122 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.39, Z:-0.18 [[ 9.99996651e-01 -2.07826686e-03 1.54205044e-03 2.70602454e+00] [ 2.11099540e-03 9.99765866e-01 -2.15350059e-02 -3.85442995e-01] [-1.49693390e-03 2.15381891e-02 9.99766906e-01 -1.82203033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.273201008 meters Centerline goodness : 0.913918 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.39, Z:-0.19 [[ 9.99979077e-01 -6.45213509e-03 4.63985796e-04 2.71230129e+00] [ 6.46152559e-03 9.99682209e-01 -2.43665547e-02 -3.93493431e-01] [-3.06622042e-04 2.43690430e-02 9.99702984e-01 -1.87308367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.333201008 meters Centerline goodness : 0.910165 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.40, Z:-0.19 [[ 9.99974363e-01 -7.11597852e-03 -7.98107009e-04 2.71843940e+00] [ 7.09551732e-03 9.99704879e-01 -2.32337710e-02 -4.02532085e-01] [ 9.63202487e-04 2.32275123e-02 9.99729741e-01 -1.91857791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.393201008 meters Centerline goodness : 0.906631 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.41, Z:-0.19 [[ 9.99993773e-01 -3.08752313e-03 -1.70895119e-03 2.74329188e+00] [ 3.05665278e-03 9.99837233e-01 -1.77809870e-02 -4.09709407e-01] [ 1.76357224e-03 1.77756526e-02 9.99840445e-01 -1.88342784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.453201008 meters Centerline goodness : 0.904627 with order 1 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.42, Z:-0.19 [[ 9.99988824e-01 -2.44354589e-03 4.04727405e-03 2.75554114e+00] [ 2.53340244e-03 9.99747054e-01 -2.23474652e-02 -4.17833773e-01] [-3.99164325e-03 2.23574688e-02 9.99742072e-01 -1.86628880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.513201008 meters Centerline goodness : 0.905027 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.42, Z:-0.18 [[ 9.99990268e-01 -1.86016528e-03 4.00046339e-03 2.75427883e+00] [ 1.93543685e-03 9.99819602e-01 -1.88948864e-02 -4.24926308e-01] [-3.96459410e-03 1.89024451e-02 9.99813472e-01 -1.82224450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.573201008 meters Centerline goodness : 0.901707 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.43, Z:-0.18 [[ 9.99998868e-01 -9.00179837e-04 1.20588877e-03 2.78469228e+00] [ 9.18148560e-04 9.99887311e-01 -1.49840716e-02 -4.32150447e-01] [-1.19226452e-03 1.49851619e-02 9.99887005e-01 -1.79650950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.633201008 meters Centerline goodness : 0.898173 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.44, Z:-0.18 [[ 9.99997920e-01 1.99319565e-03 4.31826935e-04 2.78820697e+00] [-1.98835564e-03 9.99938258e-01 -1.09328190e-02 -4.36288845e-01] [-4.53591520e-04 1.09319377e-02 9.99940142e-01 -1.81674853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.693201008 meters Centerline goodness : 0.894941 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.44, Z:-0.18 [[ 9.99974998e-01 6.56104986e-03 -2.63760668e-03 2.81145439e+00] [-6.59088633e-03 9.99912530e-01 -1.14670517e-02 -4.44459008e-01] [ 2.56214007e-03 1.14841491e-02 9.99930772e-01 -1.83681764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.753201008 meters Centerline goodness : 0.891081 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.45, Z:-0.19 [[ 9.99968503e-01 7.91646785e-03 -5.67482401e-04 2.83565232e+00] [-7.92377617e-03 9.99866298e-01 -1.43038719e-02 -4.46238657e-01] [ 4.54170386e-04 1.43079179e-02 9.99897533e-01 -1.86561476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.813201008 meters Centerline goodness : 0.889844 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.45, Z:-0.19 [[ 9.99752608e-01 2.22420216e-02 1.25115388e-04 2.88978124e+00] [-2.22318759e-02 9.99437754e-01 -2.50981912e-02 -4.50383498e-01] [-6.83279553e-04 2.50892006e-02 9.99684983e-01 -1.91157834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.873201008 meters Centerline goodness : 0.885496 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.46, Z:-0.19 [[ 9.99522784e-01 3.08595764e-02 -1.37481837e-03 2.94132914e+00] [-3.08899033e-02 9.98713552e-01 -4.02126313e-02 -4.55143168e-01] [ 1.32104973e-04 4.02359092e-02 9.99190199e-01 -1.93499639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.933201008 meters Centerline goodness : 0.884758 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.47, Z:-0.19 [[ 0.99911155 0.04116469 -0.00903158 3.00089379] [-0.04154457 0.99803356 -0.04693685 -0.46651221] [ 0.00708168 0.04727036 0.99885703 -0.19414089] [ 0. 0. 0. 1. ]] SLAMing on 7.993201008 meters Centerline goodness : 0.885276 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.47, Z:-0.19 [[ 0.99902989 0.04282344 -0.0102681 3.00330318] [-0.0432418 0.99806244 -0.04473824 -0.47121007] [ 0.00833236 0.04513885 0.99894597 -0.19486259] [ 0. 0. 0. 1. ]] SLAMing on 8.053201007999998 meters Centerline goodness : 0.880503 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-0.20 [[ 0.99912063 0.03887827 -0.01569861 3.02538322] [-0.03972504 0.99753671 -0.05781382 -0.48034859] [ 0.01341223 0.05838661 0.99820394 -0.19636697] [ 0. 0. 0. 1. ]] SLAMing on 8.113201007999999 meters Centerline goodness : 0.880048 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.48, Z:-0.19 [[ 0.99925943 0.03493737 -0.01612369 3.02411762] [-0.03585776 0.99750278 -0.06084759 -0.48455855] [ 0.01395757 0.06138069 0.99801683 -0.19423446] [ 0. 0. 0. 1. ]] SLAMing on 8.173201008 meters Centerline goodness : 0.877864 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.49, Z:-0.20 [[ 0.99937256 0.03110365 -0.01694276 3.0262483 ] [-0.03207584 0.99765254 -0.06050253 -0.49187815] [ 0.01502113 0.06100802 0.99802424 -0.1971509 ] [ 0. 0. 0. 1. ]] SLAMing on 8.233201007999998 meters Centerline goodness : 0.877382 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.50, Z:-0.20 [[ 0.9994689 0.02756601 -0.01737937 3.02718646] [-0.02858253 0.99771358 -0.06124259 -0.4969295 ] [ 0.01565142 0.06170681 0.99797159 -0.19871721] [ 0. 0. 0. 1. ]] SLAMing on 8.293201007999999 meters Centerline goodness : 0.875545 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.51, Z:-0.20 [[ 0.99968975 0.0229744 -0.00962182 3.03585605] [-0.02352158 0.99784487 -0.06125642 -0.50684058] [ 0.00819375 0.06146373 0.99807568 -0.20316016] [ 0. 0. 0. 1. ]] SLAMing on 8.353201008 meters Centerline goodness : 0.873724 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.53, Z:-0.18 [[ 0.99989001 0.01305513 0.00703721 2.99805129] [-0.01298967 0.99987267 -0.00926917 -0.527343 ] [-0.00715733 0.00917674 0.99993228 -0.17672953] [ 0. 0. 0. 1. ]] SLAMing on 8.413201008 meters Centerline goodness : 0.876230 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.53, Z:-0.18 [[ 0.99992981 0.01000497 0.00634681 2.9997525 ] [-0.0099459 0.99990756 -0.00927091 -0.53009363] [-0.00643898 0.00920713 0.99993688 -0.17810083] [ 0. 0. 0. 1. ]] SLAMing on 8.473201007999998 meters Centerline goodness : 0.877942 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.53, Z:-0.18 [[ 0.99993256 0.01018219 0.00558549 3.00113007] [-0.01014727 0.99992902 -0.00624423 -0.53461143] [-0.00564867 0.00618714 0.99996491 -0.17866415] [ 0. 0. 0. 1. ]] SLAMing on 8.533201007999999 meters Centerline goodness : 0.879897 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.17 [[ 9.99941819e-01 1.04578100e-02 2.64423230e-03 2.99391886e+00] [-1.04966038e-02 9.99830747e-01 1.51095293e-02 -5.41179968e-01] [-2.48577217e-03 -1.51364057e-02 9.99882348e-01 -1.65731416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.593201008 meters Centerline goodness : 0.882175 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.54, Z:-0.17 [[ 9.99924239e-01 1.23006445e-02 4.59020035e-04 2.99805354e+00] [-1.23058731e-02 9.99825924e-01 1.40245329e-02 -5.40401611e-01] [-2.86429337e-04 -1.40291190e-02 9.99901546e-01 -1.65265538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.653201008 meters Centerline goodness : 0.882985 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.55, Z:-0.15 [[ 9.99891709e-01 1.45789900e-02 2.00564484e-03 2.98484280e+00] [-1.46461744e-02 9.99130923e-01 3.90241914e-02 -5.48391336e-01] [-1.43496848e-03 -3.90493405e-02 9.99236253e-01 -1.49034450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.713201007999999 meters Centerline goodness : 0.888872 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.56, Z:-0.13 [[ 0.99984134 0.01194447 0.01321435 2.97004293] [-0.01274208 0.99799357 0.06201987 -0.55672249] [-0.01244704 -0.06217841 0.99798743 -0.13348975] [ 0. 0. 0. 1. ]] SLAMing on 8.773201008 meters Centerline goodness : 0.889953 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.58, Z:-0.09 [[ 0.99942543 0.00544438 0.03345387 2.92830051] [-0.00954699 0.99227011 0.12372906 -0.57722273] [-0.03252165 -0.12397735 0.99175196 -0.09372449] [ 0. 0. 0. 1. ]] SLAMing on 8.833201008 meters Centerline goodness : 0.887643 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.59, Z:-0.07 [[ 9.99061706e-01 -8.26316977e-03 4.25138430e-02 2.90501470e+00] [ 1.56531965e-03 9.87878115e-01 1.55223644e-01 -5.89605461e-01] [-4.32811344e-02 -1.55011451e-01 9.86964130e-01 -7.00720770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.893201007999998 meters Centerline goodness : 0.886020 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.59, Z:-0.07 [[ 0.99908222 -0.01672933 0.03943167 2.88252697] [ 0.01075183 0.98904901 0.14719532 -0.58844861] [-0.04146233 -0.14663627 0.98832114 -0.07426435] [ 0. 0. 0. 1. ]] SLAMing on 8.953201007999999 meters Centerline goodness : 0.883506 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.58, Z:-0.08 [[ 0.99923043 -0.02851574 0.0269331 2.88372444] [ 0.02434923 0.98927276 0.14403655 -0.57975619] [-0.03075149 -0.1432699 0.98920578 -0.07502974] [ 0. 0. 0. 1. ]] SLAMing on 9.013201008 meters Centerline goodness : 0.886755 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.57, Z:-0.07 [[ 0.99948867 -0.02822292 0.01502874 2.88268361] [ 0.02590666 0.99026952 0.13673012 -0.56672074] [-0.01874143 -0.13627086 0.99049433 -0.07411969] [ 0. 0. 0. 1. ]] SLAMing on 9.073201008 meters Centerline goodness : 0.890938 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.55, Z:-0.09 [[ 0.99959523 -0.02150939 0.0186204 2.88903355] [ 0.01906101 0.99223219 0.12293069 -0.55486791] [-0.02111993 -0.12252601 0.99224056 -0.08598609] [ 0. 0. 0. 1. ]] SLAMing on 9.133201007999999 meters Centerline goodness : 0.890742 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.54, Z:-0.10 [[ 0.99972254 -0.01316546 0.0195322 2.90422226] [ 0.01085248 0.99340667 0.11412891 -0.53822077] [-0.02090598 -0.11388527 0.99327392 -0.09802057] [ 0. 0. 0. 1. ]] SLAMing on 9.193201007999999 meters Centerline goodness : 0.889739 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.53, Z:-0.11 [[ 0.99973758 -0.00865832 0.02120848 2.9176692 ] [ 0.00646158 0.99481049 0.10153986 -0.5277333 ] [-0.02197759 -0.10137618 0.99460538 -0.10870048] [ 0. 0. 0. 1. ]] SLAMing on 9.253201008 meters Centerline goodness : 0.894870 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.51, Z:-0.12 [[ 9.99839732e-01 2.03673820e-03 1.77865491e-02 2.92668194e+00] [-3.66551500e-03 9.95749749e-01 9.20271815e-02 -5.13894328e-01] [-1.75235165e-02 -9.20776294e-02 9.95597628e-01 -1.15771156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.313201007999998 meters Centerline goodness : 0.894873 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.50, Z:-0.12 [[ 0.99979254 0.0085759 0.01847504 2.93666571] [-0.01002078 0.9967773 0.07959024 -0.50422757] [-0.01773294 -0.07975887 0.99665644 -0.12394066] [ 0. 0. 0. 1. ]] SLAMing on 9.373201007999999 meters Centerline goodness : 0.892847 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.50, Z:-0.13 [[ 0.99976318 0.01610834 0.01463243 2.96049035] [-0.01698836 0.99792196 0.06215437 -0.49781228] [-0.01360082 -0.06238823 0.99795928 -0.12618579] [ 0. 0. 0. 1. ]] SLAMing on 9.433201008 meters Centerline goodness : 0.893733 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.49, Z:-0.13 [[ 0.99967491 0.01752662 0.0185173 2.97481452] [-0.018448 0.9985375 0.05081858 -0.49310675] [-0.01759954 -0.05114367 0.99853622 -0.13382032] [ 0. 0. 0. 1. ]] SLAMing on 9.493201008 meters Centerline goodness : 0.892440 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.49, Z:-0.14 [[ 0.99965734 0.01640316 0.02039929 2.99452108] [-0.01718077 0.99910908 0.03854698 -0.48763577] [-0.01974882 -0.03888425 0.99904855 -0.14413649] [ 0. 0. 0. 1. ]] SLAMing on 9.553201007999998 meters Centerline goodness : 0.892868 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.48, Z:-0.15 [[ 0.99960926 0.0131372 0.02467275 3.00856667] [-0.01369036 0.99965565 0.02238639 -0.48445309] [-0.02437016 -0.02271542 0.9994449 -0.1524277 ] [ 0. 0. 0. 1. ]] SLAMing on 9.613201007999999 meters Centerline goodness : 0.897648 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-0.16 [[ 0.99962027 0.00878485 0.02611788 3.02751145] [-0.00894629 0.99994155 0.00607092 -0.47935073] [-0.02606302 -0.00630228 0.99964044 -0.16036005] [ 0. 0. 0. 1. ]] SLAMing on 9.673201008 meters Centerline goodness : 0.897990 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-0.16 [[ 9.99670900e-01 3.37506219e-03 2.54303258e-02 3.03015679e+00] [-3.38487697e-03 9.99994212e-01 3.42911559e-04 -4.76907288e-01] [-2.54290213e-02 -4.28877231e-04 9.99676538e-01 -1.62296914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.733201007999998 meters Centerline goodness : 0.901160 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.47, Z:-0.17 [[ 0.99970412 -0.00416814 0.02396439 3.03633005] [ 0.00431442 0.99997236 -0.00605527 -0.47390996] [-0.02393849 0.00615687 0.99969447 -0.16526715] [ 0. 0. 0. 1. ]] SLAMing on 9.793201007999999 meters Centerline goodness : 0.901904 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.47, Z:-0.17 [[ 0.99969111 -0.00980463 0.02283743 3.04073545] [ 0.01007009 0.99988273 -0.01153794 -0.47372108] [-0.02272162 0.01176435 0.99967261 -0.16828843] [ 0. 0. 0. 1. ]] SLAMing on 9.853201008 meters Centerline goodness : 0.904088 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.48, Z:-0.17 [[ 0.99966777 -0.01653218 0.01977485 3.05301561] [ 0.01682717 0.9997482 -0.01484548 -0.47580855] [-0.01952444 0.0151733 0.99969424 -0.17264564] [ 0. 0. 0. 1. ]] SLAMing on 9.913201008 meters Centerline goodness : 0.900694 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.48, Z:-0.17 [[ 0.99970347 -0.01712089 0.01731635 3.06133794] [ 0.01730648 0.99979377 -0.0106255 -0.47651822] [-0.01713086 0.01092203 0.9997936 -0.17178322] [ 0. 0. 0. 1. ]] SLAMing on 9.973201007999998 meters Centerline goodness : 0.902685 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.48, Z:-0.17 [[ 0.99970366 -0.01770358 0.01670846 3.06183444] [ 0.01786411 0.99979521 -0.00950808 -0.47933228] [-0.01653671 0.00980375 0.99981519 -0.16899956] [ 0. 0. 0. 1. ]] SLAMing on 10.033201007999999 meters Centerline goodness : 0.901776 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.48, Z:-0.17 [[ 0.99968819 -0.01849622 0.01677516 3.06069258] [ 0.01865082 0.99978458 -0.00910714 -0.47909981] [-0.0166031 0.00941718 0.99981781 -0.16558552] [ 0. 0. 0. 1. ]] SLAMing on 10.093201008 meters Centerline goodness : 0.910317 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.47, Z:-0.16 [[ 0.99974087 -0.01582038 0.01636788 3.06125566] [ 0.01593045 0.99985121 -0.00661648 -0.47191803] [-0.01626077 0.00687551 0.99984415 -0.16478971] [ 0. 0. 0. 1. ]] SLAMing on 10.153201007999998 meters Centerline goodness : 0.913518 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.46, Z:-0.16 [[ 0.99979825 -0.01245441 0.01575914 3.06118816] [ 0.01252146 0.99991294 -0.0041633 -0.46317766] [-0.01570591 0.00435979 0.99986715 -0.1630608 ] [ 0. 0. 0. 1. ]] SLAMing on 10.213201007999999 meters Centerline goodness : 0.918131 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.46, Z:-0.16 [[ 9.99846307e-01 -9.19479493e-03 1.49270792e-02 3.06287424e+00] [ 9.21045967e-03 9.99957102e-01 -9.81009312e-04 -4.60543813e-01] [-1.49174187e-02 1.11834380e-03 9.99888104e-01 -1.62999727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.273201008 meters Centerline goodness : 0.925718 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.45, Z:-0.16 [[ 9.99900796e-01 -2.95533573e-03 1.37718619e-02 3.06456667e+00] [ 2.89195599e-03 9.99985147e-01 4.61976297e-03 -4.45981138e-01] [-1.37853103e-02 -4.57947706e-03 9.99894491e-01 -1.61275452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.333201008 meters Centerline goodness : 0.924176 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.44, Z:-0.16 [[ 9.99914941e-01 -4.23574549e-04 1.30357474e-02 3.06618716e+00] [ 3.39769020e-04 9.99979267e-01 6.43044429e-03 -4.39098589e-01] [-1.30382009e-02 -6.42546818e-03 9.99894354e-01 -1.61432652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.393201007999998 meters Centerline goodness : 0.923864 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.43, Z:-0.16 [[ 9.99929618e-01 -2.79923713e-03 1.15292665e-02 3.07077970e+00] [ 2.76327092e-03 9.99991270e-01 3.13430675e-03 -4.30077076e-01] [-1.15379395e-02 -3.10222766e-03 9.99928624e-01 -1.63685156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.453201007999999 meters Centerline goodness : 0.925461 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.43, Z:-0.17 [[ 9.99950027e-01 -4.31801285e-03 9.01652850e-03 3.08074069e+00] [ 4.29004214e-03 9.99985933e-01 3.11919900e-03 -4.25285032e-01] [-9.02987041e-03 -3.08036183e-03 9.99954485e-01 -1.68167032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.513201008 meters Centerline goodness : 0.919389 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.42, Z:-0.17 [[ 9.99950675e-01 -5.43106609e-03 8.31570445e-03 3.08291595e+00] [ 5.42204794e-03 9.99984688e-01 1.10663260e-03 -4.19509311e-01] [-8.32158732e-03 -1.06148987e-03 9.99964812e-01 -1.69574161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.573201007999998 meters Centerline goodness : 0.922622 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.41, Z:-0.17 [[ 9.99961275e-01 -2.92310648e-03 8.30086304e-03 3.08094490e+00] [ 2.89733074e-03 9.99990949e-01 3.11551820e-03 -4.14103279e-01] [-8.30989490e-03 -3.09134720e-03 9.99960694e-01 -1.66640900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.633201007999999 meters Centerline goodness : 0.921095 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.41, Z:-0.16 [[ 9.99964122e-01 5.10414411e-04 8.45536617e-03 3.07726722e+00] [-5.53269597e-04 9.99987010e-01 5.06683748e-03 -4.06960644e-01] [-8.45267016e-03 -5.07133379e-03 9.99951416e-01 -1.62185525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.693201007999999 meters Centerline goodness : 0.922975 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.40, Z:-0.16 [[ 0.99996158 0.00371219 0.00794079 3.07898784] [-0.0037689 0.99996742 0.00713866 -0.40132437] [-0.00791403 -0.00716832 0.99994299 -0.16357857] [ 0. 0. 0. 1. ]] SLAMing on 10.753201008 meters Centerline goodness : 0.923048 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.39, Z:-0.16 [[ 0.99994495 0.00708659 0.00773868 3.07858372] [-0.0071589 0.99993061 0.00935575 -0.39448275] [-0.00767184 -0.00941064 0.99992629 -0.16253011] [ 0. 0. 0. 1. ]] SLAMing on 10.813201007999998 meters Centerline goodness : 0.925544 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.39, Z:-0.16 [[ 0.99995093 0.0065958 0.00739075 3.07914341] [-0.00665539 0.99994531 0.00806795 -0.39103148] [-0.00733713 -0.00811675 0.99994014 -0.16252245] [ 0. 0. 0. 1. ]] SLAMing on 10.873201007999999 meters Centerline goodness : 0.920956 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.38, Z:-0.16 [[ 0.99993934 0.00868971 0.00676753 3.08119471] [-0.00874839 0.99992398 0.00868955 -0.38146206] [-0.00669151 -0.00874823 0.99993934 -0.16387239] [ 0. 0. 0. 1. ]] SLAMing on 10.933201008 meters Centerline goodness : 0.920518 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.37, Z:-0.16 [[ 9.99871541e-01 1.56324750e-02 3.53946677e-03 3.08750220e+00] [-1.56263593e-02 9.99876371e-01 -1.74897886e-03 -3.68547538e-01] [-3.56637006e-03 1.69344521e-03 9.99992207e-01 -1.62198519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.993201008 meters Centerline goodness : 0.918378 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.36, Z:-0.16 [[ 9.99788683e-01 2.02470230e-02 3.55639931e-03 3.08609723e+00] [-2.02524816e-02 9.99793764e-01 1.50561572e-03 -3.64371420e-01] [-3.52518161e-03 -1.57732347e-03 9.99992543e-01 -1.60238908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.053201007999998 meters Centerline goodness : 0.914935 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.35, Z:-0.16 [[ 0.99949419 0.03151361 0.00427224 3.09218306] [-0.03149254 0.99949192 -0.00491232 -0.35323012] [-0.00442487 0.00477529 0.99997881 -0.16148486] [ 0. 0. 0. 1. ]] SLAMing on 11.113201007999999 meters Centerline goodness : 0.915614 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.35, Z:-0.16 [[ 9.99341733e-01 3.60193734e-02 4.32492186e-03 3.09224753e+00] [-3.60123297e-02 9.99349907e-01 -1.69564086e-03 -3.48457287e-01] [-4.38318618e-03 1.53877416e-03 9.99989210e-01 -1.61662348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.173201008 meters Centerline goodness : 0.912669 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.35, Z:-0.16 [[ 9.99324777e-01 3.65132080e-02 4.09584164e-03 3.09273565e+00] [-3.65049469e-02 9.99331320e-01 -2.07393325e-03 -3.47086567e-01] [-4.16882879e-03 1.92301440e-03 9.99989461e-01 -1.62297174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.233201007999998 meters Centerline goodness : 0.912854 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.35, Z:-0.16 [[ 0.99946783 0.03242564 0.00355519 3.09383161] [-0.03240278 0.99945497 -0.00630996 -0.34762428] [-0.00375786 0.0061914 0.99997377 -0.16297231] [ 0. 0. 0. 1. ]] SLAMing on 11.293201007999999 meters Centerline goodness : 0.918808 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.35, Z:-0.16 [[ 9.99503453e-01 3.13706516e-02 2.95467527e-03 3.09582320e+00] [-3.13513603e-02 9.99488168e-01 -6.36353138e-03 -3.51702123e-01] [-3.15279110e-03 6.26773850e-03 9.99975387e-01 -1.63845841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.353201008 meters Centerline goodness : 0.921619 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.36, Z:-0.17 [[ 9.99531578e-01 3.05072805e-02 2.43518561e-03 3.09841323e+00] [-3.04921585e-02 9.99516862e-01 -6.02254956e-03 -3.56541763e-01] [-2.61774068e-03 5.94547440e-03 9.99978899e-01 -1.65829564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.413201008 meters Centerline goodness : 0.916457 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.36, Z:-0.17 [[ 9.99516609e-01 3.10198952e-02 2.07726971e-03 3.10048729e+00] [-3.10091464e-02 9.99506490e-01 -5.02088148e-03 -3.60322753e-01] [-2.23199177e-03 4.95404007e-03 9.99985238e-01 -1.67889993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.473201007999998 meters Centerline goodness : 0.917732 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.36, Z:-0.17 [[ 9.99514479e-01 3.11252275e-02 1.42349938e-03 3.10272302e+00] [-3.11185541e-02 9.99505607e-01 -4.49179860e-03 -3.64939360e-01] [-1.56260386e-03 4.44532050e-03 9.99988899e-01 -1.69439637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.533201007999999 meters Centerline goodness : 0.917621 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.37, Z:-0.17 [[ 9.99459924e-01 3.28271755e-02 1.49590351e-03 3.10168650e+00] [-3.28237044e-02 9.99458537e-01 -2.28869194e-03 -3.70967816e-01] [-1.57022483e-03 2.23835478e-03 9.99996262e-01 -1.68404339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.593201008 meters Centerline goodness : 0.920307 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.37, Z:-0.17 [[ 9.99400821e-01 3.45595629e-02 1.90691694e-03 3.09916037e+00] [-3.45582358e-02 9.99402423e-01 -7.24563512e-04 -3.72235142e-01] [-1.93081801e-03 6.58229683e-04 9.99997919e-01 -1.66168332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.653201007999998 meters Centerline goodness : 0.922119 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.38, Z:-0.16 [[ 9.99267468e-01 3.81535579e-02 2.97200508e-03 3.09375378e+00] [-3.81627405e-02 9.99266739e-01 3.09680881e-03 -3.79653262e-01] [-2.85167155e-03 -3.20796016e-03 9.99990788e-01 -1.61943072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.713201007999999 meters Centerline goodness : 0.924148 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.39, Z:-0.16 [[ 9.99336287e-01 3.62766652e-02 3.31505632e-03 3.09148849e+00] [-3.62825043e-02 9.99340096e-01 1.71851744e-03 -3.87410641e-01] [-3.25052662e-03 -1.83765538e-03 9.99993029e-01 -1.60480632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.773201008 meters Centerline goodness : 0.925777 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.40, Z:-0.16 [[ 9.99417044e-01 3.39689527e-02 3.41789857e-03 3.09185265e+00] [-3.39731834e-02 9.99422039e-01 1.18742793e-03 -3.98284182e-01] [-3.37558747e-03 -1.30285260e-03 9.99993454e-01 -1.61437261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.833201008 meters Centerline goodness : 0.924991 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.41, Z:-0.16 [[ 9.99518981e-01 3.08849137e-02 2.81567807e-03 3.09446235e+00] [-3.08844433e-02 9.99522940e-01 -2.10402497e-04 -4.08353966e-01] [-2.82083309e-03 1.23340640e-04 9.99996014e-01 -1.63602947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.893201007999998 meters Centerline goodness : 0.922317 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.43, Z:-0.16 [[ 9.99661339e-01 2.60188715e-02 -4.74581494e-04 3.11455919e+00] [-2.60212543e-02 9.99643350e-01 -6.00558522e-03 -4.28843456e-01] [ 3.18153685e-04 6.01590057e-03 9.99981854e-01 -1.64454160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.953201007999999 meters Centerline goodness : 0.913122 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.44, Z:-0.17 [[ 9.99720551e-01 2.36056639e-02 -1.26208124e-03 3.11962677e+00] [-2.36128892e-02 9.99702843e-01 -6.05456459e-03 -4.41691544e-01] [ 1.11878419e-03 6.08267403e-03 9.99980875e-01 -1.69476412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.013201008 meters Centerline goodness : 0.907138 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.45, Z:-0.17 [[ 0.99968272 0.02462899 -0.00527932 3.14325258] [-0.02467174 0.99966205 -0.00819071 -0.45334385] [ 0.00507581 0.00831836 0.99995252 -0.17161446] [ 0. 0. 0. 1. ]] SLAMing on 12.073201007999998 meters Centerline goodness : 0.896082 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.47, Z:-0.17 [[ 0.99968891 0.02390815 -0.00710559 3.16393345] [-0.02399321 0.99963843 -0.01213802 -0.46864017] [ 0.00681282 0.01230473 0.99990108 -0.17334001] [ 0. 0. 0. 1. ]] SLAMing on 12.133201007999999 meters Centerline goodness : 0.894859 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.48, Z:-0.17 [[ 9.99622994e-01 2.61173892e-02 -8.47065631e-03 3.16866294e+00] [-2.61407571e-02 9.99654734e-01 -2.65978865e-03 -4.78523577e-01] [ 8.39826494e-03 2.88021527e-03 9.99960586e-01 -1.67040780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.193201007999999 meters Centerline goodness : 0.884531 with order 1 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.49, Z:-0.17 [[ 9.99608261e-01 2.77994010e-02 -3.24308423e-03 3.18102685e+00] [-2.78189897e-02 9.99593996e-01 -6.16004925e-03 -4.90815603e-01] [ 3.07052185e-03 6.24785544e-03 9.99975768e-01 -1.65494042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.253201008 meters Centerline goodness : 0.881387 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.50, Z:-0.17 [[ 9.99622825e-01 2.73891319e-02 -2.01071616e-03 3.20765646e+00] [-2.74074979e-02 9.99576708e-01 -9.75879729e-03 -4.95472287e-01] [ 1.74258005e-03 9.81022521e-03 9.99950360e-01 -1.70318661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.313201007999998 meters Centerline goodness : 0.873373 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-0.18 [[ 0.99964835 0.02563495 -0.00678462 3.25597316] [-0.02577363 0.99944278 -0.02120946 -0.50581621] [ 0.00623713 0.02137686 0.99975203 -0.17720286] [ 0. 0. 0. 1. ]] SLAMing on 12.373201007999999 meters Centerline goodness : 0.870948 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-0.18 [[ 0.99964398 0.02567447 -0.00726252 3.2569271 ] [-0.02581414 0.99946985 -0.01984064 -0.51141831] [ 0.00674927 0.02002106 0.99977678 -0.17669771] [ 0. 0. 0. 1. ]] SLAMing on 12.433201008 meters Centerline goodness : 0.867795 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.52, Z:-0.18 [[ 0.9997458 0.02106851 -0.00802821 3.30629692] [-0.02130725 0.99929493 -0.03091342 -0.52142017] [ 0.00737125 0.03107662 0.99948982 -0.18010221] [ 0. 0. 0. 1. ]] SLAMing on 12.493201008 meters Centerline goodness : 0.864195 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.53, Z:-0.18 [[ 0.99982756 0.01580452 -0.00975027 3.31094075] [-0.01615392 0.99918977 -0.03686258 -0.52708201] [ 0.00915977 0.03701372 0.99927278 -0.18296076] [ 0. 0. 0. 1. ]] SLAMing on 12.553201007999998 meters Centerline goodness : 0.861175 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.56, Z:-0.14 [[ 9.99888547e-01 1.49149210e-02 6.62778455e-04 3.27526243e+00] [-1.49287809e-02 9.99321493e-01 3.36702449e-02 -5.63105467e-01] [-1.60139711e-04 -3.36763867e-02 9.99432777e-01 -1.37206676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.613201007999999 meters Centerline goodness : 0.861485 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.59, Z:-0.08 [[ 0.99984283 0.01029035 0.01443721 3.25822377] [-0.01201609 0.99207772 0.12504963 -0.59299045] [-0.01303603 -0.12520346 0.99204544 -0.08174467] [ 0. 0. 0. 1. ]] SLAMing on 12.673201008 meters Centerline goodness : 0.861088 with order 1 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.60, Z:-0.06 [[ 0.9994956 0.01017099 0.03008495 3.25482379] [-0.01491601 0.98668246 0.16197292 -0.6035982 ] [-0.02803686 -0.16233997 0.98633649 -0.05830908] [ 0. 0. 0. 1. ]] SLAMing on 12.733201007999998 meters Centerline goodness : 0.861383 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.61, Z:-0.03 [[ 0.99911842 0.00924248 0.04095076 3.25982825] [-0.01695601 0.98120169 0.19223875 -0.6138816 ] [-0.0384042 -0.19276364 0.98049339 -0.0283463 ] [ 0. 0. 0. 1. ]] SLAMing on 12.793201007999999 meters Centerline goodness : 0.859319 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.64, Z:0.04 [[ 0.99809193 -0.00654689 0.06139739 3.26147654] [-0.01089109 0.9601055 0.27942585 -0.63879197] [-0.06077735 -0.27956137 0.95820225 0.03716332] [ 0. 0. 0. 1. ]] SLAMing on 12.853201008 meters Centerline goodness : 0.859127 with order 1 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.64, Z:0.05 [[ 0.99669795 -0.01612717 0.07958085 3.25117743] [-0.00964937 0.94960802 0.31329139 -0.64188806] [-0.08062311 -0.3130248 0.94631675 0.05491562] [ 0. 0. 0. 1. ]] SLAMing on 12.913201008 meters Centerline goodness : 0.856141 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.64, Z:0.07 [[ 0.99671533 -0.01115115 0.08021348 3.21505334] [-0.01567246 0.94519101 0.32614157 -0.6408181 ] [-0.07945391 -0.32632744 0.94191161 0.07319228] [ 0. 0. 0. 1. ]] SLAMing on 12.973201007999998 meters Centerline goodness : 0.858250 with order 1 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.63, Z:0.07 [[ 9.97089162e-01 -2.48586304e-03 7.62038282e-02 3.18244270e+00] [-2.10417170e-02 9.51681395e-01 3.06365416e-01 -6.30148060e-01] [-7.32833480e-02 -3.07077095e-01 9.48858898e-01 6.85567620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.033201007999999 meters Centerline goodness : 0.854969 with order 1 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.62, Z:0.08 [[ 0.99681172 0.00525592 0.07961636 3.17563955] [-0.03028885 0.94806371 0.3166351 -0.62418902] [-0.07381718 -0.31803706 0.94520022 0.07526322] [ 0. 0. 0. 1. ]] SLAMing on 13.093201008 meters Centerline goodness : 0.852873 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.62, Z:0.10 [[ 0.99595401 0.00701649 0.08959005 3.12028072] [-0.03726767 0.93942468 0.34072334 -0.62153944] [-0.08177242 -0.34268359 0.93588527 0.09568346] [ 0. 0. 0. 1. ]] SLAMing on 13.153201007999998 meters Centerline goodness : 0.850844 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.62, Z:0.11 [[ 0.99559468 0.01211946 0.09297506 3.07710773] [-0.04440443 0.93430316 0.35370307 -0.62023674] [-0.0825802 -0.35627339 0.9307254 0.11407991] [ 0. 0. 0. 1. ]] SLAMing on 13.213201007999999 meters Centerline goodness : 0.849228 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.61, Z:0.12 [[ 0.99547266 0.01551933 0.09377278 3.01301026] [-0.04701111 0.93784812 0.34384715 -0.61058875] [-0.08260835 -0.3466988 0.93433174 0.12356133] [ 0. 0. 0. 1. ]] SLAMing on 13.273201008 meters Centerline goodness : 0.845016 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.61, Z:0.15 [[ 0.99494303 0.02146346 0.09812073 2.96944199] [-0.05584673 0.93018784 0.36281087 -0.611862 ] [-0.08348354 -0.36645587 0.92668258 0.15286839] [ 0. 0. 0. 1. ]] SLAMing on 13.333201008 meters Centerline goodness : 0.843268 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.61, Z:0.17 [[ 0.99398981 0.02551634 0.10645736 2.90168199] [-0.06430312 0.92310147 0.37914216 -0.61113546] [-0.08859662 -0.38370899 0.91919424 0.17498178] [ 0. 0. 0. 1. ]] SLAMing on 13.393201007999998 meters Centerline goodness : 0.839538 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.61, Z:0.19 [[ 0.99306508 0.03104524 0.11339286 2.8912618 ] [-0.07333409 0.91743892 0.39106002 -0.61308977] [-0.09189047 -0.39666361 0.91335323 0.18804719] [ 0. 0. 0. 1. ]] SLAMing on 13.453201007999999 meters Centerline goodness : 0.835778 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.61, Z:0.17 [[ 0.99327898 0.04171529 0.10796621 2.86907701] [-0.07836427 0.92885549 0.36205873 -0.61078529] [-0.08518162 -0.36808602 0.92588162 0.17449878] [ 0. 0. 0. 1. ]] SLAMing on 13.513201008 meters Centerline goodness : 0.835448 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.62, Z:0.18 [[ 0.99292582 0.0435518 0.11046068 2.90398057] [-0.08054059 0.9306014 0.35706337 -0.61638301] [-0.08724411 -0.36343401 0.92752584 0.18293446] [ 0. 0. 0. 1. ]] SLAMing on 13.573201007999998 meters Centerline goodness : 0.834910 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.62, Z:0.19 [[ 0.99300291 0.04498252 0.10918696 2.93085872] [-0.08055744 0.93410027 0.34780338 -0.62460522] [-0.0863465 -0.35416559 0.93118796 0.18876136] [ 0. 0. 0. 1. ]] SLAMing on 13.633201007999999 meters Centerline goodness : 0.834174 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.63, Z:0.18 [[ 0.99353964 0.04198006 0.10543559 2.93567162] [-0.07544323 0.93837087 0.33729575 -0.62724202] [-0.08477799 -0.3430711 0.93547577 0.17542817] [ 0. 0. 0. 1. ]] SLAMing on 13.693201007999999 meters Centerline goodness : 0.833356 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.63, Z:0.17 [[ 0.99375135 0.04514716 0.10207837 2.92877219] [-0.07500274 0.94739613 0.31115136 -0.63498854] [-0.08266105 -0.31686324 0.94486234 0.16641454] [ 0. 0. 0. 1. ]] SLAMing on 13.753201008 meters Centerline goodness : 0.836698 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.64, Z:0.16 [[ 0.99362088 0.04753932 0.1022622 2.92165642] [-0.07493085 0.95599991 0.28363628 -0.63729311] [-0.08427877 -0.28948953 0.95346363 0.15586553] [ 0. 0. 0. 1. ]] SLAMing on 13.813201007999998 meters Centerline goodness : 0.834860 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.64, Z:0.14 [[ 0.99324356 0.04964289 0.10489426 2.93148241] [-0.0762501 0.96056086 0.26741123 -0.64346549] [-0.08748226 -0.27360268 0.95785616 0.14353534] [ 0. 0. 0. 1. ]] SLAMing on 13.873201007999999 meters Centerline goodness : 0.831213 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.65, Z:0.14 [[ 0.99315181 0.04558383 0.10757139 2.95943921] [-0.07276244 0.961705 0.26425199 -0.65198916] [-0.09140633 -0.2702695 0.95843585 0.1403834 ] [ 0. 0. 0. 1. ]] SLAMing on 13.933201008 meters Centerline goodness : 0.834633 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.67, Z:0.15 [[ 0.99296873 0.03999381 0.11141636 3.00615032] [-0.06862498 0.96138765 0.26650403 -0.66500053] [-0.0964558 -0.27227612 0.95737244 0.15154562] [ 0. 0. 0. 1. ]] SLAMing on 13.993201007999998 meters Centerline goodness : 0.837073 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.68, Z:0.17 [[ 0.99267547 0.03253801 0.11634724 3.05740323] [-0.06384394 0.95887497 0.27655514 -0.68117007] [-0.1025639 -0.28195757 0.95392902 0.17414212] [ 0. 0. 0. 1. ]] SLAMing on 14.053201007999998 meters Centerline goodness : 0.836016 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.68, Z:0.17 [[ 0.99247771 0.03412133 0.11757434 3.08032067] [-0.06510921 0.96040742 0.27088445 -0.68268909] [-0.10367634 -0.27650195 0.95540457 0.16643254] [ 0. 0. 0. 1. ]] SLAMing on 14.113201007999999 meters Centerline goodness : 0.836119 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.68, Z:0.15 [[ 0.99266204 0.04176309 0.11348093 3.05672349] [-0.06944161 0.96517202 0.25223171 -0.6784811 ] [-0.09899464 -0.25826114 0.96098972 0.14929552] [ 0. 0. 0. 1. ]] SLAMing on 14.173201008 meters Centerline goodness : 0.837248 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.67, Z:0.13 [[ 0.99241161 0.05901753 0.10787089 3.03010361] [-0.08242772 0.97028845 0.22747747 -0.67415817] [-0.09124072 -0.23464283 0.9677902 0.13489195] [ 0. 0. 0. 1. ]] SLAMing on 14.233201007999998 meters Centerline goodness : 0.840510 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.67, Z:0.12 [[ 0.99169797 0.07588281 0.10381199 2.99891158] [-0.0954425 0.97538711 0.19877301 -0.66773481] [-0.08617343 -0.20703087 0.97453187 0.12209119] [ 0. 0. 0. 1. ]] SLAMing on 14.293201007999999 meters Centerline goodness : 0.841306 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.66, Z:0.11 [[ 0.99119548 0.08407836 0.10228567 2.98265608] [-0.10083619 0.97999264 0.17159981 -0.66316026] [-0.08581138 -0.18040305 0.97984241 0.11081572] [ 0. 0. 0. 1. ]] SLAMing on 14.353201008 meters Centerline goodness : 0.845268 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.66, Z:0.10 [[ 0.99049363 0.08870822 0.10513432 2.97476185] [-0.10369944 0.98368906 0.14697707 -0.66078638] [-0.09038141 -0.15648222 0.98353674 0.09924146] [ 0. 0. 0. 1. ]] SLAMing on 14.413201007999998 meters Centerline goodness : 0.841242 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.66, Z:0.08 [[ 0.99013965 0.08756503 0.10934277 2.98344442] [-0.10120624 0.98683185 0.12617524 -0.66091683] [-0.09685439 -0.13599728 0.98596347 0.08194026] [ 0. 0. 0. 1. ]] SLAMing on 14.473201007999998 meters Centerline goodness : 0.838856 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.66, Z:0.07 [[ 0.99058059 0.08581009 0.10670856 2.99981255] [-0.09736869 0.98933863 0.10829781 -0.66310982] [-0.09627786 -0.11766779 0.98837486 0.06892934] [ 0. 0. 0. 1. ]] SLAMing on 14.533201007999999 meters Centerline goodness : 0.843413 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.67, Z:0.06 [[ 0.99222657 0.07684845 0.09788126 3.03058499] [-0.08623809 0.99167566 0.09561576 -0.67386942] [-0.08971854 -0.1033136 0.99059421 0.06464587] [ 0. 0. 0. 1. ]] SLAMing on 14.593201008 meters Centerline goodness : 0.846918 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.68, Z:0.07 [[ 0.99295629 0.07130803 0.09462015 3.0676924 ] [-0.0804954 0.99201166 0.09712545 -0.68225349] [-0.08693847 -0.10405782 0.99076419 0.06801512] [ 0. 0. 0. 1. ]] SLAMing on 14.653201007999998 meters Centerline goodness : 0.846940 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.69, Z:0.08 [[ 0.99356266 0.05634058 0.0982801 3.10619189] [-0.06747148 0.99120054 0.11388192 -0.69105161] [-0.09099911 -0.11977993 0.98862123 0.07792866] [ 0. 0. 0. 1. ]] SLAMing on 14.713201007999999 meters Centerline goodness : 0.845196 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.69, Z:0.09 [[ 0.99302337 0.0442585 0.10929667 3.11747181] [-0.05897439 0.98904624 0.13531281 -0.69466674] [-0.10211072 -0.14081449 0.98475615 0.09006816] [ 0. 0. 0. 1. ]] SLAMing on 14.773201008 meters Centerline goodness : 0.848255 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.69, Z:0.09 [[ 0.99285419 0.04009314 0.11239701 3.10753652] [-0.05406881 0.99078399 0.124192 -0.69062765] [-0.10638191 -0.12938173 0.98587183 0.08671552] [ 0. 0. 0. 1. ]] SLAMing on 14.833201008 meters Centerline goodness : 0.844074 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.68, Z:0.08 [[ 0.99250889 0.04075105 0.11517578 3.08462665] [-0.05533898 0.99042881 0.12644514 -0.68069262] [-0.10892064 -0.13187164 0.98526452 0.08195105] [ 0. 0. 0. 1. ]] SLAMing on 14.893201007999998 meters Centerline goodness : 0.846948 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.67, Z:0.07 [[ 0.99188452 0.05001771 0.11689022 3.08947216] [-0.06318295 0.99172179 0.11178468 -0.67351074] [-0.11033137 -0.11826296 0.98683376 0.06785817] [ 0. 0. 0. 1. ]] SLAMing on 14.953201007999999 meters Centerline goodness : 0.847142 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.67, Z:0.05 [[ 0.99119743 0.06269253 0.1166075 3.08422509] [-0.07389984 0.99278667 0.09441099 -0.66635636] [-0.10984751 -0.1021972 0.98868056 0.05489426] [ 0. 0. 0. 1. ]] SLAMing on 15.013201008 meters Centerline goodness : 0.848834 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.66, Z:0.04 [[ 0.99058154 0.06838897 0.11862193 3.08937142] [-0.07782544 0.99400223 0.07682942 -0.66161778] [-0.11265618 -0.08533761 0.98996266 0.04105814] [ 0. 0. 0. 1. ]] SLAMing on 15.073201007999998 meters Centerline goodness : 0.857172 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.66, Z:0.03 [[ 0.99009323 0.0707263 0.12129789 3.09938548] [-0.07839401 0.99513648 0.05964699 -0.65760847] [-0.11648935 -0.06856511 0.99082241 0.02776464] [ 0. 0. 0. 1. ]] SLAMing on 15.133201007999999 meters Centerline goodness : 0.855850 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.66, Z:0.02 [[ 0.98971251 0.07053986 0.12447202 3.11951707] [-0.07728963 0.99574142 0.05025267 -0.6575307 ] [-0.12039713 -0.05935609 0.99094974 0.02060717] [ 0. 0. 0. 1. ]] SLAMing on 15.193201007999999 meters Centerline goodness : 0.856317 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.66, Z:0.02 [[ 0.98929772 0.06862862 0.12876389 3.13833676] [-0.07463544 0.99630849 0.04241402 -0.66032249] [-0.12537774 -0.05157044 0.99076784 0.01907446] [ 0. 0. 0. 1. ]] SLAMing on 15.253201008 meters Centerline goodness : 0.853616 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.66, Z:0.02 [[ 0.9894954 0.06724569 0.12797215 3.14184667] [-0.07312864 0.99644466 0.04183599 -0.66027895] [-0.12470387 -0.05075495 0.99089499 0.01737527] [ 0. 0. 0. 1. ]] SLAMing on 15.313201007999998 meters Centerline goodness : 0.861425 with order 1 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.67, Z:0.02 [[ 0.99016829 0.06512687 0.12379516 3.18279746] [-0.07179051 0.9961583 0.05014745 -0.66680232] [-0.12005363 -0.05854174 0.99103985 0.0232587 ] [ 0. 0. 0. 1. ]] SLAMing on 15.373201007999999 meters Centerline goodness : 0.861454 with order 1 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.67, Z:0.02 [[ 0.99042471 0.06320203 0.12273707 3.18807157] [-0.06985134 0.99627093 0.05064603 -0.66756385] [-0.11907845 -0.05873443 0.9911461 0.02331403] [ 0. 0. 0. 1. ]] SLAMing on 15.433201008 meters Centerline goodness : 0.860274 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.67, Z:0.04 [[ 0.99056663 0.0551997 0.1254223 3.22268843] [-0.06505128 0.99499445 0.07585758 -0.67448319] [-0.12060717 -0.08330087 0.98919911 0.039552 ] [ 0. 0. 0. 1. ]] SLAMing on 15.493201007999998 meters Centerline goodness : 0.860691 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.67, Z:0.04 [[ 0.99082797 0.05077085 0.12522878 3.22457732] [-0.05993742 0.99570591 0.07054953 -0.67078758] [-0.12110918 -0.07740834 0.98961635 0.03785761] [ 0. 0. 0. 1. ]] SLAMing on 15.553201007999998 meters Centerline goodness : 0.861055 with order 1 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.67, Z:0.04 [[ 0.99144041 0.0409228 0.12398077 3.23753534] [-0.04987684 0.99629936 0.06999924 -0.66697982] [-0.1206574 -0.07558385 0.98981255 0.04396414] [ 0. 0. 0. 1. ]] SLAMing on 15.613201007999999 meters Centerline goodness : 0.859107 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.66, Z:0.05 [[ 0.99180878 0.0377093 0.12203829 3.21738192] [-0.04718455 0.99601313 0.07570648 -0.66198544] [-0.1186969 -0.08084467 0.98963386 0.05181182] [ 0. 0. 0. 1. ]] SLAMing on 15.673201008 meters Centerline goodness : 0.856821 with order 1 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.66, Z:0.07 [[ 0.99215648 0.03776525 0.11916086 3.20301361] [-0.0487645 0.99467603 0.09078336 -0.65874511] [-0.11509799 -0.09588212 0.98871587 0.06534877] [ 0. 0. 0. 1. ]] SLAMing on 15.733201007999998 meters Centerline goodness : 0.856270 with order 1 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.65, Z:0.06 [[ 0.99207184 0.04105988 0.1187752 3.20334477] [-0.05207954 0.99446863 0.09121333 -0.64639061] [-0.11437301 -0.09667593 0.9887227 0.0639943 ] [ 0. 0. 0. 1. ]] SLAMing on 15.793201007999999 meters Centerline goodness : 0.857812 with order 1 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.64, Z:0.08 [[ 0.99235707 0.04432402 0.11516438 3.19495042] [-0.05738909 0.99196693 0.11273024 -0.63938501] [-0.1092426 -0.11847783 0.98692911 0.07623617] [ 0. 0. 0. 1. ]] SLAMing on 15.853201008 meters Centerline goodness : 0.857659 with order 1 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.63, Z:0.08 [[ 0.99233991 0.04226202 0.11608367 3.17590849] [-0.05611205 0.99133593 0.1187624 -0.62866127] [-0.11005877 -0.12436636 0.98611362 0.08005047] [ 0. 0. 0. 1. ]] SLAMing on 15.913201007999998 meters Centerline goodness : 0.857752 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.63, Z:0.09 [[ 0.99199292 0.0433876 0.11860676 3.17035537] [-0.05813 0.99060182 0.12381011 -0.62531454] [-0.11212024 -0.12971337 0.98519211 0.09274429] [ 0. 0. 0. 1. ]] SLAMing on 15.973201007999998 meters Centerline goodness : 0.858137 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.62, Z:0.10 [[ 0.99148551 0.04535379 0.12206357 3.16489562] [-0.0609028 0.99005273 0.12683233 -0.61742046] [-0.11509704 -0.13318643 0.98438511 0.09722371] [ 0. 0. 0. 1. ]] SLAMing on 16.033201008 meters Centerline goodness : 0.856389 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.61, Z:0.10 [[ 0.9909705 0.04877073 0.12489553 3.16195467] [-0.065063 0.98939199 0.12988568 -0.60839023] [-0.11723602 -0.13683895 0.98363144 0.0966943 ] [ 0. 0. 0. 1. ]] SLAMing on 16.093201007999998 meters Centerline goodness : 0.860431 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.60, Z:0.10 [[ 0.99038622 0.0531533 0.12771009 3.15693862] [-0.07046097 0.98832653 0.13507747 -0.60066888] [-0.11903945 -0.14277744 0.98257021 0.1020685 ] [ 0. 0. 0. 1. ]] SLAMing on 16.153201008 meters Centerline goodness : 0.860401 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.59, Z:0.10 [[ 0.99035933 0.0536126 0.12772661 3.15681936] [-0.07075273 0.98849533 0.13368259 -0.59288089] [-0.11909009 -0.14143081 0.98275881 0.1023321 ] [ 0. 0. 0. 1. ]] SLAMing on 16.213201008 meters Centerline goodness : 0.859265 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.59, Z:0.10 [[ 0.9894633 0.05648034 0.13331299 3.17166274] [-0.07367355 0.98906247 0.12777967 -0.58682112] [-0.12463783 -0.13625493 0.98280212 0.098462 ] [ 0. 0. 0. 1. ]] SLAMing on 16.273201007999997 meters Centerline goodness : 0.861170 with order 1 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.58, Z:0.10 [[ 0.98843789 0.05899589 0.1396783 3.19013142] [-0.0770952 0.98878153 0.12793524 -0.58457887] [-0.13056367 -0.13722456 0.98189742 0.09938536] [ 0. 0. 0. 1. ]] SLAMing on 16.333201008 meters Centerline goodness : 0.859505 with order 1 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.58, Z:0.10 [[ 0.98822864 0.06128354 0.14017307 3.19210955] [-0.07990664 0.98811098 0.13134545 -0.58082321] [-0.13045723 -0.1410001 0.98137652 0.09814876] [ 0. 0. 0. 1. ]] SLAMing on 16.393201008 meters Centerline goodness : 0.859062 with order 1 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.58, Z:0.11 [[ 0.98814516 0.06069596 0.14101467 3.20001044] [-0.0809048 0.98650937 0.14231541 -0.57947921] [-0.13047433 -0.15203705 0.97972506 0.10786541] [ 0. 0. 0. 1. ]] SLAMing on 16.453201007999997 meters Centerline goodness : 0.861392 with order 1 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.58, Z:0.10 [[ 0.98764838 0.06688395 0.14169406 3.20350614] [-0.08504356 0.9883466 0.12624816 -0.57525785] [-0.13159886 -0.13673896 0.98182697 0.10271292] [ 0. 0. 0. 1. ]] SLAMing on 16.513201008 meters Centerline goodness : 0.861843 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.58, Z:0.11 [[ 0.98644733 0.07273757 0.14707453 3.21810734] [-0.09192532 0.98748101 0.12818343 -0.57715231] [-0.13590956 -0.13996608 0.98078443 0.10661252] [ 0. 0. 0. 1. ]] SLAMing on 16.573201007999998 meters Centerline goodness : 0.862104 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.57, Z:0.10 [[ 0.98636809 0.07509404 0.14642023 3.21674148] [-0.09350295 0.98796807 0.12319207 -0.57017905] [-0.13540752 -0.13520345 0.98152169 0.0971685 ] [ 0. 0. 0. 1. ]] SLAMing on 16.633201008 meters Centerline goodness : 0.862348 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.57, Z:0.09 [[ 0.98578681 0.07594638 0.14985497 3.23378913] [-0.09337589 0.98920641 0.11292304 -0.56915466] [-0.1396614 -0.12531088 0.9822382 0.08850729] [ 0. 0. 0. 1. ]] SLAMing on 16.693201008 meters Centerline goodness : 0.863042 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.58, Z:0.10 [[ 0.98593455 0.07276971 0.15045807 3.27147489] [-0.09232648 0.98754849 0.12737271 -0.58017764] [-0.13931577 -0.13947242 0.98037674 0.10121951] [ 0. 0. 0. 1. ]] SLAMing on 16.753201007999998 meters Centerline goodness : 0.863222 with order 1 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.59, Z:0.12 [[ 0.9852889 0.06430467 0.1583373 3.28850704] [-0.08856255 0.98451825 0.15126297 -0.59024092] [-0.14615904 -0.16306048 0.97572989 0.12411261] [ 0. 0. 0. 1. ]] SLAMing on 16.813201008 meters Centerline goodness : 0.863686 with order 1 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.60, Z:0.14 [[ 0.98510796 0.05920532 0.16142193 3.29316825] [-0.0853589 0.98338025 0.16024087 -0.59512724] [-0.14925202 -0.17163335 0.97378942 0.13834169] [ 0. 0. 0. 1. ]] SLAMing on 16.873201008 meters Centerline goodness : 0.864873 with order 1 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.60, Z:0.17 [[ 0.98293012 0.03795997 0.18002059 3.28730855] [-0.07389176 0.97754926 0.19732573 -0.6025156 ] [-0.16848852 -0.20725945 0.96366755 0.16623863] [ 0. 0. 0. 1. ]] SLAMing on 16.933201007999998 meters Centerline goodness : 0.866371 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.60, Z:0.17 [[ 0.98228604 0.02548205 0.185647 3.26495806] [-0.06200206 0.97910567 0.19366938 -0.59714345] [-0.17683294 -0.20174922 0.96334177 0.16960268] [ 0. 0. 0. 1. ]] SLAMing on 16.993201008 meters Centerline goodness : 0.865837 with order 1 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.59, Z:0.16 [[ 0.98272706 0.02737644 0.18302477 3.2407618 ] [-0.05868878 0.98405046 0.16792952 -0.5899476 ] [-0.17550829 -0.17577038 0.9686597 0.15887312] [ 0. 0. 0. 1. ]] SLAMing on 17.053201008 meters Centerline goodness : 0.866167 with order 1 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.58, Z:0.15 [[ 0.98409123 0.03629591 0.17391683 3.19168431] [-0.06121764 0.98823568 0.14015218 -0.5761978 ] [-0.16678387 -0.14856931 0.97473602 0.15410828] [ 0. 0. 0. 1. ]] SLAMing on 17.113201007999997 meters Centerline goodness : 0.866905 with order 1 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.56, Z:0.15 [[ 0.9849279 0.05090026 0.16530638 3.14597361] [-0.07156977 0.9899965 0.12159231 -0.55696578] [-0.15746365 -0.1315906 0.9787181 0.15213605] [ 0. 0. 0. 1. ]] SLAMing on 17.173201008 meters Centerline goodness : 0.874794 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.54, Z:0.15 [[ 0.98463809 0.06186692 0.1632799 3.1109429 ] [-0.07942969 0.9914715 0.10332083 -0.54341908] [-0.15549522 -0.11470289 0.98115467 0.14962455] [ 0. 0. 0. 1. ]] SLAMing on 17.233201007999998 meters Centerline goodness : 0.878533 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.53, Z:0.15 [[ 0.98417899 0.07348261 0.16122042 3.08735904] [-0.08931687 0.99162688 0.09326644 -0.52852206] [-0.15301704 -0.10619057 0.98250158 0.14707582] [ 0. 0. 0. 1. ]] SLAMing on 17.293201008 meters Centerline goodness : 0.881172 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.52, Z:0.17 [[ 0.98188413 0.06979649 0.17615901 3.05955135] [-0.09312319 0.98741481 0.12782825 -0.5245098 ] [-0.16502006 -0.14191702 0.97602661 0.17183023] [ 0. 0. 0. 1. ]] SLAMing on 17.353201008 meters Centerline goodness : 0.884421 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.52, Z:0.17 [[ 0.98007603 0.08418557 0.17989933 3.05638541] [-0.10715995 0.98672182 0.12205243 -0.51526115] [-0.16723554 -0.13889867 0.97608372 0.1731322 ] [ 0. 0. 0. 1. ]] SLAMing on 17.413201007999998 meters Centerline goodness : 0.888190 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.52, Z:0.19 [[ 0.97882069 0.08920221 0.18426347 3.05064739] [-0.11516519 0.98407901 0.13537166 -0.51624564] [-0.16925436 -0.15372532 0.97350988 0.18844505] [ 0. 0. 0. 1. ]] SLAMing on 17.473201008 meters Centerline goodness : 0.886236 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.52, Z:0.21 [[ 0.97742842 0.08973317 0.19126328 3.05188925] [-0.12052552 0.98038009 0.15597587 -0.52400376] [-0.1735145 -0.17550736 0.9690665 0.20813084] [ 0. 0. 0. 1. ]] SLAMing on 17.533201008 meters Centerline goodness : 0.888734 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.53, Z:0.21 [[ 0.97716938 0.08692886 0.1938643 3.04909166] [-0.11823913 0.98061073 0.15627575 -0.52668314] [-0.17652054 -0.17563022 0.96850117 0.21366776] [ 0. 0. 0. 1. ]] SLAMing on 17.593201007999998 meters Centerline goodness : 0.883673 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.54, Z:0.23 [[ 0.97464082 0.07564924 0.21060026 3.04067966] [-0.1139947 0.97770263 0.17635979 -0.53586109] [-0.19256295 -0.19589476 0.9615325 0.2280534 ] [ 0. 0. 0. 1. ]] SLAMing on 17.653201008 meters Centerline goodness : 0.883850 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.54, Z:0.24 [[ 0.97327288 0.07501509 0.21705444 3.0320524 ] [-0.1156801 0.97662186 0.1811846 -0.54035567] [-0.19838853 -0.20145094 0.95919733 0.23742864] [ 0. 0. 0. 1. ]] SLAMing on 17.713201008 meters Centerline goodness : 0.881786 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.55, Z:0.24 [[ 0.97136439 0.07610747 0.22507526 3.0385261 ] [-0.11681164 0.97788849 0.17346221 -0.54840086] [-0.20689674 -0.19478643 0.9587763 0.24068118] [ 0. 0. 0. 1. ]] SLAMing on 17.773201007999997 meters Centerline goodness : 0.878035 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.55, Z:0.24 [[ 0.97094001 0.07825267 0.22616813 3.03954142] [-0.12034557 0.97650109 0.17878078 -0.55098714] [-0.20686335 -0.20080374 0.95754134 0.24079308] [ 0. 0. 0. 1. ]] SLAMing on 17.833201008 meters Centerline goodness : 0.877057 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.55, Z:0.23 [[ 0.96928881 0.08499397 0.23077092 3.04812331] [-0.12649316 0.9770383 0.17145158 -0.55351591] [-0.21089968 -0.19537705 0.95778345 0.23337041] [ 0. 0. 0. 1. ]] SLAMing on 17.893201008 meters Centerline goodness : 0.881414 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.55, Z:0.22 [[ 0.96870808 0.08905983 0.23167436 3.05117391] [-0.12600361 0.9806411 0.14988704 -0.55407879] [-0.21384048 -0.17438859 0.96117681 0.22269646] [ 0. 0. 0. 1. ]] SLAMing on 17.953201007999997 meters Centerline goodness : 0.879429 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.57, Z:0.23 [[ 0.96916893 0.08661469 0.2306718 3.08906304] [-0.12634216 0.97843026 0.16343768 -0.56546014] [-0.21154017 -0.18754229 0.9592073 0.22708778] [ 0. 0. 0. 1. ]] SLAMing on 18.013201008 meters Centerline goodness : 0.871611 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.58, Z:0.24 [[ 0.96780942 0.07424444 0.24048428 3.11357731] [-0.12163463 0.97448093 0.18865825 -0.57824806] [-0.22034052 -0.21183645 0.95214252 0.24238027] [ 0. 0. 0. 1. ]] SLAMing on 18.073201007999998 meters Centerline goodness : 0.872606 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.59, Z:0.27 [[ 0.96584954 0.06286716 0.25136105 3.1350738 ] [-0.12078235 0.96750867 0.22212293 -0.59459124] [-0.22922976 -0.24489731 0.94206105 0.27334683] [ 0. 0. 0. 1. ]] SLAMing on 18.133201008 meters Centerline goodness : 0.870048 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.60, Z:0.28 [[ 0.96480558 0.06075296 0.25585008 3.12783076] [-0.11931023 0.96817185 0.22001897 -0.59581862] [-0.23434004 -0.24280106 0.94134605 0.27867642] [ 0. 0. 0. 1. ]] SLAMing on 18.193201008 meters Centerline goodness : 0.870770 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.59, Z:0.29 [[ 0.96407453 0.0713978 0.25585671 3.08814689] [-0.12616833 0.97069529 0.20452921 -0.59117612] [-0.23375597 -0.22946242 0.94483075 0.28719845] [ 0. 0. 0. 1. ]] SLAMing on 18.253201007999998 meters Centerline goodness : 0.867434 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.59, Z:0.28 [[ 0.96244197 0.08671245 0.25726719 3.07124139] [-0.1363462 0.97382898 0.18184287 -0.58753886] [-0.2347662 -0.21009062 0.9490768 0.27964644] [ 0. 0. 0. 1. ]] SLAMing on 18.313201008 meters Centerline goodness : 0.864148 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.58, Z:0.27 [[ 0.96156895 0.1044164 0.25393379 3.05094925] [-0.14796339 0.97614327 0.15890612 -0.58086245] [-0.23128336 -0.1903721 0.95407886 0.26863987] [ 0. 0. 0. 1. ]] SLAMing on 18.373201008 meters Centerline goodness : 0.864360 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.58, Z:0.25 [[ 0.95951576 0.11997622 0.25482389 3.03791357] [-0.15907397 0.97746558 0.13876782 -0.57828498] [-0.23243274 -0.17368576 0.95697872 0.25447949] [ 0. 0. 0. 1. ]] SLAMing on 18.433201007999998 meters Centerline goodness : 0.863053 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.58, Z:0.24 [[ 0.95818417 0.12783826 0.25600874 3.03250593] [-0.16164579 0.9800531 0.11561385 -0.57694214] [-0.23612228 -0.1521621 0.95973588 0.24271804] [ 0. 0. 0. 1. ]] SLAMing on 18.493201008 meters Centerline goodness : 0.865708 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.58, Z:0.23 [[ 0.95745226 0.1288415 0.25823447 3.03940291] [-0.15793328 0.98285083 0.095191 -0.58191054] [-0.24154141 -0.13192466 0.96138111 0.22990117] [ 0. 0. 0. 1. ]] SLAMing on 18.553201008 meters Centerline goodness : 0.858901 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.59, Z:0.23 [[ 0.95813764 0.1250779 0.2575418 3.04162861] [-0.15280912 0.98409757 0.09056126 -0.58568127] [-0.24211905 -0.12612489 0.96201397 0.22548234] [ 0. 0. 0. 1. ]] SLAMing on 18.613201007999997 meters Centerline goodness : 0.855479 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.60, Z:0.22 [[ 0.96005808 0.12290624 0.25136137 3.07438836] [-0.14940224 0.98475155 0.08912552 -0.59559692] [-0.23657441 -0.12311962 0.96378115 0.21636641] [ 0. 0. 0. 1. ]] SLAMing on 18.673201008 meters Centerline goodness : 0.856840 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.60, Z:0.22 [[ 0.96190309 0.12681915 0.24219693 3.08573522] [-0.15076491 0.98508207 0.08296539 -0.60121648] [-0.22806225 -0.11631946 0.96667336 0.21582161] [ 0. 0. 0. 1. ]] SLAMing on 18.733201007999998 meters Centerline goodness : 0.859624 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.60, Z:0.21 [[ 0.96223694 0.1259913 0.2413012 3.08915138] [-0.14933771 0.98546542 0.08097012 -0.59953272] [-0.22759246 -0.11394781 0.96706648 0.21029035] [ 0. 0. 0. 1. ]] SLAMing on 18.793201007999997 meters Centerline goodness : 0.855333 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.59, Z:0.21 [[ 0.96248983 0.12521356 0.24069668 3.09246965] [-0.14798613 0.98583577 0.07891731 -0.59466305] [-0.22740588 -0.11157688 0.96738677 0.20527737] [ 0. 0. 0. 1. ]] SLAMing on 18.853201008 meters Centerline goodness : 0.852619 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.59, Z:0.20 [[ 0.96254589 0.12544232 0.24035316 3.09344608] [-0.14795105 0.98591857 0.07794265 -0.59179591] [-0.22719134 -0.11058388 0.96755119 0.20339141] [ 0. 0. 0. 1. ]] SLAMing on 18.913201007999998 meters Centerline goodness : 0.853600 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.59, Z:0.20 [[ 0.96368638 0.13374298 0.23113065 3.08040222] [-0.15135779 0.98664676 0.06015802 -0.5861855 ] [-0.2199986 -0.09295689 0.97106109 0.20097468] [ 0. 0. 0. 1. ]] SLAMing on 18.973201008 meters Centerline goodness : 0.849729 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.58, Z:0.20 [[ 0.96379778 0.13190665 0.23172068 3.07796044] [-0.14848162 0.98735483 0.05553062 -0.58255216] [-0.22146567 -0.08792655 0.97119611 0.19944321] [ 0. 0. 0. 1. ]] SLAMing on 19.033201008 meters Centerline goodness : 0.849865 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.58, Z:0.19 [[ 0.96221278 0.13542252 0.23623571 3.09107588] [-0.15009384 0.9876388 0.04518235 -0.57906104] [-0.22719685 -0.07893256 0.97064476 0.18872099] [ 0. 0. 0. 1. ]] SLAMing on 19.093201007999998 meters Centerline goodness : 0.851657 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.58, Z:0.18 [[ 0.96103477 0.13940505 0.23870151 3.09429566] [-0.14960944 0.98842688 0.02508643 -0.575001 ] [-0.23244181 -0.05982093 0.9707689 0.17790472] [ 0. 0. 0. 1. ]] SLAMing on 19.153201008 meters Centerline goodness : 0.853446 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.58, Z:0.18 [[ 0.96101476 0.13953537 0.23870593 3.09385519] [-0.14996946 0.98834793 0.02602939 -0.57814947] [-0.23229249 -0.06081323 0.97074299 0.1796024 ] [ 0. 0. 0. 1. ]] SLAMing on 19.213201008 meters Centerline goodness : 0.846892 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.57, Z:0.17 [[ 0.96158443 0.13811588 0.23723277 3.0996442 ] [-0.14718998 0.98888773 0.02088449 -0.57215208] [-0.2317121 -0.05500048 0.97122832 0.16622112] [ 0. 0. 0. 1. ]] SLAMing on 19.273201007999997 meters Centerline goodness : 0.844716 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.57, Z:0.16 [[ 0.96267876 0.1337939 0.23526325 3.10422533] [-0.14133839 0.98984118 0.01542422 -0.57349233] [-0.23080959 -0.0481003 0.97180929 0.16080666] [ 0. 0. 0. 1. ]] SLAMing on 19.333201008 meters Centerline goodness : 0.847318 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.58, Z:0.16 [[ 0.96351539 0.1300141 0.23395389 3.10661939] [-0.13669601 0.99053413 0.01250377 -0.57786733] [-0.23011364 -0.04402814 0.97216729 0.16159736] [ 0. 0. 0. 1. ]] SLAMing on 19.393201008 meters Centerline goodness : 0.844886 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.58, Z:0.16 [[ 0.96358499 0.1296043 0.23389461 3.10737563] [-0.13629502 0.99058815 0.01260121 -0.57791255] [-0.23006006 -0.04402101 0.97218029 0.16184519] [ 0. 0. 0. 1. ]] SLAMing on 19.453201007999997 meters Centerline goodness : 0.841540 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.57, Z:0.16 [[ 0.96328586 0.13091344 0.23439716 3.10544211] [-0.13738559 0.99045174 0.01142567 -0.5730327 ] [-0.2306633 -0.04320898 0.97207378 0.16045022] [ 0. 0. 0. 1. ]] SLAMing on 19.513201008 meters Centerline goodness : 0.842201 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.57, Z:0.15 [[ 9.61052388e-01 1.42271933e-01 2.36932491e-01 3.10359928e+00] [-1.45967193e-01 9.89287478e-01 -1.96563436e-03 -5.67037112e-01] [-2.34674001e-01 -3.26952931e-02 9.71524128e-01 1.53259732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.573201007999998 meters Centerline goodness : 0.841903 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.57, Z:0.16 [[ 9.60749819e-01 1.43704134e-01 2.37294978e-01 3.10117112e+00] [-1.47671316e-01 9.89035916e-01 -1.06769839e-03 -5.67461661e-01] [-2.34846689e-01 -3.40158707e-02 9.71437056e-01 1.55888985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.633201008 meters Centerline goodness : 0.842828 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.57, Z:0.16 [[ 9.60851221e-01 1.43464510e-01 2.37029249e-01 3.10188885e+00] [-1.47616821e-01 9.89044600e-01 -2.32021184e-04 -5.70277568e-01] [-2.34465785e-01 -3.47665665e-02 9.71502487e-01 1.56430309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.693201008 meters Centerline goodness : 0.838645 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.57, Z:0.15 [[ 9.61269956e-01 1.42286082e-01 2.36039706e-01 3.10537906e+00] [-1.46295152e-01 9.89240842e-01 -5.34099486e-04 -5.71477096e-01] [-2.33576113e-01 -3.40180510e-02 9.71743264e-01 1.53849097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.753201007999998 meters Centerline goodness : 0.837870 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.57, Z:0.15 [[ 9.61447305e-01 1.42029048e-01 2.35471506e-01 3.10714791e+00] [-1.45461987e-01 9.89359825e-01 -2.81901851e-03 -5.68085478e-01] [-2.33366431e-01 -3.15418154e-02 9.71877165e-01 1.48850055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.813201008 meters Centerline goodness : 0.838823 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.56, Z:0.15 [[ 0.96167151 0.1406846 0.23536302 3.10481212] [-0.14286178 0.9897114 -0.00786462 -0.56399421] [-0.2340479 -0.0260612 0.97187571 0.1478133 ] [ 0. 0. 0. 1. ]] SLAMing on 19.873201008 meters Centerline goodness : 0.837093 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.56, Z:0.15 [[ 0.96157174 0.14127584 0.2354165 3.10383944] [-0.14366111 0.98960163 -0.00707825 -0.56469114] [-0.23396854 -0.02701395 0.9718688 0.14999333] [ 0. 0. 0. 1. ]] SLAMing on 19.933201007999998 meters Centerline goodness : 0.838680 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.56, Z:0.15 [[ 0.96177842 0.1402526 0.23518393 3.10149214] [-0.14155382 0.9898646 -0.01142793 -0.56231168] [-0.23440304 -0.02230004 0.9718837 0.14926401] [ 0. 0. 0. 1. ]] SLAMing on 19.993201008 meters Centerline goodness : 0.837025 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.57, Z:0.15 [[ 0.96282398 0.13572224 0.23355824 3.11137183] [-0.13722817 0.9904903 -0.00986899 -0.56625786] [-0.23267661 -0.02254867 0.97229273 0.14824229] [ 0. 0. 0. 1. ]] SLAMing on 20.053201008 meters Centerline goodness : 0.833242 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.57, Z:0.15 [[ 9.64768587e-01 1.30227637e-01 2.28609572e-01 3.10215793e+00] [-1.33306661e-01 9.91072839e-01 -1.99027129e-03 -5.67234741e-01] [-2.26827926e-01 -2.85550275e-02 9.73516154e-01 1.51980155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.113201007999997 meters Centerline goodness : 0.833891 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.57, Z:0.15 [[ 9.65297337e-01 1.28316452e-01 2.27455356e-01 3.10678173e+00] [-1.31476679e-01 9.91318453e-01 -1.26785040e-03 -5.69688366e-01] [-2.25643377e-01 -2.86812221e-02 9.73787684e-01 1.51676788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.173201008 meters Centerline goodness : 0.840618 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.58, Z:0.16 [[ 0.96598296 0.11764495 0.23029672 3.13679329] [-0.12497025 0.99200734 0.01743173 -0.58108697] [-0.22640528 -0.045619 0.97296431 0.16399281] [ 0. 0. 0. 1. ]] SLAMing on 20.233201007999998 meters Centerline goodness : 0.833869 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.58, Z:0.16 [[ 0.9665342 0.11417446 0.2297299 3.13768676] [-0.12029256 0.99265651 0.0127578 -0.57966576] [-0.22658627 -0.03996565 0.9731708 0.16293259] [ 0. 0. 0. 1. ]] SLAMing on 20.293201007999997 meters Centerline goodness : 0.834814 with order 1 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.59, Z:0.17 [[ 0.9674576 0.10213538 0.23150411 3.17848438] [-0.11342961 0.99289447 0.03597644 -0.58784582] [-0.22618468 -0.0610651 0.97216848 0.17132948] [ 0. 0. 0. 1. ]] SLAMing on 20.353201008 meters Centerline goodness : 0.829957 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.59, Z:0.18 [[ 0.96788202 0.09255786 0.23374654 3.20714994] [-0.10755828 0.99282559 0.05223569 -0.58993868] [-0.22723473 -0.07569936 0.9708934 0.17874845] [ 0. 0. 0. 1. ]] SLAMing on 20.413201007999998 meters Centerline goodness : 0.831409 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.58, Z:0.18 [[ 0.96791847 0.09014686 0.23453651 3.2051564 ] [-0.10360885 0.99356775 0.04569822 -0.58320345] [-0.22890836 -0.06853221 0.97103259 0.17684625] [ 0. 0. 0. 1. ]] SLAMing on 20.473201008 meters Centerline goodness : 0.832806 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.58, Z:0.18 [[ 0.96776475 0.08910807 0.23556559 3.21317557] [-0.10411567 0.99320318 0.05203246 -0.57641082] [-0.22932798 -0.07488125 0.97046457 0.18093801] [ 0. 0. 0. 1. ]] SLAMing on 20.533201008 meters Centerline goodness : 0.831541 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.57, Z:0.18 [[ 0.96729281 0.0924438 0.23621761 3.21307533] [-0.10804802 0.99268003 0.05396278 -0.5685678 ] [-0.22949998 -0.07772065 0.97020063 0.17886345] [ 0. 0. 0. 1. ]] SLAMing on 20.593201007999998 meters Centerline goodness : 0.827856 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.56, Z:0.18 [[ 0.96679636 0.09630851 0.23670545 3.2121769 ] [-0.11260058 0.99204577 0.05626986 -0.56108808] [-0.22940337 -0.08105466 0.96995063 0.17763003] [ 0. 0. 0. 1. ]] SLAMing on 20.653201008 meters Centerline goodness : 0.836175 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.55, Z:0.17 [[ 0.96543666 0.10826301 0.23708898 3.20761745] [-0.12115422 0.99180914 0.04045098 -0.55270421] [-0.23076767 -0.06777719 0.97064542 0.17305903] [ 0. 0. 0. 1. ]] SLAMing on 20.713201008 meters Centerline goodness : 0.833459 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.55, Z:0.17 [[ 0.96539298 0.10890901 0.23697095 3.20726566] [-0.12151273 0.99181541 0.0392027 -0.5475164 ] [-0.23076191 -0.066641 0.97072546 0.17238534] [ 0. 0. 0. 1. ]] SLAMing on 20.773201007999997 meters Centerline goodness : 0.831648 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.55, Z:0.17 [[ 0.96602213 0.10652818 0.23548459 3.21376032] [-0.11913685 0.99207424 0.03993877 -0.5463434 ] [-0.22936359 -0.06663663 0.97105711 0.17313608] [ 0. 0. 0. 1. ]] SLAMing on 20.833201008 meters Centerline goodness : 0.834387 with order 1 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.56, Z:0.19 [[ 0.96618928 0.09398319 0.24009464 3.25186471] [-0.11430496 0.99082327 0.07213609 -0.56370952] [-0.23111178 -0.09714112 0.96806557 0.19189808] [ 0. 0. 0. 1. ]] SLAMing on 20.893201008 meters Centerline goodness : 0.831321 with order 1 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.57, Z:0.20 [[ 0.96529565 0.08042972 0.24846605 3.28573242] [-0.10668626 0.9898333 0.09406421 -0.57155728] [-0.23837441 -0.11730769 0.96406252 0.19889088] [ 0. 0. 0. 1. ]] SLAMing on 20.953201007999997 meters Centerline goodness : 0.834553 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.57, Z:0.21 [[ 0.96597156 0.07206281 0.2484067 3.28305543] [-0.10253332 0.98840633 0.11198141 -0.57181312] [-0.23745706 -0.13364082 0.96216125 0.21172703] [ 0. 0. 0. 1. ]] SLAMing on 21.013201008 meters Centerline goodness : 0.836940 with order 1 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.57, Z:0.22 [[ 0.96542927 0.06875386 0.25143435 3.29434748] [-0.10242124 0.98706284 0.12335659 -0.56992633] [-0.23970026 -0.14484428 0.95998121 0.21815738] [ 0. 0. 0. 1. ]] SLAMing on 21.073201007999998 meters Centerline goodness : 0.834730 with order 1 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.56, Z:0.22 [[ 0.96484817 0.06877002 0.25365071 3.28673035] [-0.10115989 0.98797399 0.11693617 -0.56449729] [-0.2425586 -0.13848493 0.96020167 0.21654472] [ 0. 0. 0. 1. ]] SLAMing on 21.133201007999997 meters Centerline goodness : 0.832575 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.56, Z:0.23 [[ 0.96401509 0.06783689 0.25704682 3.28414678] [-0.10220143 0.9871586 0.12277121 -0.56371212] [-0.24541756 -0.14462385 0.95856881 0.22878248] [ 0. 0. 0. 1. ]] SLAMing on 21.193201008 meters Centerline goodness : 0.834620 with order 1 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.56, Z:0.23 [[ 0.96393577 0.06690836 0.25758707 3.28555639] [-0.10134055 0.98724415 0.12279688 -0.55918908] [-0.24608519 -0.14447232 0.95842049 0.22978312] [ 0. 0. 0. 1. ]] SLAMing on 21.253201007999998 meters Centerline goodness : 0.836794 with order 1 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.56, Z:0.23 [[ 0.96368301 0.06007343 0.26020423 3.29534801] [-0.09574856 0.98731303 0.12666965 -0.5557819 ] [-0.24929355 -0.14698357 0.95720873 0.23366377] [ 0. 0. 0. 1. ]] SLAMing on 21.313201008 meters Centerline goodness : 0.835124 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.55, Z:0.24 [[ 0.96419543 0.05509295 0.25940689 3.28132986] [-0.09290218 0.98636745 0.13582506 -0.55011402] [-0.24838751 -0.15506137 0.95616924 0.24108575] [ 0. 0. 0. 1. ]] SLAMing on 21.373201008 meters Centerline goodness : 0.836539 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.54, Z:0.24 [[ 0.96550372 0.05315295 0.2549065 3.25710959] [-0.08867775 0.98754573 0.1299603 -0.53996973] [-0.24482405 -0.14808169 0.95819257 0.2397731 ] [ 0. 0. 0. 1. ]] SLAMing on 21.433201007999998 meters Centerline goodness : 0.837782 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.53, Z:0.24 [[ 0.96612697 0.05383256 0.25239006 3.22131414] [-0.08681568 0.98879723 0.1214211 -0.52986239] [-0.24302618 -0.13921961 0.95997717 0.24328554] [ 0. 0. 0. 1. ]] SLAMing on 21.493201008 meters Centerline goodness : 0.842596 with order 1 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.52, Z:0.24 [[ 0.96698083 0.06235875 0.24710213 3.1803412 ] [-0.08846525 0.99144342 0.09598875 -0.51607637] [-0.23900205 -0.11467923 0.96422336 0.24194474] [ 0. 0. 0. 1. ]] SLAMing on 21.553201008 meters Centerline goodness : 0.843745 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.50, Z:0.24 [[ 0.96715763 0.07171075 0.24385178 3.14283526] [-0.09242478 0.99292281 0.07457846 -0.50104157] [-0.23677792 -0.09466707 0.96694072 0.24270683] [ 0. 0. 0. 1. ]] SLAMing on 21.613201007999997 meters Centerline goodness : 0.846412 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.49, Z:0.25 [[ 0.96587146 0.07516915 0.24787479 3.10600707] [-0.09558867 0.99285813 0.07138307 -0.48751784] [-0.2407387 -0.0926409 0.96615865 0.24911099] [ 0. 0. 0. 1. ]] SLAMing on 21.673201008 meters Centerline goodness : 0.847199 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.48, Z:0.25 [[ 0.96616412 0.07998455 0.24521289 3.0675099 ] [-0.0991646 0.99282121 0.06687626 -0.47577916] [-0.23810349 -0.08892988 0.96715986 0.25434838] [ 0. 0. 0. 1. ]] SLAMing on 21.733201007999998 meters Centerline goodness : 0.851857 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.47, Z:0.26 [[ 0.96596187 0.08204032 0.24533049 3.06583 ] [-0.10125232 0.99262028 0.06673037 -0.46762236] [-0.23804544 -0.08929928 0.96714012 0.25670364] [ 0. 0. 0. 1. ]] SLAMing on 21.793201007999997 meters Centerline goodness : 0.850175 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.46, Z:0.26 [[ 0.96553779 0.08306617 0.24665113 3.06367918] [-0.10250181 0.9924731 0.06701135 -0.46346704] [-0.23922823 -0.08998418 0.96678472 0.25885254] [ 0. 0. 0. 1. ]] SLAMing on 21.853201008 meters Centerline goodness : 0.851814 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.47, Z:0.29 [[ 0.96474545 0.07289665 0.2528879 3.04412892] [-0.10192578 0.98937821 0.10364308 -0.46755031] [-0.24264654 -0.12576498 0.96192818 0.28839348] [ 0. 0. 0. 1. ]] SLAMing on 21.913201007999998 meters Centerline goodness : 0.849188 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.46, Z:0.30 [[ 0.96524929 0.07283629 0.25097545 3.02918024] [-0.10475648 0.9876795 0.11625525 -0.46065721] [-0.2394157 -0.1385066 0.96098701 0.29634204] [ 0. 0. 0. 1. ]] SLAMing on 21.973201008 meters Centerline goodness : 0.846286 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.46, Z:0.30 [[ 0.96441269 0.07660297 0.25306154 3.02603612] [-0.11020245 0.98647087 0.12136985 -0.45533217] [-0.24034055 -0.14493862 0.95980686 0.30173909] [ 0. 0. 0. 1. ]] SLAMing on 22.033201008 meters Centerline goodness : 0.848780 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.45, Z:0.30 [[ 0.96434684 0.09572049 0.24672408 3.0238373 ] [-0.12275235 0.98772613 0.0965865 -0.44576139] [-0.23445051 -0.12342884 0.96426048 0.29870835] [ 0. 0. 0. 1. ]] SLAMing on 22.093201007999998 meters Centerline goodness : 0.846927 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.44, Z:0.28 [[ 0.96269833 0.10745217 0.24832631 3.02793035] [-0.13185687 0.9877217 0.08378308 -0.43675997] [-0.23627461 -0.11340136 0.96504634 0.28493318] [ 0. 0. 0. 1. ]] SLAMing on 22.153201008 meters Centerline goodness : 0.846677 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.43, Z:0.27 [[ 0.9607368 0.12110224 0.24963784 3.03104625] [-0.1437231 0.98681687 0.07440516 -0.43101236] [-0.2373362 -0.1073625 0.96547647 0.27463814] [ 0. 0. 0. 1. ]] SLAMing on 22.213201008 meters Centerline goodness : 0.848613 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.43, Z:0.27 [[ 0.95918035 0.12975372 0.25127081 3.02574377] [-0.14779383 0.98753057 0.05422505 -0.42636223] [-0.24110171 -0.08914788 0.96639672 0.26778671] [ 0. 0. 0. 1. ]] SLAMing on 22.273201007999997 meters Centerline goodness : 0.844566 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.43, Z:0.27 [[ 0.95931225 0.12951233 0.25089154 3.02687066] [-0.14756312 0.98755319 0.05444103 -0.42843892] [-0.24071796 -0.08924829 0.96648311 0.26676048] [ 0. 0. 0. 1. ]] SLAMing on 22.333201008 meters Centerline goodness : 0.845403 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.43, Z:0.26 [[ 0.95983751 0.12664542 0.25034553 3.02727351] [-0.1434966 0.98837832 0.05016999 -0.43110035] [-0.2410823 -0.08407878 0.96685577 0.26423439] [ 0. 0. 0. 1. ]] SLAMing on 22.393201008 meters Centerline goodness : 0.845698 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.43, Z:0.26 [[ 0.96057274 0.123204 0.24924041 3.02959235] [-0.13859431 0.98932165 0.04510317 -0.4338014 ] [-0.24102204 -0.07786818 0.96739078 0.25894839] [ 0. 0. 0. 1. ]] SLAMing on 22.453201007999997 meters Centerline goodness : 0.848006 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.44, Z:0.26 [[ 0.96147468 0.11757239 0.24848174 3.03266431] [-0.13166934 0.99045224 0.04083561 -0.44201423] [-0.24130815 -0.07197984 0.96777543 0.25626206] [ 0. 0. 0. 1. ]] SLAMing on 22.513201008 meters Centerline goodness : 0.852639 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.45, Z:0.26 [[ 0.96196215 0.11300669 0.24871332 3.0287259 ] [-0.12592921 0.99136302 0.03662238 -0.45198173] [-0.24242662 -0.06654962 0.96788454 0.26202371] [ 0. 0. 0. 1. ]] SLAMing on 22.573201007999998 meters Centerline goodness : 0.858711 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.46, Z:0.26 [[ 0.96214482 0.11248971 0.24824063 3.0308029 ] [-0.12562738 0.99136167 0.03768015 -0.45719773] [-0.24185761 -0.06743958 0.96796529 0.26047834] [ 0. 0. 0. 1. ]] SLAMing on 22.633201007999997 meters Centerline goodness : 0.854880 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.46, Z:0.26 [[ 0.96196573 0.11227323 0.24903142 3.03064571] [-0.12539797 0.99140025 0.03742841 -0.46029533] [-0.24268761 -0.06723289 0.96777191 0.25654652] [ 0. 0. 0. 1. ]] SLAMing on 22.693201008 meters Centerline goodness : 0.858712 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.46, Z:0.26 [[ 0.96202794 0.11060987 0.24953495 3.02724233] [-0.12319722 0.99175233 0.03535204 -0.46448348] [-0.24356658 -0.06475166 0.96772028 0.26052188] [ 0. 0. 0. 1. ]] SLAMing on 22.753201007999998 meters Centerline goodness : 0.863104 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.47, Z:0.26 [[ 0.96234931 0.10847423 0.24923313 3.02557861] [-0.12002633 0.99226818 0.03158382 -0.46757406] [-0.24388008 -0.06030921 0.96792836 0.26150234] [ 0. 0. 0. 1. ]] SLAMing on 22.813201008 meters Centerline goodness : 0.863610 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.48, Z:0.27 [[ 0.96395834 0.11005295 0.24222442 3.0481513 ] [-0.12185041 0.99195813 0.03422778 -0.47836171] [-0.23650962 -0.0625093 0.96961631 0.26591654] [ 0. 0. 0. 1. ]] SLAMing on 22.873201008 meters Centerline goodness : 0.863411 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.48, Z:0.27 [[ 0.96498746 0.10270428 0.24135249 3.06882531] [-0.11640162 0.99226409 0.0431582 -0.48425622] [-0.23505288 -0.06974094 0.96947736 0.26659177] [ 0. 0. 0. 1. ]] SLAMing on 22.933201007999998 meters Centerline goodness : 0.863331 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.50, Z:0.27 [[ 0.96477759 0.08032206 0.25050463 3.10840549] [-0.10212684 0.99191926 0.07527478 -0.49564179] [-0.24243414 -0.09820667 0.96518451 0.27084499] [ 0. 0. 0. 1. ]] SLAMing on 22.993201008 meters Centerline goodness : 0.872539 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.50, Z:0.28 [[ 0.96481925 0.07012321 0.25339011 3.11738254] [-0.09320367 0.99240791 0.08024727 -0.50362627] [-0.24583915 -0.101041 0.96402999 0.28432826] [ 0. 0. 0. 1. ]] SLAMing on 23.053201008 meters Centerline goodness : 0.874445 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.50, Z:0.30 [[ 0.96543388 0.07009161 0.25104698 3.09177145] [-0.09432451 0.99183562 0.08581948 -0.50325289] [-0.24298212 -0.10653291 0.96416307 0.29525341] [ 0. 0. 0. 1. ]] SLAMing on 23.113201007999997 meters Centerline goodness : 0.871598 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.49, Z:0.29 [[ 0.96439386 0.08365618 0.25089066 3.06770277] [-0.10678091 0.99105915 0.07999753 -0.49348245] [-0.24195519 -0.10393946 0.96470424 0.29023693] [ 0. 0. 0. 1. ]] SLAMing on 23.173201008 meters Centerline goodness : 0.874066 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.49, Z:0.28 [[ 0.96251819 0.09419247 0.25433544 3.06994317] [-0.11524186 0.99092844 0.06913857 -0.49064112] [-0.24551589 -0.09585722 0.96464156 0.28341142] [ 0. 0. 0. 1. ]] SLAMing on 23.233201007999998 meters Centerline goodness : 0.874208 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.49, Z:0.27 [[ 0.96108797 0.1072977 0.25455277 3.06530264] [-0.12459855 0.99080157 0.05279629 -0.48595732] [-0.24654637 -0.08245879 0.96561661 0.27473635] [ 0. 0. 0. 1. ]] SLAMing on 23.293201007999997 meters Centerline goodness : 0.874243 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.49, Z:0.28 [[ 0.96102699 0.10739253 0.25474296 3.06479985] [-0.1248423 0.9907438 0.05330212 -0.48812781] [-0.24666076 -0.08302747 0.96553866 0.27520757] [ 0. 0. 0. 1. ]] SLAMing on 23.353201008 meters Centerline goodness : 0.874046 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.50, Z:0.28 [[ 0.96235531 0.10050378 0.25252969 3.10750815] [-0.11978876 0.99085211 0.06215096 -0.5006101 ] [-0.24397318 -0.09006153 0.96559102 0.27556374] [ 0. 0. 0. 1. ]] SLAMing on 23.413201007999998 meters Centerline goodness : 0.874013 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.51, Z:0.28 [[ 0.96488647 0.08500528 0.24853211 3.14361485] [-0.10706528 0.99129596 0.07661163 -0.51366754] [-0.23985649 -0.10053069 0.96558917 0.28097457] [ 0. 0. 0. 1. ]] SLAMing on 23.473201008 meters Centerline goodness : 0.871814 with order 1 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.51, Z:0.28 [[ 0.96491652 0.08250858 0.24925576 3.14705655] [-0.10452743 0.99158216 0.0764123 -0.51145882] [-0.2408529 -0.09978555 0.96541842 0.28063269] [ 0. 0. 0. 1. ]] SLAMing on 23.533201008 meters Centerline goodness : 0.872333 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.50, Z:0.29 [[ 0.96597355 0.07058504 0.24882294 3.11228391] [-0.09300086 0.992487 0.07950086 -0.50114325] [-0.24134197 -0.09993648 0.96528066 0.28911608] [ 0. 0. 0. 1. ]] SLAMing on 23.593201007999998 meters Centerline goodness : 0.871817 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.49, Z:0.30 [[ 0.96601344 0.06418486 0.25039637 3.06582334] [-0.08751224 0.9926864 0.08315839 -0.49035273] [-0.24322756 -0.10224487 0.96456536 0.30356932] [ 0. 0. 0. 1. ]] SLAMing on 23.653201008 meters Centerline goodness : 0.872736 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:0.31 [[ 0.96601949 0.070686 0.24861585 3.02993543] [-0.08797728 0.9943661 0.0591274 -0.47560715] [-0.2430357 -0.07899076 0.9667958 0.30605334] [ 0. 0. 0. 1. ]] SLAMing on 23.713201008 meters Centerline goodness : 0.877501 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.46, Z:0.30 [[ 0.96483066 0.0803536 0.25029001 3.00189399] [-0.09442124 0.99452855 0.04469437 -0.46079895] [-0.24532921 -0.06675519 0.96713873 0.30461374] [ 0. 0. 0. 1. ]] SLAMing on 23.773201007999997 meters Centerline goodness : 0.876306 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.46, Z:0.31 [[ 0.96410549 0.08537855 0.25141821 3.00333317] [-0.1019323 0.99334913 0.05354736 -0.45606531] [-0.24517426 -0.07725293 0.96639617 0.30775391] [ 0. 0. 0. 1. ]] SLAMing on 23.833201008 meters Centerline goodness : 0.877586 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.46, Z:0.31 [[ 0.96307077 0.08326429 0.25605028 3.01632622] [-0.10432458 0.99209261 0.06977559 -0.4566864 ] [-0.24821577 -0.09391117 0.96414191 0.313692 ] [ 0. 0. 0. 1. ]] SLAMing on 23.893201008 meters Centerline goodness : 0.876492 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.46, Z:0.32 [[ 0.96460097 0.09376579 0.24648112 3.03017637] [-0.11457389 0.99084195 0.07144972 -0.45615846] [-0.23752429 -0.09716077 0.96651022 0.31680626] [ 0. 0. 0. 1. ]] SLAMing on 23.953201007999997 meters Centerline goodness : 0.879299 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.46, Z:0.32 [[ 0.96454652 0.09569933 0.24595052 3.033261 ] [-0.11761841 0.99014646 0.07599933 -0.45540982] [-0.23625395 -0.10223319 0.96629832 0.31822345] [ 0. 0. 0. 1. ]] SLAMing on 24.013201008 meters Centerline goodness : 0.878589 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.45, Z:0.32 [[ 0.96477509 0.09496091 0.24533946 3.03539441] [-0.11682708 0.99022978 0.07613424 -0.45464571] [-0.23571266 -0.10211471 0.96644303 0.31905302] [ 0. 0. 0. 1. ]] SLAMing on 24.073201007999998 meters Centerline goodness : 0.876957 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.45, Z:0.32 [[ 0.96504251 0.09203103 0.24540423 3.03561905] [-0.11308797 0.9908914 0.0731118 -0.45201703] [-0.23644039 -0.09830826 0.96665993 0.32168539] [ 0. 0. 0. 1. ]] SLAMing on 24.133201007999997 meters Centerline goodness : 0.877511 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.45, Z:0.32 [[ 0.96514341 0.09231698 0.24489953 3.03641576] [-0.11307998 0.99096703 0.07209206 -0.44911852] [-0.23603203 -0.09727241 0.9668645 0.32050761] [ 0. 0. 0. 1. ]] SLAMing on 24.193201008 meters Centerline goodness : 0.877388 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.44, Z:0.31 [[ 0.96379108 0.10025948 0.24709269 3.04286343] [-0.11794448 0.99133636 0.0578041 -0.4439327 ] [-0.23915656 -0.08485429 0.96726619 0.30753695] [ 0. 0. 0. 1. ]] SLAMing on 24.253201007999998 meters Centerline goodness : 0.882032 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.44, Z:0.30 [[ 0.96216927 0.1057526 0.251091 3.05107107] [-0.12082785 0.99163672 0.04535679 -0.44021644] [-0.24419446 -0.07397969 0.96690024 0.29865889] [ 0. 0. 0. 1. ]] SLAMing on 24.313201008 meters Centerline goodness : 0.881120 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.44, Z:0.30 [[ 0.9623139 0.10425923 0.25116125 3.04888486] [-0.11807072 0.99217807 0.04052129 -0.4377723 ] [-0.24497197 -0.06864899 0.96709671 0.2977874 ] [ 0. 0. 0. 1. ]] SLAMing on 24.373201008 meters Centerline goodness : 0.882124 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.44, Z:0.30 [[ 0.96295287 0.10203776 0.24961985 3.0550463 ] [-0.11578633 0.99242805 0.04098891 -0.43942043] [-0.24354732 -0.06837295 0.96747602 0.29655593] [ 0. 0. 0. 1. ]] SLAMing on 24.433201007999998 meters Centerline goodness : 0.880444 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.45, Z:0.31 [[ 0.96371167 0.09090041 0.25099191 3.07529143] [-0.10698477 0.99294298 0.05117118 -0.44826674] [-0.24456917 -0.07616658 0.9666357 0.30652884] [ 0. 0. 0. 1. ]] SLAMing on 24.493201008 meters Centerline goodness : 0.875652 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.45, Z:0.31 [[ 0.96412108 0.08411731 0.25178329 3.09224959] [-0.10300792 0.99269681 0.0627886 -0.45477351] [-0.24466286 -0.08647149 0.96574467 0.31443737] [ 0. 0. 0. 1. ]] SLAMing on 24.553201008 meters Centerline goodness : 0.871595 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.46, Z:0.31 [[ 0.96494198 0.07796861 0.250615 3.10556869] [-0.09733821 0.99307203 0.06582719 -0.45801382] [-0.24374629 -0.08791383 0.96584621 0.31463668] [ 0. 0. 0. 1. ]] SLAMing on 24.613201007999997 meters Centerline goodness : 0.870911 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.46, Z:0.32 [[ 0.96496986 0.07927839 0.2500962 3.11011871] [-0.10010081 0.99239429 0.07164781 -0.45958737] [-0.24251392 -0.09417281 0.9655664 0.31717381] [ 0. 0. 0. 1. ]] SLAMing on 24.673201008 meters Centerline goodness : 0.870228 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.46, Z:0.32 [[ 0.96329272 0.08503869 0.25462827 3.12041868] [-0.10495048 0.99230892 0.06563837 -0.45990228] [-0.2470881 -0.08995232 0.96480881 0.31639845] [ 0. 0. 0. 1. ]] SLAMing on 24.733201007999998 meters Centerline goodness : 0.870254 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.46, Z:0.32 [[ 0.96310954 0.08623399 0.25491904 3.12351874] [-0.10787432 0.99154368 0.07214061 -0.46024644] [-0.24654239 -0.09697853 0.96426761 0.32081832] [ 0. 0. 0. 1. ]] SLAMing on 24.793201007999997 meters Centerline goodness : 0.863983 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.46, Z:0.32 [[ 0.96318404 0.084095 0.25535178 3.12183163] [-0.10436856 0.99228691 0.06688721 -0.45563817] [-0.24775735 -0.09107539 0.96453179 0.3188808 ] [ 0. 0. 0. 1. ]] SLAMing on 24.853201008 meters Centerline goodness : 0.870919 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.46, Z:0.32 [[ 0.96193523 0.07723827 0.26213522 3.15526795] [-0.09897178 0.99257364 0.07072599 -0.463416 ] [-0.25472575 -0.09397781 0.96243595 0.32454211] [ 0. 0. 0. 1. ]] SLAMing on 24.913201007999998 meters Centerline goodness : 0.870087 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.47, Z:0.33 [[ 0.96294126 0.06946184 0.26061307 3.16573106] [-0.09053489 0.99344901 0.06973164 -0.46590604] [-0.25406211 -0.09074205 0.96292176 0.32699684] [ 0. 0. 0. 1. ]] SLAMing on 24.973201008 meters Centerline goodness : 0.862814 with order 1 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.47, Z:0.33 [[ 0.96300551 0.06044202 0.26261599 3.19769715] [-0.08609943 0.99245368 0.08730738 -0.46814737] [-0.25535717 -0.10668858 0.96094238 0.32648798] [ 0. 0. 0. 1. ]] SLAMing on 25.033201008 meters Centerline goodness : 0.855070 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.46, Z:0.32 [[ 0.96339064 0.05744151 0.26187582 3.20986508] [-0.08288182 0.99274121 0.08715208 -0.46171409] [-0.25496878 -0.10566624 0.96115845 0.31579587] [ 0. 0. 0. 1. ]] SLAMing on 25.093201007999998 meters Centerline goodness : 0.857890 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.46, Z:0.32 [[ 0.96321229 0.05579756 0.26288536 3.21223208] [-0.08159389 0.99275108 0.08824817 -0.45799732] [-0.25605569 -0.10645156 0.96078278 0.32140752] [ 0. 0. 0. 1. ]] SLAMing on 25.153201008 meters Centerline goodness : 0.856588 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.45, Z:0.32 [[ 0.96275997 0.05874236 0.26389882 3.21089604] [-0.08550755 0.99216392 0.09110006 -0.45076107] [-0.25647945 -0.11027283 0.96023861 0.32248451] [ 0. 0. 0. 1. ]] SLAMing on 25.213201008 meters Centerline goodness : 0.847930 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.44, Z:0.33 [[ 0.96204959 0.06191382 0.2657579 3.20887823] [-0.0902192 0.99131836 0.09564734 -0.44358636] [-0.25752879 -0.11599395 0.95928323 0.32533048] [ 0. 0. 0. 1. ]] SLAMing on 25.273201007999997 meters Centerline goodness : 0.845586 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.43, Z:0.32 [[ 0.96012964 0.07424892 0.26951469 3.20830739] [-0.10033065 0.9913759 0.0843065 -0.43265508] [-0.2609307 -0.10798576 0.95929883 0.31925981] [ 0. 0. 0. 1. ]] SLAMing on 25.333201008 meters Centerline goodness : 0.847412 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.43, Z:0.31 [[ 0.95849002 0.08218312 0.2730253 3.2178156 ] [-0.10628663 0.9915276 0.07467382 -0.42541209] [-0.26457519 -0.10059305 0.95910427 0.31019107] [ 0. 0. 0. 1. ]] SLAMing on 25.393201008 meters Centerline goodness : 0.848951 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.42, Z:0.30 [[ 0.95697005 0.09306593 0.27485824 3.22006228] [-0.11397508 0.99160471 0.06107195 -0.41809071] [-0.26686701 -0.08977101 0.95954321 0.30098792] [ 0. 0. 0. 1. ]] SLAMing on 25.453201007999997 meters Centerline goodness : 0.842535 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.42, Z:0.30 [[ 0.95698919 0.09464383 0.27425212 3.22380188] [-0.1163226 0.99115664 0.06385588 -0.4166241 ] [-0.26578324 -0.0930111 0.95953541 0.2970875 ] [ 0. 0. 0. 1. ]] SLAMing on 25.513201008 meters Centerline goodness : 0.840692 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.42, Z:0.28 [[ 0.9574784 0.09603033 0.27205384 3.23458409] [-0.11846794 0.99067801 0.06724904 -0.41604933] [-0.26305981 -0.09661916 0.95992931 0.2846857 ] [ 0. 0. 0. 1. ]] SLAMing on 25.573201007999998 meters Centerline goodness : 0.841746 with order 1 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.41, Z:0.28 [[ 0.95612879 0.10763502 0.2724563 3.23709086] [-0.12720612 0.99034107 0.05516499 -0.41310305] [-0.26388698 -0.08740294 0.96058544 0.27678188] [ 0. 0. 0. 1. ]] SLAMing on 25.633201007999997 meters Centerline goodness : 0.843991 with order 1 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.41, Z:0.27 [[ 0.95394441 0.11561473 0.27680912 3.23760117] [-0.13221157 0.99033137 0.0419986 -0.41296353] [-0.2692771 -0.0766617 0.96000668 0.27306041] [ 0. 0. 0. 1. ]] SLAMing on 25.693201008 meters Centerline goodness : 0.845334 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.42, Z:0.28 [[ 0.95348077 0.11675273 0.27792666 3.2345047 ] [-0.13388564 0.99004523 0.04341755 -0.41514569] [-0.27009085 -0.07860819 0.9596206 0.27550624] [ 0. 0. 0. 1. ]] SLAMing on 25.753201007999998 meters Centerline goodness : 0.837396 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.42, Z:0.27 [[ 0.95321721 0.11587153 0.27919659 3.23002027] [-0.13189327 0.99048723 0.03923282 -0.41529789] [-0.27199469 -0.07422156 0.95943215 0.27386659] [ 0. 0. 0. 1. ]] SLAMing on 25.813201008 meters Centerline goodness : 0.842149 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.42, Z:0.28 [[ 0.95296455 0.11633357 0.27986615 3.22833391] [-0.13299868 0.99025768 0.04124406 -0.42160596] [-0.27234154 -0.07652595 0.95915268 0.27567219] [ 0. 0. 0. 1. ]] SLAMing on 25.873201008 meters Centerline goodness : 0.845733 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.43, Z:0.28 [[ 0.95266138 0.11714054 0.28056083 3.22586781] [-0.13468583 0.9899099 0.04402401 -0.43061223] [-0.27257295 -0.07972755 0.95882611 0.27909998] [ 0. 0. 0. 1. ]] SLAMing on 25.933201007999998 meters Centerline goodness : 0.844275 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.44, Z:0.27 [[ 0.95334283 0.11282486 0.28001428 3.22651333] [-0.12837175 0.99100718 0.03775535 -0.43620253] [-0.27323641 -0.07193971 0.95925312 0.27494365] [ 0. 0. 0. 1. ]] SLAMing on 25.993201008 meters Centerline goodness : 0.843366 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.45, Z:0.27 [[ 0.95611378 0.10211422 0.27462542 3.27134721] [-0.11730644 0.9923126 0.03943216 -0.45175098] [-0.26848768 -0.06991696 0.96074241 0.2650346 ] [ 0. 0. 0. 1. ]] SLAMing on 26.053201008 meters Centerline goodness : 0.837181 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.46, Z:0.26 [[ 0.95686536 0.09806008 0.2734829 3.27466424] [-0.11168918 0.99313788 0.03467977 -0.4554701 ] [-0.26820552 -0.06372895 0.96125149 0.26001907] [ 0. 0. 0. 1. ]] SLAMing on 26.113201007999997 meters Centerline goodness : 0.843205 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.47, Z:0.26 [[ 0.95926557 0.09777282 0.26504726 3.28359378] [-0.10837565 0.99377925 0.02564233 -0.46592174] [-0.26089134 -0.05332248 0.9638944 0.26162519] [ 0. 0. 0. 1. ]] SLAMing on 26.173201008 meters Centerline goodness : 0.847175 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.46, Z:0.26 [[ 0.9594702 0.09549985 0.26513529 3.28205976] [-0.10478564 0.99427164 0.02106814 -0.46469994] [-0.2616045 -0.04799662 0.96398102 0.26136447] [ 0. 0. 0. 1. ]] SLAMing on 26.233201007999998 meters Centerline goodness : 0.836357 with order 1 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:0.25 [[ 0.95977232 0.09668765 0.26360689 3.29278026] [-0.10733564 0.99387599 0.0262597 -0.45983839] [-0.25945357 -0.05349775 0.9642727 0.25284744] [ 0. 0. 0. 1. ]] SLAMing on 26.293201007999997 meters Centerline goodness : 0.838065 with order 1 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.46, Z:0.25 [[ 0.96011404 0.09578755 0.2626895 3.29561347] [-0.10617964 0.99401685 0.02562007 -0.45921917] [-0.2586637 -0.05249047 0.96454022 0.25118859] [ 0. 0. 0. 1. ]] SLAMing on 26.353201008 meters Centerline goodness : 0.843813 with order 1 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.47, Z:0.26 [[ 0.96036074 0.09186432 0.26318851 3.28936659] [-0.10116287 0.99462728 0.02196938 -0.46578411] [-0.25975627 -0.04772344 0.96449425 0.26401219] [ 0. 0. 0. 1. ]] SLAMing on 26.413201007999998 meters Centerline goodness : 0.840988 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:0.27 [[ 0.95982289 0.0854727 0.26727222 3.3133229 ] [-0.10010946 0.99410642 0.0415995 -0.47238861] [-0.26214141 -0.06668463 0.96272272 0.27070622] [ 0. 0. 0. 1. ]] SLAMing on 26.473201007999997 meters Centerline goodness : 0.834604 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.46, Z:0.26 [[ 0.9596902 0.08752797 0.26708346 3.31649052] [-0.10199454 0.99394981 0.04075409 -0.46351325] [-0.26190043 -0.06635235 0.96281126 0.25965943] [ 0. 0. 0. 1. ]] SLAMing on 26.533201008 meters Centerline goodness : 0.836642 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.47, Z:0.26 [[ 0.95829764 0.09194072 0.27057816 3.32982418] [-0.10528796 0.99381854 0.03520168 -0.46558807] [-0.26566912 -0.06222231 0.96205421 0.25964211] [ 0. 0. 0. 1. ]] SLAMing on 26.593201007999998 meters Centerline goodness : 0.843408 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.47, Z:0.26 [[ 0.95844567 0.09190381 0.27006589 3.3309987 ] [-0.10516233 0.99383863 0.03500934 -0.46526781] [-0.26518443 -0.06195531 0.96220515 0.25940522] [ 0. 0. 0. 1. ]] SLAMing on 26.653201008 meters Centerline goodness : 0.838790 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.46, Z:0.24 [[ 0.9582584 0.09531445 0.26954776 3.33207762] [-0.10780825 0.99365985 0.03189791 -0.4553633 ] [-0.26479846 -0.05962591 0.96245858 0.24488523] [ 0. 0. 0. 1. ]] SLAMing on 26.713201008 meters Centerline goodness : 0.838335 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.46, Z:0.25 [[ 0.96019853 0.10141871 0.26025571 3.35805747] [-0.11541842 0.9925493 0.0390444 -0.46208828] [-0.25435679 -0.06752868 0.96474997 0.24753417] [ 0. 0. 0. 1. ]] SLAMing on 26.773201007999997 meters Centerline goodness : 0.847138 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.46, Z:0.25 [[ 0.95913265 0.11100662 0.2602731 3.3537891 ] [-0.12082767 0.9924299 0.02199027 -0.46150831] [-0.25586174 -0.05253978 0.96528459 0.24622106] [ 0. 0. 0. 1. ]] SLAMing on 26.833201008 meters Centerline goodness : 0.848467 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.46, Z:0.25 [[ 0.9586854 0.11389029 0.26067471 3.35421501] [-0.1250142 0.99180255 0.02644138 -0.4626464 ] [-0.25552643 -0.05793701 0.96506453 0.24602143] [ 0. 0. 0. 1. ]] SLAMing on 26.893201008 meters Centerline goodness : 0.846677 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.46, Z:0.24 [[ 0.9588663 0.11311416 0.2603471 3.35681311] [-0.12334646 0.99209126 0.0232505 -0.45881861] [-0.25565812 -0.05440702 0.9652351 0.23771363] [ 0. 0. 0. 1. ]] SLAMing on 26.953201007999997 meters Centerline goodness : 0.849219 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.46, Z:0.24 [[ 0.95931947 0.11099756 0.25958756 3.35664092] [-0.1199416 0.99260252 0.01882162 -0.45860343] [-0.25557811 -0.0491913 0.96553615 0.23676011] [ 0. 0. 0. 1. ]] SLAMing on 27.013201008 meters Centerline goodness : 0.856645 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.46, Z:0.24 [[ 0.95962641 0.1104218 0.2586971 3.35868031] [-0.11945821 0.99264919 0.01942481 -0.46290057] [-0.25465054 -0.04954406 0.96576316 0.23674184] [ 0. 0. 0. 1. ]] SLAMing on 27.073201007999998 meters Centerline goodness : 0.855600 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.46, Z:0.23 [[ 0.95997485 0.10920642 0.25791907 3.36207761] [-0.11796686 0.99284163 0.0186901 -0.4625607 ] [-0.25403171 -0.04836793 0.96598573 0.23356792] [ 0. 0. 0. 1. ]] SLAMing on 27.133201007999997 meters Centerline goodness : 0.852995 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.46, Z:0.23 [[ 0.96045214 0.10740706 0.25689573 3.36616243] [-0.11610606 0.99305716 0.01889077 -0.46430668] [-0.25308315 -0.04797083 0.96625448 0.23238733] [ 0. 0. 0. 1. ]] SLAMing on 27.193201008 meters Centerline goodness : 0.854755 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.47, Z:0.23 [[ 0.96112396 0.10404366 0.25576484 3.3679455 ] [-0.11153962 0.99364771 0.01493817 -0.46616653] [-0.25258593 -0.04288534 0.96662361 0.23181748] [ 0. 0. 0. 1. ]] SLAMing on 27.253201007999998 meters Centerline goodness : 0.859206 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.47, Z:0.23 [[ 0.96133149 0.10407125 0.25497244 3.37406344] [-0.11296235 0.99338905 0.02043763 -0.46946863] [-0.25115986 -0.04844962 0.96673231 0.23296099] [ 0. 0. 0. 1. ]] SLAMing on 27.313201008 meters Centerline goodness : 0.860202 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.47, Z:0.23 [[ 0.96162824 0.10452938 0.25366263 3.38073416] [-0.11482825 0.99304249 0.02609753 -0.47163597] [-0.24916982 -0.05422376 0.96694063 0.23444106] [ 0. 0. 0. 1. ]] SLAMing on 27.373201008 meters Centerline goodness : 0.862730 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.47, Z:0.23 [[ 0.96175704 0.10414152 0.25333366 3.3819697 ] [-0.11433283 0.99310736 0.02580271 -0.47062377] [-0.24890039 -0.05378029 0.96703479 0.23381448] [ 0. 0. 0. 1. ]] SLAMing on 27.433201007999998 meters Centerline goodness : 0.864369 with order 1 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.47, Z:0.24 [[ 0.96265805 0.09987058 0.25162541 3.39211203] [-0.110765 0.99340948 0.02947411 -0.47270955] [-0.24702347 -0.05624478 0.9673758 0.2382581 ] [ 0. 0. 0. 1. ]] SLAMing on 27.493201008 meters Centerline goodness : 0.872426 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:0.24 [[ 0.96367794 0.09312443 0.25030516 3.40751843] [-0.1052133 0.99382199 0.03532738 -0.47542957] [-0.24546893 -0.06037965 0.96752225 0.24351243] [ 0. 0. 0. 1. ]] SLAMing on 27.553201008 meters Centerline goodness : 0.871683 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.48, Z:0.25 [[ 0.96361925 0.07920657 0.25527292 3.44831928] [-0.09744756 0.99345449 0.05959984 -0.48432766] [-0.24888134 -0.08230728 0.96503036 0.25364986] [ 0. 0. 0. 1. ]] SLAMing on 27.613201007999997 meters Centerline goodness : 0.875670 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.48, Z:0.26 [[ 0.96374259 0.07828198 0.25509244 3.45069744] [-0.09689498 0.99341028 0.06121582 -0.48421374] [-0.24861935 -0.08371347 0.96497693 0.25632944] [ 0. 0. 0. 1. ]] SLAMing on 27.673201008 meters Centerline goodness : 0.877478 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.49, Z:0.27 [[ 0.96417654 0.07443679 0.25460317 3.46539206] [-0.09577229 0.99276394 0.07243911 -0.48611038] [-0.24736871 -0.09422802 0.96432868 0.26591725] [ 0. 0. 0. 1. ]] SLAMing on 27.733201007999998 meters Centerline goodness : 0.879468 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.49, Z:0.27 [[ 0.96396175 0.0774132 0.25452885 3.46604196] [-0.10006534 0.99197604 0.07726875 -0.48522661] [-0.2465049 -0.09995364 0.96397334 0.26853367] [ 0. 0. 0. 1. ]] SLAMing on 27.793201007999997 meters Centerline goodness : 0.877972 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.48, Z:0.26 [[ 0.96249987 0.08895474 0.25628316 3.46778372] [-0.10883294 0.99197012 0.06442579 -0.48015893] [-0.24849426 -0.08990187 0.96445231 0.25773412] [ 0. 0. 0. 1. ]] SLAMing on 27.853201008 meters Centerline goodness : 0.878624 with order 1 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.48, Z:0.26 [[ 0.96235561 0.09218313 0.2556833 3.46860271] [-0.11320164 0.99119313 0.06871372 -0.48133438] [-0.24709728 -0.0950708 0.96431555 0.258945 ] [ 0. 0. 0. 1. ]] SLAMing on 27.913201007999998 meters Centerline goodness : 0.878067 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.48, Z:0.25 [[ 0.96076498 0.0953275 0.26046749 3.47817788] [-0.11375645 0.99189603 0.05658381 -0.48111183] [-0.25296268 -0.0839936 0.96382309 0.25124166] [ 0. 0. 0. 1. ]] SLAMing on 27.973201007999997 meters Centerline goodness : 0.882813 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.48, Z:0.25 [[ 0.96093421 0.09352262 0.26049753 3.47653863] [-0.11040038 0.99258312 0.05089696 -0.47773446] [-0.25380544 -0.07766766 0.96413201 0.2485064 ] [ 0. 0. 0. 1. ]] SLAMing on 28.033201008 meters Centerline goodness : 0.881424 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.48, Z:0.25 [[ 0.96315915 0.09766258 0.25057231 3.49193868] [-0.11259482 0.99257886 0.04593053 -0.4828417 ] [-0.24422708 -0.07245155 0.96700771 0.24544451] [ 0. 0. 0. 1. ]] SLAMing on 28.093201007999998 meters Centerline goodness : 0.881466 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.48, Z:0.24 [[ 0.9636312 0.09501648 0.24977344 3.49285582] [-0.10797558 0.99340111 0.03867169 -0.47908329] [-0.24445076 -0.06423468 0.96753177 0.23870071] [ 0. 0. 0. 1. ]] SLAMing on 28.153201008 meters Centerline goodness : 0.876135 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.48, Z:0.23 [[ 0.96394095 0.09441846 0.24880315 3.49584214] [-0.10664107 0.99364265 0.0360827 -0.47575069] [-0.24381455 -0.06131422 0.96788172 0.23271639] [ 0. 0. 0. 1. ]] SLAMing on 28.213201008 meters Centerline goodness : 0.877602 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.47, Z:0.23 [[ 0.96421555 0.09392366 0.24792481 3.49832687] [-0.10596262 0.99373122 0.03563957 -0.47475718] [-0.24302323 -0.06063499 0.9681235 0.23154535] [ 0. 0. 0. 1. ]] SLAMing on 28.273201007999997 meters Centerline goodness : 0.877413 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.48, Z:0.24 [[ 0.96458756 0.09257407 0.24698356 3.50135332] [-0.10550596 0.99362909 0.03961985 -0.4799972 ] [-0.24174228 -0.06427505 0.96820937 0.23933623] [ 0. 0. 0. 1. ]] SLAMing on 28.333201008 meters Centerline goodness : 0.879690 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.48, Z:0.24 [[ 0.96492669 0.09165035 0.24600142 3.5043564 ] [-0.10453756 0.9937234 0.03982085 -0.48010513] [-0.24080777 -0.06414059 0.96845114 0.23949062] [ 0. 0. 0. 1. ]] SLAMing on 28.393201008 meters Centerline goodness : 0.875621 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.50, Z:0.26 [[ 0.9650803 0.07675236 0.25045776 3.56148445] [-0.09977023 0.991747 0.08052198 -0.49560202] [-0.24221048 -0.10269841 0.96477309 0.25575376] [ 0. 0. 0. 1. ]] SLAMing on 28.453201007999997 meters Centerline goodness : 0.875838 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.50, Z:0.25 [[ 0.96606856 0.07766888 0.24633123 3.59298656] [-0.10143614 0.99117894 0.08529371 -0.50229612] [-0.23753366 -0.10738646 0.96542525 0.25438736] [ 0. 0. 0. 1. ]] SLAMing on 28.513201008 meters Centerline goodness : 0.878041 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.51, Z:0.28 [[ 0.96486662 0.06342131 0.25497087 3.63184469] [-0.09621307 0.98831049 0.11825994 -0.51453979] [-0.24449019 -0.1386366 0.95968976 0.27712395] [ 0. 0. 0. 1. ]] SLAMing on 28.573201007999998 meters Centerline goodness : 0.879285 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.52, Z:0.28 [[ 0.96417253 0.05311387 0.25990431 3.65826837] [-0.0908368 0.98662464 0.13535324 -0.51531396] [-0.24923886 -0.15411275 0.95610107 0.28433815] [ 0. 0. 0. 1. ]] SLAMing on 28.633201007999997 meters Centerline goodness : 0.878419 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.51, Z:0.28 [[ 0.96439073 0.05149672 0.25941974 3.66173085] [-0.08870786 0.98702484 0.13383905 -0.51061484] [-0.24916145 -0.15208571 0.95644577 0.28223709] [ 0. 0. 0. 1. ]] SLAMing on 28.693201008 meters Centerline goodness : 0.882664 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.50, Z:0.27 [[ 0.96295022 0.05334704 0.26435008 3.67369763] [-0.08738185 0.98907695 0.11870638 -0.5032389 ] [-0.25512993 -0.13740774 0.95709343 0.26961829] [ 0. 0. 0. 1. ]] SLAMing on 28.753201007999998 meters Centerline goodness : 0.884899 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.50, Z:0.27 [[ 0.96280602 0.05278402 0.26498758 3.67431045] [-0.0867247 0.98921213 0.11806014 -0.49762051] [-0.25589724 -0.13664998 0.95699707 0.27039465] [ 0. 0. 0. 1. ]] SLAMing on 28.813201007999997 meters Centerline goodness : 0.883336 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.49, Z:0.27 [[ 0.96268117 0.05318762 0.2653602 3.67399466] [-0.08668471 0.98944078 0.11615811 -0.49165224] [-0.25638003 -0.1348259 0.95712656 0.26791471] [ 0. 0. 0. 1. ]] SLAMing on 28.873201008 meters Centerline goodness : 0.881871 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.49, Z:0.25 [[ 0.96194442 0.06270963 0.26595195 3.67606432] [-0.09181843 0.99089611 0.09845952 -0.48599663] [-0.25735639 -0.11913187 0.95894488 0.25493643] [ 0. 0. 0. 1. ]] SLAMing on 28.933201007999998 meters Centerline goodness : 0.883200 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.49, Z:0.25 [[ 0.96223426 0.06701031 0.26384627 3.70710759] [-0.09816966 0.98942989 0.10672959 -0.49117415] [-0.2539054 -0.12860057 0.95864172 0.25160499] [ 0. 0. 0. 1. ]] SLAMing on 28.993201008 meters Centerline goodness : 0.881599 with order 1 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.50, Z:0.25 [[ 0.96275715 0.07269722 0.26041082 3.73236256] [-0.10408543 0.98859597 0.10883116 -0.49529714] [-0.24952936 -0.13188295 0.95934456 0.24729391] [ 0. 0. 0. 1. ]] SLAMing on 29.053201008 meters Centerline goodness : 0.880668 with order 1 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.50, Z:0.24 [[ 0.96333291 0.08558108 0.2542943 3.75405995] [-0.11321772 0.98891317 0.09608588 -0.49929286] [-0.24325185 -0.12135331 0.96234189 0.24047408] [ 0. 0. 0. 1. ]] SLAMing on 29.113201007999997 meters Centerline goodness : 0.883999 with order 1 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.50, Z:0.23 [[ 0.96217993 0.08776926 0.25788822 3.76341236] [-0.11140807 0.99066945 0.07850024 -0.49805473] [-0.24859208 -0.10426218 0.96298047 0.22592355] [ 0. 0. 0. 1. ]] SLAMing on 29.173201008 meters Centerline goodness : 0.882998 with order 1 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.51, Z:0.23 [[ 0.96276054 0.07984731 0.25829547 3.8127178 ] [-0.10702907 0.98990386 0.09292538 -0.50844201] [-0.24826784 -0.11711002 0.96158636 0.2277057 ] [ 0. 0. 0. 1. ]] SLAMing on 29.233201007999998 meters Centerline goodness : 0.885461 with order 1 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.51, Z:0.23 [[ 0.96307299 0.07710459 0.25796375 3.8129514 ] [-0.10308521 0.99070653 0.08873558 -0.50706796] [-0.24872446 -0.11205109 0.96207105 0.22787488] [ 0. 0. 0. 1. ]] SLAMing on 29.293201007999997 meters Centerline goodness : 0.885640 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.52, Z:0.23 [[ 0.96451113 0.06945569 0.25474339 3.85748258] [-0.09677605 0.99063477 0.09631793 -0.516616 ] [-0.24566783 -0.11755277 0.96219991 0.23001799] [ 0. 0. 0. 1. ]] SLAMing on 29.353201008 meters Centerline goodness : 0.882890 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.52, Z:0.23 [[ 0.96477028 0.06038024 0.25607133 3.87945252] [-0.0897021 0.99048072 0.10441018 -0.51503063] [-0.2473294 -0.12370197 0.9610026 0.23089585] [ 0. 0. 0. 1. ]] SLAMing on 29.413201007999998 meters Centerline goodness : 0.882962 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.51, Z:0.23 [[ 0.96498062 0.05787228 0.25585777 3.88489086] [-0.08700613 0.99075917 0.10404899 -0.51196421] [-0.24747188 -0.12266645 0.96109865 0.22848813] [ 0. 0. 0. 1. ]] SLAMing on 29.473201007999997 meters Centerline goodness : 0.879885 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.50, Z:0.24 [[ 0.96520813 0.04969354 0.25671738 3.84422422] [-0.08018116 0.99072678 0.1096879 -0.50391267] [-0.24888601 -0.12645555 0.96024203 0.24061668] [ 0. 0. 0. 1. ]] SLAMing on 29.533201008 meters Centerline goodness : 0.880739 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.50, Z:0.23 [[ 0.96502174 0.05300209 0.25675634 3.82260246] [-0.07885928 0.99267997 0.09147506 -0.49654546] [-0.25002851 -0.10852304 0.96213746 0.23474263] [ 0. 0. 0. 1. ]] SLAMing on 29.593201007999998 meters Centerline goodness : 0.883059 with order 1 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.49, Z:0.23 [[ 0.96400471 0.05922035 0.25920624 3.81350963] [-0.07829456 0.9948813 0.0638839 -0.48774628] [-0.25409622 -0.08187882 0.96370689 0.22629767] [ 0. 0. 0. 1. ]] SLAMing on 29.653201008 meters Centerline goodness : 0.882143 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.48, Z:0.23 [[ 0.96168063 0.05801524 0.2679638 3.79504601] [-0.07994169 0.99422144 0.0716454 -0.47639589] [-0.26225883 -0.09032147 0.96076133 0.22849035] [ 0. 0. 0. 1. ]] SLAMing on 29.713201008 meters Centerline goodness : 0.879910 with order 1 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.47, Z:0.24 [[ 0.95773634 0.04927327 0.28339592 3.79113023] [-0.08053943 0.99174756 0.09975053 -0.47305859] [-0.27614218 -0.11835925 0.95380113 0.23809868] [ 0. 0. 0. 1. ]] SLAMing on 29.773201007999997 meters Centerline goodness : 0.877481 with order 1 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.48, Z:0.25 [[ 0.95638273 0.05034971 0.28774463 3.79244054] [-0.08679965 0.98952522 0.11535013 -0.47686509] [-0.27892272 -0.13529501 0.95073518 0.25334448] [ 0. 0. 0. 1. ]] SLAMing on 29.833201008 meters Centerline goodness : 0.877780 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.48, Z:0.26 [[ 0.95572826 0.04648629 0.29055553 3.80489308] [-0.08695248 0.98796171 0.12794892 -0.47746089] [-0.28110986 -0.14754892 0.94826503 0.25985245] [ 0. 0. 0. 1. ]] SLAMing on 29.893201008 meters Centerline goodness : 0.871191 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.48, Z:0.27 [[ 0.95572408 0.03105161 0.29262139 3.81821236] [-0.07903615 0.9849643 0.15361838 -0.48184097] [-0.28345152 -0.16994446 0.94380831 0.27046339] [ 0. 0. 0. 1. ]] SLAMing on 29.953201007999997 meters Centerline goodness : 0.874985 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.48, Z:0.28 [[ 0.95450355 0.02252976 0.29734725 3.79613348] [-0.07113545 0.98555767 0.1536744 -0.47801304] [-0.28959061 -0.16783469 0.94232096 0.28060247] [ 0. 0. 0. 1. ]] SLAMing on 30.013201008 meters Centerline goodness : 0.881872 with order 1 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.48, Z:0.29 [[ 0.95233001 0.01326469 0.30478124 3.76899957] [-0.06200001 0.98662002 0.15078769 -0.47513268] [-0.29870312 -0.16249608 0.94041027 0.294851 ] [ 0. 0. 0. 1. ]] SLAMing on 30.073201007999998 meters Centerline goodness : 0.881344 with order 1 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.47, Z:0.29 [[ 0.95215663 0.01816298 0.30507027 3.74429308] [-0.06009687 0.98986941 0.12863479 -0.4676262 ] [-0.29964333 -0.14081424 0.94360226 0.28604119] [ 0. 0. 0. 1. ]] SLAMing on 30.133201007999997 meters Centerline goodness : 0.875223 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.46, Z:0.29 [[ 0.95271375 0.01423277 0.30353572 3.72484389] [-0.05552128 0.99024037 0.12783346 -0.45991789] [-0.2987539 -0.13864139 0.94420584 0.28665562] [ 0. 0. 0. 1. ]] SLAMing on 30.193201008 meters Centerline goodness : 0.877838 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.45, Z:0.28 [[ 0.95327165 0.02245523 0.3012788 3.69887006] [-0.05731547 0.99256545 0.10737209 -0.4520732 ] [-0.29662787 -0.1196227 0.94747154 0.28148407] [ 0. 0. 0. 1. ]] SLAMing on 30.253201007999998 meters Centerline goodness : 0.878088 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.44, Z:0.27 [[ 0.95379035 0.02921162 0.29904957 3.68009234] [-0.05908576 0.99406471 0.09134669 -0.44244819] [-0.29460624 -0.10479516 0.94985533 0.2732427 ] [ 0. 0. 0. 1. ]] SLAMing on 30.313201007999997 meters Centerline goodness : 0.875285 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.43, Z:0.26 [[ 0.95372984 0.03180612 0.29897787 3.67295447] [-0.05890323 0.99488515 0.08206069 -0.43416198] [-0.29483861 -0.09587449 0.95072513 0.26481923] [ 0. 0. 0. 1. ]] SLAMing on 30.373201008 meters Centerline goodness : 0.873590 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.43, Z:0.28 [[ 0.95372336 0.02761366 0.29941483 3.6717854 ] [-0.06345685 0.99183081 0.11065652 -0.43364927] [-0.29391322 -0.12453563 0.94768449 0.28117446] [ 0. 0. 0. 1. ]] SLAMing on 30.433201007999998 meters Centerline goodness : 0.877661 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.43, Z:0.29 [[ 0.95374662 0.02960751 0.29915008 3.67531567] [-0.06816722 0.99051582 0.11929646 -0.43134739] [-0.29278082 -0.13417083 0.94671938 0.28967569] [ 0. 0. 0. 1. ]] SLAMing on 30.493201008 meters Centerline goodness : 0.880545 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.42, Z:0.29 [[ 0.95237425 0.04811656 0.30111142 3.66065394] [-0.08354312 0.99086118 0.10589932 -0.42256062] [-0.2932641 -0.12601157 0.94769048 0.2888652 ] [ 0. 0. 0. 1. ]] SLAMing on 30.553201008 meters Centerline goodness : 0.877778 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.42, Z:0.28 [[ 0.95078507 0.05686951 0.3045876 3.67132823] [-0.09073933 0.99101987 0.09821406 -0.41901067] [-0.29626698 -0.12101854 0.94740719 0.27585931] [ 0. 0. 0. 1. ]] SLAMing on 30.613201007999997 meters Centerline goodness : 0.870565 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.41, Z:0.26 [[ 0.94929598 0.06767631 0.30701313 3.66799621] [-0.09644671 0.99215726 0.07951106 -0.41450813] [-0.29922429 -0.10508994 0.94837805 0.26296993] [ 0. 0. 0. 1. ]] SLAMing on 30.673201008 meters Centerline goodness : 0.868594 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.41, Z:0.25 [[ 0.94793492 0.07335891 0.30989974 3.67346341] [-0.09724074 0.99330846 0.06231002 -0.41298179] [-0.30325504 -0.08920073 0.94872526 0.24998647] [ 0. 0. 0. 1. ]] SLAMing on 30.733201007999998 meters Centerline goodness : 0.870426 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.41, Z:0.24 [[ 0.94654645 0.07824197 0.31293451 3.67693537] [-0.09655177 0.99438032 0.04342272 -0.41365173] [-0.30777844 -0.071316 0.94878156 0.23884111] [ 0. 0. 0. 1. ]] SLAMing on 30.793201007999997 meters Centerline goodness : 0.869546 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.42, Z:0.24 [[ 0.94657954 0.0780633 0.31287903 3.67738658] [-0.09660693 0.99434138 0.04418504 -0.41996399] [-0.30765934 -0.07205094 0.94876467 0.23749236] [ 0. 0. 0. 1. ]] SLAMing on 30.853201008 meters Centerline goodness : 0.864694 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.42, Z:0.23 [[ 0.94684761 0.07556003 0.31268241 3.67764493] [-0.09261066 0.9948978 0.0400204 -0.42357997] [-0.3080631 -0.06685095 0.94901427 0.23434988] [ 0. 0. 0. 1. ]] SLAMing on 30.913201007999998 meters Centerline goodness : 0.869818 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.43, Z:0.23 [[ 0.94735531 0.07049536 0.31232727 3.67700818] [-0.08481487 0.99586706 0.03248454 -0.42978851] [-0.30874643 -0.0572644 0.949419 0.2337119 ] [ 0. 0. 0. 1. ]] SLAMing on 30.973201007999997 meters Centerline goodness : 0.866266 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.43, Z:0.23 [[ 0.94748342 0.07044443 0.31194991 3.67795214] [-0.08440344 0.99593502 0.03145628 -0.42856814] [-0.30846592 -0.05613395 0.94957767 0.23143688] [ 0. 0. 0. 1. ]] SLAMing on 31.033201008 meters Centerline goodness : 0.861273 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.42, Z:0.22 [[ 0.94776073 0.07164162 0.31083289 3.67835958] [-0.08344692 0.99620282 0.02483048 -0.41922125] [-0.30787371 -0.0494714 0.95014018 0.21840886] [ 0. 0. 0. 1. ]] SLAMing on 31.093201007999998 meters Centerline goodness : 0.861190 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.41, Z:0.21 [[ 0.94781474 0.072371 0.31049904 3.67853303] [-0.08289319 0.99634116 0.02080902 -0.41212625] [-0.307857 -0.04546135 0.9503459 0.21088884] [ 0. 0. 0. 1. ]] SLAMing on 31.153201008 meters Centerline goodness : 0.862683 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.41, Z:0.21 [[ 0.9477781 0.07283051 0.31050345 3.67771273] [-0.08338021 0.99630028 0.02082063 -0.41005193] [-0.3078383 -0.04562318 0.95034421 0.21312081] [ 0. 0. 0. 1. ]] SLAMing on 31.213201008 meters Centerline goodness : 0.862691 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.41, Z:0.22 [[ 0.9476775 0.07361212 0.31062615 3.67381021] [-0.08417772 0.99623516 0.02072702 -0.40862937] [-0.30793093 -0.04579034 0.95030615 0.2206871 ] [ 0. 0. 0. 1. ]] SLAMing on 31.273201007999997 meters Centerline goodness : 0.859947 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.41, Z:0.22 [[ 0.94763942 0.07374916 0.31070983 3.67330631] [-0.08449754 0.99619694 0.0212562 -0.40997922] [-0.30796055 -0.04639743 0.95026711 0.22200903] [ 0. 0. 0. 1. ]] SLAMing on 31.333201008 meters Centerline goodness : 0.856065 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.41, Z:0.22 [[ 0.94773345 0.07323252 0.31054519 3.6747208 ] [-0.0833278 0.99633434 0.01934813 -0.4069571 ] [-0.30798992 -0.04421392 0.95036169 0.21708194] [ 0. 0. 0. 1. ]] SLAMing on 31.393201008 meters Centerline goodness : 0.862546 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.41, Z:0.22 [[ 0.94816141 0.06992146 0.3100015 3.67605882] [-0.07859222 0.99678552 0.01555288 -0.40973404] [-0.30791753 -0.03911034 0.95060884 0.21612064] [ 0. 0. 0. 1. ]] SLAMing on 31.453201007999997 meters Centerline goodness : 0.860506 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.41, Z:0.22 [[ 0.94878195 0.06569581 0.30902569 3.68388269] [-0.07485836 0.99703399 0.0178733 -0.41451827] [-0.30693491 -0.04009102 0.95088573 0.21752943] [ 0. 0. 0. 1. ]] SLAMing on 31.513201008 meters Centerline goodness : 0.859018 with order 1 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.43, Z:0.22 [[ 0.9500395 0.05820331 0.30665505 3.72962961] [-0.07054624 0.99707776 0.02931141 -0.42620328] [-0.30405291 -0.04948036 0.95136929 0.21970607] [ 0. 0. 0. 1. ]] SLAMing on 31.573201007999998 meters Centerline goodness : 0.866213 with order 1 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.43, Z:0.22 [[ 0.95134474 0.05598929 0.30299898 3.76266511] [-0.06847342 0.99717962 0.03072767 -0.43297239] [-0.30042399 -0.04997998 0.95249537 0.21665293] [ 0. 0. 0. 1. ]] SLAMing on 31.633201007999997 meters Centerline goodness : 0.864157 with order 1 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.44, Z:0.22 [[ 0.95202245 0.05143139 0.30167545 3.80845232] [-0.06854536 0.99656776 0.04641362 -0.44012713] [-0.29825291 -0.06486526 0.95228026 0.21761769] [ 0. 0. 0. 1. ]] SLAMing on 31.693201008 meters Centerline goodness : 0.860483 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.44, Z:0.21 [[ 0.95264309 0.0500498 0.29994359 3.81786924] [-0.06763136 0.99653002 0.04851719 -0.43688738] [-0.29647452 -0.06650516 0.95272237 0.21157495] [ 0. 0. 0. 1. ]] SLAMing on 31.753201007999998 meters Centerline goodness : 0.861541 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.45, Z:0.22 [[ 0.95308017 0.0450165 0.29935214 3.86006999] [-0.06721595 0.99566599 0.06427479 -0.44665158] [-0.29516131 -0.08138026 0.95197534 0.22259701] [ 0. 0. 0. 1. ]] SLAMing on 31.813201007999997 meters Centerline goodness : 0.866105 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.45, Z:0.23 [[ 0.94994916 0.02702825 0.31123314 3.88654408] [-0.05752753 0.99434792 0.08923454 -0.44830798] [-0.30706217 -0.10267275 0.94613484 0.22788511] [ 0. 0. 0. 1. ]] SLAMing on 31.873201008 meters Centerline goodness : 0.860587 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.44, Z:0.22 [[ 0.94975383 0.02663096 0.31186287 3.88707734] [-0.05608123 0.99472862 0.08584794 -0.440938 ] [-0.30793271 -0.09902406 0.94624081 0.22092616] [ 0. 0. 0. 1. ]] SLAMing on 31.933201007999998 meters Centerline goodness : 0.860582 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.44, Z:0.22 [[ 0.94961722 0.02958809 0.3120123 3.88708703] [-0.06028457 0.99418778 0.08919887 -0.43662124] [-0.30755959 -0.10351431 0.94588154 0.22212339] [ 0. 0. 0. 1. ]] SLAMing on 31.993201008 meters Centerline goodness : 0.862299 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.44, Z:0.23 [[ 0.94967679 0.03174667 0.31161859 3.88917314] [-0.0643725 0.99339614 0.09497525 -0.43597702] [-0.30654556 -0.11025546 0.94544886 0.22600777] [ 0. 0. 0. 1. ]] SLAMing on 32.053201008 meters Centerline goodness : 0.860929 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.43, Z:0.22 [[ 0.95106048 0.04441105 0.30579671 3.87613849] [-0.0745824 0.9933515 0.08769416 -0.42881958] [-0.29986903 -0.1062095 0.94804963 0.22154708] [ 0. 0. 0. 1. ]] SLAMing on 32.113201008000004 meters Centerline goodness : 0.861655 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.42, Z:0.21 [[ 0.94908357 0.05459692 0.31025724 3.87856296] [-0.08194849 0.99374918 0.0758091 -0.422888 ] [-0.30417893 -0.09737429 0.94762515 0.2105189 ] [ 0. 0. 0. 1. ]] SLAMing on 32.173201008 meters Centerline goodness : 0.861563 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.42, Z:0.21 [[ 0.94930071 0.07189603 0.30603779 3.88521736] [-0.09398498 0.99388007 0.05804507 -0.42128212] [-0.29999165 -0.08386518 0.9502482 0.20773109] [ 0. 0. 0. 1. ]] SLAMing on 32.233201008 meters Centerline goodness : 0.869811 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.42, Z:0.20 [[ 0.94674537 0.08177443 0.311426 3.88229085] [-0.10024545 0.99400065 0.04374419 -0.41847997] [-0.30598049 -0.07263364 0.94926303 0.20113942] [ 0. 0. 0. 1. ]] SLAMing on 32.293201008000004 meters Centerline goodness : 0.867201 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.41, Z:0.19 [[ 0.94626407 0.08247277 0.31270201 3.87533659] [-0.09853589 0.99448608 0.03589024 -0.41461053] [-0.30801783 -0.06477401 0.94917298 0.1942519 ] [ 0. 0. 0. 1. ]] SLAMing on 32.353201008 meters Centerline goodness : 0.864312 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.42, Z:0.19 [[ 0.94661178 0.07982071 0.31233762 3.87580164] [-0.09415383 0.99507318 0.0310551 -0.41696504] [-0.30831995 -0.05880491 0.94946342 0.19054694] [ 0. 0. 0. 1. ]] SLAMing on 32.413201008 meters Centerline goodness : 0.866375 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.42, Z:0.19 [[ 0.94723987 0.07656764 0.31124593 3.8779555 ] [-0.08931509 0.99564041 0.02688862 -0.42162917] [-0.30783022 -0.05326894 0.94994893 0.1881228 ] [ 0. 0. 0. 1. ]] SLAMing on 32.473201008000004 meters Centerline goodness : 0.862498 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.42, Z:0.18 [[ 0.94853911 0.07060337 0.30868871 3.89130821] [-0.08196766 0.99634632 0.02398572 -0.42343444] [-0.30586739 -0.04805389 0.95086064 0.17649247] [ 0. 0. 0. 1. ]] SLAMing on 32.533201008 meters Centerline goodness : 0.861890 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.43, Z:0.17 [[ 0.94901486 0.0689388 0.30760079 3.895662 ] [-0.07980534 0.99654802 0.02287262 -0.42502237] [-0.30496214 -0.04625464 0.95124056 0.17139635] [ 0. 0. 0. 1. ]] SLAMing on 32.593201008 meters Centerline goodness : 0.862927 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.43, Z:0.18 [[ 0.94937595 0.06528446 0.30728367 3.89766004] [-0.07625503 0.99680383 0.02381802 -0.43085622] [-0.30474659 -0.04604418 0.95131985 0.18029812] [ 0. 0. 0. 1. ]] SLAMing on 32.653201008 meters Centerline goodness : 0.868887 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.43, Z:0.19 [[ 0.94931546 0.06495615 0.30754002 3.89732823] [-0.07671178 0.99670697 0.02627764 -0.43459061] [-0.30482038 -0.04853771 0.95117224 0.18569269] [ 0. 0. 0. 1. ]] SLAMing on 32.713201008 meters Centerline goodness : 0.860590 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.43, Z:0.18 [[ 0.94947842 0.06592636 0.30682967 3.90143768] [-0.0789485 0.99642082 0.03021057 -0.43436293] [-0.3037398 -0.05290802 0.95128485 0.18428444] [ 0. 0. 0. 1. ]] SLAMing on 32.773201008 meters Centerline goodness : 0.857584 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.43, Z:0.18 [[ 0.9496123 0.06599705 0.30639986 3.9025472 ] [-0.07876609 0.99645701 0.02948444 -0.43209259] [-0.3033684 -0.05213271 0.95144616 0.18287405] [ 0. 0. 0. 1. ]] SLAMing on 32.833201008 meters Centerline goodness : 0.862201 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.43, Z:0.19 [[ 0.95022233 0.06267152 0.30520452 3.91056021] [-0.07668383 0.99647117 0.03412902 -0.43472699] [-0.30198858 -0.05583441 0.95167506 0.18915173] [ 0. 0. 0. 1. ]] SLAMing on 32.893201008 meters Centerline goodness : 0.860168 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.43, Z:0.19 [[ 0.950498 0.06194063 0.30449452 3.91311554] [-0.07586226 0.99653532 0.03409223 -0.43434423] [-0.30132785 -0.05550424 0.95190378 0.18817576] [ 0. 0. 0. 1. ]] SLAMing on 32.953201008 meters Centerline goodness : 0.863902 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.43, Z:0.19 [[ 0.95072901 0.06313265 0.30352698 3.91733848] [-0.07837653 0.99618813 0.03829261 -0.4348994 ] [-0.29995246 -0.06019529 0.95205307 0.18719515] [ 0. 0. 0. 1. ]] SLAMing on 33.013201008 meters Centerline goodness : 0.864036 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.44, Z:0.19 [[ 0.95074831 0.06333264 0.30342483 3.91702245] [-0.07882915 0.9961216 0.03908603 -0.43514151] [-0.29977261 -0.0610797 0.95205339 0.19011008] [ 0. 0. 0. 1. ]] SLAMing on 33.073201008000005 meters Centerline goodness : 0.868846 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.44, Z:0.19 [[ 0.95077665 0.06337281 0.30332764 3.91700137] [-0.07915708 0.99605871 0.04001504 -0.43651365] [-0.29959627 -0.06205589 0.95204577 0.19252746] [ 0. 0. 0. 1. ]] SLAMing on 33.133201008 meters Centerline goodness : 0.866840 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.44, Z:0.19 [[ 0.95099516 0.06284539 0.30275182 3.91883742] [-0.07846598 0.99612605 0.03969866 -0.43676371] [-0.29908409 -0.06150896 0.95224228 0.19126894] [ 0. 0. 0. 1. ]] SLAMing on 33.193201008 meters Centerline goodness : 0.867224 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.44, Z:0.19 [[ 0.95151772 0.06130763 0.30142231 3.92355712] [-0.07626289 0.99635996 0.03808948 -0.43598909] [-0.29798994 -0.05923015 0.95272965 0.18619144] [ 0. 0. 0. 1. ]] SLAMing on 33.253201008000005 meters Centerline goodness : 0.867799 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.44, Z:0.19 [[ 0.95310596 0.0559214 0.29742533 3.96378114] [-0.07234191 0.99638747 0.04448219 -0.44432197] [-0.29386337 -0.06391255 0.95370829 0.1860856 ] [ 0. 0. 0. 1. ]] SLAMing on 33.313201008 meters Centerline goodness : 0.872446 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.45, Z:0.19 [[ 0.95363791 0.04773498 0.29714661 4.01066157] [-0.06734136 0.99615193 0.05609347 -0.4501143 ] [-0.29332554 -0.07350311 0.95318278 0.18919837] [ 0. 0. 0. 1. ]] SLAMing on 33.373201008 meters Centerline goodness : 0.874882 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.45, Z:0.19 [[ 0.95366331 0.04215313 0.29790838 4.02986854] [-0.06579294 0.995391 0.06977133 -0.45246643] [-0.29359424 -0.08613862 0.95204126 0.19410322] [ 0. 0. 0. 1. ]] SLAMing on 33.433201008000005 meters Centerline goodness : 0.879040 with order 1 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.45, Z:0.20 [[ 0.95393252 0.03796044 0.29761008 4.04757197] [-0.06552601 0.99437645 0.08319752 -0.45272487] [-0.29277824 -0.09886602 0.95105542 0.19966364] [ 0. 0. 0. 1. ]] SLAMing on 33.493201008 meters Centerline goodness : 0.882814 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.46, Z:0.22 [[ 0.952464 0.02901467 0.30326636 4.07590354] [-0.06654251 0.99123204 0.11415402 -0.46167468] [-0.29729519 -0.1289077 0.94604354 0.21923391] [ 0. 0. 0. 1. ]] SLAMing on 33.553201008 meters Centerline goodness : 0.881459 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.45, Z:0.21 [[ 0.95290812 0.03284274 0.30147548 4.08228605] [-0.07161952 0.99036958 0.11848516 -0.45452241] [-0.29468077 -0.134497 0.9460834 0.21144007] [ 0. 0. 0. 1. ]] SLAMing on 33.613201008000004 meters Centerline goodness : 0.880087 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.45, Z:0.20 [[ 0.95403445 0.04118259 0.29685395 4.07215871] [-0.07660267 0.99111996 0.1086888 -0.44627731] [-0.28974178 -0.12643266 0.94871728 0.20369472] [ 0. 0. 0. 1. ]] SLAMing on 33.673201008 meters Centerline goodness : 0.886999 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.45, Z:0.20 [[ 0.95461719 0.05565415 0.29258954 4.08787552] [-0.08569694 0.99216808 0.09087647 -0.44536206] [-0.28524035 -0.11182627 0.9519101 0.19960733] [ 0. 0. 0. 1. ]] SLAMing on 33.733201008 meters Centerline goodness : 0.894105 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.44, Z:0.19 [[ 0.9526728 0.06151081 0.29770951 4.09589163] [-0.08919164 0.99277277 0.08029367 -0.44351454] [-0.29061897 -0.10304679 0.95127387 0.19095737] [ 0. 0. 0. 1. ]] SLAMing on 33.793201008000004 meters Centerline goodness : 0.894766 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.44, Z:0.18 [[ 0.95169804 0.06799981 0.29941085 4.08872231] [-0.09629568 0.99207012 0.08077139 -0.43825417] [-0.29154412 -0.10570195 0.95069928 0.18456997] [ 0. 0. 0. 1. ]] SLAMing on 33.853201008 meters Centerline goodness : 0.893102 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.43, Z:0.17 [[ 0.95000868 0.07701358 0.3025763 4.09337337] [-0.10188699 0.9925185 0.06727602 -0.43468231] [-0.29513141 -0.09474139 0.95074787 0.17121007] [ 0. 0. 0. 1. ]] SLAMing on 33.913201008 meters Centerline goodness : 0.895494 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.43, Z:0.16 [[ 0.94906271 0.08306621 0.30394076 4.09343608] [-0.10161699 0.99377308 0.04570606 -0.4335169 ] [-0.29825152 -0.07426346 0.95159391 0.16317752] [ 0. 0. 0. 1. ]] SLAMing on 33.973201008000004 meters Centerline goodness : 0.894765 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.43, Z:0.16 [[ 0.94936277 0.08051058 0.30369124 4.09348027] [-0.09743801 0.99439765 0.04097744 -0.43444581] [-0.29869074 -0.06849353 0.9518889 0.16096735] [ 0. 0. 0. 1. ]] SLAMing on 34.033201008 meters Centerline goodness : 0.889689 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.44, Z:0.15 [[ 0.95019746 0.0745982 0.30258866 4.10324204] [-0.09011457 0.99522043 0.03762527 -0.43811419] [-0.29833563 -0.06301908 0.95237831 0.1507908 ] [ 0. 0. 0. 1. ]] SLAMing on 34.093201008 meters Centerline goodness : 0.890523 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.45, Z:0.15 [[ 0.95276175 0.07328332 0.29474499 4.129942 ] [-0.08922742 0.99516723 0.0409958 -0.4469662 ] [-0.29031625 -0.06535857 0.95469615 0.15055662] [ 0. 0. 0. 1. ]] SLAMing on 34.153201008 meters Centerline goodness : 0.895594 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.45, Z:0.15 [[ 0.95307405 0.07097652 0.29429949 4.12954594] [-0.08596251 0.99556253 0.03828438 -0.44973977] [-0.29027626 -0.06178658 0.95494613 0.15420316] [ 0. 0. 0. 1. ]] SLAMing on 34.213201008 meters Centerline goodness : 0.899440 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.45, Z:0.16 [[ 0.95284365 0.07143227 0.29493459 4.12766891] [-0.08688295 0.99543108 0.03960188 -0.45049109] [-0.29075821 -0.06335919 0.95469643 0.15836956] [ 0. 0. 0. 1. ]] SLAMing on 34.273201008 meters Centerline goodness : 0.899801 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.46, Z:0.17 [[ 0.9524702 0.06080937 0.29850083 4.16159557] [-0.08339264 0.99449158 0.06349931 -0.45644766] [-0.29299521 -0.08537397 0.95229465 0.16788884] [ 0. 0. 0. 1. ]] SLAMing on 34.333201008 meters Centerline goodness : 0.898946 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.46, Z:0.17 [[ 0.95292892 0.05924237 0.29734965 4.17657827] [-0.08527753 0.99350381 0.07535204 -0.45583721] [-0.29095398 -0.09716238 0.95179055 0.17056168] [ 0. 0. 0. 1. ]] SLAMing on 34.393201008 meters Centerline goodness : 0.900057 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.46, Z:0.17 [[ 0.95503955 0.06577552 0.28909003 4.19850584] [-0.09108958 0.99301541 0.07498717 -0.45828961] [-0.28213854 -0.0979488 0.95436046 0.16842325] [ 0. 0. 0. 1. ]] SLAMing on 34.453201008 meters Centerline goodness : 0.905268 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.46, Z:0.16 [[ 0.95386224 0.06950816 0.29208808 4.21076517] [-0.09191917 0.99372689 0.06370029 -0.45692985] [-0.28582809 -0.0876098 0.95426769 0.16226606] [ 0. 0. 0. 1. ]] SLAMing on 34.513201008 meters Centerline goodness : 0.905646 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.46, Z:0.16 [[ 0.95431049 0.06718788 0.29116537 4.22141967] [-0.09142673 0.99331712 0.0704432 -0.45820787] [-0.28448662 -0.09384498 0.95407572 0.16376133] [ 0. 0. 0. 1. ]] SLAMing on 34.573201008000005 meters Centerline goodness : 0.901890 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.45, Z:0.16 [[ 0.95448466 0.06529882 0.29102424 4.22520096] [-0.08882483 0.99369864 0.06836058 -0.45492389] [-0.28472652 -0.0910993 0.95427026 0.15742786] [ 0. 0. 0. 1. ]] SLAMing on 34.633201008 meters Centerline goodness : 0.907362 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.47, Z:0.17 [[ 0.95525653 0.06073313 0.28947617 4.27104171] [-0.08911757 0.99231065 0.08589311 -0.46577334] [-0.28203373 -0.10784737 0.95332362 0.16651858] [ 0. 0. 0. 1. ]] SLAMing on 34.693201008 meters Centerline goodness : 0.913349 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.47, Z:0.16 [[ 0.95612337 0.07042372 0.28437404 4.29333132] [-0.09441776 0.99295808 0.07155093 -0.46950481] [-0.27733262 -0.09526148 0.95603968 0.16190463] [ 0. 0. 0. 1. ]] SLAMing on 34.753201008000005 meters Centerline goodness : 0.911457 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.47, Z:0.16 [[ 0.95609185 0.07203789 0.28407556 4.29673219] [-0.09715549 0.99241468 0.07532542 -0.46986284] [-0.27649447 -0.09961752 0.95583846 0.15919655] [ 0. 0. 0. 1. ]] SLAMing on 34.813201008 meters Centerline goodness : 0.908338 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.47, Z:0.15 [[ 0.95675692 0.06862024 0.28267907 4.30441262] [-0.09325312 0.99284279 0.07461273 -0.47137526] [-0.27553593 -0.09774695 0.95630826 0.15478065] [ 0. 0. 0. 1. ]] SLAMing on 34.873201008 meters Centerline goodness : 0.907986 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.47, Z:0.15 [[ 0.95732438 0.06807284 0.28088454 4.31332634] [-0.09394693 0.99238282 0.07968884 -0.47297719] [-0.27332035 -0.10267631 0.9564275 0.15428545] [ 0. 0. 0. 1. ]] SLAMing on 34.933201008000005 meters Centerline goodness : 0.904165 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.47, Z:0.15 [[ 0.95759489 0.06931109 0.27965694 4.31927081] [-0.0956709 0.99205284 0.08172051 -0.47033601] [-0.27177032 -0.10501017 0.95661578 0.1479453 ] [ 0. 0. 0. 1. ]] SLAMing on 34.993201008 meters Centerline goodness : 0.908864 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.47, Z:0.14 [[ 0.95652325 0.07245253 0.28251354 4.33590498] [-0.09706076 0.99251719 0.07408666 -0.47124985] [-0.27503178 -0.0982866 0.95639807 0.14066406] [ 0. 0. 0. 1. ]] SLAMing on 35.053201008 meters Centerline goodness : 0.913648 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.48, Z:0.15 [[ 0.95667466 0.07102766 0.28236266 4.33855308] [-0.09637711 0.99236921 0.07690773 -0.47536225] [-0.27474543 -0.10078897 0.95621992 0.14547322] [ 0. 0. 0. 1. ]] SLAMing on 35.113201008000004 meters Centerline goodness : 0.908530 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.47, Z:0.14 [[ 0.95664027 0.07066425 0.28257026 4.33952071] [-0.09546459 0.99260587 0.07496729 -0.47133781] [-0.27518339 -0.09869218 0.95631269 0.14069891] [ 0. 0. 0. 1. ]] SLAMing on 35.173201008 meters Centerline goodness : 0.908504 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.47, Z:0.14 [[ 0.95723621 0.07948653 0.27817392 4.34529899] [-0.10073275 0.99292231 0.06291419 -0.46792856] [-0.27120426 -0.08824497 0.95846809 0.13634013] [ 0. 0. 0. 1. ]] SLAMing on 35.233201008 meters Centerline goodness : 0.913680 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.47, Z:0.14 [[ 0.95727362 0.07958889 0.27801586 4.34568087] [-0.10097755 0.99286285 0.06345784 -0.46778118] [-0.27098108 -0.08881988 0.95847811 0.13815094] [ 0. 0. 0. 1. ]] SLAMing on 35.293201008000004 meters Centerline goodness : 0.913194 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.47, Z:0.14 [[ 0.95746602 0.07746117 0.27795428 4.34468527] [-0.09727603 0.99355436 0.05819881 -0.46550108] [-0.27165454 -0.08276167 0.95882966 0.13631271] [ 0. 0. 0. 1. ]] SLAMing on 35.353201008 meters Centerline goodness : 0.908698 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.47, Z:0.14 [[ 0.95817199 0.07472742 0.27626482 4.35242557] [-0.09454893 0.99376322 0.05911998 -0.46559782] [-0.27012394 -0.08276765 0.95926147 0.13561936] [ 0. 0. 0. 1. ]] SLAMing on 35.413201008 meters Centerline goodness : 0.902430 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.46, Z:0.13 [[ 0.95838415 0.07500157 0.27545343 4.35898545] [-0.09514454 0.99362402 0.06048814 -0.46362228] [-0.26916044 -0.08417877 0.9594095 0.12671751] [ 0. 0. 0. 1. ]] SLAMing on 35.473201008000004 meters Centerline goodness : 0.907578 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.47, Z:0.13 [[ 0.9583717 0.07512764 0.27546238 4.35839317] [-0.0955734 0.99351777 0.06154813 -0.46637955] [-0.2690528 -0.08531286 0.95933952 0.12953581] [ 0. 0. 0. 1. ]] SLAMing on 35.533201008 meters Centerline goodness : 0.910980 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.47, Z:0.12 [[ 0.95712249 0.0777236 0.27906197 4.36777744] [-0.0944537 0.99441952 0.04699274 -0.46752994] [-0.27385223 -0.07133624 0.95912257 0.12266039] [ 0. 0. 0. 1. ]] SLAMing on 35.593201008 meters Centerline goodness : 0.911244 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.47, Z:0.12 [[ 0.95703006 0.07963601 0.2788397 4.37019041] [-0.0974271 0.99395984 0.05051527 -0.46743084] [-0.27313263 -0.07551117 0.95900815 0.12025403] [ 0. 0. 0. 1. ]] SLAMing on 35.653201008 meters Centerline goodness : 0.901493 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.47, Z:0.11 [[ 0.95858244 0.08129307 0.27296731 4.39887561] [-0.09838622 0.99391628 0.04950337 -0.47201633] [-0.26728237 -0.07430928 0.9607488 0.1109933 ] [ 0. 0. 0. 1. ]] SLAMing on 35.713201008 meters Centerline goodness : 0.900333 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.48, Z:0.11 [[ 0.95959077 0.08193742 0.26920589 4.4272843 ] [-0.09885215 0.99385197 0.04986496 -0.47929036] [-0.263465 -0.07446154 0.96179087 0.10800781] [ 0. 0. 0. 1. ]] SLAMing on 35.773201008 meters Centerline goodness : 0.907078 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.49, Z:0.11 [[ 0.96023966 0.08182961 0.26691518 4.45624676] [-0.09892924 0.99377457 0.05123574 -0.48787185] [-0.26106092 -0.07560431 0.9623571 0.10780609] [ 0. 0. 0. 1. ]] SLAMing on 35.833201008 meters Centerline goodness : 0.904459 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.48, Z:0.10 [[ 0.96028596 0.08184268 0.26674455 4.45708503] [-0.09847501 0.99390457 0.04956187 -0.48415713] [-0.26106235 -0.07386124 0.96249206 0.10425133] [ 0. 0. 0. 1. ]] SLAMing on 35.893201008 meters Centerline goodness : 0.898919 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.48, Z:0.10 [[ 0.96018305 0.08403594 0.26643287 4.4596328 ] [-0.10124016 0.99352899 0.05148368 -0.479989 ] [-0.2603823 -0.07640747 0.96247751 0.0994821 ] [ 0. 0. 0. 1. ]] SLAMing on 35.953201008 meters Centerline goodness : 0.899755 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.48, Z:0.10 [[ 0.96020452 0.084105 0.26633368 4.45959003] [-0.10134576 0.99351011 0.05164008 -0.48040001] [-0.26026201 -0.07657683 0.96249658 0.10018725] [ 0. 0. 0. 1. ]] SLAMing on 36.013201008 meters Centerline goodness : 0.905025 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.48, Z:0.09 [[ 0.9587401 0.08822809 0.27024661 4.4674982 ] [-0.10159794 0.99417896 0.0358617 -0.47604858] [-0.26550949 -0.06183854 0.96212302 0.0873967 ] [ 0. 0. 0. 1. ]] SLAMing on 36.073201008 meters Centerline goodness : 0.907052 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.48, Z:0.09 [[ 0.95869453 0.08820661 0.27041521 4.46702476] [-0.10183764 0.99412126 0.03676983 -0.477992 ] [-0.26558216 -0.06278949 0.96204137 0.08962566] [ 0. 0. 0. 1. ]] SLAMing on 36.133201008 meters Centerline goodness : 0.902774 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.48, Z:0.09 [[ 0.95880403 0.0878578 0.27014039 4.46805782] [-0.1016503 0.99411431 0.0374695 -0.48163862] [-0.26525844 -0.06338576 0.96209158 0.08958474] [ 0. 0. 0. 1. ]] SLAMing on 36.193201008 meters Centerline goodness : 0.900381 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.48, Z:0.08 [[ 0.95885779 0.08798578 0.26990784 4.4688149 ] [-0.10111341 0.99425563 0.03509725 -0.47795241] [-0.26526933 -0.06094457 0.9622463 0.08456052] [ 0. 0. 0. 1. ]] SLAMing on 36.253201008000005 meters Centerline goodness : 0.901870 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.48, Z:0.08 [[ 0.95939895 0.08693117 0.26832189 4.47666811] [-0.10040459 0.99426295 0.03687966 -0.47974044] [-0.26357652 -0.06232305 0.96262311 0.07963262] [ 0. 0. 0. 1. ]] SLAMing on 36.313201008 meters Centerline goodness : 0.903874 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.48, Z:0.08 [[ 0.95995215 0.08372728 0.26736045 4.47852946] [-0.09575432 0.99488263 0.03224394 -0.47935706] [-0.26329257 -0.05655356 0.96305697 0.07805521] [ 0. 0. 0. 1. ]] SLAMing on 36.373201008 meters Centerline goodness : 0.903078 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.47, Z:0.07 [[ 0.96020342 0.08287755 0.26672215 4.48146674] [-0.09402536 0.99513924 0.02927679 -0.47385077] [-0.26299928 -0.05319032 0.96332869 0.07169284] [ 0. 0. 0. 1. ]] SLAMing on 36.433201008000005 meters Centerline goodness : 0.895760 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.47, Z:0.07 [[ 0.96083322 0.07898901 0.26563183 4.48457895] [-0.08815372 0.99584732 0.02273836 -0.4679005 ] [-0.26273267 -0.0452642 0.96380636 0.06722717] [ 0. 0. 0. 1. ]] SLAMing on 36.493201008 meters Centerline goodness : 0.904102 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.48, Z:0.07 [[ 0.96185924 0.07377157 0.26340948 4.52418767] [-0.08442952 0.99599688 0.02935757 -0.47579098] [-0.26018926 -0.05047739 0.96423731 0.07079401] [ 0. 0. 0. 1. ]] SLAMing on 36.553201008 meters Centerline goodness : 0.907835 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.49, Z:0.09 [[ 0.96154613 0.05642102 0.2687856 4.57134555] [-0.074268 0.99562559 0.05669162 -0.48575993] [-0.26441122 -0.07447377 0.96153022 0.08514898] [ 0. 0. 0. 1. ]] SLAMing on 36.613201008000004 meters Centerline goodness : 0.900252 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.49, Z:0.09 [[ 0.96097468 0.04833527 0.27238092 4.5987749 ] [-0.07226983 0.99428869 0.0785307 -0.49109924] [-0.26702947 -0.09515094 0.95897944 0.09328107] [ 0. 0. 0. 1. ]] SLAMing on 36.673201008 meters Centerline goodness : 0.900110 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.49, Z:0.09 [[ 0.96169545 0.04445459 0.27049151 4.61945959] [-0.07104108 0.99346774 0.08930293 -0.48840969] [-0.26475466 -0.10509823 0.95857151 0.09286213] [ 0. 0. 0. 1. ]] SLAMing on 36.733201008 meters Centerline goodness : 0.901752 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.49, Z:0.10 [[ 0.96172715 0.04680758 0.26998138 4.62098785] [-0.07479351 0.99272872 0.09431657 -0.48840808] [-0.26360354 -0.11089966 0.95823506 0.09654494] [ 0. 0. 0. 1. ]] SLAMing on 36.793201008000004 meters Centerline goodness : 0.910321 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.49, Z:0.09 [[ 0.96034432 0.0546661 0.27340519 4.63054847] [-0.08129376 0.99288372 0.08702441 -0.48574591] [-0.26670228 -0.10579953 0.95795425 0.09336577] [ 0. 0. 0. 1. ]] SLAMing on 36.853201008 meters Centerline goodness : 0.905147 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.48, Z:0.09 [[ 0.96030437 0.05954066 0.272526 4.63450094] [-0.08792549 0.99176242 0.09314725 -0.48193884] [-0.26473499 -0.11341169 0.95762893 0.08883592] [ 0. 0. 0. 1. ]] SLAMing on 36.913201008 meters Centerline goodness : 0.901787 with order 1 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.48, Z:0.08 [[ 0.96177179 0.0696799 0.26483908 4.64512369] [-0.09789186 0.99066674 0.09485034 -0.47902271] [-0.25575811 -0.11714997 0.95961642 0.08445534] [ 0. 0. 0. 1. ]] SLAMing on 36.973201008000004 meters Centerline goodness : 0.899620 with order 1 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.48, Z:0.07 [[ 0.96066783 0.07417626 0.26761015 4.65443171] [-0.09898419 0.99183429 0.08041688 -0.47658066] [-0.2594599 -0.10374308 0.96016557 0.07468552] [ 0. 0. 0. 1. ]] SLAMing on 37.033201008 meters Centerline goodness : 0.906077 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.48, Z:0.08 [[ 0.96263534 0.07893546 0.25904131 4.66415209] [-0.10173762 0.99191826 0.07581304 -0.4805487 ] [-0.25096347 -0.09933456 0.96288628 0.07776953] [ 0. 0. 0. 1. ]] SLAMing on 37.093201008 meters Centerline goodness : 0.902605 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.48, Z:0.07 [[ 0.96269983 0.07721245 0.25932079 4.66234602] [-0.0977443 0.99293893 0.06721857 -0.4754843 ] [-0.2522996 -0.09005843 0.96344922 0.06795333] [ 0. 0. 0. 1. ]] SLAMing on 37.153201008 meters Centerline goodness : 0.897234 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.48, Z:0.06 [[ 0.9613745 0.07938961 0.26354573 4.6740438 ] [-0.09691458 0.99381829 0.05415513 -0.47514719] [-0.25761721 -0.07760478 0.96312557 0.05710818] [ 0. 0. 0. 1. ]] SLAMing on 37.213201008 meters Centerline goodness : 0.897887 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.48, Z:0.06 [[ 0.96151284 0.07909699 0.26312871 4.67519277] [-0.09664908 0.99382948 0.05442358 -0.47721554] [-0.25720032 -0.07776011 0.96322446 0.05676165] [ 0. 0. 0. 1. ]] SLAMing on 37.273201008 meters Centerline goodness : 0.900172 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.49, Z:0.06 [[ 0.96235358 0.07740083 0.26054691 4.70784916] [-0.09586448 0.99365024 0.05889985 -0.4883778 ] [-0.25433361 -0.08165968 0.96366286 0.05909628] [ 0. 0. 0. 1. ]] SLAMing on 37.333201008 meters Centerline goodness : 0.903849 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.49, Z:0.06 [[ 0.96251103 0.0764655 0.26024132 4.70963846] [-0.09510305 0.99367109 0.059776 -0.49329188] [-0.25402347 -0.0822848 0.96369149 0.0590786 ] [ 0. 0. 0. 1. ]] SLAMing on 37.393201008 meters Centerline goodness : 0.898673 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.50, Z:0.05 [[ 0.96368755 0.07393427 0.25659311 4.74792544] [-0.09403272 0.99331565 0.06694682 -0.50433392] [-0.24992828 -0.08864396 0.96419817 0.05292976] [ 0. 0. 0. 1. ]] SLAMing on 37.453201008 meters Centerline goodness : 0.900474 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.51, Z:0.05 [[ 0.9647814 0.07634788 0.25172971 4.75390967] [-0.09615282 0.99308747 0.06731952 -0.50766009] [-0.24484991 -0.08915314 0.96545338 0.05441545] [ 0. 0. 0. 1. ]] SLAMing on 37.513201008 meters Centerline goodness : 0.903064 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.50, Z:0.04 [[ 0.96458448 0.08514266 0.24965477 4.75553845] [-0.10048012 0.9937157 0.04932398 -0.50455629] [-0.24388629 -0.07266249 0.96707789 0.044393 ] [ 0. 0. 0. 1. ]] SLAMing on 37.573201008 meters Centerline goodness : 0.900784 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.50, Z:0.04 [[ 0.96466892 0.08532058 0.24926748 4.75667293] [-0.10008379 0.99386161 0.04714163 -0.50046529] [-0.24371523 -0.0704237 0.96728661 0.03947105] [ 0. 0. 0. 1. ]] SLAMing on 37.633201008 meters Centerline goodness : 0.895144 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.50, Z:0.04 [[ 0.9648557 0.08462783 0.24878025 4.75880411] [-0.0991052 0.99400233 0.0462334 -0.49855733] [-0.24337552 -0.06926398 0.96745587 0.03754109] [ 0. 0. 0. 1. ]] SLAMing on 37.693201008 meters Centerline goodness : 0.893198 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.50, Z:0.03 [[ 0.96666041 0.08630896 0.24107761 4.78187327] [-0.09913283 0.99420599 0.04155879 -0.50233684] [-0.23609391 -0.06407194 0.96961562 0.03455095] [ 0. 0. 0. 1. ]] SLAMing on 37.753201008000005 meters Centerline goodness : 0.886828 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.51, Z:0.04 [[ 0.9663203 0.07084526 0.24739854 4.82765239] [-0.08954375 0.99384968 0.0651516 -0.50855933] [-0.24126127 -0.0851103 0.96672087 0.04325651] [ 0. 0. 0. 1. ]] SLAMing on 37.813201008 meters Centerline goodness : 0.887523 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.52, Z:0.07 [[ 0.96497464 0.06125384 0.25509197 4.85168321] [-0.0876695 0.99175221 0.09349655 -0.51820002] [-0.247261 -0.11258559 0.96238583 0.0680094 ] [ 0. 0. 0. 1. ]] SLAMing on 37.873201008 meters Centerline goodness : 0.888293 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.52, Z:0.09 [[ 0.96191983 0.0414851 0.27016517 4.85862121] [-0.07630457 0.98987572 0.11968152 -0.52167005] [-0.26246494 -0.13573887 0.95534659 0.08656467] [ 0. 0. 0. 1. ]] SLAMing on 37.933201008000005 meters Centerline goodness : 0.880876 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.51, Z:0.08 [[ 0.96205069 0.03824606 0.27017719 4.86019138] [-0.07050693 0.99134662 0.11072784 -0.51343517] [-0.26360434 -0.12557516 0.95642231 0.07628227] [ 0. 0. 0. 1. ]] SLAMing on 37.993201008 meters Centerline goodness : 0.876513 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.50, Z:0.08 [[ 0.96337938 0.03941526 0.26522933 4.82172223] [-0.06847103 0.99250611 0.10120936 -0.503794 ] [-0.25925254 -0.11566354 0.95885873 0.0830177 ] [ 0. 0. 0. 1. ]] SLAMing on 38.053201008 meters Centerline goodness : 0.882411 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.49, Z:0.08 [[ 0.96403822 0.04863925 0.26127483 4.78132567] [-0.07056447 0.99466888 0.07519628 -0.4930109 ] [-0.25622445 -0.0909288 0.96233101 0.08355249] [ 0. 0. 0. 1. ]] SLAMing on 38.113201008000004 meters Centerline goodness : 0.874900 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.48, Z:0.08 [[ 0.96418401 0.06107542 0.25810654 4.75299256] [-0.07928622 0.99499989 0.0607364 -0.47881507] [-0.25310647 -0.07902536 0.96420543 0.07707865] [ 0. 0. 0. 1. ]] SLAMing on 38.173201008 meters Centerline goodness : 0.871437 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.47, Z:0.08 [[ 0.96339392 0.0680381 0.25931251 4.75106779] [-0.08848247 0.9937547 0.06798858 -0.47486701] [-0.25306721 -0.0884444 0.96339741 0.07747369] [ 0. 0. 0. 1. ]] SLAMing on 38.233201008 meters Centerline goodness : 0.870773 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.47, Z:0.08 [[ 0.96295857 0.07146636 0.26000645 4.75008316] [-0.0930382 0.99308382 0.07161304 -0.47218441] [-0.25309028 -0.09315092 0.96294767 0.07797432] [ 0. 0. 0. 1. ]] SLAMing on 38.293201008000004 meters Centerline goodness : 0.869687 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.47, Z:0.07 [[ 0.96165513 0.08286106 0.26144496 4.74855677] [-0.10078673 0.99333676 0.05589376 -0.46771506] [-0.25507147 -0.08010071 0.96359868 0.06763443] [ 0. 0. 0. 1. ]] SLAMing on 38.353201008 meters Centerline goodness : 0.870302 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.47, Z:0.07 [[ 0.96172473 0.08281786 0.26120251 4.74935162] [-0.10065968 0.99336273 0.05566073 -0.46896607] [-0.25485914 -0.07982286 0.96367792 0.06604233] [ 0. 0. 0. 1. ]] SLAMing on 38.413201008 meters Centerline goodness : 0.863003 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.47, Z:0.06 [[ 0.96225629 0.07902081 0.26041992 4.75218818] [-0.09525433 0.99418154 0.05029585 -0.47087976] [-0.25493026 -0.07320363 0.96418452 0.06036276] [ 0. 0. 0. 1. ]] SLAMing on 38.473201008000004 meters Centerline goodness : 0.867458 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.49, Z:0.07 [[ 0.96299758 0.07063032 0.26009041 4.8006742 ] [-0.09125124 0.99349891 0.06806702 -0.48594503] [-0.25359194 -0.08928194 0.96318215 0.07085003] [ 0. 0. 0. 1. ]] SLAMing on 38.533201008 meters Centerline goodness : 0.868155 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.51, Z:0.11 [[ 0.95911187 0.04436167 0.27952902 4.82282551] [-0.08192933 0.98887177 0.12417813 -0.5067026 ] [-0.2709096 -0.14200234 0.95207317 0.10823917] [ 0. 0. 0. 1. ]] SLAMing on 38.593201008 meters Centerline goodness : 0.867145 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.51, Z:0.11 [[ 0.95913251 0.0421363 0.27980235 4.82676708] [-0.08066492 0.98853432 0.12764427 -0.50880854] [-0.27121577 -0.144998 0.95153433 0.11297115] [ 0. 0. 0. 1. ]] SLAMing on 38.653201008 meters Centerline goodness : 0.866612 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.51, Z:0.11 [[ 0.95673044 0.04360594 0.28768976 4.84839372] [-0.08460004 0.98768137 0.13163714 -0.50824297] [-0.27840565 -0.15027982 0.9486339 0.11264682] [ 0. 0. 0. 1. ]] SLAMing on 38.713201008 meters Centerline goodness : 0.863849 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.51, Z:0.11 [[ 0.9566319 0.04612852 0.287624 4.84975149] [-0.08818601 0.98690986 0.13502648 -0.50552511] [-0.27763039 -0.15453505 0.94817735 0.11240523] [ 0. 0. 0. 1. ]] SLAMing on 38.773201008 meters Centerline goodness : 0.860007 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.50, Z:0.10 [[ 0.95520491 0.05491532 0.2908056 4.85361382] [-0.09311807 0.98849427 0.11919772 -0.50080993] [-0.28091389 -0.1409375 0.94932819 0.096286 ] [ 0. 0. 0. 1. ]] SLAMing on 38.833201008 meters Centerline goodness : 0.868391 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.51, Z:0.09 [[ 0.95534505 0.05779028 0.28978634 4.9027265 ] [-0.09612165 0.98813029 0.11982974 -0.50925793] [-0.27942166 -0.14233349 0.94956027 0.09038284] [ 0. 0. 0. 1. ]] SLAMing on 38.893201008 meters Centerline goodness : 0.864973 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.52, Z:0.09 [[ 0.95610191 0.05474245 0.28787569 4.94878987] [-0.09762736 0.9857779 0.13678756 -0.52003652] [-0.2762934 -0.15888739 0.94784849 0.09211739] [ 0. 0. 0. 1. ]] SLAMing on 38.953201008 meters Centerline goodness : 0.863661 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.52, Z:0.09 [[ 0.95866603 0.05926365 0.2782935 4.97053287] [-0.10049634 0.9855554 0.13631225 -0.52298075] [-0.2661953 -0.1586454 0.95077426 0.08836732] [ 0. 0. 0. 1. ]] SLAMing on 39.013201008 meters Centerline goodness : 0.868182 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.52, Z:0.08 [[ 0.95773584 0.06266798 0.28073971 4.9795019 ] [-0.09950563 0.9879032 0.11893653 -0.52048933] [-0.26989014 -0.14184496 0.95238612 0.07707591] [ 0. 0. 0. 1. ]] SLAMing on 39.073201008 meters Centerline goodness : 0.865892 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.52, Z:0.07 [[ 0.95673531 0.06324333 0.28400321 5.00154475] [-0.09843562 0.9888892 0.11139379 -0.5190171 ] [-0.2738028 -0.1345304 0.95233061 0.0662436 ] [ 0. 0. 0. 1. ]] SLAMing on 39.133201008 meters Centerline goodness : 0.865886 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.53, Z:0.06 [[ 0.95755841 0.05811152 0.28232065 5.04866312] [-0.09679872 0.98741436 0.12507155 -0.52682343] [-0.27149937 -0.14709159 0.95113204 0.06476874] [ 0. 0. 0. 1. ]] SLAMing on 39.193201008 meters Centerline goodness : 0.864603 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.53, Z:0.06 [[ 0.95767371 0.05608782 0.28233884 5.10530143] [-0.09571702 0.98706912 0.12857999 -0.53397322] [-0.27147617 -0.15016231 0.9506587 0.06274158] [ 0. 0. 0. 1. ]] SLAMing on 39.253201008000005 meters Centerline goodness : 0.867552 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.53, Z:0.05 [[ 0.95659101 0.05727042 0.2857512 5.1191706 ] [-0.09317858 0.98913781 0.1136844 -0.53167318] [-0.27613656 -0.13537536 0.95153671 0.05087254] [ 0. 0. 0. 1. ]] SLAMing on 39.313201008 meters Centerline goodness : 0.861953 with order 1 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.54, Z:0.05 [[ 0.95756379 0.05418648 0.28308198 5.16321815] [-0.0931259 0.98765487 0.12595804 -0.53708613] [-0.27276208 -0.14697512 0.95078871 0.04840834] [ 0. 0. 0. 1. ]] SLAMing on 39.373201008 meters Centerline goodness : 0.857036 with order 1 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.54, Z:0.05 [[ 0.95704 0.05585258 0.28452581 5.1643471 ] [-0.09706063 0.98637209 0.13285081 -0.5361541 ] [-0.27322826 -0.15475979 0.94941863 0.05311161] [ 0. 0. 0. 1. ]] SLAMing on 39.433201008000005 meters Centerline goodness : 0.858547 with order 1 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.53, Z:0.04 [[ 0.95550016 0.06109598 0.28859441 5.17646982] [-0.10025993 0.98733832 0.12292674 -0.53223078] [-0.27742999 -0.14639098 0.9495274 0.0438461 ] [ 0. 0. 0. 1. ]] SLAMing on 39.493201008 meters Centerline goodness : 0.855425 with order 1 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.53, Z:0.04 [[ 0.95403619 0.06361005 0.29286296 5.19857678] [-0.10284816 0.98736092 0.12058468 -0.53072505] [-0.28149104 -0.14516257 0.94852023 0.03616624] [ 0. 0. 0. 1. ]] SLAMing on 39.553201008 meters Centerline goodness : 0.859050 with order 1 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.53, Z:0.03 [[ 0.95486958 0.07105691 0.28840078 5.20899579] [-0.10619725 0.98845467 0.10807179 -0.52990255] [-0.27739185 -0.13382184 0.95139134 0.02902687] [ 0. 0. 0. 1. ]] SLAMing on 39.613201008000004 meters Centerline goodness : 0.855726 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.54, Z:0.03 [[ 0.95471698 0.0710562 0.28890572 5.23697051] [-0.10705941 0.98806236 0.11077483 -0.53634986] [-0.27758563 -0.13668869 0.95092714 0.02754211] [ 0. 0. 0. 1. ]] SLAMing on 39.673201008 meters Centerline goodness : 0.857198 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.53, Z:0.02 [[ 0.95506286 0.07025507 0.28795686 5.24037022] [-0.10569451 0.98836049 0.10941764 -0.53343213] [-0.27691804 -0.13493618 0.95137197 0.02412288] [ 0. 0. 0. 1. ]] SLAMing on 39.733201008 meters Centerline goodness : 0.858646 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.53, Z:0.03 [[ 0.95493422 0.05939029 0.29081512 5.26912805] [-0.09909962 0.98734993 0.1237715 -0.53354095] [-0.27978547 -0.14701331 0.94873979 0.02731218] [ 0. 0. 0. 1. ]] SLAMing on 39.793201008000004 meters Centerline goodness : 0.862152 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.53, Z:0.02 [[ 0.95555022 0.05379531 0.28987901 5.27078793] [-0.08949977 0.98974289 0.1113499 -0.52756177] [-0.28091559 -0.13234453 0.9505637 0.02023344] [ 0. 0. 0. 1. ]] SLAMing on 39.853201008 meters Centerline goodness : 0.860815 with order 1 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.52, Z:0.04 [[ 0.95534744 0.04429373 0.29214609 5.22926021] [-0.08151798 0.98983996 0.11649748 -0.52024355] [-0.28401777 -0.13511073 0.94925181 0.03682847] [ 0. 0. 0. 1. ]] SLAMing on 39.913201008 meters Centerline goodness : 0.859506 with order 1 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.50, Z:0.04 [[ 0.95500003 0.03869292 0.29407109 5.1766512 ] [-0.07387161 0.99124076 0.10947484 -0.50416931] [-0.28725935 -0.12627198 0.94949326 0.04256126] [ 0. 0. 0. 1. ]] SLAMing on 39.973201008000004 meters Centerline goodness : 0.863192 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.49, Z:0.06 [[ 0.95680465 0.04541354 0.28716281 5.11706157] [-0.07679504 0.99212216 0.09897545 -0.49349797] [-0.28040576 -0.11675285 0.95275463 0.06327557] [ 0. 0. 0. 1. ]] SLAMing on 40.033201008 meters Centerline goodness : 0.861462 with order 1 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.48, Z:0.06 [[ 0.95635613 0.05059074 0.28779076 5.0762183 ] [-0.07903665 0.99297183 0.08809177 -0.47733774] [-0.28131149 -0.10699313 0.95363322 0.06449055] [ 0. 0. 0. 1. ]] SLAMing on 40.093201008 meters Centerline goodness : 0.858417 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.47, Z:0.07 [[ 0.95675593 0.05704991 0.28524269 5.03946134] [-0.08503586 0.9925985 0.08670132 -0.46743706] [-0.27818517 -0.10720786 0.95452579 0.07274442] [ 0. 0. 0. 1. ]] SLAMing on 40.153201008 meters Centerline goodness : 0.858962 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.46, Z:0.07 [[ 0.95618542 0.06091488 0.28635437 5.03727188] [-0.0895286 0.9920973 0.08790663 -0.45988428] [-0.27873658 -0.10969194 0.95408259 0.07081445] [ 0. 0. 0. 1. ]] SLAMing on 40.213201008 meters Centerline goodness : 0.852970 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.46, Z:0.10 [[ 0.95384242 0.04923279 0.29624445 5.01081773] [-0.08758291 0.98919079 0.11760447 -0.45992987] [-0.28725229 -0.13812208 0.94784409 0.09743263] [ 0. 0. 0. 1. ]] SLAMing on 40.273201008 meters Centerline goodness : 0.858922 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.45, Z:0.10 [[ 0.95088219 0.04033333 0.30691413 4.99699052] [-0.08007072 0.98977979 0.11800274 -0.45430815] [-0.29901796 -0.13678154 0.94439349 0.10076786] [ 0. 0. 0. 1. ]] SLAMing on 40.333201008 meters Centerline goodness : 0.856420 with order 1 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.46, Z:0.14 [[ 0.95130155 0.03701599 0.30603133 4.98849391] [-0.08652452 0.98491826 0.14983167 -0.46096305] [-0.29586968 -0.16901431 0.94015706 0.13523842] [ 0. 0. 0. 1. ]] SLAMing on 40.393201008 meters Centerline goodness : 0.858921 with order 1 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.45, Z:0.13 [[ 0.94887224 0.0457444 0.31232823 4.99306103] [-0.09350808 0.98576809 0.13970512 -0.45416193] [-0.30149248 -0.16176753 0.93964544 0.12563521] [ 0. 0. 0. 1. ]] SLAMing on 40.453201008 meters Centerline goodness : 0.857188 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.45, Z:0.12 [[ 0.94711839 0.05307608 0.31646435 5.00294931] [-0.09914597 0.98637302 0.1312949 -0.4507595 ] [-0.30518328 -0.15572798 0.9394743 0.11669509] [ 0. 0. 0. 1. ]] SLAMing on 40.513201008 meters Centerline goodness : 0.860583 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.44, Z:0.11 [[ 0.94651154 0.06697652 0.31564229 5.00394238] [-0.10907833 0.98704643 0.1176489 -0.44332409] [-0.30367388 -0.14578577 0.94155652 0.10520444] [ 0. 0. 0. 1. ]] SLAMing on 40.573201008 meters Centerline goodness : 0.864161 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.44, Z:0.09 [[ 0.9448955 0.07589784 0.31845252 5.01001987] [-0.11459548 0.9878928 0.1045739 -0.43986609] [-0.30666002 -0.13530463 0.94215301 0.09205662] [ 0. 0. 0. 1. ]] SLAMing on 40.633201008 meters Centerline goodness : 0.865932 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.44, Z:0.08 [[ 0.94394659 0.08245305 0.31963468 5.02156758] [-0.11799726 0.9886071 0.09344869 -0.4401027 ] [-0.30828798 -0.12592659 0.94292153 0.07916892] [ 0. 0. 0. 1. ]] SLAMing on 40.693201008 meters Centerline goodness : 0.861318 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.44, Z:0.08 [[ 0.9440727 0.08195944 0.31938907 5.02287161] [-0.11757771 0.98861889 0.09385185 -0.44383544] [-0.30806202 -0.126156 0.94296471 0.07825543] [ 0. 0. 0. 1. ]] SLAMing on 40.753201008000005 meters Centerline goodness : 0.868074 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.45, Z:0.08 [[ 0.94432583 0.07948111 0.31926711 5.0226558 ] [-0.11423299 0.98922091 0.09161227 -0.4525734 ] [-0.30854425 -0.12298267 0.94322622 0.07914339] [ 0. 0. 0. 1. ]] SLAMing on 40.813201008 meters Centerline goodness : 0.867245 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.46, Z:0.08 [[ 0.94627141 0.08440038 0.31216501 5.03220818] [-0.11788589 0.98894321 0.089968 -0.46072068] [-0.30112014 -0.12193399 0.9457583 0.08021508] [ 0. 0. 0. 1. ]] SLAMing on 40.873201008 meters Centerline goodness : 0.868538 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.46, Z:0.07 [[ 0.94447108 0.09241924 0.31533008 5.03470919] [-0.12184883 0.98971969 0.07488518 -0.46301705] [-0.30516756 -0.10914949 0.94602281 0.06852523] [ 0. 0. 0. 1. ]] SLAMing on 40.933201008000005 meters Centerline goodness : 0.870003 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.47, Z:0.07 [[ 0.94602897 0.09390797 0.31017815 5.04105653] [-0.12210654 0.98984807 0.07273789 -0.47400992] [-0.30019857 -0.10668693 0.94789172 0.06868009] [ 0. 0. 0. 1. ]] SLAMing on 40.993201008 meters Centerline goodness : 0.872506 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.48, Z:0.07 [[ 0.94677944 0.08922087 0.30927063 5.04565195] [-0.11687204 0.99053167 0.07202739 -0.47916825] [-0.299916 -0.10433914 0.94824244 0.07244197] [ 0. 0. 0. 1. ]] SLAMing on 41.053201008 meters Centerline goodness : 0.871437 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.48, Z:0.07 [[ 0.94681551 0.08904876 0.30920982 5.04650658] [-0.11640214 0.99065162 0.07113311 -0.47761902] [-0.29998489 -0.10334261 0.94832978 0.0700554 ] [ 0. 0. 0. 1. ]] SLAMing on 41.113201008000004 meters Centerline goodness : 0.865541 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.47, Z:0.07 [[ 0.94682702 0.09026248 0.3088224 5.05066858] [-0.1184849 0.99020585 0.07384916 -0.47347288] [-0.29913194 -0.10651317 0.9482484 0.06594849] [ 0. 0. 0. 1. ]] SLAMing on 41.173201008 meters Centerline goodness : 0.861913 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.47, Z:0.06 [[ 0.94711907 0.09035257 0.30789915 5.05271896] [-0.11828781 0.99027263 0.0732674 -0.47162605] [-0.2982842 -0.10581366 0.9485937 0.06419966] [ 0. 0. 0. 1. ]] SLAMing on 41.233201008 meters Centerline goodness : 0.860286 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.47, Z:0.07 [[ 0.9476107 0.08857112 0.30690247 5.05694861] [-0.11664078 0.99038927 0.07432382 -0.47445579] [-0.29736997 -0.10622739 0.94883447 0.06523667] [ 0. 0. 0. 1. ]] SLAMing on 41.293201008000004 meters Centerline goodness : 0.863948 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.49, Z:0.07 [[ 0.94862934 0.08209499 0.30555326 5.10551216] [-0.11426287 0.98946511 0.08889768 -0.48531768] [-0.29503624 -0.11924434 0.94801604 0.06705598] [ 0. 0. 0. 1. ]] SLAMing on 41.353201008 meters Centerline goodness : 0.863052 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.48, Z:0.06 [[ 0.94897884 0.08106661 0.30474149 5.10900266] [-0.11261546 0.98978837 0.08738849 -0.48427001] [-0.29454529 -0.11724843 0.94841757 0.0618776 ] [ 0. 0. 0. 1. ]] SLAMing on 41.413201008 meters Centerline goodness : 0.860609 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.48, Z:0.06 [[ 0.94925007 0.08046752 0.30405473 5.11134414] [-0.11167227 0.98996046 0.0866464 -0.48409931] [-0.29402994 -0.11620358 0.94870602 0.05929399] [ 0. 0. 0. 1. ]] SLAMing on 41.473201008000004 meters Centerline goodness : 0.866378 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.49, Z:0.06 [[ 0.95136053 0.08384974 0.29644961 5.12215354] [-0.11361064 0.98991667 0.08460263 -0.48737919] [-0.2863665 -0.11416743 0.95129387 0.06151923] [ 0. 0. 0. 1. ]] SLAMing on 41.533201008 meters Centerline goodness : 0.869213 with order 1 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.48, Z:0.05 [[ 0.95032877 0.08960678 0.29807021 5.12532147] [-0.11369554 0.99142313 0.06444761 -0.48352516] [-0.28973876 -0.09513568 0.95236582 0.04806525] [ 0. 0. 0. 1. ]] SLAMing on 41.593201008 meters Centerline goodness : 0.864922 with order 1 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.48, Z:0.05 [[ 0.95042378 0.08906552 0.29792947 5.12661188] [-0.11305031 0.99151098 0.06423086 -0.48230342] [-0.28967958 -0.09472756 0.9524245 0.04774544] [ 0. 0. 0. 1. ]] SLAMing on 41.653201008 meters Centerline goodness : 0.866635 with order 1 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.49, Z:0.05 [[ 0.95125506 0.0820834 0.29728124 5.17245367] [-0.10915692 0.99114419 0.07561725 -0.49165259] [-0.28844165 -0.1043816 0.95179089 0.04938874] [ 0. 0. 0. 1. ]] SLAMing on 41.713201008 meters Centerline goodness : 0.868421 with order 1 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.50, Z:0.06 [[ 0.9505334 0.06908347 0.30284275 5.20839944] [-0.10444092 0.98927226 0.10213956 -0.50020105] [-0.29253778 -0.12871624 0.94755146 0.06473912] [ 0. 0. 0. 1. ]] SLAMing on 41.773201008 meters Centerline goodness : 0.863798 with order 1 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.50, Z:0.06 [[ 0.9512891 0.06718559 0.30089059 5.21472198] [-0.10165669 0.98974052 0.10039729 -0.49637227] [-0.29105836 -0.12609438 0.94835923 0.06092884] [ 0. 0. 0. 1. ]] SLAMing on 41.833201008 meters Centerline goodness : 0.872154 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.50, Z:0.08 [[ 0.94946105 0.0573276 0.30860535 5.24137667] [-0.10142576 0.98647039 0.12879824 -0.50080075] [-0.29704634 -0.15358944 0.94242971 0.08009208] [ 0. 0. 0. 1. ]] SLAMing on 41.893201008 meters Centerline goodness : 0.871961 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.50, Z:0.08 [[ 0.94949863 0.05420173 0.30905425 5.24724619] [-0.0990256 0.98639232 0.13124072 -0.49654711] [-0.29773527 -0.15521716 0.94194551 0.08333313] [ 0. 0. 0. 1. ]] SLAMing on 41.953201008 meters Centerline goodness : 0.876971 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.49, Z:0.08 [[ 0.94915554 0.05469064 0.31002047 5.24604463] [-0.09886242 0.98675607 0.12860278 -0.48882305] [-0.29888121 -0.15271342 0.94199184 0.08119958] [ 0. 0. 0. 1. ]] SLAMing on 42.013201008 meters Centerline goodness : 0.878088 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.48, Z:0.08 [[ 0.94908187 0.05493748 0.31020232 5.24578965] [-0.09860773 0.98700251 0.12689584 -0.48440736] [-0.29919914 -0.15102289 0.94216345 0.07906697] [ 0. 0. 0. 1. ]] SLAMing on 42.073201008 meters Centerline goodness : 0.880023 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.48, Z:0.08 [[ 0.94635151 0.05720101 0.31803594 5.25577842] [-0.09970785 0.98787326 0.11901585 -0.47968894] [-0.30737137 -0.14434151 0.94057874 0.07567995] [ 0. 0. 0. 1. ]] SLAMing on 42.133201008 meters Centerline goodness : 0.883881 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.48, Z:0.08 [[ 0.9451836 0.05429402 0.32199399 5.25415867] [-0.0984445 0.98758011 0.12245083 -0.47817178] [-0.31134652 -0.14743705 0.93878947 0.08492794] [ 0. 0. 0. 1. ]] SLAMing on 42.193201008 meters Centerline goodness : 0.884419 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.47, Z:0.09 [[ 0.94625444 0.04729598 0.31994628 5.24054904] [-0.09275144 0.98738123 0.12835687 -0.4741258 ] [-0.30983818 -0.15113373 0.93870064 0.094312 ] [ 0. 0. 0. 1. ]] SLAMing on 42.253201008 meters Centerline goodness : 0.880123 with order 1 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.46, Z:0.09 [[ 0.94770605 0.04376846 0.31612904 5.22160621] [-0.08672939 0.98859354 0.1231293 -0.46245411] [-0.30713395 -0.14410806 0.94069209 0.09099036] [ 0. 0. 0. 1. ]] SLAMing on 42.313201008 meters Centerline goodness : 0.880533 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.45, Z:0.10 [[ 0.94854074 0.04825432 0.31295684 5.18696359] [-0.08933671 0.98895272 0.11828555 -0.4508914 ] [-0.30379173 -0.1401572 0.94237283 0.0975542 ] [ 0. 0. 0. 1. ]] SLAMing on 42.373201008 meters Centerline goodness : 0.882964 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.44, Z:0.10 [[ 0.94836543 0.05258192 0.3127909 5.18563784] [-0.09485702 0.98804791 0.121505 -0.4444226 ] [-0.30266343 -0.14490155 0.94201825 0.10019557] [ 0. 0. 0. 1. ]] SLAMing on 42.433201008000005 meters Centerline goodness : 0.884120 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.44, Z:0.10 [[ 0.94813149 0.05583452 0.31293638 5.18515767] [-0.09967913 0.98702229 0.12590103 -0.44113363] [-0.30184556 -0.15056396 0.94139245 0.10324161] [ 0. 0. 0. 1. ]] SLAMing on 42.493201008 meters Centerline goodness : 0.885160 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.44, Z:0.09 [[ 0.94617679 0.0639117 0.31727712 5.189764 ] [-0.10410786 0.98830912 0.11138506 -0.43513605] [-0.30644906 -0.138421 0.94176887 0.0888585 ] [ 0. 0. 0. 1. ]] SLAMing on 42.553201008 meters Centerline goodness : 0.886147 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.43, Z:0.08 [[ 0.94495557 0.07295273 0.31896218 5.19250296] [-0.10874683 0.98943574 0.09586996 -0.43137379] [-0.3085986 -0.12527898 0.94290619 0.08117525] [ 0. 0. 0. 1. ]] SLAMing on 42.613201008000004 meters Centerline goodness : 0.888892 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.43, Z:0.07 [[ 0.94416598 0.08118371 0.31931146 5.19271174] [-0.11061316 0.99102156 0.07510655 -0.4272881 ] [-0.31034711 -0.1062331 0.94466883 0.07027932] [ 0. 0. 0. 1. ]] SLAMing on 42.673201008 meters Centerline goodness : 0.889050 with order 1 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.43, Z:0.07 [[ 0.9446751 0.08090525 0.31787308 5.19736981] [-0.11033357 0.99101035 0.07566364 -0.42847811] [-0.30889393 -0.10654962 0.94510937 0.06711576] [ 0. 0. 0. 1. ]] SLAMing on 42.733201008 meters Centerline goodness : 0.886764 with order 1 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.43, Z:0.06 [[ 0.94504311 0.07973339 0.31707429 5.20140972] [-0.10871001 0.99125959 0.07474323 -0.43033807] [-0.3083434 -0.10510473 0.94545087 0.06118933] [ 0. 0. 0. 1. ]] SLAMing on 42.793201008000004 meters Centerline goodness : 0.887558 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.45, Z:0.07 [[ 0.94560797 0.07273667 0.31707247 5.24791175] [-0.1070667 0.98996699 0.09220677 -0.44551522] [-0.30718446 -0.12113936 0.94390834 0.06922097] [ 0. 0. 0. 1. ]] SLAMing on 42.853201008 meters Centerline goodness : 0.889666 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.45, Z:0.08 [[ 0.94586732 0.0712252 0.31664173 5.25127411] [-0.10663161 0.98966162 0.09591444 -0.45006837] [-0.30653664 -0.12448635 0.94368344 0.07510353] [ 0. 0. 0. 1. ]] SLAMing on 42.913201008 meters Centerline goodness : 0.890811 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.47, Z:0.08 [[ 0.94620454 0.06024562 0.31791104 5.30636524] [-0.10146687 0.98820126 0.114729 -0.46508229] [-0.30724817 -0.14081454 0.94115346 0.0792456 ] [ 0. 0. 0. 1. ]] SLAMing on 42.973201008000004 meters Centerline goodness : 0.892303 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.48, Z:0.08 [[ 0.94715015 0.05441801 0.31614121 5.34877241] [-0.0987631 0.98710439 0.12597924 -0.47708884] [-0.30520884 -0.15054435 0.94031057 0.08074536] [ 0. 0. 0. 1. ]] SLAMing on 43.033201008 meters Centerline goodness : 0.893029 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.49, Z:0.09 [[ 0.94721472 0.04445029 0.31750346 5.40671913] [-0.09748591 0.98338132 0.153159 -0.48844021] [-0.30541901 -0.17602657 0.93580654 0.08750343] [ 0. 0. 0. 1. ]] SLAMing on 43.093201008 meters Centerline goodness : 0.896632 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.50, Z:0.10 [[ 0.94796114 0.03457445 0.31650322 5.45873748] [-0.0936957 0.98036046 0.17353524 -0.49871617] [-0.30428736 -0.19415965 0.9325831 0.09561141] [ 0. 0. 0. 1. ]] SLAMing on 43.153201008 meters Centerline goodness : 0.894765 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.51, Z:0.13 [[ 9.44327838e-01 -1.03190929e-03 3.29004360e-01 5.51929642e+00] [-8.20648236e-02 9.67648615e-01 2.38582319e-01 -5.14016137e-01] [-3.18606808e-01 -2.52299610e-01 9.13692841e-01 1.30352702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.213201008 meters Centerline goodness : 0.894471 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.51, Z:0.13 [[ 0.9440798 -0.00767793 0.32962764 5.53062358] [-0.07575178 0.96793545 0.23950499 -0.50655952] [-0.32089718 -0.2510817 0.91322668 0.12583825] [ 0. 0. 0. 1. ]] SLAMing on 43.273201008 meters Centerline goodness : 0.897440 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.50, Z:0.14 [[ 0.94087874 -0.01385699 0.33846 5.50515431] [-0.07294217 0.96743579 0.24237868 -0.49573904] [-0.33079696 -0.25273696 0.90922901 0.13708788] [ 0. 0. 0. 1. ]] SLAMing on 43.333201008 meters Centerline goodness : 0.898406 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.48, Z:0.14 [[ 9.41107223e-01 -3.01223498e-03 3.38094841e-01 5.46787365e+00] [-7.63407358e-02 9.72244739e-01 2.21161161e-01 -4.82382603e-01] [-3.29377120e-01 -2.33946775e-01 9.14756590e-01 1.40142068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.393201008 meters Centerline goodness : 0.899347 with order 1 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.47, Z:0.13 [[ 0.94162862 0.01560714 0.33629148 5.44087724] [-0.08660194 0.97653719 0.197168 -0.46613332] [-0.32532391 -0.21478252 0.92088698 0.13476001] [ 0. 0. 0. 1. ]] SLAMing on 43.453201008 meters Centerline goodness : 0.901885 with order 1 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.46, Z:0.13 [[ 0.94095091 0.02769022 0.3374087 5.44249231] [-0.09546829 0.97790377 0.18598393 -0.45783426] [-0.3248033 -0.20721358 0.92280298 0.12763506] [ 0. 0. 0. 1. ]] SLAMing on 43.513201008 meters Centerline goodness : 0.903677 with order 1 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.45, Z:0.13 [[ 0.94000815 0.03170055 0.33967595 5.43953123] [-0.10265169 0.97581308 0.19300636 -0.44994127] [-0.32534183 -0.21629586 0.92052637 0.13236551] [ 0. 0. 0. 1. ]] SLAMing on 43.573201008 meters Centerline goodness : 0.902964 with order 1 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.44, Z:0.12 [[ 0.93945168 0.04149791 0.34015948 5.44226607] [-0.10680426 0.97865437 0.17558038 -0.44339874] [-0.32561234 -0.20127976 0.92383064 0.12083802] [ 0. 0. 0. 1. ]] SLAMing on 43.633201008 meters Centerline goodness : 0.904824 with order 1 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.44, Z:0.13 [[ 0.93892848 0.04371542 0.34132429 5.44234124] [-0.11172482 0.97688947 0.1822211 -0.44284809] [-0.32547023 -0.20922698 0.92211344 0.12647283] [ 0. 0. 0. 1. ]] SLAMing on 43.693201008 meters Centerline goodness : 0.899175 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.44, Z:0.11 [[ 0.9370764 0.0519616 0.34523589 5.44988309] [-0.11655108 0.97869157 0.1690522 -0.43743838] [-0.32909523 -0.19865245 0.92316495 0.10651798] [ 0. 0. 0. 1. ]] SLAMing on 43.753201008 meters Centerline goodness : 0.899679 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.44, Z:0.10 [[ 0.93535251 0.05366831 0.3496218 5.47062606] [-0.11798219 0.97915471 0.16533682 -0.43875321] [-0.33346048 -0.19589735 0.92218671 0.0977191 ] [ 0. 0. 0. 1. ]] SLAMing on 43.813201008 meters Centerline goodness : 0.901208 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.44, Z:0.09 [[ 0.93517799 0.06302533 0.34852537 5.50210841] [-0.12415324 0.97993501 0.1559274 -0.44377549] [-0.33170484 -0.18909043 0.92423845 0.08700139] [ 0. 0. 0. 1. ]] SLAMing on 43.873201008 meters Centerline goodness : 0.904845 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.44, Z:0.08 [[ 0.93345859 0.07080328 0.35162759 5.50358615] [-0.12636159 0.98238935 0.13763688 -0.44257731] [-0.33569006 -0.17291055 0.92596659 0.07523081] [ 0. 0. 0. 1. ]] SLAMing on 43.933201008000005 meters Centerline goodness : 0.897925 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.45, Z:0.07 [[ 0.9344791 0.07148928 0.34876653 5.53862345] [-0.12968243 0.9806806 0.14645147 -0.4509334 ] [-0.33155886 -0.18208473 0.92569643 0.06583925] [ 0. 0. 0. 1. ]] SLAMing on 43.993201008 meters Centerline goodness : 0.896562 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.45, Z:0.05 [[ 0.93354826 0.07526171 0.35046158 5.55122955] [-0.12871729 0.98288405 0.13179837 -0.45251569] [-0.33454372 -0.1681506 0.92725718 0.04916232] [ 0. 0. 0. 1. ]] SLAMing on 44.053201008 meters Centerline goodness : 0.899087 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.47, Z:0.05 [[ 0.93457876 0.070497 0.34870146 5.61138353] [-0.1253713 0.98255309 0.13737343 -0.47193784] [-0.33293329 -0.17210344 0.92711155 0.04519422] [ 0. 0. 0. 1. ]] SLAMing on 44.113201008000004 meters Centerline goodness : 0.896823 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.49, Z:0.04 [[ 0.93449877 0.07151369 0.34870883 5.65830248] [-0.12650622 0.98238242 0.13755349 -0.48531577] [-0.33272846 -0.1726574 0.92708208 0.03687382] [ 0. 0. 0. 1. ]] SLAMing on 44.173201008 meters Centerline goodness : 0.893999 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.50, Z:0.03 [[ 0.9344713 0.06629218 0.34981243 5.70062984] [-0.12585915 0.98058332 0.15038561 -0.49816197] [-0.33305084 -0.18455813 0.92467045 0.03149963] [ 0. 0. 0. 1. ]] SLAMing on 44.233201008 meters Centerline goodness : 0.895545 with order 1 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.51, Z:0.04 [[ 0.93221412 0.05181769 0.3581784 5.75567172] [-0.11945919 0.97828374 0.16938247 -0.51344677] [-0.34162309 -0.20068843 0.91816002 0.04014271] [ 0. 0. 0. 1. ]] SLAMing on 44.293201008000004 meters Centerline goodness : 0.898406 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.52, Z:0.03 [[ 0.93198259 0.05387581 0.35847712 5.80023458] [-0.12031336 0.97881146 0.16568895 -0.51978419] [-0.34195488 -0.1975488 0.91871722 0.03146828] [ 0. 0. 0. 1. ]] SLAMing on 44.353201008 meters Centerline goodness : 0.894798 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.52, Z:0.02 [[ 0.93268039 0.05550571 0.35640763 5.83504729] [-0.1248327 0.97670036 0.17456575 -0.52240617] [-0.33841407 -0.20730538 0.91787821 0.0230883 ] [ 0. 0. 0. 1. ]] SLAMing on 44.413201008 meters Centerline goodness : 0.889761 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.52, Z:0.02 [[ 0.93304634 0.05492581 0.35553857 5.83821073] [-0.12317233 0.97732019 0.17226089 -0.51960867] [-0.33801346 -0.20451991 0.91865037 0.01663384] [ 0. 0. 0. 1. ]] SLAMing on 44.473201008000004 meters Centerline goodness : 0.891621 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.53, Z:0.02 [[ 0.93412663 0.05327936 0.35294298 5.87594132] [-0.12482045 0.97512738 0.18315689 -0.52807487] [-0.33440588 -0.21514623 0.91754281 0.0170143 ] [ 0. 0. 0. 1. ]] SLAMing on 44.533201008 meters Centerline goodness : 0.891247 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.53, Z:0.02 [[ 0.93457125 0.0535576 0.35172171 5.88255675] [-0.12646502 0.9740484 0.1877134 -0.5280362 ] [-0.33254049 -0.21991204 0.91709079 0.01617505] [ 0. 0. 0. 1. ]] SLAMing on 44.593201008 meters Centerline goodness : 0.888704 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.52, Z:-0.00 [[ 9.34178336e-01 6.46114748e-02 3.50907672e-01 5.87725025e+00] [-1.28798115e-01 9.78221897e-01 1.62766601e-01 -5.20731970e-01] [-3.32748978e-01 -1.97249279e-01 9.22155540e-01 -4.23413540e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.653201008 meters Centerline goodness : 0.885226 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.51, Z:-0.01 [[ 0.9335178 0.07577095 0.350433 5.86995287] [-0.1315553 0.98162802 0.13820141 -0.51445068] [-0.3335232 -0.17511479 0.9263353 -0.01263939] [ 0. 0. 0. 1. ]] SLAMing on 44.713201008 meters Centerline goodness : 0.889406 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.51, Z:-0.03 [[ 0.93201828 0.08466265 0.35238354 5.86874173] [-0.13364064 0.98409563 0.1170298 -0.50858719] [-0.33687105 -0.15616667 0.92850949 -0.02661822] [ 0. 0. 0. 1. ]] SLAMing on 44.773201008 meters Centerline goodness : 0.887115 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.50, Z:-0.04 [[ 0.93125816 0.09804754 0.35092009 5.86340692] [-0.14023001 0.98537352 0.09682231 -0.50082599] [-0.33629418 -0.1393761 0.93138635 -0.04029704] [ 0. 0. 0. 1. ]] SLAMing on 44.833201008 meters Centerline goodness : 0.889867 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.50, Z:-0.04 [[ 0.93374006 0.10538577 0.34208674 5.87420312] [-0.14393682 0.98555262 0.08926495 -0.50078224] [-0.32773723 -0.13258914 0.93541885 -0.04494769] [ 0. 0. 0. 1. ]] SLAMing on 44.893201008 meters Centerline goodness : 0.892612 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.50, Z:-0.05 [[ 0.93601752 0.11285368 0.33336955 5.8824475 ] [-0.14800734 0.98558745 0.08192198 -0.498016 ] [-0.31931965 -0.12602154 0.93923029 -0.05419295] [ 0. 0. 0. 1. ]] SLAMing on 44.953201008 meters Centerline goodness : 0.893693 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.49, Z:-0.06 [[ 0.9366496 0.11682266 0.33021205 5.86742219] [-0.14656501 0.9869588 0.06656601 -0.4936002 ] [-0.31812927 -0.11074656 0.94155667 -0.06144127] [ 0. 0. 0. 1. ]] SLAMing on 45.013201008 meters Centerline goodness : 0.894449 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.49, Z:-0.06 [[ 0.93699542 0.11446226 0.33005754 5.86280457] [-0.1405323 0.98848235 0.05615445 -0.49027245] [-0.31982849 -0.09900021 0.94228907 -0.06498978] [ 0. 0. 0. 1. ]] SLAMing on 45.073201008 meters Centerline goodness : 0.895795 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.49, Z:-0.07 [[ 0.93709809 0.11332581 0.3301582 5.86041233] [-0.13695665 0.98935772 0.04913418 -0.48536309] [-0.32107639 -0.09126091 0.94264595 -0.07057909] [ 0. 0. 0. 1. ]] SLAMing on 45.133201008 meters Centerline goodness : 0.897313 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.48, Z:-0.08 [[ 0.93729745 0.11248112 0.32988103 5.85825194] [-0.13345622 0.99018273 0.04156443 -0.47973064] [-0.32196729 -0.08298291 0.94310705 -0.07700357] [ 0. 0. 0. 1. ]] SLAMing on 45.193201008 meters Centerline goodness : 0.900330 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.48, Z:-0.08 [[ 0.93726851 0.11470031 0.32919838 5.84821555] [-0.13226879 0.9907165 0.03139712 -0.47627174] [-0.32254101 -0.07297021 0.94373865 -0.08154017] [ 0. 0. 0. 1. ]] SLAMing on 45.253201008 meters Centerline goodness : 0.904780 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.48, Z:-0.08 [[ 0.9375709 0.11264318 0.3290476 5.84745156] [-0.12857534 0.99133234 0.02699205 -0.4754536 ] [-0.32315506 -0.06761437 0.94392749 -0.08226516] [ 0. 0. 0. 1. ]] SLAMing on 45.313201008 meters Centerline goodness : 0.903231 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.47, Z:-0.09 [[ 0.93792832 0.11058539 0.32872684 5.84209286] [-0.12211532 0.99240897 0.0145698 -0.46983213] [-0.32462026 -0.05380801 0.94431265 -0.08897627] [ 0. 0. 0. 1. ]] SLAMing on 45.373201008 meters Centerline goodness : 0.895033 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.46, Z:-0.10 [[ 0.93791003 0.11152372 0.32846192 5.84169449] [-0.12142139 0.99255357 0.00970911 -0.46220733] [-0.32493325 -0.04898857 0.94446731 -0.09844546] [ 0. 0. 0. 1. ]] SLAMing on 45.433201008000005 meters Centerline goodness : 0.887915 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.46, Z:-0.10 [[ 9.38275558e-01 1.10162282e-01 3.27876880e-01 5.84060873e+00] [-1.18032659e-01 9.93001103e-01 4.13536647e-03 -4.59793176e-01] [-3.25126542e-01 -4.25802932e-02 9.44711411e-01 -1.00721970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.493201008 meters Centerline goodness : 0.890197 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.46, Z:-0.10 [[ 9.38639772e-01 1.09409359e-01 3.27085570e-01 5.84295978e+00] [-1.17101644e-01 9.93112458e-01 3.85361797e-03 -4.61637558e-01] [-3.24411132e-01 -4.19194169e-02 9.44986868e-01 -1.02814599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.553201008 meters Centerline goodness : 0.887004 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.46, Z:-0.11 [[ 0.93930084 0.10845356 0.3255023 5.85259418] [-0.11745569 0.99304533 0.00807035 -0.46094056] [-0.32236329 -0.04581259 0.94550681 -0.10695766] [ 0. 0. 0. 1. ]] SLAMing on 45.613201008000004 meters Centerline goodness : 0.886281 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.47, Z:-0.11 [[ 0.94052539 0.11076819 0.3211579 5.88249275] [-0.12093144 0.99259065 0.01180607 -0.46906899] [-0.3174706 -0.049942 0.94695207 -0.1105076 ] [ 0. 0. 0. 1. ]] SLAMing on 45.673201008 meters Centerline goodness : 0.884489 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.47, Z:-0.11 [[ 0.94076696 0.10889703 0.32109027 5.88074059] [-0.11804215 0.99296697 0.0090909 -0.47074641] [-0.31784206 -0.0464546 0.94700496 -0.10665544] [ 0. 0. 0. 1. ]] SLAMing on 45.733201008 meters Centerline goodness : 0.875485 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.47, Z:-0.11 [[ 9.40847893e-01 1.08920147e-01 3.20845202e-01 5.88153931e+00] [-1.16883941e-01 9.93129767e-01 5.60447559e-03 -4.65241631e-01] [-3.18030480e-01 -4.27746107e-02 9.47115065e-01 -1.14160852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.793201008000004 meters Centerline goodness : 0.872540 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.46, Z:-0.12 [[ 9.41254134e-01 1.06136041e-01 3.20586643e-01 5.88204433e+00] [-1.12242156e-01 9.93680719e-01 5.71003772e-04 -4.61179870e-01] [-3.18500162e-01 -3.65207958e-02 9.47219023e-01 -1.15303736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.853201008 meters Centerline goodness : 0.874030 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.46, Z:-0.12 [[ 9.42096678e-01 1.02604885e-01 3.19258653e-01 5.88494468e+00] [-1.06768803e-01 9.94273774e-01 -4.48167077e-03 -4.58347041e-01] [-3.17890347e-01 -2.98646970e-02 9.47657020e-01 -1.16812322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.913201008 meters Centerline goodness : 0.874042 with order 1 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.46, Z:-0.12 [[ 9.42310409e-01 1.02544306e-01 3.18646761e-01 5.88629189e+00] [-1.06217490e-01 9.94325555e-01 -5.87665591e-03 -4.55409815e-01] [-3.17441235e-01 -2.83082250e-02 9.47855320e-01 -1.19073399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.973201008000004 meters Centerline goodness : 0.874439 with order 1 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.45, Z:-0.12 [[ 0.94229918 0.1030634 0.31851245 5.88620394] [-0.10665273 0.994277 -0.00620004 -0.45364528] [-0.3173286 -0.02812793 0.9478984 -0.11960902] [ 0. 0. 0. 1. ]] SLAMing on 46.033201008 meters Centerline goodness : 0.865068 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.45, Z:-0.12 [[ 0.94199101 0.10456852 0.31893316 5.88403116] [-0.10776602 0.9941468 -0.00765627 -0.44982281] [-0.31786698 -0.02715802 0.94774629 -0.1216996 ] [ 0. 0. 0. 1. ]] SLAMing on 46.093201008 meters Centerline goodness : 0.864009 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.45, Z:-0.12 [[ 0.94204386 0.10356083 0.31910581 5.8811466 ] [-0.10514818 0.99438051 -0.01229895 -0.44889064] [-0.31858628 -0.02196725 0.94763929 -0.1219569 ] [ 0. 0. 0. 1. ]] SLAMing on 46.153201008 meters Centerline goodness : 0.863111 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.45, Z:-0.13 [[ 0.94254538 0.10133369 0.31833896 5.88141831] [-0.10089082 0.99473602 -0.01792458 -0.4479742 ] [-0.31847959 -0.01522275 0.94780748 -0.12574807] [ 0. 0. 0. 1. ]] SLAMing on 46.213201008 meters Centerline goodness : 0.864513 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.45, Z:-0.13 [[ 0.9429796 0.10001204 0.3174698 5.88463375] [-0.09944624 0.99487956 -0.01803057 -0.45083351] [-0.31764749 -0.01456872 0.94809695 -0.12823747] [ 0. 0. 0. 1. ]] SLAMing on 46.273201008 meters Centerline goodness : 0.857615 with order 1 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.45, Z:-0.13 [[ 0.94323932 0.10012093 0.31666289 5.89022289] [-0.10116159 0.99478248 -0.01319689 -0.45240945] [-0.31633197 -0.01958629 0.94844634 -0.128943 ] [ 0. 0. 0. 1. ]] SLAMing on 46.333201008 meters Centerline goodness : 0.859556 with order 1 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.45, Z:-0.13 [[ 0.94311159 0.10076032 0.31684049 5.88920009] [-0.1018352 0.99471356 -0.01321072 -0.45051865] [-0.31649665 -0.01980633 0.94838683 -0.12760461] [ 0. 0. 0. 1. ]] SLAMing on 46.393201008 meters Centerline goodness : 0.860132 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.45, Z:-0.12 [[ 0.94254974 0.10316104 0.31773857 5.88461115] [-0.10471681 0.9944269 -0.01222799 -0.44868878] [-0.31722923 -0.02174708 0.94809951 -0.12274661] [ 0. 0. 0. 1. ]] SLAMing on 46.453201008 meters Centerline goodness : 0.854043 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.45, Z:-0.12 [[ 0.94200628 0.10625304 0.31833075 5.88383163] [-0.10925128 0.99397804 -0.00847484 -0.44633155] [-0.31731425 -0.02679469 0.94794183 -0.12214557] [ 0. 0. 0. 1. ]] SLAMing on 46.513201008 meters Centerline goodness : 0.851445 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.44, Z:-0.12 [[ 9.41309558e-01 1.09715108e-01 3.19216089e-01 5.88213196e+00] [-1.14213190e-01 9.93445357e-01 -4.65514509e-03 -4.43499243e-01] [-3.17634481e-01 -3.20767553e-02 9.47670522e-01 -1.20959049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.573201008 meters Centerline goodness : 0.853712 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.44, Z:-0.12 [[ 0.941478 0.10944331 0.31881239 5.87992693] [-0.11214018 0.99364265 -0.00994324 -0.43964683] [-0.31787381 -0.02639034 0.94776568 -0.12325564] [ 0. 0. 0. 1. ]] SLAMing on 46.633201008 meters Centerline goodness : 0.853377 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.45, Z:-0.12 [[ 0.94192774 0.10835165 0.3178554 5.88250308] [-0.11157439 0.99372302 -0.00810593 -0.44607992] [-0.31673852 -0.02782932 0.94810455 -0.1211559 ] [ 0. 0. 0. 1. ]] SLAMing on 46.693201008 meters Centerline goodness : 0.852662 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.44, Z:-0.12 [[ 0.94219714 0.10638038 0.31772278 5.88146431] [-0.10785721 0.99408149 -0.01299251 -0.44471139] [-0.31722449 -0.02202719 0.94809463 -0.12276258] [ 0. 0. 0. 1. ]] SLAMing on 46.753201008 meters Centerline goodness : 0.848745 with order 1 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.44, Z:-0.13 [[ 0.94258858 0.10492153 0.31704613 5.88515857] [-0.1061176 0.99426134 -0.01354434 -0.44415821] [-0.3166478 -0.02087743 0.9483134 -0.12636869] [ 0. 0. 0. 1. ]] SLAMing on 46.813201008 meters Centerline goodness : 0.845302 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.44, Z:-0.13 [[ 0.94281793 0.10274399 0.31707731 5.88402135] [-0.10230672 0.99458866 -0.01807571 -0.44224061] [-0.31721866 -0.01539703 0.94822743 -0.12667832] [ 0. 0. 0. 1. ]] SLAMing on 46.873201008 meters Centerline goodness : 0.846996 with order 1 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.44, Z:-0.13 [[ 0.94305195 0.10206786 0.31659938 5.88596585] [-0.10186571 0.99464883 -0.01723638 -0.44360558] [-0.31666448 -0.01599582 0.94840273 -0.1257817 ] [ 0. 0. 0. 1. ]] SLAMing on 46.933201008000005 meters Centerline goodness : 0.850493 with order 1 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.45, Z:-0.13 [[ 0.94351273 0.10179383 0.31531213 5.89353581] [-0.10351301 0.99456349 -0.01133665 -0.4464034 ] [-0.31475194 -0.02194264 0.9489203 -0.12523646] [ 0. 0. 0. 1. ]] SLAMing on 46.993201008 meters Centerline goodness : 0.847314 with order 1 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.45, Z:-0.13 [[ 0.9432856 0.10416085 0.31521864 5.89499442] [-0.10736812 0.99419309 -0.00722419 -0.44634157] [-0.31414067 -0.02702996 0.94899158 -0.12585479] [ 0. 0. 0. 1. ]] SLAMing on 47.053201008 meters Centerline goodness : 0.859337 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.45, Z:-0.12 [[ 0.9453812 0.1100554 0.30682599 5.9063343 ] [-0.11308502 0.99355356 -0.00794419 -0.45342102] [-0.30572236 -0.02718713 0.95173247 -0.12039156] [ 0. 0. 0. 1. ]] SLAMing on 47.113201008000004 meters Centerline goodness : 0.865039 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.46, Z:-0.12 [[ 0.94560092 0.10921996 0.30644722 5.90855622] [-0.11276891 0.99360217 -0.006157 -0.45615898] [-0.30515909 -0.02873565 0.95186774 -0.11839174] [ 0. 0. 0. 1. ]] SLAMing on 47.173201008 meters Centerline goodness : 0.853659 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.45, Z:-0.12 [[ 9.45402986e-01 1.11075046e-01 3.06391136e-01 5.91070710e+00] [-1.15760371e-01 9.93272945e-01 -2.89707581e-03 -4.54086989e-01] [-3.04651819e-01 -3.27290474e-02 9.51901297e-01 -1.20547353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.233201008 meters Centerline goodness : 0.858738 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.45, Z:-0.12 [[ 9.45525872e-01 1.10822625e-01 3.06103202e-01 5.91173142e+00] [-1.15894104e-01 9.93260260e-01 -1.61656591e-03 -4.54962013e-01] [-3.04219298e-01 -3.39470514e-02 9.51996962e-01 -1.17542749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.293201008000004 meters Centerline goodness : 0.861125 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.45, Z:-0.12 [[ 9.45869660e-01 1.10270651e-01 3.05239202e-01 5.91428679e+00] [-1.15265933e-01 9.93333270e-01 -1.66740610e-03 -4.54976278e-01] [-3.03388121e-01 -3.36065325e-02 9.52274251e-01 -1.18529387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.353201008 meters Centerline goodness : 0.863168 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.46, Z:-0.12 [[ 0.94666868 0.10662076 0.30405662 5.92774386] [-0.11404355 0.99345312 0.00670511 -0.46046648] [-0.3013511 -0.04102321 0.95263037 -0.1156357 ] [ 0. 0. 0. 1. ]] SLAMing on 47.413201008 meters Centerline goodness : 0.861793 with order 1 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.47, Z:-0.10 [[ 0.94667312 0.09216961 0.3087309 5.96248395] [-0.10585788 0.99399129 0.02784632 -0.47085544] [-0.30430924 -0.05904296 0.95074172 -0.1046567 ] [ 0. 0. 0. 1. ]] SLAMing on 47.473201008000004 meters Centerline goodness : 0.862499 with order 1 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.47, Z:-0.10 [[ 0.94707277 0.09004208 0.30813242 5.9724598 ] [-0.10532425 0.99388046 0.03329304 -0.47036556] [-0.30324901 -0.06398475 0.95076074 -0.10464389] [ 0. 0. 0. 1. ]] SLAMing on 47.533201008 meters Centerline goodness : 0.864810 with order 1 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.47, Z:-0.11 [[ 0.94693368 0.09197384 0.30798931 5.97460529] [-0.10870334 0.993364 0.03757064 -0.47140384] [-0.30248998 -0.06905637 0.95064769 -0.10500007] [ 0. 0. 0. 1. ]] SLAMing on 47.593201008 meters Centerline goodness : 0.863799 with order 1 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.47, Z:-0.11 [[ 0.94735012 0.09174253 0.30677526 5.98188788] [-0.10991925 0.99303277 0.04246975 -0.47223401] [-0.3007416 -0.07395423 0.95083398 -0.10604816] [ 0. 0. 0. 1. ]] SLAMing on 47.653201008 meters Centerline goodness : 0.858680 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.48, Z:-0.10 [[ 0.94952933 0.09425465 0.29918241 6.00722298] [-0.11451429 0.99211769 0.05088191 -0.48098824] [-0.29202831 -0.08257452 0.95283835 -0.09664805] [ 0. 0. 0. 1. ]] SLAMing on 47.713201008 meters Centerline goodness : 0.867074 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.49, Z:-0.09 [[ 0.94970667 0.09365314 0.2988082 6.00875701] [-0.11471122 0.99194692 0.05369021 -0.48602713] [-0.29137362 -0.0852666 0.95280167 -0.09132953] [ 0. 0. 0. 1. ]] SLAMing on 47.773201008 meters Centerline goodness : 0.871896 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.49, Z:-0.09 [[ 0.95050047 0.09096223 0.29711064 6.02104609] [-0.11339 0.99179075 0.05910844 -0.48848932] [-0.28929495 -0.08987197 0.95301178 -0.09284445] [ 0. 0. 0. 1. ]] SLAMing on 47.833201008 meters Centerline goodness : 0.867480 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.49, Z:-0.09 [[ 0.95080147 0.08935208 0.29663576 6.03506453] [-0.11528546 0.99078602 0.07107974 -0.49038849] [-0.28755144 -0.10178052 0.9523418 -0.0896551 ] [ 0. 0. 0. 1. ]] SLAMing on 47.893201008 meters Centerline goodness : 0.864271 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.49, Z:-0.09 [[ 0.95075239 0.09198355 0.29598804 6.03710639] [-0.11897316 0.99010112 0.07446584 -0.48715536] [-0.28620845 -0.10601321 0.95228458 -0.08982422] [ 0. 0. 0. 1. ]] SLAMing on 47.953201008 meters Centerline goodness : 0.867366 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.49, Z:-0.09 [[ 0.9507086 0.09406017 0.29547563 6.03985413] [-0.12219842 0.98941913 0.07821342 -0.48586106] [-0.28499247 -0.11046482 0.95214328 -0.09050294] [ 0. 0. 0. 1. ]] SLAMing on 48.013201008 meters Centerline goodness : 0.867089 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.48, Z:-0.09 [[ 0.95073789 0.09522639 0.29500745 6.03975421] [-0.12343203 0.98924568 0.07846992 -0.48299818] [-0.28436244 -0.1110177 0.95226733 -0.08964336] [ 0. 0. 0. 1. ]] SLAMing on 48.073201008 meters Centerline goodness : 0.876125 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.48, Z:-0.10 [[ 0.94904064 0.09933464 0.29908943 6.05149172] [-0.12535961 0.98970383 0.06907465 -0.48298218] [-0.28914844 -0.10304838 0.95172171 -0.09561863] [ 0. 0. 0. 1. ]] SLAMing on 48.133201008 meters Centerline goodness : 0.879334 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.50, Z:-0.09 [[ 0.94960645 0.09653244 0.29820979 6.0892982 ] [-0.12648725 0.98850698 0.08279446 -0.49590811] [-0.28679011 -0.11634189 0.95090273 -0.08931866] [ 0. 0. 0. 1. ]] SLAMing on 48.193201008 meters Centerline goodness : 0.884609 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.50, Z:-0.10 [[ 0.95030878 0.0929686 0.29710278 6.09260725] [-0.12083011 0.9896985 0.07679171 -0.49547765] [-0.28690296 -0.1088748 0.95175258 -0.09612398] [ 0. 0. 0. 1. ]] SLAMing on 48.253201008 meters Centerline goodness : 0.882185 with order 1 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.50, Z:-0.09 [[ 0.95130558 0.08730943 0.29562604 6.10652814] [-0.1162148 0.98986414 0.08162781 -0.49592671] [-0.28550274 -0.11200911 0.95180993 -0.09223166] [ 0. 0. 0. 1. ]] SLAMing on 48.313201008 meters Centerline goodness : 0.881429 with order 1 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.49, Z:-0.10 [[ 0.95178796 0.08460245 0.29485945 6.10775332] [-0.11167045 0.99082148 0.07617414 -0.49385182] [-0.28570856 -0.10542871 0.95249956 -0.0953822 ] [ 0. 0. 0. 1. ]] SLAMing on 48.373201008 meters Centerline goodness : 0.883853 with order 1 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.50, Z:-0.09 [[ 0.95237581 0.08308284 0.29338978 6.14271251] [-0.11255324 0.99000265 0.08500894 -0.50287219] [-0.28339388 -0.11398243 0.95220582 -0.09146129] [ 0. 0. 0. 1. ]] SLAMing on 48.433201008000005 meters Centerline goodness : 0.885426 with order 1 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.50, Z:-0.09 [[ 0.95248134 0.08485596 0.29253847 6.14641508] [-0.1154375 0.98933013 0.08888235 -0.5022401 ] [-0.28187492 -0.11842869 0.95211405 -0.09200799] [ 0. 0. 0. 1. ]] SLAMing on 48.493201008 meters Centerline goodness : 0.881736 with order 1 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.50, Z:-0.10 [[ 0.95176298 0.08847857 0.29380058 6.1392008 ] [-0.11810291 0.98938785 0.08463683 -0.49642765] [-0.28319417 -0.1152529 0.9521123 -0.09776415] [ 0. 0. 0. 1. ]] SLAMing on 48.553201008 meters Centerline goodness : 0.882685 with order 1 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.50, Z:-0.10 [[ 0.95182568 0.08825809 0.29366374 6.14043587] [-0.11815283 0.9892961 0.08563371 -0.49571102] [-0.28296252 -0.11620556 0.95206537 -0.09520369] [ 0. 0. 0. 1. ]] SLAMing on 48.613201008000004 meters Centerline goodness : 0.879027 with order 1 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.49, Z:-0.11 [[ 0.95055029 0.09374609 0.29608414 6.14772764] [-0.11885841 0.99058372 0.06794538 -0.49061403] [-0.28692652 -0.09977759 0.95274215 -0.11046545] [ 0. 0. 0. 1. ]] SLAMing on 48.673201008 meters Centerline goodness : 0.879040 with order 1 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.49, Z:-0.11 [[ 0.95050291 0.09419329 0.29609431 6.14756779] [-0.11926531 0.99054851 0.06774531 -0.48831244] [-0.28691463 -0.09970589 0.95275324 -0.10978244] [ 0. 0. 0. 1. ]] SLAMing on 48.733201008 meters Centerline goodness : 0.879350 with order 1 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.49, Z:-0.11 [[ 0.95188553 0.09878018 0.29009726 6.15576345] [-0.12342466 0.99002986 0.0678766 -0.48704281] [-0.28050009 -0.10041591 0.954587 -0.10988293] [ 0. 0. 0. 1. ]] SLAMing on 48.793201008000004 meters Centerline goodness : 0.878715 with order 1 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.49, Z:-0.11 [[ 0.95179447 0.10095372 0.28964743 6.15848968] [-0.12644766 0.9894543 0.07064829 -0.48546111] [-0.27946068 -0.10386789 0.95452249 -0.11302871] [ 0. 0. 0. 1. ]] SLAMing on 48.853201008 meters Centerline goodness : 0.881446 with order 1 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.49, Z:-0.11 [[ 0.95285713 0.09300411 0.28881399 6.20341963] [-0.12029952 0.98965252 0.07820435 -0.49472753] [-0.27855217 -0.10926175 0.95418581 -0.11132456] [ 0. 0. 0. 1. ]] SLAMing on 48.913201008 meters Centerline goodness : 0.878009 with order 1 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.51, Z:-0.11 [[ 0.95404253 0.07471714 0.29020718 6.25902324] [-0.10945135 0.9883943 0.10534284 -0.50547077] [-0.27896821 -0.13226512 0.95114808 -0.10819002] [ 0. 0. 0. 1. ]] SLAMing on 48.973201008000004 meters Centerline goodness : 0.875158 with order 1 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.51, Z:-0.11 [[ 0.95408265 0.07626488 0.28967216 6.26316318] [-0.11225987 0.98760161 0.10973052 -0.50532029] [-0.27771211 -0.13721055 0.95081505 -0.10903291] [ 0. 0. 0. 1. ]] SLAMing on 49.033201008 meters Centerline goodness : 0.875158 with order 1 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.50, Z:-0.11 [[ 0.95393713 0.07625328 0.29015408 6.26336301] [-0.11238539 0.98756243 0.10995441 -0.50399809] [-0.27816088 -0.13749867 0.95064222 -0.1080525 ] [ 0. 0. 0. 1. ]] SLAMing on 49.093201008 meters Centerline goodness : 0.881179 with order 1 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.50, Z:-0.11 [[ 0.95226928 0.08210804 0.29400934 6.26300052] [-0.1133421 0.98939871 0.09079511 -0.50113684] [-0.28343745 -0.11978503 0.9514803 -0.11405093] [ 0. 0. 0. 1. ]] SLAMing on 49.153201008 meters Centerline goodness : 0.880417 with order 1 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.50, Z:-0.13 [[ 0.95146707 0.09001086 0.29429314 6.26690674] [-0.11651433 0.99044589 0.07376545 -0.496836 ] [-0.28484174 -0.10447476 0.95286421 -0.12609653] [ 0. 0. 0. 1. ]] SLAMing on 49.213201008 meters Centerline goodness : 0.880970 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.50, Z:-0.13 [[ 0.95239437 0.08946128 0.29144749 6.30669998] [-0.11879495 0.98931465 0.08452392 -0.50470716] [-0.28077166 -0.11512259 0.95284525 -0.12770553] [ 0. 0. 0. 1. ]] SLAMing on 49.273201008 meters Centerline goodness : 0.878055 with order 1 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.50, Z:-0.13 [[ 0.95327612 0.08746137 0.28916283 6.3194826 ] [-0.11794581 0.98896003 0.08970421 -0.50422481] [-0.27812483 -0.11961843 0.95306769 -0.12929731] [ 0. 0. 0. 1. ]] SLAMing on 49.333201008 meters Centerline goodness : 0.879069 with order 1 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.51, Z:-0.13 [[ 0.95425399 0.08926479 0.28536138 6.35165068] [-0.12011438 0.98844449 0.09246638 -0.50882114] [-0.2738099 -0.12251241 0.95394908 -0.13369292] [ 0. 0. 0. 1. ]] SLAMing on 49.393201008 meters Centerline goodness : 0.874802 with order 1 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.51, Z:-0.13 [[ 0.95484011 0.0898751 0.28320105 6.35606104] [-0.12082214 0.98823805 0.09374199 -0.50835742] [-0.27144499 -0.12372557 0.95446823 -0.13334074] [ 0. 0. 0. 1. ]] SLAMing on 49.453201008 meters Centerline goodness : 0.873325 with order 1 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.51, Z:-0.14 [[ 0.95328781 0.09362793 0.28718664 6.36615857] [-0.12137762 0.98934847 0.08035597 -0.50516093] [-0.2766041 -0.1114604 0.95449817 -0.14287638] [ 0. 0. 0. 1. ]] SLAMing on 49.513201008 meters Centerline goodness : 0.871610 with order 1 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.50, Z:-0.15 [[ 0.95179746 0.09465307 0.29175743 6.38015469] [-0.11936992 0.99051344 0.06807317 -0.5025329 ] [-0.28254632 -0.09961893 0.9540669 -0.15263896] [ 0. 0. 0. 1. ]] SLAMing on 49.573201008 meters Centerline goodness : 0.867499 with order 1 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.50, Z:-0.16 [[ 0.95207226 0.09410296 0.29103788 6.38254852] [-0.1183417 0.99072383 0.06679475 -0.50107087] [-0.28205258 -0.09803534 0.95437698 -0.15622631] [ 0. 0. 0. 1. ]] SLAMing on 49.633201008 meters Centerline goodness : 0.868931 with order 1 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.50, Z:-0.17 [[ 0.95111497 0.10008774 0.29216907 6.39909466] [-0.12218695 0.99079044 0.05834932 -0.49949852] [-0.28363827 -0.09119616 0.95458504 -0.16967246] [ 0. 0. 0. 1. ]] SLAMing on 49.693201008 meters Centerline goodness : 0.867215 with order 1 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.50, Z:-0.17 [[ 0.95309202 0.10579949 0.28358786 6.40967917] [-0.12586344 0.99060741 0.05343559 -0.50269102] [-0.27527078 -0.08662238 0.9574563 -0.16802369] [ 0. 0. 0. 1. ]] SLAMing on 49.753201008 meters Centerline goodness : 0.869577 with order 1 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.50, Z:-0.17 [[ 0.95319404 0.10562439 0.28331009 6.41049366] [-0.12555305 0.99066594 0.05307941 -0.50325405] [-0.27505917 -0.08616542 0.95755834 -0.16932076] [ 0. 0. 0. 1. ]] SLAMing on 49.813201008 meters Centerline goodness : 0.864743 with order 1 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.50, Z:-0.18 [[ 0.95341284 0.10424246 0.28308561 6.40863762] [-0.12182067 0.99152385 0.04516835 -0.49768743] [-0.27597767 -0.07754977 0.95803046 -0.17659959] [ 0. 0. 0. 1. ]] SLAMing on 49.873201008 meters Centerline goodness : 0.859688 with order 1 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.50, Z:-0.18 [[ 0.95355679 0.1041603 0.28263063 6.40959536] [-0.12174699 0.99152496 0.04534232 -0.49832863] [-0.27551245 -0.07764591 0.95815656 -0.17636046] [ 0. 0. 0. 1. ]] SLAMing on 49.933201008000005 meters Centerline goodness : 0.855516 with order 1 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.50, Z:-0.18 [[ 0.95368807 0.10404446 0.28223009 6.41076217] [-0.12143582 0.99158797 0.04479557 -0.49688987] [-0.27519523 -0.07699384 0.95830034 -0.17769218] [ 0. 0. 0. 1. ]] SLAMing on 49.993201008 meters Centerline goodness : 0.851648 with order 1 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.49, Z:-0.18 [[ 0.95382447 0.10318195 0.28208573 6.40838633] [-0.11837193 0.9922685 0.03730019 -0.49115017] [-0.27605607 -0.06896887 0.95866383 -0.18421459] [ 0. 0. 0. 1. ]] SLAMing on 50.053201008 meters Centerline goodness : 0.847415 with order 1 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.49, Z:-0.18 [[ 0.95369229 0.10306418 0.2825753 6.40381629] [-0.1172542 0.99252909 0.03372632 -0.48819185] [-0.27698823 -0.06529767 0.95865204 -0.18166255] [ 0. 0. 0. 1. ]] SLAMing on 50.113201008000004 meters Centerline goodness : 0.846881 with order 1 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.49, Z:-0.18 [[ 0.95399763 0.10172185 0.28203049 6.40689087] [-0.11660479 0.9925092 0.03645285 -0.49165393] [-0.2762098 -0.06766204 0.95871268 -0.17706785] [ 0. 0. 0. 1. ]] SLAMing on 50.173201008 meters Centerline goodness : 0.846714 with order 1 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.49, Z:-0.18 [[ 0.9542675 0.09957765 0.28188265 6.40616938] [-0.11294617 0.99310043 0.03153882 -0.49044166] [-0.27679722 -0.06193403 0.95893038 -0.17930727] [ 0. 0. 0. 1. ]] SLAMing on 50.233201008 meters Centerline goodness : 0.846454 with order 1 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.49, Z:-0.18 [[ 0.95444847 0.09900855 0.28147011 6.40803916] [-0.11244501 0.99314413 0.03195084 -0.49112808] [-0.27637698 -0.06214534 0.95903791 -0.17908636] [ 0. 0. 0. 1. ]] SLAMing on 50.293201008000004 meters Centerline goodness : 0.851607 with order 1 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.49, Z:-0.18 [[ 0.9547831 0.09846248 0.28052516 6.41076998] [-0.11164227 0.99325367 0.03135524 -0.49031632] [-0.27554533 -0.06125592 0.9593344 -0.18082003] [ 0. 0. 0. 1. ]] SLAMing on 50.353201008 meters Centerline goodness : 0.852491 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.49, Z:-0.18 [[ 0.95703777 0.10281335 0.27112382 6.42550183] [-0.11446848 0.99304656 0.02748639 -0.49404443] [-0.26641261 -0.05734065 0.96215195 -0.18221906] [ 0. 0. 0. 1. ]] SLAMing on 50.413201008 meters Centerline goodness : 0.854482 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.49, Z:-0.19 [[ 0.95710936 0.10259189 0.27095493 6.42648155] [-0.11380965 0.99316298 0.02597411 -0.49158586] [-0.26643767 -0.05569735 0.96224153 -0.18551371] [ 0. 0. 0. 1. ]] SLAMing on 50.473201008000004 meters Centerline goodness : 0.856660 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.49, Z:-0.18 [[ 0.95720372 0.10257029 0.27062957 6.42720387] [-0.11387546 0.99314517 0.0263638 -0.49209427] [-0.26607031 -0.0560536 0.9623225 -0.18462668] [ 0. 0. 0. 1. ]] SLAMing on 50.533201008 meters Centerline goodness : 0.854676 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.49, Z:-0.18 [[ 0.95746358 0.10180095 0.2700001 6.42946849] [-0.11308038 0.99323206 0.02651248 -0.49282137] [-0.26547376 -0.05591645 0.96249521 -0.18486382] [ 0. 0. 0. 1. ]] SLAMing on 50.593201008 meters Centerline goodness : 0.859177 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.49, Z:-0.19 [[ 0.95821923 0.097547 0.26888752 6.4324496 ] [-0.10736735 0.99397544 0.02202457 -0.49315481] [-0.26511916 -0.04997411 0.96291974 -0.18622436] [ 0. 0. 0. 1. ]] SLAMing on 50.653201008 meters Centerline goodness : 0.859635 with order 1 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.49, Z:-0.19 [[ 0.95867908 0.09606338 0.26778023 6.43698417] [-0.10565481 0.99416809 0.02160694 -0.49119682] [-0.26414293 -0.04900639 0.96323771 -0.18785359] [ 0. 0. 0. 1. ]] SLAMing on 50.713201008 meters Centerline goodness : 0.858878 with order 1 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.49, Z:-0.19 [[ 0.95903326 0.09526531 0.26679529 6.44004255] [-0.10421912 0.99436178 0.0195709 -0.48790322] [-0.26342661 -0.04657432 0.96355449 -0.19241775] [ 0. 0. 0. 1. ]] SLAMing on 50.773201008 meters Centerline goodness : 0.858689 with order 1 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.48, Z:-0.20 [[ 0.95986065 0.09339125 0.26447233 6.44734482] [-0.1012445 0.99472985 0.01618905 -0.48390047] [-0.2615666 -0.04231561 0.96425738 -0.20126787] [ 0. 0. 0. 1. ]] SLAMing on 50.833201008 meters Centerline goodness : 0.867036 with order 1 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.49, Z:-0.20 [[ 0.96008259 0.09303319 0.26379204 6.448895 ] [-0.10084562 0.99477018 0.01620019 -0.48533123] [-0.2609053 -0.04215579 0.96444352 -0.20151516] [ 0. 0. 0. 1. ]] SLAMing on 50.893201008 meters Centerline goodness : 0.867734 with order 1 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.48, Z:-0.20 [[ 0.95926517 0.09634612 0.26557062 6.43694006] [-0.10383461 0.99449222 0.0142691 -0.48487098] [-0.26273314 -0.04126327 0.96398581 -0.19518232] [ 0. 0. 0. 1. ]] SLAMing on 50.953201008 meters Centerline goodness : 0.866190 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.48, Z:-0.19 [[ 0.95887045 0.09767104 0.26651047 6.43379045] [-0.10528464 0.99433794 0.01439457 -0.48316712] [-0.26359554 -0.04186199 0.96372453 -0.19383007] [ 0. 0. 0. 1. ]] SLAMing on 51.013201008 meters Centerline goodness : 0.867450 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.48, Z:-0.19 [[ 0.9588412 0.09777056 0.26657918 6.43346435] [-0.10546781 0.99431442 0.01467555 -0.48343475] [-0.26362869 -0.04218704 0.96370129 -0.1929319 ] [ 0. 0. 0. 1. ]] SLAMing on 51.073201008 meters Centerline goodness : 0.864053 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.48, Z:-0.19 [[ 0.9588595 0.09642611 0.26700274 6.43036269] [-0.10276436 0.99465712 0.00983388 -0.48051829] [-0.26462794 -0.03686768 0.96364559 -0.19303001] [ 0. 0. 0. 1. ]] SLAMing on 51.133201008 meters Centerline goodness : 0.862357 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.48, Z:-0.19 [[ 0.95907362 0.09594878 0.266405 6.43212118] [-0.10201833 0.99474176 0.00900448 -0.47942369] [-0.26414021 -0.03581415 0.96381912 -0.19455618] [ 0. 0. 0. 1. ]] SLAMing on 51.193201008 meters Centerline goodness : 0.865747 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.48, Z:-0.20 [[ 0.9591402 0.0959839 0.26615252 6.43292642] [-0.10169984 0.99478499 0.00774388 -0.47723834] [-0.26402124 -0.03449514 0.96389982 -0.19721725] [ 0. 0. 0. 1. ]] SLAMing on 51.253201008 meters Centerline goodness : 0.859684 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.48, Z:-0.20 [[ 0.9589928 0.09811632 0.26590599 6.43481431] [-0.10501566 0.99440035 0.01181754 -0.47733244] [-0.26325751 -0.03925723 0.96392653 -0.19691383] [ 0. 0. 0. 1. ]] SLAMing on 51.313201008 meters Centerline goodness : 0.866049 with order 1 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.48, Z:-0.20 [[ 0.95886492 0.10014918 0.26560913 6.43705105] [-0.1082236 0.99399939 0.01590155 -0.47801702] [-0.26242279 -0.04399262 0.96394965 -0.1972611 ] [ 0. 0. 0. 1. ]] SLAMing on 51.373201008 meters Centerline goodness : 0.859431 with order 1 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.47, Z:-0.20 [[ 0.95861534 0.10140143 0.26603453 6.43500455] [-0.10935276 0.99388667 0.01520746 -0.47457285] [-0.26286612 -0.04366972 0.96384354 -0.19719349] [ 0. 0. 0. 1. ]] SLAMing on 51.433201008 meters Centerline goodness : 0.863047 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.48, Z:-0.20 [[ 0.95849405 0.10190458 0.26627921 6.433957 ] [-0.1100599 0.99379865 0.01584474 -0.4752159 ] [-0.26301327 -0.04449375 0.9637657 -0.1952448 ] [ 0. 0. 0. 1. ]] SLAMing on 51.493201008 meters Centerline goodness : 0.859546 with order 1 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.48, Z:-0.20 [[ 0.95885499 0.10101087 0.26531852 6.43684156] [-0.108891 0.99393867 0.01512171 -0.47546364] [-0.26218288 -0.04339033 0.96404223 -0.19758141] [ 0. 0. 0. 1. ]] SLAMing on 51.553201008 meters Centerline goodness : 0.857574 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.47, Z:-0.21 [[ 9.59119381e-01 9.97889637e-02 2.64824804e-01 6.43492168e+00] [-1.04995514e-01 9.94457259e-01 5.54091934e-03 -4.68223269e-01] [-2.62804026e-01 -3.31198195e-02 9.64280624e-01 -2.08196691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.613201008000004 meters Centerline goodness : 0.860208 with order 1 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.47, Z:-0.21 [[ 9.59267688e-01 9.95445543e-02 2.64379244e-01 6.43621182e+00] [-1.04550400e-01 9.94507545e-01 4.89452057e-03 -4.68065848e-01] [-2.62439931e-01 -3.23361111e-02 9.64406376e-01 -2.10016134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.673201008 meters Centerline goodness : 0.862287 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.47, Z:-0.21 [[ 9.59027929e-01 1.00351241e-01 2.64943503e-01 6.43439367e+00] [-1.05647310e-01 9.94386879e-01 5.77769483e-03 -4.68227928e-01] [-2.62876544e-01 -3.35315389e-02 9.64246627e-01 -2.07193506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.733201008 meters Centerline goodness : 0.853841 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.47, Z:-0.21 [[ 0.95848007 0.10370975 0.2656318 6.43338514] [-0.11024307 0.99385671 0.00976223 -0.46640264] [-0.26298751 -0.03864097 0.96402513 -0.20610768] [ 0. 0. 0. 1. ]] SLAMing on 51.793201008000004 meters Centerline goodness : 0.850106 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.47, Z:-0.20 [[ 0.95819642 0.10482919 0.26621507 6.43142068] [-0.11148324 0.99371637 0.00996321 -0.46503006] [-0.26349784 -0.03922523 0.96386216 -0.20490137] [ 0. 0. 0. 1. ]] SLAMing on 51.853201008 meters Centerline goodness : 0.857978 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.47, Z:-0.20 [[ 0.95835283 0.10443727 0.26580576 6.43293787] [-0.11119444 0.99374365 0.01045738 -0.46627346] [-0.26305065 -0.03957798 0.96396989 -0.20462088] [ 0. 0. 0. 1. ]] SLAMing on 51.913201008 meters Centerline goodness : 0.852871 with order 1 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.47, Z:-0.21 [[ 0.95918578 0.1012539 0.26402707 6.44093233] [-0.10768639 0.99413496 0.0099657 -0.46655049] [-0.26146947 -0.03799108 0.96446379 -0.20821 ] [ 0. 0. 0. 1. ]] SLAMing on 51.973201008000004 meters Centerline goodness : 0.852976 with order 1 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.48, Z:-0.20 [[ 0.96046557 0.0848701 0.26514705 6.48233828] [-0.09587409 0.99497633 0.02881427 -0.47661692] [-0.26136957 -0.05309585 0.96377735 -0.20182892] [ 0. 0. 0. 1. ]] SLAMing on 52.033201008 meters Centerline goodness : 0.852574 with order 1 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.48, Z:-0.20 [[ 0.96133365 0.08091348 0.2632311 6.4979437 ] [-0.09362512 0.99495321 0.0360894 -0.47918785] [-0.25898251 -0.059339 0.96405754 -0.2008168 ] [ 0. 0. 0. 1. ]] SLAMing on 52.093201008 meters Centerline goodness : 0.847410 with order 1 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.48, Z:-0.20 [[ 0.96115823 0.08150664 0.26368831 6.49713652] [-0.09442211 0.99485699 0.03666121 -0.47955745] [-0.25934403 -0.06013523 0.96391101 -0.20034814] [ 0. 0. 0. 1. ]] SLAMing on 52.153201008 meters Centerline goodness : 0.856213 with order 1 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.48, Z:-0.21 [[ 0.95936874 0.08920259 0.26768363 6.5024541 ] [-0.0992865 0.994761 0.02434629 -0.4767506 ] [-0.26410948 -0.04993444 0.96319922 -0.21027613] [ 0. 0. 0. 1. ]] SLAMing on 52.213201008 meters Centerline goodness : 0.850530 with order 1 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.48, Z:-0.21 [[ 0.95926426 0.08902743 0.268116 6.50191359] [-0.09931506 0.99474126 0.02502698 -0.47584136] [-0.26447796 -0.05063544 0.9630615 -0.20693911] [ 0. 0. 0. 1. ]] SLAMing on 52.273201008 meters Centerline goodness : 0.856694 with order 1 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.47, Z:-0.21 [[ 0.95925333 0.08977118 0.26790704 6.50192059] [-0.09928258 0.99481293 0.02214055 -0.47079912] [-0.2645298 -0.04783689 0.96319033 -0.21226165] [ 0. 0. 0. 1. ]] SLAMing on 52.333201008 meters Centerline goodness : 0.851969 with order 1 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.47, Z:-0.21 [[ 0.95927098 0.09019351 0.26770192 6.50201627] [-0.09970197 0.99477163 0.02211139 -0.46942268] [-0.26430797 -0.04790122 0.96324803 -0.21160812] [ 0. 0. 0. 1. ]] SLAMing on 52.393201008 meters Centerline goodness : 0.853717 with order 1 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.47, Z:-0.21 [[ 0.95943975 0.08971349 0.26725803 6.50377149] [-0.09919277 0.99482161 0.022153 -0.47020711] [-0.26388664 -0.04776454 0.96337033 -0.21232821] [ 0. 0. 0. 1. ]] SLAMing on 52.453201008 meters Centerline goodness : 0.853174 with order 1 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.48, Z:-0.21 [[ 0.96051161 0.08696671 0.26429952 6.54677425] [-0.09940215 0.99446561 0.03402017 -0.48012172] [-0.25987816 -0.05894871 0.96384044 -0.2137279 ] [ 0. 0. 0. 1. ]] SLAMing on 52.513201008 meters Centerline goodness : 0.857687 with order 1 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.48, Z:-0.21 [[ 0.96062219 0.08450689 0.26469527 6.54542998] [-0.09596259 0.99491366 0.03062667 -0.47991345] [-0.26076078 -0.0548215 0.96384564 -0.21216695] [ 0. 0. 0. 1. ]] SLAMing on 52.573201008 meters Centerline goodness : 0.857999 with order 1 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.48, Z:-0.21 [[ 0.9606216 0.08475798 0.26461713 6.54563244] [-0.09604455 0.99492529 0.02998524 -0.47819214] [-0.26073279 -0.0542195 0.96388726 -0.21352331] [ 0. 0. 0. 1. ]] SLAMing on 52.633201008 meters Centerline goodness : 0.855237 with order 1 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.48, Z:-0.22 [[ 0.96050691 0.08737607 0.26418157 6.54790763] [-0.09952424 0.99449014 0.03292841 -0.47608654] [-0.25984881 -0.05792043 0.96391069 -0.21612893] [ 0. 0. 0. 1. ]] SLAMing on 52.693201008 meters Centerline goodness : 0.861090 with order 1 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.47, Z:-0.22 [[ 0.9602364 0.10206529 0.25986293 6.54512505] [-0.11100274 0.99362058 0.01991317 -0.4695311 ] [-0.25617271 -0.04796684 0.96544017 -0.22219738] [ 0. 0. 0. 1. ]] SLAMing on 52.753201008 meters Centerline goodness : 0.863583 with order 1 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.47, Z:-0.22 [[ 0.96011238 0.1029244 0.25998227 6.54421998] [-0.11164866 0.99356658 0.01897443 -0.46689949] [-0.25635677 -0.04724426 0.96542695 -0.22339454] [ 0. 0. 0. 1. ]] SLAMing on 52.813201008 meters Centerline goodness : 0.858190 with order 1 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.47, Z:-0.23 [[ 0.96045853 0.10186146 0.25912092 6.54746781] [-0.11013303 0.99376158 0.01756787 -0.46593492] [-0.25571493 -0.04541098 0.9656851 -0.22766904] [ 0. 0. 0. 1. ]] SLAMing on 52.873201008 meters Centerline goodness : 0.860884 with order 1 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.47, Z:-0.23 [[ 0.9611023 0.09799245 0.25822441 6.55009271] [-0.10489227 0.99439802 0.01304566 -0.4663215 ] [-0.25549946 -0.03962396 0.96599688 -0.2303362 ] [ 0. 0. 0. 1. ]] SLAMing on 52.933201008 meters Centerline goodness : 0.862096 with order 1 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.47, Z:-0.23 [[ 0.96147921 0.09519046 0.25786915 6.55021287] [-0.10086487 0.99486091 0.00883473 -0.46651285] [-0.25570295 -0.03450435 0.96613946 -0.23119644] [ 0. 0. 0. 1. ]] SLAMing on 52.993201008 meters Centerline goodness : 0.864550 with order 1 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.47, Z:-0.23 [[ 0.96156111 0.09513918 0.25758256 6.55072279] [-0.10096321 0.9948453 0.0094476 -0.46995488] [-0.25535596 -0.03509081 0.96621011 -0.2309606 ] [ 0. 0. 0. 1. ]] SLAMing on 53.053201008 meters Centerline goodness : 0.863812 with order 1 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.47, Z:-0.23 [[ 9.61640709e-01 9.35604388e-02 2.57863512e-01 6.54827315e+00] [-9.80590614e-02 9.95169914e-01 4.61116625e-03 -4.69394718e-01] [-2.56186586e-01 -2.97201391e-02 9.66170351e-01 -2.32600352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.113201008000004 meters Centerline goodness : 0.862772 with order 1 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.47, Z:-0.23 [[ 9.61869028e-01 9.27943891e-02 2.57288115e-01 6.55045283e+00] [-9.72761282e-02 9.95246253e-01 4.71699540e-03 -4.71023263e-01] [-2.55627322e-01 -2.95651234e-02 9.66323225e-01 -2.33871156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.173201008 meters Centerline goodness : 0.859954 with order 1 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.47, Z:-0.24 [[ 9.62231502e-01 9.16833893e-02 2.56329266e-01 6.55396030e+00] [-9.59751310e-02 9.95374633e-01 4.25614516e-03 -4.71164139e-01] [-2.54753431e-01 -2.86966318e-02 9.66580153e-01 -2.36327042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.233201008 meters Centerline goodness : 0.860986 with order 1 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.47, Z:-0.24 [[ 9.62551177e-01 9.02866269e-02 2.55623856e-01 6.55754835e+00] [-9.47955370e-02 9.95482404e-01 5.34694749e-03 -4.73840304e-01] [-2.53986293e-01 -2.93787113e-02 9.66761529e-01 -2.35780759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.293201008000004 meters Centerline goodness : 0.859590 with order 1 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.47, Z:-0.24 [[ 9.62654844e-01 8.98341294e-02 2.55392798e-01 6.55878033e+00] [-9.43015639e-02 9.95529701e-01 5.27545543e-03 -4.74241546e-01] [-2.53777200e-01 -2.91623830e-02 9.66822987e-01 -2.36430233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.353201008 meters Centerline goodness : 0.855648 with order 1 Centerline is valid? [False, False] Translation: X:6.57, Y:-0.48, Z:-0.24 [[ 0.96346238 0.08573072 0.2537528 6.56835915] [-0.09045074 0.99587654 0.00697008 -0.47508933] [-0.25210892 -0.02966754 0.96724399 -0.23566187] [ 0. 0. 0. 1. ]] SLAMing on 53.413201008 meters Centerline goodness : 0.859489 with order 1 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.49, Z:-0.23 [[ 0.96465965 0.08185189 0.25046364 6.61029398] [-0.08863831 0.9959367 0.01591649 -0.48536334] [-0.24814313 -0.03755467 0.96799516 -0.23369184] [ 0. 0. 0. 1. ]] SLAMing on 53.473201008000004 meters Centerline goodness : 0.854061 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.50, Z:-0.24 [[ 0.96596546 0.07950504 0.24614969 6.64966939] [-0.08787195 0.99586209 0.02317781 -0.49577689] [-0.2432884 -0.04401861 0.96895465 -0.23563292] [ 0. 0. 0. 1. ]] SLAMing on 53.533201008 meters Centerline goodness : 0.852614 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.50, Z:-0.24 [[ 0.9661709 0.07920356 0.24543956 6.65533807] [-0.08800628 0.99580391 0.02508925 -0.49643146] [-0.24242252 -0.04584073 0.96908717 -0.2400845 ] [ 0. 0. 0. 1. ]] SLAMing on 53.593201008 meters Centerline goodness : 0.854227 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.51, Z:-0.23 [[ 0.96688854 0.07881586 0.24272334 6.69846951] [-0.09217315 0.99476341 0.0441574 -0.51120899] [-0.23797199 -0.06506785 0.96909004 -0.23163985] [ 0. 0. 0. 1. ]] SLAMing on 53.653201008 meters Centerline goodness : 0.856871 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.51, Z:-0.23 [[ 0.9668488 0.07914131 0.24277574 6.69875498] [-0.09267514 0.99468698 0.04482335 -0.51154633] [-0.23793849 -0.06583668 0.96904634 -0.23096342] [ 0. 0. 0. 1. ]] SLAMing on 53.713201008 meters Centerline goodness : 0.853724 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.51, Z:-0.23 [[ 0.96651257 0.0817253 0.24325796 6.69517433] [-0.09483096 0.99457969 0.04264197 -0.50567045] [-0.2384545 -0.06428239 0.96902385 -0.23423558] [ 0. 0. 0. 1. ]] SLAMing on 53.773201008 meters Centerline goodness : 0.857368 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.51, Z:-0.23 [[ 0.96831111 0.08531258 0.23472401 6.70490222] [-0.09640876 0.99468369 0.03618993 -0.50791635] [-0.23038869 -0.05767256 0.97138815 -0.23071442] [ 0. 0. 0. 1. ]] SLAMing on 53.833201008 meters Centerline goodness : 0.861074 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.51, Z:-0.23 [[ 0.96863184 0.08426605 0.23377679 6.70810634] [-0.09535175 0.99477389 0.03650954 -0.51038758] [-0.22947853 -0.05765533 0.97160458 -0.23155509] [ 0. 0. 0. 1. ]] SLAMing on 53.893201008 meters Centerline goodness : 0.857432 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.51, Z:-0.24 [[ 0.96903443 0.08292 0.23258664 6.71286378] [-0.09347178 0.99501708 0.03469913 -0.50825848] [-0.22855043 -0.05536494 0.97195649 -0.23723596] [ 0. 0. 0. 1. ]] SLAMing on 53.953201008 meters Centerline goodness : 0.857422 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.51, Z:-0.24 [[ 0.97096104 0.08892649 0.22209623 6.73866753] [-0.09915862 0.99444424 0.03533024 -0.50992738] [-0.21772052 -0.05632704 0.97438444 -0.23827707] [ 0. 0. 0. 1. ]] SLAMing on 54.013201008 meters Centerline goodness : 0.858388 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.52, Z:-0.23 [[ 0.97317195 0.09009471 0.21170569 6.76604216] [-0.10033119 0.9942245 0.03809597 -0.51559548] [-0.20705074 -0.05831461 0.9765907 -0.23187484] [ 0. 0. 0. 1. ]] SLAMing on 54.073201008 meters Centerline goodness : 0.856166 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.52, Z:-0.23 [[ 0.97349508 0.08866715 0.21082094 6.76934463] [-0.09893201 0.99434407 0.03863076 -0.51892677] [-0.20620327 -0.05846379 0.97676107 -0.23170287] [ 0. 0. 0. 1. ]] SLAMing on 54.133201008 meters Centerline goodness : 0.860915 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.53, Z:-0.22 [[ 0.97273377 0.07760033 0.21855709 6.81382209] [-0.09498854 0.99300049 0.07019401 -0.53061062] [-0.21158022 -0.0890405 0.97329626 -0.21921242] [ 0. 0. 0. 1. ]] SLAMing on 54.193201008 meters Centerline goodness : 0.864655 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.53, Z:-0.22 [[ 0.97164867 0.07423008 0.2244744 6.85398587] [-0.09383776 0.99252985 0.07796776 -0.53103964] [-0.21700999 -0.09682145 0.97135589 -0.2190228 ] [ 0. 0. 0. 1. ]] SLAMing on 54.253201008 meters Centerline goodness : 0.874125 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.53, Z:-0.22 [[ 0.9718717 0.07368218 0.22368805 6.85677853] [-0.09322301 0.99257901 0.07807935 -0.52932892] [-0.21627501 -0.09673599 0.97152832 -0.21821432] [ 0. 0. 0. 1. ]] SLAMing on 54.313201008 meters Centerline goodness : 0.871324 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.53, Z:-0.21 [[ 0.9716623 0.06983279 0.2258224 6.87274423] [-0.09307667 0.99121491 0.09396668 -0.53396138] [-0.21727658 -0.11232268 0.96962596 -0.20767002] [ 0. 0. 0. 1. ]] SLAMing on 54.373201008 meters Centerline goodness : 0.869242 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.54, Z:-0.17 [[ 0.96938047 0.05095117 0.24021967 6.87041611] [-0.08659581 0.98632249 0.14024664 -0.54383796] [-0.22978833 -0.15675437 0.96053391 -0.17226116] [ 0. 0. 0. 1. ]] SLAMing on 54.433201008 meters Centerline goodness : 0.871650 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.54, Z:-0.18 [[ 0.96897775 0.05156383 0.24170912 6.86838461] [-0.08679135 0.98670011 0.13744143 -0.53596708] [-0.23140741 -0.15415595 0.96056575 -0.1758134 ] [ 0. 0. 0. 1. ]] SLAMing on 54.493201008 meters Centerline goodness : 0.872144 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.53, Z:-0.19 [[ 0.96772272 0.05835333 0.24516857 6.87860524] [-0.09096193 0.98812221 0.12385644 -0.52712295] [-0.23502907 -0.1421597 0.96153625 -0.19247 ] [ 0. 0. 0. 1. ]] SLAMing on 54.553201008 meters Centerline goodness : 0.874165 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.53, Z:-0.20 [[ 0.96655766 0.06112806 0.24905751 6.89357763] [-0.0920557 0.98915112 0.11448063 -0.52530924] [-0.23935753 -0.1335793 0.96169878 -0.19982012] [ 0. 0. 0. 1. ]] SLAMing on 54.613201008000004 meters Centerline goodness : 0.881118 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.53, Z:-0.19 [[ 0.96678184 0.05832468 0.2488596 6.89915351] [-0.09038318 0.98872369 0.11939995 -0.52730097] [-0.23908941 -0.13792643 0.96115168 -0.190985 ] [ 0. 0. 0. 1. ]] SLAMing on 54.673201008 meters Centerline goodness : 0.882583 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.53, Z:-0.19 [[ 0.96681272 0.05716947 0.24900767 6.9012354 ] [-0.08937602 0.98874106 0.12001268 -0.5271526 ] [-0.23934305 -0.1382851 0.96103701 -0.19050879] [ 0. 0. 0. 1. ]] SLAMing on 54.733201008 meters Centerline goodness : 0.883713 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.53, Z:-0.19 [[ 0.96685743 0.05661618 0.24896048 6.90256714] [-0.08878104 0.98880548 0.11992352 -0.52553175] [-0.23938388 -0.13805192 0.96106037 -0.1903106 ] [ 0. 0. 0. 1. ]] SLAMing on 54.793201008000004 meters Centerline goodness : 0.887816 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.53, Z:-0.17 [[ 0.9661475 0.05505277 0.25204802 6.89748952] [-0.08881893 0.98822236 0.12461044 -0.52784742] [-0.24221934 -0.1427787 0.95965829 -0.17400849] [ 0. 0. 0. 1. ]] SLAMing on 54.853201008 meters Centerline goodness : 0.891029 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.53, Z:-0.17 [[ 0.9657931 0.05553899 0.2532965 6.89553156] [-0.08989613 0.98793005 0.12614632 -0.5265725 ] [-0.24323319 -0.14460162 0.95912877 -0.17013631] [ 0. 0. 0. 1. ]] SLAMing on 54.913201008 meters Centerline goodness : 0.883641 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.52, Z:-0.16 [[ 0.9661137 0.05032846 0.25316274 6.89189928] [-0.08924167 0.98544946 0.14465576 -0.5208108 ] [-0.24219879 -0.16234657 0.95654761 -0.16357643] [ 0. 0. 0. 1. ]] SLAMing on 54.973201008000004 meters Centerline goodness : 0.887704 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.52, Z:-0.16 [[ 0.96582076 0.04989932 0.25436258 6.8912596 ] [-0.08899255 0.985483 0.14458072 -0.51657939] [-0.24345552 -0.16227544 0.9562406 -0.16228459] [ 0. 0. 0. 1. ]] SLAMing on 55.033201008 meters Centerline goodness : 0.888040 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.51, Z:-0.16 [[ 0.96518528 0.05743362 0.25518377 6.88744015] [-0.09241401 0.98755321 0.12727257 -0.51222331] [-0.24469783 -0.14642416 0.95847949 -0.1633476 ] [ 0. 0. 0. 1. ]] SLAMing on 55.093201008 meters Centerline goodness : 0.885981 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.51, Z:-0.18 [[ 0.96407539 0.06319114 0.25800294 6.89871385] [-0.0954775 0.98881464 0.11458471 -0.50810943] [-0.24787634 -0.13510177 0.9593252 -0.17731714] [ 0. 0. 0. 1. ]] SLAMing on 55.153201008 meters Centerline goodness : 0.888080 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.50, Z:-0.19 [[ 0.96261991 0.06836757 0.26208546 6.90955106] [-0.09810505 0.98992466 0.1021008 -0.50378883] [-0.25246447 -0.12399617 0.95962839 -0.19091781] [ 0. 0. 0. 1. ]] SLAMing on 55.213201008 meters Centerline goodness : 0.890027 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.50, Z:-0.19 [[ 0.96258483 0.06835916 0.26221645 6.91000377] [-0.09839524 0.98978498 0.10317012 -0.50380416] [-0.25248528 -0.12511085 0.95947822 -0.18855435] [ 0. 0. 0. 1. ]] SLAMing on 55.273201008 meters Centerline goodness : 0.891949 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.51, Z:-0.19 [[ 0.96263401 0.0687292 0.26193905 6.93970344] [-0.09946177 0.98938748 0.10592341 -0.50850718] [-0.25187919 -0.1280184 0.95925396 -0.18858476] [ 0. 0. 0. 1. ]] SLAMing on 55.333201008 meters Centerline goodness : 0.891637 with order 1 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.51, Z:-0.18 [[ 0.96310052 0.06636475 0.26083156 6.98485681] [-0.10115324 0.98732629 0.12228993 -0.51493429] [-0.24941012 -0.14416145 0.95760747 -0.18465671] [ 0. 0. 0. 1. ]] SLAMing on 55.393201008 meters Centerline goodness : 0.891827 with order 1 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.52, Z:-0.19 [[ 0.96190631 0.06540465 0.26544017 7.0117934 ] [-0.10107262 0.987245 0.12301069 -0.51702556] [-0.25400901 -0.1451535 0.95624782 -0.18575075] [ 0. 0. 0. 1. ]] SLAMing on 55.453201008 meters Centerline goodness : 0.888682 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.52, Z:-0.19 [[ 0.96075105 0.06516345 0.26965003 7.03722916] [-0.10109855 0.98741823 0.12159077 -0.51823817] [-0.25833408 -0.14407969 0.95525104 -0.18967525] [ 0. 0. 0. 1. ]] SLAMing on 55.513201008 meters Centerline goodness : 0.886622 with order 1 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.53, Z:-0.19 [[ 0.96171238 0.06454271 0.26635229 7.0781497 ] [-0.1033437 0.98553374 0.13432546 -0.52585915] [-0.25382944 -0.15670828 0.95447008 -0.18879498] [ 0. 0. 0. 1. ]] SLAMing on 55.573201008 meters Centerline goodness : 0.891531 with order 1 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.54, Z:-0.18 [[ 0.96244045 0.05955031 0.26488137 7.12808949] [-0.10298018 0.98281137 0.15322169 -0.53646234] [-0.25120403 -0.17474428 0.95202992 -0.18090213] [ 0. 0. 0. 1. ]] SLAMing on 55.633201008 meters Centerline goodness : 0.890379 with order 1 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.53, Z:-0.20 [[ 0.96148303 0.0639706 0.26731656 7.1382763 ] [-0.10355433 0.9851847 0.13670263 -0.53283327] [-0.25461124 -0.15911904 0.9538628 -0.19690334] [ 0. 0. 0. 1. ]] SLAMing on 55.693201008 meters Centerline goodness : 0.886123 with order 1 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.53, Z:-0.21 [[ 0.96039215 0.06574652 0.27078462 7.16116786] [-0.104549 0.98579386 0.13145328 -0.53068247] [-0.25829522 -0.15455696 0.95362242 -0.20718014] [ 0. 0. 0. 1. ]] SLAMing on 55.753201008 meters Centerline goodness : 0.886972 with order 1 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.53, Z:-0.22 [[ 0.95904226 0.06974742 0.27454188 7.17594087] [-0.10662615 0.98681442 0.12177093 -0.5273999 ] [-0.26242868 -0.14605682 0.95383363 -0.21790912] [ 0. 0. 0. 1. ]] SLAMing on 55.813201008 meters Centerline goodness : 0.888899 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.52, Z:-0.23 [[ 0.95800813 0.07309484 0.27726803 7.18928063] [-0.10648403 0.98850513 0.10732553 -0.52319199] [-0.26623592 -0.13234334 0.95477938 -0.23173403] [ 0. 0. 0. 1. ]] SLAMing on 55.873201008 meters Centerline goodness : 0.886019 with order 1 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.53, Z:-0.23 [[ 0.95872465 0.06917396 0.2757934 7.24027962] [-0.10728905 0.98626377 0.12558997 -0.53145519] [-0.26331748 -0.14999581 0.952977 -0.23242853] [ 0. 0. 0. 1. ]] SLAMing on 55.933201008 meters Centerline goodness : 0.883918 with order 1 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.53, Z:-0.25 [[ 0.95760435 0.07214096 0.27890784 7.25412582] [-0.10706727 0.98791472 0.11207632 -0.52890424] [-0.26745187 -0.13718667 0.95375537 -0.24634934] [ 0. 0. 0. 1. ]] SLAMing on 55.993201008 meters Centerline goodness : 0.889965 with order 1 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.53, Z:-0.26 [[ 0.95686298 0.07185801 0.28151316 7.27750347] [-0.10478846 0.98907221 0.10370897 -0.52861501] [-0.27098452 -0.12873461 0.95393647 -0.25678772] [ 0. 0. 0. 1. ]] SLAMing on 56.053201008 meters Centerline goodness : 0.884973 with order 1 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.53, Z:-0.26 [[ 0.95726632 0.07057826 0.28046374 7.28160699] [-0.10316645 0.98929932 0.10316752 -0.52902955] [-0.2701812 -0.12769324 0.95430423 -0.2596205 ] [ 0. 0. 0. 1. ]] SLAMing on 56.113201008000004 meters Centerline goodness : 0.886649 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.53, Z:-0.27 [[ 0.95827223 0.07076935 0.27695855 7.3154473 ] [-0.10342235 0.98906812 0.10510981 -0.53314384] [-0.26649232 -0.12936751 0.95511564 -0.26728404] [ 0. 0. 0. 1. ]] SLAMing on 56.173201008 meters Centerline goodness : 0.881872 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.53, Z:-0.28 [[ 0.95726566 0.07232094 0.28002166 7.33459126] [-0.10241126 0.99025811 0.0943441 -0.5297594 ] [-0.27047067 -0.11898974 0.95534657 -0.28128873] [ 0. 0. 0. 1. ]] SLAMing on 56.233201008 meters Centerline goodness : 0.880156 with order 1 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.53, Z:-0.29 [[ 0.95595704 0.07584716 0.28353721 7.34424927] [-0.10194314 0.99169416 0.07842382 -0.5264445 ] [-0.27523397 -0.10387448 0.95574911 -0.29425648] [ 0. 0. 0. 1. ]] SLAMing on 56.293201008000004 meters Centerline goodness : 0.886580 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.53, Z:-0.30 [[ 0.95511285 0.0742845 0.28677735 7.37190802] [-0.10056071 0.99186935 0.07799191 -0.53097094] [-0.27865208 -0.10332961 0.95481727 -0.29512843] [ 0. 0. 0. 1. ]] SLAMing on 56.353201008 meters Centerline goodness : 0.881121 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.53, Z:-0.30 [[ 0.95529774 0.0741615 0.28619278 7.37375587] [-0.09994467 0.99204465 0.07654072 -0.52721936] [-0.27823964 -0.10172262 0.95511005 -0.29840964] [ 0. 0. 0. 1. ]] SLAMing on 56.413201008 meters Centerline goodness : 0.878528 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.52, Z:-0.30 [[ 0.95565029 0.07339054 0.2852128 7.3768803 ] [-0.09830943 0.99239786 0.07403885 -0.52401457] [-0.27761082 -0.09879436 0.95560029 -0.30447826] [ 0. 0. 0. 1. ]] SLAMing on 56.473201008000004 meters Centerline goodness : 0.878705 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.53, Z:-0.30 [[ 0.95842995 0.07614007 0.2749813 7.39625772] [-0.09923931 0.99252227 0.07107108 -0.52770798] [-0.2675137 -0.09540561 0.95881916 -0.30346427] [ 0. 0. 0. 1. ]] SLAMing on 56.533201008 meters Centerline goodness : 0.882480 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.53, Z:-0.30 [[ 0.95924194 0.07076966 0.27358099 7.44219251] [-0.09650307 0.99196883 0.08176187 -0.53452539] [-0.26559756 -0.10483082 0.95836759 -0.30257246] [ 0. 0. 0. 1. ]] SLAMing on 56.593201008 meters Centerline goodness : 0.883754 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.53, Z:-0.30 [[ 0.95923567 0.07095235 0.27355564 7.44245526] [-0.09682954 0.99189511 0.08226867 -0.53287955] [-0.26550134 -0.10540331 0.95833146 -0.30040916] [ 0. 0. 0. 1. ]] SLAMing on 56.653201008 meters Centerline goodness : 0.881184 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.53, Z:-0.31 [[ 0.95756461 0.07503472 0.27828011 7.4545336 ] [-0.09853982 0.9925652 0.07144381 -0.52825737] [-0.27085038 -0.09583373 0.95783922 -0.31019402] [ 0. 0. 0. 1. ]] SLAMing on 56.713201008 meters Centerline goodness : 0.878243 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.52, Z:-0.31 [[ 0.95754098 0.07407346 0.27861874 7.45162638] [-0.09587946 0.99323879 0.06545098 -0.5227474 ] [-0.27188676 -0.08938581 0.95816897 -0.31310219] [ 0. 0. 0. 1. ]] SLAMing on 56.773201008 meters Centerline goodness : 0.883762 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.52, Z:-0.32 [[ 0.9582844 0.0750595 0.27578447 7.4566682 ] [-0.09638451 0.99324668 0.06458367 -0.52122274] [-0.26907439 -0.08847088 0.95904738 -0.31801282] [ 0. 0. 0. 1. ]] SLAMing on 56.833201008 meters Centerline goodness : 0.884687 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.52, Z:-0.32 [[ 0.95842567 0.07537789 0.27520613 7.45778653] [-0.09626735 0.99334807 0.06318397 -0.51867285] [-0.26861281 -0.0870505 0.95930671 -0.32100427] [ 0. 0. 0. 1. ]] SLAMing on 56.893201008 meters Centerline goodness : 0.886744 with order 1 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.51, Z:-0.33 [[ 0.95724676 0.07662296 0.27894006 7.46609039] [-0.09248647 0.99473503 0.04414149 -0.51352543] [-0.2740892 -0.06805248 0.95929348 -0.33056503] [ 0. 0. 0. 1. ]] SLAMing on 56.953201008 meters Centerline goodness : 0.888352 with order 1 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.51, Z:-0.33 [[ 0.95841662 0.07223722 0.27607854 7.47897002] [-0.08776171 0.99515683 0.04428058 -0.51109063] [-0.27154274 -0.06666837 0.96011451 -0.33410217] [ 0. 0. 0. 1. ]] SLAMing on 57.013201008 meters Centerline goodness : 0.878799 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.50, Z:-0.35 [[ 0.95888309 0.07184059 0.27455809 7.48865205] [-0.08731645 0.99518395 0.04455038 -0.50495491] [-0.27003528 -0.06669204 0.96053793 -0.34665429] [ 0. 0. 0. 1. ]] SLAMing on 57.073201008 meters Centerline goodness : 0.881551 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.51, Z:-0.34 [[ 0.9590473 0.06991182 0.27448245 7.48705953] [-0.0844213 0.99556998 0.04139393 -0.50554075] [-0.27037257 -0.0628709 0.96070075 -0.34359433] [ 0. 0. 0. 1. ]] SLAMing on 57.133201008 meters Centerline goodness : 0.889568 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.50, Z:-0.35 [[ 0.95780822 0.07621458 0.27711867 7.4862337 ] [-0.08581725 0.99605291 0.02267157 -0.50360904] [-0.27429696 -0.04549658 0.96056819 -0.34793833] [ 0. 0. 0. 1. ]] SLAMing on 57.193201008 meters Centerline goodness : 0.882413 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.50, Z:-0.35 [[ 0.95773741 0.07656583 0.27726652 7.48595515] [-0.08588935 0.99607008 0.02162002 -0.4995253 ] [-0.27452153 -0.04452055 0.96054976 -0.34946377] [ 0. 0. 0. 1. ]] SLAMing on 57.253201008 meters Centerline goodness : 0.882322 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.50, Z:-0.35 [[ 0.9577781 0.07714634 0.2769649 7.48624034] [-0.08587836 0.99611443 0.01951808 -0.49502958] [-0.27438298 -0.04247928 0.96068178 -0.35315223] [ 0. 0. 0. 1. ]] SLAMing on 57.313201008 meters Centerline goodness : 0.882745 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.49, Z:-0.35 [[ 0.95775704 0.07780968 0.27685213 7.48554797] [-0.08660947 0.99604792 0.01968074 -0.494004 ] [-0.27422664 -0.04282739 0.96071097 -0.35170982] [ 0. 0. 0. 1. ]] SLAMing on 57.373201008 meters Centerline goodness : 0.879646 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.49, Z:-0.35 [[ 0.95766257 0.08006641 0.27653529 7.48745305] [-0.09016032 0.995639 0.02396049 -0.49320302] [-0.27341089 -0.04787858 0.96070502 -0.35096777] [ 0. 0. 0. 1. ]] SLAMing on 57.433201008 meters Centerline goodness : 0.881523 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.49, Z:-0.35 [[ 0.95765452 0.08056878 0.27641723 7.48725711] [-0.09050785 0.99562155 0.02336771 -0.49032384] [-0.27332424 -0.04739612 0.96075359 -0.35127958] [ 0. 0. 0. 1. ]] SLAMing on 57.493201008 meters Centerline goodness : 0.877376 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.49, Z:-0.35 [[ 0.95747162 0.08198135 0.27663541 7.48561145] [-0.09142932 0.99558145 0.02140676 -0.48561632] [-0.27365813 -0.04578896 0.96073649 -0.35427493] [ 0. 0. 0. 1. ]] SLAMing on 57.553201008 meters Centerline goodness : 0.875778 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.48, Z:-0.36 [[ 0.95768323 0.0817006 0.27598521 7.48762704] [-0.09054352 0.99570293 0.01943034 -0.48401263] [-0.27321181 -0.04359679 0.96096547 -0.35938819] [ 0. 0. 0. 1. ]] SLAMing on 57.613201008 meters Centerline goodness : 0.870083 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.48, Z:-0.36 [[ 0.95786202 0.07963817 0.2759676 7.48652559] [-0.08678482 0.99613203 0.01376158 -0.48214193] [-0.27380422 -0.0371315 0.96106842 -0.36268142] [ 0. 0. 0. 1. ]] SLAMing on 57.673201008 meters Centerline goodness : 0.869701 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.49, Z:-0.36 [[ 0.95811866 0.07903184 0.27525007 7.48854551] [-0.08629295 0.99616644 0.01435067 -0.48652882] [-0.27306072 -0.03750179 0.96126555 -0.36318391] [ 0. 0. 0. 1. ]] SLAMing on 57.733201008 meters Centerline goodness : 0.862237 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.49, Z:-0.36 [[ 0.95831081 0.0763444 0.27533966 7.48736315] [-0.08270096 0.99650767 0.01153282 -0.49002082] [-0.27349762 -0.03382289 0.96127783 -0.36082946] [ 0. 0. 0. 1. ]] SLAMing on 57.793201008000004 meters Centerline goodness : 0.857839 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.49, Z:-0.36 [[ 0.95822087 0.07802232 0.27518225 7.48961699] [-0.08566252 0.99619834 0.01583644 -0.49100215] [-0.27290051 -0.03874761 0.96126164 -0.36110643] [ 0. 0. 0. 1. ]] SLAMing on 57.853201008 meters Centerline goodness : 0.855663 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.49, Z:-0.36 [[ 0.95831779 0.07781222 0.27490411 7.4906823 ] [-0.08507802 0.99626751 0.01458687 -0.48903595] [-0.272743 -0.03736716 0.96136099 -0.36388717] [ 0. 0. 0. 1. ]] SLAMing on 57.913201008 meters Centerline goodness : 0.849581 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.49, Z:-0.36 [[ 0.95843465 0.07764594 0.27454348 7.491531 ] [-0.08480841 0.9962947 0.01429676 -0.48874425] [-0.27241613 -0.0369861 0.9614684 -0.36440157] [ 0. 0. 0. 1. ]] SLAMing on 57.973201008000004 meters Centerline goodness : 0.854120 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.49, Z:-0.36 [[ 0.95869222 0.0769251 0.27384623 7.4936612 ] [-0.08427747 0.99632688 0.01516769 -0.49187836] [-0.27167358 -0.03762021 0.96165388 -0.36356901] [ 0. 0. 0. 1. ]] SLAMing on 58.033201008 meters Centerline goodness : 0.857386 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.49, Z:-0.37 [[ 0.9594775 0.07438067 0.27179118 7.50155797] [-0.08144359 0.99656832 0.01478293 -0.49219365] [-0.26975891 -0.03631954 0.9622427 -0.36735733] [ 0. 0. 0. 1. ]] SLAMing on 58.093201008 meters Centerline goodness : 0.855903 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.49, Z:-0.37 [[ 0.95977928 0.07366931 0.27091802 7.50443938] [-0.08062418 0.9966374 0.01461631 -0.49332759] [-0.26893026 -0.03587098 0.96249145 -0.3694815 ] [ 0. 0. 0. 1. ]] SLAMing on 58.153201008 meters Centerline goodness : 0.856051 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.50, Z:-0.37 [[ 0.95995084 0.07313883 0.2704535 7.50596643] [-0.0802251 0.99666049 0.01522469 -0.49537775] [-0.2684368 -0.03631211 0.96261265 -0.36882817] [ 0. 0. 0. 1. ]] SLAMing on 58.213201008 meters Centerline goodness : 0.859572 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.50, Z:-0.37 [[ 0.96038993 0.07193242 0.26921537 7.51024383] [-0.07881833 0.99677851 0.01484181 -0.49505921] [-0.26728048 -0.03547303 0.96296563 -0.3708837 ] [ 0. 0. 0. 1. ]] SLAMing on 58.273201008 meters Centerline goodness : 0.861156 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.49, Z:-0.37 [[ 0.96041991 0.07102076 0.26935042 7.50745867] [-0.0762949 0.99704332 0.00914931 -0.49035125] [-0.26790425 -0.02933725 0.96299877 -0.37299004] [ 0. 0. 0. 1. ]] SLAMing on 58.333201008 meters Centerline goodness : 0.863424 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.49, Z:-0.37 [[ 0.96055534 0.0710313 0.26886426 7.50856761] [-0.07638398 0.99703335 0.00948606 -0.49019596] [-0.26739282 -0.02964881 0.96313136 -0.37206101] [ 0. 0. 0. 1. ]] SLAMing on 58.393201008 meters Centerline goodness : 0.858764 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.49, Z:-0.37 [[ 0.96062228 0.07099785 0.26863386 7.5090705 ] [-0.0763679 0.99703369 0.00957981 -0.489837 ] [-0.26715686 -0.02971758 0.96319473 -0.37169902] [ 0. 0. 0. 1. ]] SLAMing on 58.453201008 meters Centerline goodness : 0.858462 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.49, Z:-0.38 [[ 0.96095529 0.0716471 0.26726697 7.51555601] [-0.07768479 0.99690489 0.01207133 -0.48806375] [-0.26557487 -0.03236259 0.96354691 -0.37738461] [ 0. 0. 0. 1. ]] SLAMing on 58.513201008 meters Centerline goodness : 0.857916 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.49, Z:-0.38 [[ 0.96127342 0.07112316 0.26626097 7.51795782] [-0.07719287 0.99693924 0.01238629 -0.49015865] [-0.26456506 -0.03246006 0.96382139 -0.37756544] [ 0. 0. 0. 1. ]] SLAMing on 58.573201008 meters Centerline goodness : 0.860270 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.49, Z:-0.37 [[ 0.96128414 0.06946956 0.26665856 7.51503182] [-0.07472636 0.99715782 0.00960462 -0.49136096] [-0.26523344 -0.02915919 0.96374321 -0.37373658] [ 0. 0. 0. 1. ]] SLAMing on 58.633201008 meters Centerline goodness : 0.859912 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.49, Z:-0.37 [[ 0.96109568 0.06999123 0.26720092 7.51325623] [-0.07548758 0.99709312 0.01034061 -0.49091617] [-0.26570045 -0.03010867 0.96358536 -0.37119872] [ 0. 0. 0. 1. ]] SLAMing on 58.693201008 meters Centerline goodness : 0.860351 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.49, Z:-0.37 [[ 0.96107361 0.07007799 0.26725754 7.5135181 ] [-0.07529504 0.99711784 0.00930958 -0.48757164] [-0.26583487 -0.02907036 0.96358017 -0.37311694] [ 0. 0. 0. 1. ]] SLAMing on 58.753201008 meters Centerline goodness : 0.860425 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.49, Z:-0.38 [[ 0.96103107 0.07244189 0.2667798 7.51566903] [-0.07856563 0.99683259 0.01233816 -0.48544322] [-0.265041 -0.03281708 0.96367853 -0.37504118] [ 0. 0. 0. 1. ]] SLAMing on 58.813201008 meters Centerline goodness : 0.863442 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.49, Z:-0.38 [[ 9.61639968e-01 6.87797984e-02 2.65552088e-01 7.51831667e+00] [-7.32624064e-02 9.97288135e-01 6.99968617e-03 -4.85031951e-01] [-2.64350510e-01 -2.61861630e-02 9.64071104e-01 -3.77746993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.873201008 meters Centerline goodness : 0.861815 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.50, Z:-0.36 [[ 0.962316 0.04638924 0.26794768 7.58502923] [-0.06109214 0.99703465 0.04679373 -0.50134082] [-0.26498239 -0.06139985 0.96229641 -0.36380874] [ 0. 0. 0. 1. ]] SLAMing on 58.933201008 meters Centerline goodness : 0.861102 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.51, Z:-0.35 [[ 0.96208907 0.02937601 0.27114881 7.61422189] [-0.05325343 0.99528019 0.08112588 -0.50850508] [-0.26748588 -0.09248992 0.95911257 -0.35475525] [ 0. 0. 0. 1. ]] SLAMing on 58.993201008 meters Centerline goodness : 0.865643 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.51, Z:-0.35 [[ 0.9618939 0.02998911 0.27177338 7.61236399] [-0.05419991 0.99515585 0.08201955 -0.50987619] [-0.26799717 -0.09362419 0.95885975 -0.35164461] [ 0. 0. 0. 1. ]] SLAMing on 59.053201008 meters Centerline goodness : 0.869692 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.51, Z:-0.34 [[ 0.96162144 0.03007163 0.27272678 7.61061288] [-0.05617764 0.99449754 0.08842352 -0.51499622] [-0.26856708 -0.1003511 0.95801951 -0.33675816] [ 0. 0. 0. 1. ]] SLAMing on 59.113201008 meters Centerline goodness : 0.864938 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.51, Z:-0.34 [[ 0.96177487 0.03149941 0.27202369 7.61398803] [-0.05859333 0.99402813 0.09205923 -0.51453218] [-0.26749939 -0.10447903 0.95787693 -0.33797568] [ 0. 0. 0. 1. ]] SLAMing on 59.173201008 meters Centerline goodness : 0.869618 with order 1 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.51, Z:-0.33 [[ 0.96196272 0.02755298 0.27178772 7.62835651] [-0.05770949 0.99294397 0.10359487 -0.5133639 ] [-0.26701563 -0.11533913 0.95676514 -0.32924387] [ 0. 0. 0. 1. ]] SLAMing on 59.233201008 meters Centerline goodness : 0.868770 with order 1 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.51, Z:-0.32 [[ 0.96205801 0.02562571 0.27163895 7.63240563] [-0.05668026 0.99263121 0.10710104 -0.51180954] [-0.26689275 -0.11843397 0.95642127 -0.32268339] [ 0. 0. 0. 1. ]] SLAMing on 59.293201008000004 meters Centerline goodness : 0.866561 with order 1 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.51, Z:-0.32 [[ 0.96194393 0.02572441 0.27203331 7.63160161] [-0.05666377 0.9926971 0.10649735 -0.50920068] [-0.2673071 -0.11785891 0.9563766 -0.32235059] [ 0. 0. 0. 1. ]] SLAMing on 59.353201008 meters Centerline goodness : 0.870256 with order 1 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.51, Z:-0.32 [[ 0.96194173 0.02589729 0.27202472 7.63158363] [-0.05686122 0.99267808 0.1065694 -0.50818678] [-0.26727311 -0.11798121 0.95637101 -0.32124008] [ 0. 0. 0. 1. ]] SLAMing on 59.413201008 meters Centerline goodness : 0.872145 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.51, Z:-0.32 [[ 0.96148811 0.02745396 0.27347192 7.65696649] [-0.05876056 0.99252613 0.10695361 -0.50959285] [-0.26849173 -0.11890398 0.95591529 -0.32356712] [ 0. 0. 0. 1. ]] SLAMing on 59.473201008000004 meters Centerline goodness : 0.865824 with order 1 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.51, Z:-0.32 [[ 0.96167674 0.02370938 0.27315876 7.67048397] [-0.05799574 0.99130232 0.1181364 -0.51021116] [-0.26798198 -0.12945107 0.95468743 -0.31528718] [ 0. 0. 0. 1. ]] SLAMing on 59.533201008 meters Centerline goodness : 0.867155 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.52, Z:-0.31 [[ 0.96276916 0.02121687 0.26949098 7.71344774] [-0.0588879 0.98943453 0.13248218 -0.51725356] [-0.26383282 -0.14341952 0.95384647 -0.31220797] [ 0. 0. 0. 1. ]] SLAMing on 59.593201008 meters Centerline goodness : 0.867599 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.52, Z:-0.32 [[ 0.96136439 0.01890494 0.27462903 7.74350153] [-0.05730681 0.98952622 0.1324907 -0.51567275] [-0.2692479 -0.14310995 0.95237866 -0.31755964] [ 0. 0. 0. 1. ]] SLAMing on 59.653201008 meters Centerline goodness : 0.865866 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.51, Z:-0.31 [[ 0.96144743 0.02017662 0.2742476 7.7479333 ] [-0.06068207 0.98828632 0.14002799 -0.51436098] [-0.26820986 -0.15127146 0.9514097 -0.31176984] [ 0. 0. 0. 1. ]] SLAMing on 59.713201008 meters Centerline goodness : 0.865917 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.51, Z:-0.32 [[ 0.9599682 0.0260517 0.27889488 7.75193768] [-0.06267127 0.99040054 0.12320342 -0.50992685] [-0.27300799 -0.13575007 0.95238572 -0.32282882] [ 0. 0. 0. 1. ]] SLAMing on 59.773201008 meters Centerline goodness : 0.866735 with order 1 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.51, Z:-0.33 [[ 0.95863076 0.02760928 0.2833104 7.76808152] [-0.06208094 0.99160483 0.11342756 -0.50885398] [-0.27780031 -0.12632332 0.95229691 -0.33213591] [ 0. 0. 0. 1. ]] SLAMing on 59.833201008 meters Centerline goodness : 0.863730 with order 1 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.51, Z:-0.34 [[ 0.95992486 0.02451712 0.27918306 7.81489426] [-0.06159748 0.99026417 0.12483039 -0.51339483] [-0.2734045 -0.13702477 0.95208938 -0.33692717] [ 0. 0. 0. 1. ]] SLAMing on 59.893201008 meters Centerline goodness : 0.862726 with order 1 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.51, Z:-0.36 [[ 0.95919597 0.02970346 0.28117751 7.82809259] [-0.06303216 0.9919042 0.1102407 -0.50655817] [-0.27562662 -0.12346566 0.95330278 -0.35502558] [ 0. 0. 0. 1. ]] SLAMing on 59.953201008 meters Centerline goodness : 0.864950 with order 1 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.50, Z:-0.37 [[ 0.95805001 0.0358525 0.28434974 7.83511626] [-0.06536771 0.99332912 0.09499642 -0.50075697] [-0.27904701 -0.10959861 0.95400257 -0.3655254 ] [ 0. 0. 0. 1. ]] SLAMing on 60.013201008 meters Centerline goodness : 0.868790 with order 1 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.50, Z:-0.38 [[ 0.95680653 0.0401064 0.28794573 7.84560014] [-0.06594673 0.99456212 0.0806053 -0.49634905] [-0.28314713 -0.09611276 0.95424842 -0.37744294] [ 0. 0. 0. 1. ]] SLAMing on 60.073201008 meters Centerline goodness : 0.869377 with order 1 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.50, Z:-0.38 [[ 0.95679943 0.04011909 0.28796755 7.84562814] [-0.06591009 0.99457877 0.08042972 -0.49593115] [-0.28317964 -0.09593508 0.95425665 -0.37771908] [ 0. 0. 0. 1. ]] SLAMing on 60.133201008 meters Centerline goodness : 0.869107 with order 1 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.49, Z:-0.38 [[ 0.95690004 0.03983645 0.28767233 7.84706382] [-0.06543042 0.99465259 0.07990669 -0.49376428] [-0.28295083 -0.09528524 0.95438962 -0.37913635] [ 0. 0. 0. 1. ]] SLAMing on 60.193201008 meters Centerline goodness : 0.866424 with order 1 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.49, Z:-0.39 [[ 0.95744246 0.04169299 0.28559697 7.87575726] [-0.06660786 0.99471925 0.07808337 -0.49409456] [-0.28083328 -0.09378334 0.95516352 -0.38750259] [ 0. 0. 0. 1. ]] SLAMing on 60.253201008 meters Centerline goodness : 0.867381 with order 1 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.50, Z:-0.39 [[ 0.95981634 0.047808 0.27652667 7.88966453] [-0.07102865 0.99468297 0.07457025 -0.49581237] [-0.27149131 -0.09121506 0.9581087 -0.38641977] [ 0. 0. 0. 1. ]] SLAMing on 60.313201008 meters Centerline goodness : 0.867537 with order 1 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.49, Z:-0.40 [[ 0.95872211 0.0512992 0.27967894 7.90950302] [-0.07335703 0.99491776 0.06897382 -0.49317504] [-0.27471924 -0.08664314 0.95761282 -0.39592994] [ 0. 0. 0. 1. ]] SLAMing on 60.373201008 meters Centerline goodness : 0.869198 with order 1 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.50, Z:-0.40 [[ 0.95896414 0.04957221 0.27916014 7.94228882] [-0.07156168 0.99503754 0.06913191 -0.49640781] [-0.27434779 -0.08627219 0.95775278 -0.4031258 ] [ 0. 0. 0. 1. ]] SLAMing on 60.433201008 meters Centerline goodness : 0.869797 with order 1 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.50, Z:-0.41 [[ 0.95940521 0.04815017 0.27789063 7.9753362 ] [-0.07055968 0.99496278 0.07120678 -0.50128495] [-0.27306222 -0.08792403 0.95796993 -0.40732051] [ 0. 0. 0. 1. ]] SLAMing on 60.493201008 meters Centerline goodness : 0.869587 with order 1 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.50, Z:-0.42 [[ 0.95797773 0.04999588 0.2824519 7.99050164] [-0.06986558 0.99570717 0.06071268 -0.49896776] [-0.278204 -0.07789506 0.95735829 -0.41772179] [ 0. 0. 0. 1. ]] SLAMing on 60.553201008 meters Centerline goodness : 0.870298 with order 1 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.50, Z:-0.42 [[ 0.95805512 0.04765615 0.28259383 7.98955125] [-0.06617372 0.99621608 0.05634325 -0.49794177] [-0.27883942 -0.07268022 0.9575835 -0.41800909] [ 0. 0. 0. 1. ]] SLAMing on 60.613201008 meters Centerline goodness : 0.871663 with order 1 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.50, Z:-0.42 [[ 0.95806899 0.04770895 0.28253791 7.98995065] [-0.06599859 0.99627122 0.0555683 -0.49656571] [-0.27883328 -0.07188537 0.95764529 -0.41975665] [ 0. 0. 0. 1. ]] SLAMing on 60.673201008 meters Centerline goodness : 0.876889 with order 1 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.50, Z:-0.42 [[ 0.95827079 0.04701308 0.2819696 7.99239267] [-0.06521023 0.99632707 0.05549764 -0.49604902] [-0.27832483 -0.07156907 0.95781687 -0.42043855] [ 0. 0. 0. 1. ]] SLAMing on 60.733201008 meters Centerline goodness : 0.875793 with order 1 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.49, Z:-0.42 [[ 0.95839013 0.04670191 0.28161551 7.99369951] [-0.06450736 0.99643961 0.05428532 -0.49431292] [-0.27807762 -0.07019279 0.9579905 -0.42321994] [ 0. 0. 0. 1. ]] SLAMing on 60.793201008000004 meters Centerline goodness : 0.875694 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.50, Z:-0.43 [[ 0.96100916 0.05112605 0.271749 8.01769547] [-0.0677756 0.99633233 0.05223363 -0.49792317] [-0.26808181 -0.06861494 0.9609496 -0.425971 ] [ 0. 0. 0. 1. ]] SLAMing on 60.853201008 meters Centerline goodness : 0.874920 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.50, Z:-0.43 [[ 0.96121703 0.05076481 0.27108072 8.01969574] [-0.0671647 0.9964087 0.05156158 -0.49735114] [-0.26748968 -0.06776893 0.96117462 -0.42767227] [ 0. 0. 0. 1. ]] SLAMing on 60.913201008 meters Centerline goodness : 0.869760 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.50, Z:-0.42 [[ 0.9614017 0.04889723 0.27076897 8.02311712] [-0.06601038 0.99633194 0.0544546 -0.49985917] [-0.26711309 -0.0702263 0.96110294 -0.42278 ] [ 0. 0. 0. 1. ]] SLAMing on 60.973201008000004 meters Centerline goodness : 0.872910 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.49, Z:-0.43 [[ 0.96142419 0.04956426 0.27056777 8.02343961] [-0.06604846 0.9964523 0.05215762 -0.49482162] [-0.26702272 -0.06801618 0.96128698 -0.42772111] [ 0. 0. 0. 1. ]] SLAMing on 61.033201008 meters Centerline goodness : 0.867928 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.50, Z:-0.42 [[ 0.9614766 0.04938963 0.27041342 8.03021647] [-0.06854518 0.99572875 0.06185312 -0.49702094] [-0.26620352 -0.07800586 0.96075531 -0.41890458] [ 0. 0. 0. 1. ]] SLAMing on 61.093201008 meters Centerline goodness : 0.866292 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.50, Z:-0.42 [[ 0.96140173 0.04985123 0.27059485 8.02922661] [-0.06904708 0.99569215 0.06188404 -0.49670835] [-0.26634417 -0.07817921 0.96070224 -0.4180015 ] [ 0. 0. 0. 1. ]] SLAMing on 61.153201008 meters Centerline goodness : 0.865210 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.50, Z:-0.42 [[ 0.96160838 0.04934054 0.26995341 8.03131912] [-0.06835813 0.99576346 0.06150042 -0.49655635] [-0.26577527 -0.07759283 0.96090731 -0.41917441] [ 0. 0. 0. 1. ]] SLAMing on 61.213201008 meters Centerline goodness : 0.864954 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.50, Z:-0.42 [[ 0.96273465 0.04827541 0.26610426 8.07322653] [-0.06967759 0.99499834 0.07157751 -0.50007969] [-0.26131786 -0.08745165 0.96128309 -0.42288893] [ 0. 0. 0. 1. ]] SLAMing on 61.273201008 meters Centerline goodness : 0.864260 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.51, Z:-0.42 [[ 0.96430487 0.04871469 0.26027483 8.11218333] [-0.07194404 0.99415674 0.08047629 -0.50573286] [-0.2548336 -0.09632891 0.96217492 -0.42302099] [ 0. 0. 0. 1. ]] SLAMing on 61.333201008 meters Centerline goodness : 0.863512 with order 1 Centerline is valid? [False, False] Translation: X:8.14, Y:-0.51, Z:-0.42 [[ 0.96474713 0.05151306 0.25808793 8.13907602] [-0.07584797 0.99346994 0.08523235 -0.51152084] [-0.25201203 -0.10180311 0.96235444 -0.42039504] [ 0. 0. 0. 1. ]] SLAMing on 61.393201008 meters Centerline goodness : 0.861885 with order 1 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.51, Z:-0.43 [[ 0.96336002 0.05451146 0.26261372 8.14577846] [-0.07456314 0.9949632 0.06699671 -0.50720772] [-0.2576389 -0.08412325 0.96257232 -0.43237474] [ 0. 0. 0. 1. ]] SLAMing on 61.453201008 meters Centerline goodness : 0.864056 with order 1 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.50, Z:-0.44 [[ 0.9635512 0.05585118 0.26162899 8.15068031] [-0.07669245 0.99458529 0.07013113 -0.50348354] [-0.25629544 -0.0876399 0.96261721 -0.43502922] [ 0. 0. 0. 1. ]] SLAMing on 61.513201008 meters Centerline goodness : 0.865440 with order 1 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.50, Z:-0.44 [[ 0.96366523 0.05606996 0.26116179 8.15171947] [-0.07659338 0.99466691 0.06907382 -0.50035184] [-0.25589603 -0.08656731 0.96282051 -0.43664525] [ 0. 0. 0. 1. ]] SLAMing on 61.573201008 meters Centerline goodness : 0.864459 with order 1 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.50, Z:-0.45 [[ 0.96261581 0.06254272 0.26355114 8.15197628] [-0.07792285 0.99578853 0.0483035 -0.49503818] [-0.25942017 -0.06703437 0.9634353 -0.44697359] [ 0. 0. 0. 1. ]] SLAMing on 61.633201008 meters Centerline goodness : 0.862850 with order 1 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.50, Z:-0.45 [[ 0.96311646 0.0629976 0.26160655 8.18258182] [-0.07855134 0.99568441 0.0494191 -0.49892134] [-0.25736428 -0.06814589 0.96390859 -0.45114536] [ 0. 0. 0. 1. ]] SLAMing on 61.693201008 meters Centerline goodness : 0.854717 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.50, Z:-0.45 [[ 0.96547143 0.06562862 0.25210672 8.20934708] [-0.08059389 0.99551766 0.04948956 -0.50168251] [-0.24772876 -0.06809902 0.96643313 -0.45323689] [ 0. 0. 0. 1. ]] SLAMing on 61.753201008 meters Centerline goodness : 0.857310 with order 1 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.51, Z:-0.45 [[ 0.96575013 0.06716071 0.25063145 8.2365525 ] [-0.08229818 0.99533245 0.05040167 -0.50779904] [-0.2460766 -0.06930193 0.96676965 -0.45464495] [ 0. 0. 0. 1. ]] SLAMing on 61.813201008 meters Centerline goodness : 0.857995 with order 1 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.51, Z:-0.46 [[ 0.96448426 0.07013675 0.25465849 8.25127481] [-0.08359829 0.99559645 0.042415 -0.50895458] [-0.25056224 -0.06219761 0.96610042 -0.45982402] [ 0. 0. 0. 1. ]] SLAMing on 61.873201008 meters Centerline goodness : 0.857853 with order 1 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.51, Z:-0.46 [[ 0.96451343 0.06993798 0.25460267 8.25190569] [-0.08333988 0.99562623 0.04222403 -0.50725948] [-0.25053603 -0.0619442 0.9661235 -0.45994842] [ 0. 0. 0. 1. ]] SLAMing on 61.933201008 meters Centerline goodness : 0.858676 with order 1 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.51, Z:-0.46 [[ 0.9645999 0.06993673 0.25427521 8.28260681] [-0.0836428 0.99554665 0.04348265 -0.50986695] [-0.2501018 -0.06321165 0.96615391 -0.46368413] [ 0. 0. 0. 1. ]] SLAMing on 61.993201008 meters Centerline goodness : 0.859252 with order 1 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.51, Z:-0.47 [[ 0.96472516 0.06956077 0.25390285 8.28399801] [-0.08288588 0.99566715 0.04215283 -0.50757988] [-0.24987055 -0.06171085 0.96631076 -0.46633149] [ 0. 0. 0. 1. ]] SLAMing on 62.053201008 meters Centerline goodness : 0.859214 with order 1 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.51, Z:-0.47 [[ 0.96691966 0.07474506 0.24388431 8.3047074 ] [-0.08708939 0.99538842 0.0402161 -0.51082246] [-0.23975366 -0.06012548 0.96897013 -0.46930328] [ 0. 0. 0. 1. ]] SLAMing on 62.113201008 meters Centerline goodness : 0.856893 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.51, Z:-0.47 [[ 0.96704651 0.07445701 0.24346911 8.30616879] [-0.08654651 0.99547133 0.03932608 -0.5102284 ] [-0.23943842 -0.05910155 0.96911106 -0.47176836] [ 0. 0. 0. 1. ]] SLAMing on 62.173201008 meters Centerline goodness : 0.860537 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.51, Z:-0.47 [[ 0.9672506 0.07404558 0.24278288 8.3081028 ] [-0.08599631 0.99553237 0.03898631 -0.51117076] [-0.23881145 -0.05858796 0.96929693 -0.47316309] [ 0. 0. 0. 1. ]] SLAMing on 62.233201008 meters Centerline goodness : 0.861641 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.51, Z:-0.47 [[ 0.96733186 0.07394109 0.24249079 8.30867969] [-0.08607902 0.99549169 0.03983342 -0.51382163] [-0.23845224 -0.0594055 0.9693356 -0.47181555] [ 0. 0. 0. 1. ]] SLAMing on 62.293201008000004 meters Centerline goodness : 0.858145 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.51, Z:-0.48 [[ 0.96764169 0.07460058 0.24104835 8.31564449] [-0.08719027 0.99530689 0.04197691 -0.51173496] [-0.23678558 -0.06163568 0.96960488 -0.47766601] [ 0. 0. 0. 1. ]] SLAMing on 62.353201008 meters Centerline goodness : 0.861140 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.51, Z:-0.48 [[ 0.96767701 0.07679846 0.24021489 8.31883581] [-0.09018844 0.99489678 0.04523757 -0.51095987] [-0.23551484 -0.06543996 0.96966508 -0.47973103] [ 0. 0. 0. 1. ]] SLAMing on 62.413201008 meters Centerline goodness : 0.865222 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.51, Z:-0.49 [[ 0.96635312 0.08331612 0.24335174 8.32234122] [-0.0933057 0.99519158 0.02979536 -0.50829432] [-0.23969917 -0.05149894 0.96948036 -0.48721091] [ 0. 0. 0. 1. ]] SLAMing on 62.473201008000004 meters Centerline goodness : 0.866599 with order 1 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.51, Z:-0.49 [[ 0.96869671 0.08338496 0.23382392 8.35028681] [-0.09296987 0.99520917 0.03025408 -0.51103712] [-0.23018097 -0.05104561 0.97180814 -0.48839997] [ 0. 0. 0. 1. ]] SLAMing on 62.533201008 meters Centerline goodness : 0.862688 with order 1 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.51, Z:-0.48 [[ 0.96925166 0.07347896 0.23484474 8.37766278] [-0.08585676 0.99538303 0.04290962 -0.51488448] [-0.23060752 -0.06175323 0.97108533 -0.48420916] [ 0. 0. 0. 1. ]] SLAMing on 62.593201008 meters Centerline goodness : 0.862455 with order 1 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.51, Z:-0.48 [[ 0.96978048 0.07247514 0.23296605 8.38710949] [-0.08566388 0.99521543 0.04698874 -0.51460818] [-0.22844589 -0.06552554 0.971349 -0.48442983] [ 0. 0. 0. 1. ]] SLAMing on 62.653201008 meters Centerline goodness : 0.863710 with order 1 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.51, Z:-0.49 [[ 0.9697907 0.07526527 0.23203694 8.3900443 ] [-0.0889624 0.99482271 0.04912713 -0.51092085] [-0.22713805 -0.06828559 0.97146559 -0.48835033] [ 0. 0. 0. 1. ]] SLAMing on 62.713201008 meters Centerline goodness : 0.866219 with order 1 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.51, Z:-0.49 [[ 0.96947158 0.07869136 0.23223379 8.38945116] [-0.0936117 0.99414738 0.05392442 -0.51049332] [-0.22663122 -0.07401799 0.97116406 -0.48548617] [ 0. 0. 0. 1. ]] SLAMing on 62.773201008 meters Centerline goodness : 0.867351 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.51, Z:-0.49 [[ 0.967647 0.08285582 0.23831532 8.39539236] [-0.09561161 0.99451305 0.04245257 -0.5076403 ] [-0.23349025 -0.06386482 0.97025955 -0.48933047] [ 0. 0. 0. 1. ]] SLAMing on 62.833201008 meters Centerline goodness : 0.864380 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.51, Z:-0.49 [[ 0.96739818 0.08549924 0.2383918 8.39631397] [-0.09930707 0.99396963 0.04650258 -0.50688243] [-0.23297828 -0.0686605 0.97005508 -0.48918941] [ 0. 0. 0. 1. ]] SLAMing on 62.893201008 meters Centerline goodness : 0.861129 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.50, Z:-0.49 [[ 0.96745523 0.08583403 0.23803969 8.39703954] [-0.09920612 0.99405996 0.04475431 -0.50292071] [-0.23278428 -0.06691279 0.97022377 -0.49255012] [ 0. 0. 0. 1. ]] SLAMing on 62.953201008 meters Centerline goodness : 0.868758 with order 1 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.51, Z:-0.49 [[ 0.96898532 0.09141081 0.22958986 8.40563175] [-0.10330483 0.99383276 0.04030582 -0.50617092] [-0.22448954 -0.06277349 0.97245254 -0.48722359] [ 0. 0. 0. 1. ]] SLAMing on 63.013201008 meters Centerline goodness : 0.867565 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.51, Z:-0.49 [[ 0.9691797 0.08906466 0.2296915 8.40416684] [-0.0999368 0.99433798 0.03611953 -0.50575879] [-0.22517401 -0.05796095 0.97259303 -0.48746006] [ 0. 0. 0. 1. ]] SLAMing on 63.073201008 meters Centerline goodness : 0.865154 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.50, Z:-0.50 [[ 0.96939792 0.08687901 0.22960772 8.40308888] [-0.09573802 0.99502087 0.02770728 -0.50074514] [-0.22605729 -0.04884157 0.97288879 -0.49654003] [ 0. 0. 0. 1. ]] SLAMing on 63.133201008 meters Centerline goodness : 0.865378 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.50, Z:-0.49 [[ 0.96956129 0.08446191 0.22981968 8.40108662] [-0.09244932 0.99542345 0.02419254 -0.50091409] [-0.22672455 -0.04470283 0.97293249 -0.49437679] [ 0. 0. 0. 1. ]] SLAMing on 63.193201008 meters Centerline goodness : 0.866498 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.50, Z:-0.50 [[ 0.9696652 0.08420833 0.22947411 8.40234733] [-0.09202329 0.99547832 0.02355044 -0.50094869] [-0.22645336 -0.04395301 0.97302981 -0.49654676] [ 0. 0. 0. 1. ]] SLAMing on 63.253201008 meters Centerline goodness : 0.864781 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.50, Z:-0.50 [[ 0.9698219 0.0837804 0.22896796 8.40440039] [-0.09113709 0.9956013 0.02172737 -0.49884011] [-0.22614047 -0.04193915 0.97319145 -0.50106929] [ 0. 0. 0. 1. ]] SLAMing on 63.313201008 meters Centerline goodness : 0.867825 with order 1 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.50, Z:-0.50 [[ 0.97015514 0.08301672 0.22783157 8.40756587] [-0.09006413 0.99572096 0.02069375 -0.49905498] [-0.22513874 -0.0405956 0.97348063 -0.5038864 ] [ 0. 0. 0. 1. ]] SLAMing on 63.373201008 meters Centerline goodness : 0.868156 with order 1 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.50, Z:-0.51 [[ 0.97190119 0.088414 0.21815373 8.42226228] [-0.09379553 0.9954871 0.01441639 -0.50077944] [-0.21589461 -0.03447315 0.97580793 -0.50993036] [ 0. 0. 0. 1. ]] SLAMing on 63.433201008 meters Centerline goodness : 0.868042 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.50, Z:-0.51 [[ 0.97268637 0.083354 0.21664103 8.43734191] [-0.08945207 0.99581969 0.01847876 -0.50369111] [-0.21419513 -0.03735303 0.97607643 -0.51198149] [ 0. 0. 0. 1. ]] SLAMing on 63.493201008 meters Centerline goodness : 0.867939 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.50, Z:-0.51 [[ 0.97288759 0.08243711 0.21608763 8.4398066 ] [-0.08855999 0.9958936 0.01879015 -0.50481087] [-0.21365128 -0.03741742 0.97619315 -0.51243678] [ 0. 0. 0. 1. ]] SLAMing on 63.553201008 meters Centerline goodness : 0.867857 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.51, Z:-0.51 [[ 0.97295143 0.08238257 0.21582081 8.44019995] [-0.08859229 0.99588211 0.01924131 -0.50553019] [-0.21334693 -0.03784092 0.97624339 -0.51122007] [ 0. 0. 0. 1. ]] SLAMing on 63.613201008 meters Centerline goodness : 0.871242 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.51, Z:-0.51 [[ 0.97299235 0.08051612 0.2163401 8.436553 ] [-0.08622816 0.99612901 0.01707914 -0.50770141] [-0.2141275 -0.03527248 0.97616867 -0.50597487] [ 0. 0. 0. 1. ]] SLAMing on 63.673201008 meters Centerline goodness : 0.874013 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.51, Z:-0.51 [[ 0.97317576 0.08321448 0.21448611 8.46649153] [-0.08990275 0.99571627 0.02160125 -0.51348394] [-0.21176977 -0.0403047 0.97648814 -0.50748572] [ 0. 0. 0. 1. ]] SLAMing on 63.733201008 meters Centerline goodness : 0.871657 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.51, Z:-0.52 [[ 0.97332554 0.08288858 0.21393194 8.4687092 ] [-0.08867849 0.9959049 0.01759392 -0.50762775] [-0.21159753 -0.03609577 0.97669011 -0.51608525] [ 0. 0. 0. 1. ]] SLAMing on 63.793201008000004 meters Centerline goodness : 0.870108 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.50, Z:-0.52 [[ 0.97334094 0.08175787 0.21429665 8.4654638 ] [-0.08606053 0.99623127 0.0108097 -0.50168298] [-0.21260525 -0.02896401 0.97670881 -0.52036914] [ 0. 0. 0. 1. ]] SLAMing on 63.853201008 meters Centerline goodness : 0.869585 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.50, Z:-0.52 [[ 0.97335358 0.08191451 0.21417941 8.46558785] [-0.08628464 0.99620847 0.01111933 -0.50149167] [-0.21245651 -0.02930344 0.97673105 -0.51930306] [ 0. 0. 0. 1. ]] SLAMing on 63.913201008 meters Centerline goodness : 0.869482 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.50, Z:-0.52 [[ 0.97333436 0.08213701 0.21418154 8.46512785] [-0.0866526 0.99616913 0.01176385 -0.50215979] [-0.21239479 -0.03000955 0.97672303 -0.51744414] [ 0. 0. 0. 1. ]] SLAMing on 63.973201008000004 meters Centerline goodness : 0.871483 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.50, Z:-0.52 [[ 0.9732942 0.08240128 0.21426255 8.46468498] [-0.08684443 0.99615676 0.01139067 -0.50134668] [-0.21250048 -0.02969398 0.97670969 -0.51780304] [ 0. 0. 0. 1. ]] SLAMing on 64.03320100799999 meters Centerline goodness : 0.870536 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.50, Z:-0.52 [[ 0.9732777 0.08374266 0.21381694 8.46844775] [-0.08906834 0.99590678 0.0153793 -0.50246952] [-0.21165384 -0.03401265 0.97675268 -0.51915051] [ 0. 0. 0. 1. ]] SLAMing on 64.093201008 meters Centerline goodness : 0.866071 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.50, Z:-0.52 [[ 0.97353501 0.08292032 0.21296431 8.471066 ] [-0.08817629 0.99598761 0.0152847 -0.5042379 ] [-0.2108424 -0.0336586 0.97694042 -0.52027744] [ 0. 0. 0. 1. ]] SLAMing on 64.153201008 meters Centerline goodness : 0.868007 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.51, Z:-0.52 [[ 0.97375978 0.08245919 0.21211406 8.47337698] [-0.08759107 0.99604514 0.0148957 -0.50556652] [-0.21004689 -0.03308413 0.97713139 -0.52200645] [ 0. 0. 0. 1. ]] SLAMing on 64.213201008 meters Centerline goodness : 0.866497 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:-0.51, Z:-0.52 [[ 0.97399048 0.08161861 0.21137867 8.4755893 ] [-0.0868003 0.99610768 0.01533619 -0.50819146] [-0.2093042 -0.03328503 0.97728392 -0.52175112] [ 0. 0. 0. 1. ]] SLAMing on 64.27320100799999 meters Centerline goodness : 0.865892 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.51, Z:-0.52 [[ 0.97479532 0.07621335 0.20967979 8.48638068] [-0.08139628 0.99655035 0.01618788 -0.51083362] [-0.20772273 -0.03284702 0.9776361 -0.52287433] [ 0. 0. 0. 1. ]] SLAMing on 64.33320100799999 meters Centerline goodness : 0.863743 with order 1 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.53, Z:-0.51 [[ 0.9751943 0.07263959 0.20909225 8.53353588] [-0.08194753 0.99597933 0.03619089 -0.52504034] [-0.20562266 -0.05242775 0.977226 -0.5121344 ] [ 0. 0. 0. 1. ]] SLAMing on 64.39320100799999 meters Centerline goodness : 0.868463 with order 1 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.52, Z:-0.51 [[ 0.97479833 0.07642869 0.2095874 8.53225944] [-0.08680224 0.99539228 0.04073791 -0.5236117 ] [-0.20550813 -0.0579039 0.97694091 -0.5099566 ] [ 0. 0. 0. 1. ]] SLAMing on 64.453201008 meters Centerline goodness : 0.866793 with order 1 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.52, Z:-0.51 [[ 0.97489583 0.07649833 0.20910794 8.53324939] [-0.08668477 0.99543334 0.03997762 -0.52167039] [-0.2050948 -0.05710049 0.97707505 -0.51116088] [ 0. 0. 0. 1. ]] SLAMing on 64.513201008 meters Centerline goodness : 0.865056 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.52, Z:-0.52 [[ 0.97488768 0.07878561 0.20829506 8.53693406] [-0.08940337 0.99510759 0.04204654 -0.51829438] [-0.20396333 -0.05961293 0.97716184 -0.5156974 ] [ 0. 0. 0. 1. ]] SLAMing on 64.573201008 meters Centerline goodness : 0.866171 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.52, Z:-0.52 [[ 0.97483174 0.07928303 0.20836815 8.53628396] [-0.08974828 0.99511009 0.04124495 -0.5159316 ] [-0.20407923 -0.05890757 0.97718042 -0.51641568] [ 0. 0. 0. 1. ]] SLAMing on 64.633201008 meters Centerline goodness : 0.867271 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.51, Z:-0.52 [[ 0.97487501 0.07925653 0.20817567 8.53682625] [-0.08957939 0.99515094 0.04062195 -0.51422702] [-0.20394666 -0.05824957 0.97724754 -0.51728714] [ 0. 0. 0. 1. ]] SLAMing on 64.69320100799999 meters Centerline goodness : 0.868726 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.52, Z:-0.52 [[ 0.97494492 0.07908027 0.20791518 8.53735158] [-0.08947341 0.99514279 0.04105273 -0.51571395] [-0.20365883 -0.05862704 0.97728499 -0.51635367] [ 0. 0. 0. 1. ]] SLAMing on 64.75320100799999 meters Centerline goodness : 0.867090 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.52, Z:-0.51 [[ 0.9749873 0.07879115 0.20782618 8.53760828] [-0.08938944 0.9951069 0.04209261 -0.51879101] [-0.20349274 -0.05961722 0.97725969 -0.51451783] [ 0. 0. 0. 1. ]] SLAMing on 64.813201008 meters Centerline goodness : 0.867938 with order 1 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.52, Z:-0.52 [[ 0.97536049 0.08235093 0.20467106 8.56146895] [-0.09221327 0.99497097 0.03910863 -0.52210358] [-0.20042113 -0.0570184 0.97804922 -0.52010487] [ 0. 0. 0. 1. ]] SLAMing on 64.873201008 meters Centerline goodness : 0.864511 with order 1 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.52, Z:-0.52 [[ 0.9754549 0.08245597 0.20417822 8.56231526] [-0.09224441 0.99497704 0.03888007 -0.52215845] [-0.19994674 -0.05676006 0.97816133 -0.52059119] [ 0. 0. 0. 1. ]] SLAMing on 64.933201008 meters Centerline goodness : 0.866521 with order 1 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.52, Z:-0.52 [[ 0.97558863 0.08219471 0.20364393 8.56391741] [-0.09178229 0.99505089 0.03807545 -0.52095375] [-0.19950647 -0.05583689 0.97830435 -0.52238504] [ 0. 0. 0. 1. ]] SLAMing on 64.993201008 meters Centerline goodness : 0.866765 with order 1 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.52, Z:-0.53 [[ 0.97586637 0.0811473 0.20273119 8.56748635] [-0.09034235 0.99524146 0.03650602 -0.51926769] [-0.19880412 -0.05394021 0.97855372 -0.52675543] [ 0. 0. 0. 1. ]] SLAMing on 65.05320100799999 meters Centerline goodness : 0.861441 with order 1 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.52, Z:-0.53 [[ 0.97608753 0.07863465 0.20265668 8.56616818] [-0.08694699 0.99568489 0.03243192 -0.51846566] [-0.19923192 -0.04927678 0.97871265 -0.52605137] [ 0. 0. 0. 1. ]] SLAMing on 65.11320100799999 meters Centerline goodness : 0.860754 with order 1 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.52, Z:-0.53 [[ 0.97603794 0.07869886 0.20287049 8.5661308 ] [-0.0870231 0.9956783 0.03243003 -0.51665659] [-0.19944153 -0.04930736 0.97866841 -0.52559082] [ 0. 0. 0. 1. ]] SLAMing on 65.17320100799999 meters Centerline goodness : 0.864634 with order 1 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.52, Z:-0.53 [[ 0.97634574 0.07733031 0.20191341 8.56956749] [-0.08556442 0.99580691 0.03236239 -0.51848931] [-0.19856417 -0.04887348 0.97886856 -0.52642131] [ 0. 0. 0. 1. ]] SLAMing on 65.233201008 meters Centerline goodness : 0.866114 with order 1 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.52, Z:-0.53 [[ 0.97660813 0.07685228 0.20082401 8.57244785] [-0.08488874 0.99588592 0.03170398 -0.51858945] [-0.19756128 -0.04801006 0.97911418 -0.52853928] [ 0. 0. 0. 1. ]] SLAMing on 65.293201008 meters Centerline goodness : 0.864713 with order 1 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.52, Z:-0.53 [[ 0.97666057 0.07666019 0.20064235 8.57306015] [-0.08460258 0.99592301 0.03130124 -0.51795281] [-0.19742478 -0.04754555 0.97916438 -0.52918489] [ 0. 0. 0. 1. ]] SLAMing on 65.353201008 meters Centerline goodness : 0.865036 with order 1 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.52, Z:-0.53 [[ 0.97673382 0.0767111 0.20026597 8.57359688] [-0.08454271 0.99594253 0.03083838 -0.51626375] [-0.19708775 -0.04705191 0.97925611 -0.52922895] [ 0. 0. 0. 1. ]] SLAMing on 65.41320100799999 meters Centerline goodness : 0.862987 with order 1 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.52, Z:-0.53 [[ 0.97676467 0.0765453 0.20017891 8.57387618] [-0.08433618 0.99596514 0.03067328 -0.51515355] [-0.19702332 -0.0468429 0.9792791 -0.52883462] [ 0. 0. 0. 1. ]] SLAMing on 65.47320100799999 meters Centerline goodness : 0.861275 with order 1 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.51, Z:-0.53 [[ 0.97686231 0.07599227 0.19991298 8.57551119] [-0.08373118 0.99602049 0.03053316 -0.51436867] [-0.19679714 -0.04656564 0.9793378 -0.52939412] [ 0. 0. 0. 1. ]] SLAMing on 65.53320100799999 meters Centerline goodness : 0.858333 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-0.52, Z:-0.53 [[ 0.97594828 0.0762758 0.20422279 8.59423388] [-0.08308326 0.99623006 0.02495668 -0.51725906] [-0.20154929 -0.04132392 0.97860626 -0.53158442] [ 0. 0. 0. 1. ]] SLAMing on 65.593201008 meters Centerline goodness : 0.860917 with order 1 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.53, Z:-0.52 [[ 0.9761066 0.07260485 0.20480343 8.64037943] [-0.08413648 0.99528975 0.04815988 -0.53324084] [-0.20034212 -0.06424062 0.9776176 -0.51507192] [ 0. 0. 0. 1. ]] SLAMing on 65.653201008 meters Centerline goodness : 0.863685 with order 1 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.53, Z:-0.52 [[ 0.97634358 0.07268153 0.20364334 8.64746823] [-0.08450579 0.99516916 0.04997105 -0.53267776] [-0.1990276 -0.06599795 0.97776903 -0.52138951] [ 0. 0. 0. 1. ]] SLAMing on 65.713201008 meters Centerline goodness : 0.861111 with order 1 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.53, Z:-0.52 [[ 0.97652816 0.07198133 0.20300601 8.65026472] [-0.08360258 0.99528125 0.04925274 -0.53127677] [-0.1985028 -0.06506852 0.977938 -0.52332905] [ 0. 0. 0. 1. ]] SLAMing on 65.77320100799999 meters Centerline goodness : 0.865930 with order 1 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.54, Z:-0.52 [[ 0.97734968 0.07171705 0.1991087 8.68759646] [-0.08488734 0.99467723 0.05840681 -0.53935792] [-0.19386012 -0.07398569 0.97823533 -0.51886822] [ 0. 0. 0. 1. ]] SLAMing on 65.83320100799999 meters Centerline goodness : 0.869385 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.55, Z:-0.51 [[ 0.9783669 0.06574395 0.19615287 8.73803633] [-0.08155296 0.99394551 0.07363039 -0.54808443] [-0.19012451 -0.08803439 0.977805 -0.51249022] [ 0. 0. 0. 1. ]] SLAMing on 65.89320100799999 meters Centerline goodness : 0.869213 with order 1 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.55, Z:-0.50 [[ 0.97847407 0.06118654 0.19709057 8.75347815] [-0.07916744 0.99325834 0.08467809 -0.54765241] [-0.19058069 -0.09845848 0.97672152 -0.50343764] [ 0. 0. 0. 1. ]] SLAMing on 65.953201008 meters Centerline goodness : 0.868275 with order 1 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.54, Z:-0.51 [[ 0.97716029 0.06576729 0.20207038 8.76089486] [-0.08151948 0.99416533 0.07063895 -0.54236771] [-0.19624563 -0.08549825 0.9768202 -0.51387881] [ 0. 0. 0. 1. ]] SLAMing on 66.013201008 meters Centerline goodness : 0.869956 with order 1 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.54, Z:-0.52 [[ 0.97561589 0.07110364 0.20764851 8.77087602] [-0.08559373 0.9944215 0.06164078 -0.53863787] [-0.20210726 -0.07791113 0.97625945 -0.5216204 ] [ 0. 0. 0. 1. ]] SLAMing on 66.073201008 meters Centerline goodness : 0.868701 with order 1 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.53, Z:-0.53 [[ 0.97443023 0.07490669 0.21183651 8.78004823] [-0.08659792 0.99515995 0.04644853 -0.53264482] [-0.2073319 -0.06360546 0.97620071 -0.53383571] [ 0. 0. 0. 1. ]] SLAMing on 66.133201008 meters Centerline goodness : 0.871290 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.54, Z:-0.53 [[ 0.9755295 0.07254064 0.20755733 8.82107058] [-0.08578973 0.9947635 0.05554913 -0.54230679] [-0.20244089 -0.0719961 0.97664438 -0.53089791] [ 0. 0. 0. 1. ]] SLAMing on 66.19320100799999 meters Centerline goodness : 0.880285 with order 1 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.55, Z:-0.53 [[ 0.97658179 0.07072347 0.20319007 8.86241653] [-0.08567381 0.99415206 0.06573942 -0.55185634] [-0.1973525 -0.08160799 0.97692995 -0.52921666] [ 0. 0. 0. 1. ]] SLAMing on 66.25320100799999 meters Centerline goodness : 0.875378 with order 1 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.56, Z:-0.53 [[ 0.97735717 0.07161285 0.19910944 8.90058228] [-0.08827533 0.99318511 0.07609738 -0.55911296] [-0.19230298 -0.09195078 0.97701823 -0.52804424] [ 0. 0. 0. 1. ]] SLAMing on 66.313201008 meters Centerline goodness : 0.873299 with order 1 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.56, Z:-0.53 [[ 0.97809702 0.07271775 0.19503422 8.90712155] [-0.08887058 0.9931867 0.07538035 -0.56002945] [-0.18822391 -0.0910621 0.97789542 -0.53053483] [ 0. 0. 0. 1. ]] SLAMing on 66.373201008 meters Centerline goodness : 0.877698 with order 1 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.56, Z:-0.54 [[ 0.97719823 0.07593876 0.19828495 8.91784945] [-0.08962103 0.99410904 0.06095323 -0.55601674] [-0.19248814 -0.07733389 0.9782473 -0.53964374] [ 0. 0. 0. 1. ]] SLAMing on 66.433201008 meters Centerline goodness : 0.877489 with order 1 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.55, Z:-0.54 [[ 0.97720063 0.07606638 0.1982242 8.91773424] [-0.08968076 0.99412392 0.06062167 -0.55470834] [-0.19244815 -0.07701643 0.97828022 -0.53965594] [ 0. 0. 0. 1. ]] SLAMing on 66.493201008 meters Centerline goodness : 0.874155 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.56, Z:-0.53 [[ 0.97725941 0.07220265 0.19937608 8.96296442] [-0.08993271 0.99262052 0.08134256 -0.56311513] [-0.19203164 -0.09742321 0.97654112 -0.5277283 ] [ 0. 0. 0. 1. ]] SLAMing on 66.55320100799999 meters Centerline goodness : 0.875308 with order 1 Centerline is valid? [False, False] Translation: X:8.97, Y:-0.56, Z:-0.53 [[ 0.97747062 0.07344717 0.19788051 8.96924441] [-0.09197582 0.99202996 0.086122 -0.56430737] [-0.18997798 -0.10238195 0.97643551 -0.52698453] [ 0. 0. 0. 1. ]] SLAMing on 66.61320100799999 meters Centerline goodness : 0.876910 with order 1 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.56, Z:-0.54 [[ 0.97751419 0.08188159 0.19432295 8.97715085] [-0.09737652 0.99267177 0.07155815 -0.56134019] [-0.18703962 -0.08887161 0.97832409 -0.53751822] [ 0. 0. 0. 1. ]] SLAMing on 66.67320100799999 meters Centerline goodness : 0.878911 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.56, Z:-0.54 [[ 0.97811485 0.0873331 0.18884985 8.98801881] [-0.10006708 0.9932321 0.05896252 -0.55949998] [-0.18242235 -0.07656977 0.98023424 -0.54216447] [ 0. 0. 0. 1. ]] SLAMing on 66.733201008 meters Centerline goodness : 0.876844 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.56, Z:-0.55 [[ 0.97809876 0.08854123 0.18837004 9.01645692] [-0.10124758 0.99311506 0.05891866 -0.56275749] [-0.18185639 -0.07670028 0.98032919 -0.5453383 ] [ 0. 0. 0. 1. ]] SLAMing on 66.793201008 meters Centerline goodness : 0.875473 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.56, Z:-0.55 [[ 0.97827943 0.0878011 0.18777734 9.01893168] [-0.10037205 0.99322856 0.05850203 -0.5616606 ] [-0.18136927 -0.07607893 0.98046784 -0.54643485] [ 0. 0. 0. 1. ]] SLAMing on 66.853201008 meters Centerline goodness : 0.876009 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.56, Z:-0.55 [[ 0.97831404 0.08774533 0.18762301 9.01940297] [-0.1003428 0.99321889 0.05871588 -0.56192168] [-0.18119867 -0.07626919 0.9804846 -0.54563555] [ 0. 0. 0. 1. ]] SLAMing on 66.91320100799999 meters Centerline goodness : 0.872106 with order 1 Centerline is valid? [False, False] Translation: X:9.03, Y:-0.56, Z:-0.55 [[ 0.97741755 0.09096898 0.19073429 9.03457536] [-0.10196964 0.99359688 0.0486563 -0.56037851] [-0.18508678 -0.06700663 0.98043511 -0.55435604] [ 0. 0. 0. 1. ]] SLAMing on 66.97320100799999 meters Centerline goodness : 0.876016 with order 1 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.56, Z:-0.56 [[ 0.97755961 0.09073258 0.1901179 9.03622411] [-0.1014906 0.99369636 0.04761508 -0.55943156] [-0.18459923 -0.06584176 0.98060593 -0.55670022] [ 0. 0. 0. 1. ]] SLAMing on 67.03320100799999 meters Centerline goodness : 0.872817 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.56, Z:-0.55 [[ 0.97818457 0.0868407 0.18871575 9.0517843 ] [-0.09892379 0.99354251 0.05556403 -0.56297756] [-0.1826719 -0.07302036 0.98045857 -0.55301841] [ 0. 0. 0. 1. ]] SLAMing on 67.093201008 meters Centerline goodness : 0.870016 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.56, Z:-0.56 [[ 0.97852558 0.08546966 0.18757031 9.05613796] [-0.09709828 0.99382543 0.05369309 -0.56157295] [-0.18182302 -0.07075281 0.98078256 -0.55802391] [ 0. 0. 0. 1. ]] SLAMing on 67.153201008 meters Centerline goodness : 0.868004 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.56, Z:-0.56 [[ 0.97887205 0.08425224 0.18630907 9.06022739] [-0.09572767 0.99397071 0.0534643 -0.56284649] [-0.18068127 -0.07016965 0.98103542 -0.55926758] [ 0. 0. 0. 1. ]] SLAMing on 67.213201008 meters Centerline goodness : 0.867792 with order 1 Centerline is valid? [False, False] Translation: X:9.07, Y:-0.56, Z:-0.56 [[ 0.9790846 0.09030437 0.18231419 9.06758359] [-0.09903741 0.99430497 0.03936021 -0.56154055] [-0.1777215 -0.0565929 0.98245219 -0.56451887] [ 0. 0. 0. 1. ]] SLAMing on 67.27320100799999 meters Centerline goodness : 0.869080 with order 1 Centerline is valid? [False, False] Translation: X:9.07, Y:-0.56, Z:-0.57 [[ 0.97914067 0.09049696 0.18191713 9.06854487] [-0.09906921 0.99433232 0.03858153 -0.55891799] [-0.17739457 -0.05579913 0.98255668 -0.56593538] [ 0. 0. 0. 1. ]] SLAMing on 67.33320100799999 meters Centerline goodness : 0.872683 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.56, Z:-0.57 [[ 0.97935688 0.09083526 0.18057981 9.10752823] [-0.10095062 0.99375118 0.04761902 -0.56437811] [-0.17512591 -0.06486566 0.98240692 -0.56554534] [ 0. 0. 0. 1. ]] SLAMing on 67.39320100799999 meters Centerline goodness : 0.871440 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.56, Z:-0.57 [[ 0.97927679 0.0912025 0.18082886 9.10671077] [-0.1010731 0.99380921 0.0461246 -0.56036249] [-0.17550271 -0.06344568 0.98243241 -0.56727612] [ 0. 0. 0. 1. ]] SLAMing on 67.453201008 meters Centerline goodness : 0.872062 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.56, Z:-0.57 [[ 0.97926324 0.09144547 0.1807795 9.10633214] [-0.10140144 0.99375356 0.04660063 -0.56011618] [-0.17538885 -0.06396558 0.98241903 -0.56515205] [ 0. 0. 0. 1. ]] SLAMing on 67.513201008 meters Centerline goodness : 0.868661 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.56, Z:-0.57 [[ 0.97935256 0.09147219 0.18028146 9.10722266] [-0.10133811 0.99377512 0.04627735 -0.55945522] [-0.17492614 -0.06359122 0.98252583 -0.56533781] [ 0. 0. 0. 1. ]] SLAMing on 67.573201008 meters Centerline goodness : 0.869545 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.56, Z:-0.57 [[ 0.97949543 0.09104396 0.17972117 9.10938369] [-0.10055268 0.9939357 0.04450815 -0.55610015] [-0.17457909 -0.06166697 0.98271019 -0.56906036] [ 0. 0. 0. 1. ]] SLAMing on 67.633201008 meters Centerline goodness : 0.868662 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.56, Z:-0.57 [[ 0.97967336 0.09042368 0.17906332 9.11163977] [-0.09973944 0.99405324 0.04370587 -0.55530641] [-0.17404643 -0.06067715 0.98286628 -0.57117556] [ 0. 0. 0. 1. ]] SLAMing on 67.69320100799999 meters Centerline goodness : 0.867090 with order 1 Centerline is valid? [False, False] Translation: X:9.16, Y:-0.57, Z:-0.56 [[ 0.98036203 0.08525356 0.1778261 9.16083021] [-0.09733926 0.99341865 0.06036932 -0.56784481] [-0.17150906 -0.07649325 0.98220844 -0.56112605] [ 0. 0. 0. 1. ]] SLAMing on 67.75320100799999 meters Centerline goodness : 0.868273 with order 1 Centerline is valid? [False, False] Translation: X:9.16, Y:-0.57, Z:-0.56 [[ 0.98049115 0.08472565 0.17736591 9.16253539] [-0.09702906 0.99335677 0.06186836 -0.5691046 ] [-0.17094578 -0.07787103 0.98219837 -0.55782449] [ 0. 0. 0. 1. ]] SLAMing on 67.813201008 meters Centerline goodness : 0.870208 with order 1 Centerline is valid? [False, False] Translation: X:9.16, Y:-0.57, Z:-0.56 [[ 0.98041936 0.08526287 0.17750529 9.16156382] [-0.09762597 0.99328343 0.06210628 -0.56825343] [-0.17101771 -0.07821932 0.98215818 -0.55655776] [ 0. 0. 0. 1. ]] SLAMing on 67.873201008 meters Centerline goodness : 0.872540 with order 1 Centerline is valid? [False, False] Translation: X:9.16, Y:-0.56, Z:-0.56 [[ 0.97983412 0.09001897 0.17838635 9.1594095 ] [-0.10286276 0.9926286 0.06409141 -0.56113542] [-0.17130195 -0.08114826 0.98187097 -0.55957501] [ 0. 0. 0. 1. ]] SLAMing on 67.933201008 meters Centerline goodness : 0.868003 with order 1 Centerline is valid? [False, False] Translation: X:9.16, Y:-0.56, Z:-0.56 [[ 0.97976949 0.09407233 0.17664128 9.16337253] [-0.10747525 0.99188723 0.06788803 -0.55924161] [-0.16882184 -0.08549918 0.9819313 -0.56168396] [ 0. 0. 0. 1. ]] SLAMing on 67.993201008 meters Centerline goodness : 0.873478 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.56, Z:-0.57 [[ 0.98041223 0.10440397 0.16700796 9.17973712] [-0.11385276 0.99233673 0.04801415 -0.56060202] [-0.16071527 -0.06608798 0.98478575 -0.56643669] [ 0. 0. 0. 1. ]] SLAMing on 68.05320100799999 meters Centerline goodness : 0.875303 with order 1 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.57, Z:-0.57 [[ 0.98151551 0.09770028 0.16456596 9.21929093] [-0.10709044 0.99303282 0.04916774 -0.56971571] [-0.1586157 -0.06588234 0.98513988 -0.56758584] [ 0. 0. 0. 1. ]] SLAMing on 68.11320100799999 meters Centerline goodness : 0.874993 with order 1 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.57, Z:-0.57 [[ 0.9817522 0.09644614 0.16389253 9.22321727] [-0.10548358 0.99329336 0.04734457 -0.56602705] [-0.15822716 -0.0637686 0.98534143 -0.57210481] [ 0. 0. 0. 1. ]] SLAMing on 68.17320100799999 meters Centerline goodness : 0.877064 with order 1 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.56, Z:-0.57 [[ 0.98171549 0.09670004 0.16396282 9.22297928] [-0.10577394 0.9932539 0.04752434 -0.5649378 ] [-0.1582611 -0.06399837 0.98532108 -0.57116505] [ 0. 0. 0. 1. ]] SLAMing on 68.233201008 meters Centerline goodness : 0.879331 with order 1 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.57, Z:-0.57 [[ 0.98172738 0.09694281 0.1637481 9.22274568] [-0.10617355 0.99316054 0.04857281 -0.56688419] [-0.15791936 -0.06507097 0.98530566 -0.56859857] [ 0. 0. 0. 1. ]] SLAMing on 68.293201008 meters Centerline goodness : 0.877403 with order 1 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.57, Z:-0.58 [[ 0.98105256 0.09856762 0.16679415 9.23908993] [-0.10640004 0.99357113 0.03867099 -0.56816855] [-0.16191015 -0.05568518 0.9852331 -0.5761819 ] [ 0. 0. 0. 1. ]] SLAMing on 68.353201008 meters Centerline goodness : 0.875236 with order 1 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.57, Z:-0.58 [[ 0.98086115 0.10088642 0.16653328 9.24210687] [-0.10936364 0.99309195 0.04252037 -0.56850809] [-0.16109313 -0.05991927 0.98511861 -0.57769888] [ 0. 0. 0. 1. ]] SLAMing on 68.41320100799999 meters Centerline goodness : 0.870528 with order 1 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.57, Z:-0.58 [[ 0.98111535 0.09958441 0.16581799 9.24571226] [-0.1080314 0.99322989 0.04270378 -0.57078132] [-0.16044276 -0.05981088 0.98523133 -0.57930445] [ 0. 0. 0. 1. ]] SLAMing on 68.47320100799999 meters Centerline goodness : 0.873967 with order 1 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.57, Z:-0.58 [[ 0.98131642 0.09881064 0.16508951 9.24820927] [-0.10727845 0.99329149 0.04316647 -0.57321393] [-0.1597167 -0.06007051 0.9853335 -0.57908328] [ 0. 0. 0. 1. ]] SLAMing on 68.53320100799999 meters Centerline goodness : 0.874289 with order 1 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.58, Z:-0.57 [[ 0.98176416 0.09935105 0.16207563 9.28947939] [-0.10966251 0.99239318 0.05594564 -0.58323059] [-0.15528449 -0.07269904 0.98519114 -0.57334413] [ 0. 0. 0. 1. ]] SLAMing on 68.593201008 meters Centerline goodness : 0.870904 with order 1 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.58, Z:-0.57 [[ 0.98169815 0.09984441 0.16217226 9.2886189 ] [-0.11017098 0.99233595 0.05596181 -0.5817814 ] [-0.15534189 -0.07280428 0.98517432 -0.57239072] [ 0. 0. 0. 1. ]] SLAMing on 68.653201008 meters Centerline goodness : 0.873617 with order 1 Centerline is valid? [False, False] Translation: X:9.29, Y:-0.58, Z:-0.57 [[ 0.98153728 0.10229215 0.16161956 9.29181827] [-0.1131683 0.99178883 0.05956393 -0.5811811 ] [-0.15419955 -0.07675443 0.98505394 -0.57363894] [ 0. 0. 0. 1. ]] SLAMing on 68.713201008 meters Centerline goodness : 0.878384 with order 1 Centerline is valid? [False, False] Translation: X:9.35, Y:-0.60, Z:-0.56 [[ 0.98304004 0.08927942 0.16019195 9.34515885] [-0.10174594 0.9922469 0.07137129 -0.59683495] [-0.15257798 -0.08645972 0.98450225 -0.56107598] [ 0. 0. 0. 1. ]] SLAMing on 68.77320100799999 meters Centerline goodness : 0.870609 with order 1 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.60, Z:-0.55 [[ 0.9833633 0.07816852 0.16397046 9.37821369] [-0.094124 0.99130978 0.09189988 -0.60454486] [-0.15536184 -0.10580453 0.98217519 -0.54678305] [ 0. 0. 0. 1. ]] SLAMing on 68.83320100799999 meters Centerline goodness : 0.870132 with order 1 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.60, Z:-0.55 [[ 0.98335502 0.08039798 0.16293886 9.38250428] [-0.09670212 0.99079548 0.09472605 -0.60380507] [-0.1538233 -0.10890587 0.98207836 -0.54991964] [ 0. 0. 0. 1. ]] SLAMing on 68.89320100799999 meters Centerline goodness : 0.868215 with order 1 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.60, Z:-0.56 [[ 0.9824607 0.08399927 0.16647852 9.39705526] [-0.09889327 0.99160698 0.08328093 -0.59952717] [-0.15808572 -0.09828384 0.98252185 -0.56171071] [ 0. 0. 0. 1. ]] SLAMing on 68.953201008 meters Centerline goodness : 0.870280 with order 1 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.59, Z:-0.57 [[ 0.98180747 0.08747023 0.16853204 9.40198868] [-0.09929092 0.99306066 0.06302254 -0.59443317] [-0.16184994 -0.0786097 0.98367937 -0.57434796] [ 0. 0. 0. 1. ]] SLAMing on 69.013201008 meters Centerline goodness : 0.870510 with order 1 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.60, Z:-0.57 [[ 0.98207306 0.086747 0.16735428 9.40496748] [-0.09846058 0.99314482 0.06299904 -0.59637265] [-0.16074206 -0.07834746 0.98388194 -0.57483691] [ 0. 0. 0. 1. ]] SLAMing on 69.073201008 meters Centerline goodness : 0.867837 with order 1 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.59, Z:-0.58 [[ 0.98231566 0.08575172 0.16644091 9.40825056] [-0.09709033 0.99339139 0.06121287 -0.59411612] [-0.16009186 -0.07629016 0.98414959 -0.57886497] [ 0. 0. 0. 1. ]] SLAMing on 69.133201008 meters Centerline goodness : 0.863737 with order 1 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.59, Z:-0.58 [[ 0.98260009 0.08478825 0.1652514 9.41211176] [-0.09574995 0.99362416 0.05952297 -0.59129831] [-0.15915093 -0.07431009 0.98445365 -0.58248408] [ 0. 0. 0. 1. ]] SLAMing on 69.19320100799999 meters Centerline goodness : 0.861689 with order 1 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.59, Z:-0.58 [[ 0.98283174 0.08432228 0.16410827 9.41497659] [-0.09506027 0.99373906 0.05870452 -0.58940273] [-0.1581307 -0.07329684 0.98469399 -0.58377153] [ 0. 0. 0. 1. ]] SLAMing on 69.25320100799999 meters Centerline goodness : 0.865191 with order 1 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.58, Z:-0.60 [[ 0.9820197 0.08850696 0.16674478 9.42115645] [-0.09656995 0.99448681 0.04086838 -0.58410581] [-0.16220835 -0.05623609 0.98515276 -0.59559643] [ 0. 0. 0. 1. ]] SLAMing on 69.313201008 meters Centerline goodness : 0.867539 with order 1 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.58, Z:-0.60 [[ 0.9819117 0.08915319 0.16703632 9.41987526] [-0.0971026 0.99446914 0.04002772 -0.57900137] [-0.16254387 -0.05552335 0.98513788 -0.59557096] [ 0. 0. 0. 1. ]] SLAMing on 69.373201008 meters Centerline goodness : 0.864073 with order 1 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.58, Z:-0.59 [[ 0.98160086 0.09237769 0.1671111 9.42029368] [-0.10118611 0.99385069 0.04496855 -0.57866041] [-0.16192939 -0.06105049 0.98491203 -0.59264626] [ 0. 0. 0. 1. ]] SLAMing on 69.433201008 meters Centerline goodness : 0.859531 with order 1 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.57, Z:-0.60 [[ 0.98137007 0.10292553 0.16223166 9.42624223] [-0.10994361 0.99332603 0.03486842 -0.57264608] [-0.15756008 -0.05205516 0.98613644 -0.59648021] [ 0. 0. 0. 1. ]] SLAMing on 69.493201008 meters Centerline goodness : 0.852341 with order 1 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.57, Z:-0.60 [[ 0.98113932 0.10429538 0.16275168 9.42350575] [-0.11133167 0.99317718 0.03470368 -0.57063295] [-0.15802182 -0.05216856 0.98605656 -0.59530926] [ 0. 0. 0. 1. ]] SLAMing on 69.55320100799999 meters Centerline goodness : 0.852699 with order 1 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.57, Z:-0.60 [[ 0.98127549 0.10390674 0.16217831 9.42496891] [-0.1108782 0.99323432 0.03451959 -0.57098316] [-0.15749424 -0.05185526 0.98615749 -0.59561529] [ 0. 0. 0. 1. ]] SLAMing on 69.61320100799999 meters Centerline goodness : 0.848929 with order 1 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.57, Z:-0.60 [[ 0.98165293 0.10225451 0.16093955 9.4296275 ] [-0.10905756 0.99345388 0.03399746 -0.57221409] [-0.15640963 -0.05092539 0.98637854 -0.59789464] [ 0. 0. 0. 1. ]] SLAMing on 69.67320100799999 meters Centerline goodness : 0.841696 with order 1 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.58, Z:-0.59 [[ 0.98184369 0.10069461 0.16075933 9.43228138] [-0.10780175 0.99351694 0.03609532 -0.57635093] [-0.15608251 -0.0527701 0.98633339 -0.59488626] [ 0. 0. 0. 1. ]] SLAMing on 69.733201008 meters Centerline goodness : 0.837152 with order 1 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.58, Z:-0.59 [[ 0.98190911 0.10057714 0.16043299 9.433012 ] [-0.107691 0.99352301 0.03625859 -0.57695598] [-0.15574708 -0.05287983 0.98638054 -0.59446863] [ 0. 0. 0. 1. ]] SLAMing on 69.793201008 meters Centerline goodness : 0.836246 with order 1 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.58, Z:-0.59 [[ 0.98220181 0.09916603 0.1595171 9.43739703] [-0.10636749 0.99362936 0.03723777 -0.57839285] [-0.15480815 -0.05354244 0.9864926 -0.59391243] [ 0. 0. 0. 1. ]] SLAMing on 69.853201008 meters Centerline goodness : 0.834335 with order 1 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.58, Z:-0.59 [[ 0.98232195 0.09871257 0.15905789 9.4388743 ] [-0.10589806 0.99367603 0.03733027 -0.57941818] [-0.15436704 -0.05351426 0.98656325 -0.59402261] [ 0. 0. 0. 1. ]] SLAMing on 69.91320100799999 meters Centerline goodness : 0.827116 with order 1 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.58, Z:-0.59 [[ 0.98241569 0.098186 0.15880467 9.44004482] [-0.10535768 0.99373199 0.0373696 -0.58011114] [-0.15414011 -0.05344378 0.98660255 -0.5941479 ] [ 0. 0. 0. 1. ]] SLAMing on 69.97320100799999 meters Centerline goodness : 0.822632 with order 1 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.58, Z:-0.60 [[ 0.98251582 0.09736319 0.15869178 9.44181489] [-0.10439239 0.99386406 0.03655766 -0.57829731] [-0.15415868 -0.0524847 0.98665113 -0.59573013] [ 0. 0. 0. 1. ]] SLAMing on 70.03320100799999 meters Centerline goodness : 0.818326 with order 1 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.58, Z:-0.60 [[ 0.98281028 0.09428031 0.1587299 9.44076943] [-0.10048256 0.99444021 0.03149475 -0.57629597] [-0.15487806 -0.04690295 0.98681959 -0.59690247] [ 0. 0. 0. 1. ]] SLAMing on 70.093201008 meters Centerline goodness : 0.817337 with order 1 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.57, Z:-0.60 [[ 0.9831275 0.09127546 0.15852164 9.44030531] [-0.09668106 0.99495687 0.02671347 -0.57461748] [-0.15528391 -0.04158879 0.98699406 -0.59808275] [ 0. 0. 0. 1. ]] SLAMing on 70.153201008 meters Centerline goodness : 0.816689 with order 1 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.57, Z:-0.60 [[ 0.98328725 0.09065665 0.15788465 9.44744543] [-0.0961955 0.9949746 0.02778452 -0.57373562] [-0.15457237 -0.04250796 0.98706659 -0.60471844] [ 0. 0. 0. 1. ]] SLAMing on 70.213201008 meters Centerline goodness : 0.814590 with order 1 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.57, Z:-0.61 [[ 0.98363339 0.08915724 0.15657694 9.45261547] [-0.094321 0.99520618 0.02584964 -0.57246231] [-0.15352166 -0.04019506 0.98732743 -0.60989408] [ 0. 0. 0. 1. ]] SLAMing on 70.27320100799999 meters Centerline goodness : 0.823564 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.58, Z:-0.61 [[ 0.98485211 0.09309183 0.14628816 9.46960881] [-0.09719156 0.99504166 0.02111633 -0.57662197] [-0.14359705 -0.03501444 0.98901662 -0.60987091] [ 0. 0. 0. 1. ]] SLAMing on 70.33320100799999 meters Centerline goodness : 0.827757 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.58, Z:-0.61 [[ 0.98499066 0.09250504 0.1457265 9.47181774] [-0.09650859 0.9951183 0.02063179 -0.57643753] [-0.14310656 -0.03438598 0.98910976 -0.61132902] [ 0. 0. 0. 1. ]] SLAMing on 70.39320100799999 meters Centerline goodness : 0.824298 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.58, Z:-0.61 [[ 0.98501562 0.09226338 0.14571103 9.47264784] [-0.09634384 0.99512265 0.02118449 -0.57621122] [-0.14304579 -0.03490541 0.98910036 -0.61034887] [ 0. 0. 0. 1. ]] SLAMing on 70.453201008 meters Centerline goodness : 0.825436 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.58, Z:-0.61 [[ 0.98487516 0.09290297 0.14625303 9.4707243 ] [-0.09705458 0.9950469 0.02149584 -0.57554541] [-0.1435316 -0.03536525 0.98901364 -0.60886805] [ 0. 0. 0. 1. ]] SLAMing on 70.513201008 meters Centerline goodness : 0.823348 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.58, Z:-0.61 [[ 0.98471145 0.0936093 0.1469036 9.46862699] [-0.09789854 0.99494813 0.02222827 -0.57622778] [-0.14408069 -0.03627008 0.98890102 -0.60705221] [ 0. 0. 0. 1. ]] SLAMing on 70.573201008 meters Centerline goodness : 0.824574 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.58, Z:-0.61 [[ 0.98475049 0.09332348 0.14682371 9.46915448] [-0.09763121 0.99497064 0.02239595 -0.5773888 ] [-0.14399521 -0.036389 0.98890911 -0.60676774] [ 0. 0. 0. 1. ]] SLAMing on 70.63320100799999 meters Centerline goodness : 0.823711 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.58, Z:-0.61 [[ 0.98476629 0.09301741 0.14691194 9.46932186] [-0.09738379 0.99498576 0.02279788 -0.57878158] [-0.14405468 -0.03675743 0.98888682 -0.60622852] [ 0. 0. 0. 1. ]] SLAMing on 70.69320100799999 meters Centerline goodness : 0.823858 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.58, Z:-0.61 [[ 0.98479245 0.09281791 0.14686277 9.47010933] [-0.09702119 0.99504561 0.02170521 -0.57830256] [-0.14412053 -0.03562393 0.98891871 -0.60909288] [ 0. 0. 0. 1. ]] SLAMing on 70.75320100799999 meters Centerline goodness : 0.822751 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.58, Z:-0.61 [[ 0.98484047 0.09290221 0.14648694 9.47127539] [-0.0969101 0.99508304 0.0204494 -0.57588031] [-0.14386687 -0.03433546 0.98900121 -0.61172888] [ 0. 0. 0. 1. ]] SLAMing on 70.813201008 meters Centerline goodness : 0.826936 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.58, Z:-0.61 [[ 0.9848817 0.09304353 0.1461196 9.47162596] [-0.0970759 0.99506176 0.02069684 -0.57740618] [-0.14347232 -0.03456863 0.98905041 -0.61120259] [ 0. 0. 0. 1. ]] SLAMing on 70.873201008 meters Centerline goodness : 0.824405 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.58, Z:-0.62 [[ 0.98504398 0.09202756 0.14566842 9.47441204] [-0.0958331 0.99521007 0.01931145 -0.57612444] [-0.14319349 -0.03298249 0.98914497 -0.61511265] [ 0. 0. 0. 1. ]] SLAMing on 70.933201008 meters Centerline goodness : 0.821547 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.57, Z:-0.62 [[ 0.98526102 0.09022397 0.14532848 9.47292816] [-0.09286279 0.99561293 0.01146323 -0.56955948] [-0.14365665 -0.02478988 0.98931705 -0.62223103] [ 0. 0. 0. 1. ]] SLAMing on 70.993201008 meters Centerline goodness : 0.825390 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.57, Z:-0.62 [[ 0.98533341 0.09037085 0.14474521 9.47392502] [-0.09304181 0.99559255 0.01177694 -0.57057404] [-0.14304296 -0.02507157 0.98939887 -0.62185501] [ 0. 0. 0. 1. ]] SLAMing on 71.05320100799999 meters Centerline goodness : 0.828976 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.57, Z:-0.62 [[ 9.85425975e-01 8.86993967e-02 1.45148425e-01 9.47088627e+00] [-9.05749675e-02 9.95869386e-01 6.35151183e-03 -5.67267961e-01] [-1.43985497e-01 -1.94057586e-02 9.89389505e-01 -6.24227149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11320100799999 meters Centerline goodness : 0.822524 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.57, Z:-0.62 [[ 0.98526146 0.09098693 0.14484904 9.47358051] [-0.09351804 0.99555957 0.01074786 -0.56833654] [-0.14322793 -0.02413546 0.98939539 -0.62405504] [ 0. 0. 0. 1. ]] SLAMing on 71.17320100799999 meters Centerline goodness : 0.823065 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.57, Z:-0.62 [[ 9.85707961e-01 8.69755110e-02 1.44274309e-01 9.47471972e+00] [-8.89339414e-02 9.96011728e-01 7.16873993e-03 -5.69649916e-01] [-1.43075399e-01 -1.98971670e-02 9.89511765e-01 -6.23214941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.233201008 meters Centerline goodness : 0.827300 with order 1 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.57, Z:-0.62 [[ 0.98571961 0.08821243 0.14344132 9.47997176] [-0.09082187 0.99579802 0.011734 -0.57224954] [-0.1418035 -0.02459404 0.98958926 -0.62364844] [ 0. 0. 0. 1. ]] SLAMing on 71.293201008 meters Centerline goodness : 0.822805 with order 1 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.57, Z:-0.62 [[ 0.98551991 0.09111985 0.14299536 9.48221003] [-0.09435871 0.99540935 0.01602035 -0.57405283] [-0.14087915 -0.02928124 0.98959369 -0.62381971] [ 0. 0. 0. 1. ]] SLAMing on 71.353201008 meters Centerline goodness : 0.827740 with order 1 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.58, Z:-0.62 [[ 0.98555843 0.09113717 0.14271862 9.48287678] [-0.09442161 0.99539724 0.01639816 -0.57530639] [-0.14056723 -0.02963707 0.98962745 -0.62357813] [ 0. 0. 0. 1. ]] SLAMing on 71.41320100799999 meters Centerline goodness : 0.824479 with order 1 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.58, Z:-0.62 [[ 0.98566741 0.0907933 0.14218413 9.48450926] [-0.09402505 0.9954386 0.01616412 -0.57553168] [-0.14006798 -0.02930132 0.98970824 -0.62447288] [ 0. 0. 0. 1. ]] SLAMing on 71.47320100799999 meters Centerline goodness : 0.825108 with order 1 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.58, Z:-0.62 [[ 0.98567755 0.09080983 0.14210329 9.48462988] [-0.09402509 0.99544023 0.01606342 -0.57513715] [-0.13999661 -0.02919463 0.98972149 -0.62441355] [ 0. 0. 0. 1. ]] SLAMing on 71.53320100799999 meters Centerline goodness : 0.822586 with order 1 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.58, Z:-0.63 [[ 0.98605156 0.08842822 0.1410063 9.48973306] [-0.09157292 0.99567049 0.0159585 -0.57528363] [-0.13898463 -0.02864826 0.98988007 -0.62514454] [ 0. 0. 0. 1. ]] SLAMing on 71.593201008 meters Centerline goodness : 0.820260 with order 1 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.58, Z:-0.63 [[ 0.98644796 0.08595508 0.13975742 9.4953103 ] [-0.08908404 0.9958911 0.01627732 -0.5773916 ] [-0.13778406 -0.02850689 0.99005197 -0.6253539 ] [ 0. 0. 0. 1. ]] SLAMing on 71.653201008 meters Centerline goodness : 0.820758 with order 1 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.57, Z:-0.63 [[ 0.98657146 0.08414116 0.13998934 9.49267242] [-0.08640935 0.99620757 0.01019324 -0.5737627 ] [-0.13860076 -0.02215275 0.99010054 -0.62895608] [ 0. 0. 0. 1. ]] SLAMing on 71.713201008 meters Centerline goodness : 0.818193 with order 1 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.57, Z:-0.63 [[ 0.98618092 0.08791599 0.14042068 9.4921227 ] [-0.09083621 0.99576011 0.01451145 -0.57273555] [-0.13854952 -0.02706619 0.98998558 -0.62783786] [ 0. 0. 0. 1. ]] SLAMing on 71.77320100799999 meters Centerline goodness : 0.819546 with order 1 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.57, Z:-0.63 [[ 0.98595328 0.09097574 0.14006978 9.49393255] [-0.09441313 0.99536891 0.01808033 -0.57151845] [-0.13777624 -0.03105078 0.98997654 -0.62841034] [ 0. 0. 0. 1. ]] SLAMing on 71.83320100799999 meters Centerline goodness : 0.823657 with order 1 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.57, Z:-0.63 [[ 0.98616158 0.08882678 0.13998263 9.49209693] [-0.09147328 0.99572815 0.01257371 -0.56903752] [-0.13826776 -0.02520438 0.99007412 -0.63076222] [ 0. 0. 0. 1. ]] SLAMing on 71.89320100799999 meters Centerline goodness : 0.823494 with order 1 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.57, Z:-0.63 [[ 9.86483901e-01 8.58043118e-02 1.39596321e-01 9.49200342e+00] [-8.76604320e-02 9.96124459e-01 7.19095731e-03 -5.68024029e-01] [-1.38438294e-01 -1.93308374e-02 9.90182386e-01 -6.33740397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.953201008 meters Centerline goodness : 0.822540 with order 1 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.57, Z:-0.64 [[ 9.86738692e-01 8.44161241e-02 1.38638638e-01 9.49622272e+00] [-8.60363075e-02 9.96275556e-01 5.72446865e-03 -5.67592014e-01] [-1.37639048e-01 -1.75765112e-02 9.90326491e-01 -6.38437538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.013201008 meters Centerline goodness : 0.820861 with order 1 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.57, Z:-0.63 [[ 0.98711761 0.08081199 0.13808785 9.50964292] [-0.08366056 0.99638229 0.01494104 -0.57278737] [-0.13638087 -0.02630107 0.99030728 -0.63085565] [ 0. 0. 0. 1. ]] SLAMing on 72.073201008 meters Centerline goodness : 0.826063 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.58, Z:-0.62 [[ 0.98781264 0.08657941 0.12934527 9.51829215] [-0.08898021 0.99595001 0.01288806 -0.57613534] [-0.12770558 -0.02424015 0.99151586 -0.62366463] [ 0. 0. 0. 1. ]] SLAMing on 72.13320100799999 meters Centerline goodness : 0.829067 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.57, Z:-0.62 [[ 0.98750925 0.09032442 0.12910063 9.51950605] [-0.09317305 0.99551835 0.0161861 -0.57383245] [-0.12706004 -0.02801262 0.99149939 -0.62482871] [ 0. 0. 0. 1. ]] SLAMing on 72.19320100799999 meters Centerline goodness : 0.826913 with order 1 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.57, Z:-0.63 [[ 0.98763631 0.09102892 0.12762541 9.5274853 ] [-0.09422015 0.99536658 0.01918189 -0.57179152] [-0.12528796 -0.03096962 0.99163693 -0.62796401] [ 0. 0. 0. 1. ]] SLAMing on 72.25320100799999 meters Centerline goodness : 0.823313 with order 1 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.58, Z:-0.62 [[ 0.988118 0.08437147 0.12846892 9.54893934] [-0.0892065 0.9954877 0.03234857 -0.57527343] [-0.12515994 -0.04342447 0.99118581 -0.61759534] [ 0. 0. 0. 1. ]] SLAMing on 72.313201008 meters Centerline goodness : 0.831348 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.59, Z:-0.61 [[ 0.98863891 0.08265966 0.12554081 9.58855847] [-0.08870434 0.99511474 0.04333822 -0.58585703] [-0.12134519 -0.05398186 0.99114141 -0.60645423] [ 0. 0. 0. 1. ]] SLAMing on 72.373201008 meters Centerline goodness : 0.840976 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.59, Z:-0.60 [[ 0.98909069 0.07912594 0.12425252 9.59744129] [-0.08568869 0.99514638 0.04838532 -0.5902597 ] [-0.11982091 -0.0585045 0.99107022 -0.59858618] [ 0. 0. 0. 1. ]] SLAMing on 72.433201008 meters Centerline goodness : 0.843914 with order 1 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.60, Z:-0.59 [[ 0.9890826 0.07484807 0.12693848 9.62211652] [-0.08380044 0.99424708 0.06671012 -0.596279 ] [-0.12121509 -0.07661932 0.98966478 -0.5896743 ] [ 0. 0. 0. 1. ]] SLAMing on 72.493201008 meters Centerline goodness : 0.849340 with order 1 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.61, Z:-0.56 [[ 0.98851211 0.06834176 0.13480804 9.65202167] [-0.08219991 0.99157984 0.10006299 -0.60967108] [-0.12683445 -0.10999468 0.98580637 -0.56487603] [ 0. 0. 0. 1. ]] SLAMing on 72.55320100799999 meters Centerline goodness : 0.854361 with order 1 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.61, Z:-0.56 [[ 0.98891132 0.06282339 0.13456457 9.67046034] [-0.0775862 0.99118047 0.10743214 -0.60774644] [-0.12662853 -0.11668121 0.98506381 -0.56281612] [ 0. 0. 0. 1. ]] SLAMing on 72.61320100799999 meters Centerline goodness : 0.856661 with order 1 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.60, Z:-0.56 [[ 0.98907 0.06145444 0.13402941 9.67390752] [-0.07605638 0.99137847 0.10669659 -0.6038015 ] [-0.12631689 -0.11572418 0.98521671 -0.56314796] [ 0. 0. 0. 1. ]] SLAMing on 72.67320100799999 meters Centerline goodness : 0.858758 with order 1 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.60, Z:-0.56 [[ 0.98879842 0.06103238 0.13620838 9.67234448] [-0.07616105 0.99114458 0.10877462 -0.600982 ] [-0.12836343 -0.11792994 0.98469049 -0.55898258] [ 0. 0. 0. 1. ]] SLAMing on 72.733201008 meters Centerline goodness : 0.861893 with order 1 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.60, Z:-0.55 [[ 0.98822786 0.06104021 0.14028468 9.66669301] [-0.07748021 0.99035245 0.11488621 -0.60214708] [-0.1319186 -0.12440304 0.98342329 -0.54732789] [ 0. 0. 0. 1. ]] SLAMing on 72.793201008 meters Centerline goodness : 0.862636 with order 1 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.60, Z:-0.54 [[ 0.98736536 0.06112888 0.14619473 9.65551639] [-0.07867816 0.98995844 0.11743952 -0.60119751] [-0.13754776 -0.12745805 0.98226018 -0.53839952] [ 0. 0. 0. 1. ]] SLAMing on 72.853201008 meters Centerline goodness : 0.869351 with order 1 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.60, Z:-0.54 [[ 0.98724721 0.06087525 0.14709574 9.65501511] [-0.07846143 0.9900425 0.11687454 -0.59648949] [-0.13851626 -0.12692541 0.98219305 -0.53809665] [ 0. 0. 0. 1. ]] SLAMing on 72.91320100799999 meters Centerline goodness : 0.870782 with order 1 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.59, Z:-0.54 [[ 0.98705814 0.06366634 0.14718297 9.65656914] [-0.08171904 0.98939818 0.12005517 -0.59394525] [-0.13797909 -0.13052909 0.98179628 -0.53865021] [ 0. 0. 0. 1. ]] SLAMing on 72.97320100799999 meters Centerline goodness : 0.872406 with order 1 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.58, Z:-0.55 [[ 0.98594668 0.07037754 0.15151288 9.66646698] [-0.08748036 0.99014712 0.10934285 -0.58493666] [-0.14232476 -0.12106062 0.98238892 -0.54936204] [ 0. 0. 0. 1. ]] SLAMing on 73.03320100799999 meters Centerline goodness : 0.873803 with order 1 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.58, Z:-0.56 [[ 0.98493588 0.07854441 0.15405225 9.67352616] [-0.09405219 0.99091833 0.09609911 -0.5761763 ] [-0.14510515 -0.10914042 0.98337829 -0.56165224] [ 0. 0. 0. 1. ]] SLAMing on 73.093201008 meters Centerline goodness : 0.874871 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.57, Z:-0.57 [[ 0.9840833 0.08175975 0.15778279 9.68806821] [-0.09613623 0.991669 0.08573464 -0.57213877] [-0.14945866 -0.09953867 0.98374497 -0.5702751 ] [ 0. 0. 0. 1. ]] SLAMing on 73.153201008 meters Centerline goodness : 0.878769 with order 1 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.57, Z:-0.58 [[ 0.983318 0.08275952 0.16197708 9.700171 ] [-0.09552478 0.99277133 0.07266436 -0.56983389] [-0.15479253 -0.086925 0.9841155 -0.57657863] [ 0. 0. 0. 1. ]] SLAMing on 73.213201008 meters Centerline goodness : 0.879548 with order 1 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.58, Z:-0.57 [[ 0.98388458 0.07973449 0.16004229 9.74541723] [-0.09450436 0.99172495 0.08689388 -0.57822888] [-0.1517895 -0.10061825 0.98327815 -0.56712966] [ 0. 0. 0. 1. ]] SLAMing on 73.27320100799999 meters Centerline goodness : 0.877686 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.59, Z:-0.55 [[ 0.98434721 0.07616338 0.15893303 9.78816378] [-0.09324048 0.99031108 0.10290858 -0.58854418] [-0.14955528 -0.11611676 0.98191146 -0.5549348 ] [ 0. 0. 0. 1. ]] SLAMing on 73.33320100799999 meters Centerline goodness : 0.877836 with order 1 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.60, Z:-0.55 [[ 0.9849195 0.07428764 0.15625278 9.82544705] [-0.09215567 0.98960545 0.110401 -0.59638845] [-0.14642717 -0.12313567 0.98152773 -0.54951403] [ 0. 0. 0. 1. ]] SLAMing on 73.39320100799999 meters Centerline goodness : 0.876830 with order 1 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.60, Z:-0.54 [[ 0.98450403 0.07077686 0.16044452 9.86484806] [-0.09069395 0.98857164 0.12041893 -0.60083542] [-0.15008803 -0.13310427 0.9796718 -0.54103794] [ 0. 0. 0. 1. ]] SLAMing on 73.453201008 meters Centerline goodness : 0.876323 with order 1 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.61, Z:-0.53 [[ 0.98478903 0.06916029 0.15939707 9.90720167] [-0.09075739 0.98702433 0.13246161 -0.60603196] [-0.14816771 -0.1449132 0.97828753 -0.53387811] [ 0. 0. 0. 1. ]] SLAMing on 73.513201008 meters Centerline goodness : 0.876150 with order 1 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.60, Z:-0.53 [[ 0.98487191 0.06129652 0.16208042 9.92881709] [-0.08504034 0.98593503 0.14387585 -0.60204885] [-0.15098167 -0.15548266 0.97623239 -0.52778581] [ 0. 0. 0. 1. ]] SLAMing on 73.573201008 meters Centerline goodness : 0.873546 with order 1 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.59, Z:-0.53 [[ 0.9853746 0.05225879 0.16219101 9.94079221] [-0.07583474 0.98684806 0.14275852 -0.59470812] [-0.1525975 -0.15297033 0.97637804 -0.52579043] [ 0. 0. 0. 1. ]] SLAMing on 73.63320100799999 meters Centerline goodness : 0.874625 with order 1 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.59, Z:-0.53 [[ 0.98531717 0.0508641 0.16298131 9.94160361] [-0.07430764 0.98719649 0.1411434 -0.58931866] [-0.15371545 -0.15118177 0.97648125 -0.52612075] [ 0. 0. 0. 1. ]] SLAMing on 73.69320100799999 meters Centerline goodness : 0.875270 with order 1 Centerline is valid? [False, False] Translation: X:9.94, Y:-0.58, Z:-0.54 [[ 0.98560611 0.04704897 0.16237916 9.94419527] [-0.06862061 0.98914859 0.12990873 -0.57578496] [-0.15450505 -0.13918139 0.97813942 -0.53823979] [ 0. 0. 0. 1. ]] SLAMing on 73.75320100799999 meters Centerline goodness : 0.870729 with order 1 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.57, Z:-0.53 [[ 0.98612217 0.04256882 0.16047109 9.92774377] [-0.06534283 0.98807331 0.13943257 -0.57171734] [-0.15262172 -0.14798318 0.97714256 -0.52608529] [ 0. 0. 0. 1. ]] SLAMing on 73.813201008 meters Centerline goodness : 0.873351 with order 1 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.56, Z:-0.53 [[ 0.98599615 0.03815484 0.16234467 9.88905394] [-0.05895727 0.99036346 0.1253166 -0.55941533] [-0.1559988 -0.13313308 0.97874407 -0.52691943] [ 0. 0. 0. 1. ]] SLAMing on 73.873201008 meters Centerline goodness : 0.876614 with order 1 Centerline is valid? [False, False] Translation: X:9.85, Y:-0.55, Z:-0.53 [[ 0.98563022 0.03817963 0.16454603 9.84516541] [-0.05732693 0.99191309 0.11323448 -0.54826544] [-0.15889211 -0.12104024 0.97984823 -0.52506945] [ 0. 0. 0. 1. ]] SLAMing on 73.933201008 meters Centerline goodness : 0.873611 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.54, Z:-0.53 [[ 0.98553833 0.04820955 0.16245012 9.81693518] [-0.0650399 0.99286644 0.09993019 -0.53526132] [-0.15647368 -0.10905077 0.98164348 -0.52906452] [ 0. 0. 0. 1. ]] SLAMing on 73.993201008 meters Centerline goodness : 0.879933 with order 1 Centerline is valid? [False, False] Translation: X:9.78, Y:-0.53, Z:-0.52 [[ 0.98455334 0.05376029 0.16662697 9.78223368] [-0.0721737 0.99169012 0.10649721 -0.5269441 ] [-0.159517 -0.11687827 0.98025191 -0.52057754] [ 0. 0. 0. 1. ]] SLAMing on 74.05320100799999 meters Centerline goodness : 0.878032 with order 1 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.51, Z:-0.53 [[ 0.98436916 0.06323176 0.1643749 9.75644321] [-0.07917393 0.99257734 0.09231309 -0.51249347] [-0.15731768 -0.10388437 0.98206883 -0.52841936] [ 0. 0. 0. 1. ]] SLAMing on 74.11320100799999 meters Centerline goodness : 0.879941 with order 1 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.51, Z:-0.53 [[ 0.98447674 0.06385691 0.1634865 9.75770757] [-0.07939028 0.99274441 0.09030898 -0.50550565] [-0.15653346 -0.10188633 0.98240341 -0.52999367] [ 0. 0. 0. 1. ]] SLAMing on 74.17320100799999 meters Centerline goodness : 0.879658 with order 1 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.50, Z:-0.53 [[ 0.98473889 0.06443543 0.16167063 9.76597864] [-0.08013524 0.99247878 0.09254307 -0.4982899 ] [-0.15449162 -0.10408628 0.982496 -0.5308272 ] [ 0. 0. 0. 1. ]] SLAMing on 74.233201008 meters Centerline goodness : 0.879779 with order 1 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.50, Z:-0.52 [[ 0.98488085 0.06089209 0.16217852 9.76202995] [-0.07972083 0.99047781 0.11224211 -0.49780853] [-0.15379957 -0.12347411 0.98035699 -0.52167832] [ 0. 0. 0. 1. ]] SLAMing on 74.293201008 meters Centerline goodness : 0.882136 with order 1 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.49, Z:-0.51 [[ 0.98293146 0.05848524 0.17442827 9.74999036] [-0.08171427 0.98825728 0.12911361 -0.49494098] [-0.16482876 -0.14116311 0.97616825 -0.5095931 ] [ 0. 0. 0. 1. ]] SLAMing on 74.353201008 meters Centerline goodness : 0.882194 with order 1 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.49, Z:-0.51 [[ 0.98275544 0.05914459 0.17519608 9.7482582 ] [-0.08219194 0.98844487 0.12736253 -0.49044975] [-0.16563887 -0.13956593 0.97626078 -0.51055132] [ 0. 0. 0. 1. ]] SLAMing on 74.41320100799999 meters Centerline goodness : 0.885618 with order 1 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.49, Z:-0.52 [[ 0.98168396 0.06317306 0.17973804 9.76181411] [-0.08558891 0.98909902 0.11982352 -0.48959716] [-0.1702091 -0.13301241 0.97638955 -0.51531543] [ 0. 0. 0. 1. ]] SLAMing on 74.47320100799999 meters Centerline goodness : 0.884382 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.49, Z:-0.52 [[ 0.98074817 0.06395873 0.18450557 9.78697898] [-0.0871281 0.988903 0.12033101 -0.48913094] [-0.1747619 -0.13409003 0.97543741 -0.51505435] [ 0. 0. 0. 1. ]] SLAMing on 74.53320100799999 meters Centerline goodness : 0.884722 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.49, Z:-0.52 [[ 0.98090571 0.06329694 0.18389531 9.78990783] [-0.08615409 0.98913887 0.11908719 -0.48737526] [-0.17436014 -0.13265664 0.97570526 -0.51780529] [ 0. 0. 0. 1. ]] SLAMing on 74.593201008 meters Centerline goodness : 0.883896 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.49, Z:-0.52 [[ 0.98099001 0.06443804 0.18304736 9.79633831] [-0.08813934 0.98830397 0.12444561 -0.48675017] [-0.1728874 -0.13821358 0.97519585 -0.51655707] [ 0. 0. 0. 1. ]] SLAMing on 74.653201008 meters Centerline goodness : 0.887084 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.49, Z:-0.51 [[ 0.98124669 0.06449566 0.18164592 9.80449932] [-0.08934969 0.98719465 0.13214897 -0.48910961] [-0.17079685 -0.14590075 0.97444415 -0.51005831] [ 0. 0. 0. 1. ]] SLAMing on 74.713201008 meters Centerline goodness : 0.886563 with order 1 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.49, Z:-0.51 [[ 0.98193527 0.0645488 0.17786672 9.83139199] [-0.08864363 0.98740707 0.13103276 -0.49449529] [-0.16716885 -0.14443244 0.97529167 -0.50936214] [ 0. 0. 0. 1. ]] SLAMing on 74.77320100799999 meters Centerline goodness : 0.882874 with order 1 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.50, Z:-0.51 [[ 0.98207805 0.06287624 0.1776775 9.86436491] [-0.08727436 0.98726319 0.13302101 -0.49767299] [-0.16705059 -0.1461437 0.97505698 -0.51079445] [ 0. 0. 0. 1. ]] SLAMing on 74.83320100799999 meters Centerline goodness : 0.887579 with order 1 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.50, Z:-0.51 [[ 0.98249921 0.05929095 0.1765783 9.89969734] [-0.08383427 0.98729956 0.13494962 -0.50161106] [-0.16633438 -0.14739121 0.97499164 -0.51238013] [ 0. 0. 0. 1. ]] SLAMing on 74.89320100799999 meters Centerline goodness : 0.886929 with order 1 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.50, Z:-0.50 [[ 0.9823602 0.0534234 0.17920487 9.91551659] [-0.08040333 0.98588608 0.14684668 -0.50300572] [-0.16883054 -0.15866501 0.97279066 -0.5029051 ] [ 0. 0. 0. 1. ]] SLAMing on 74.953201008 meters Centerline goodness : 0.887728 with order 1 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.50, Z:-0.50 [[ 0.98235906 0.04951703 0.18032954 9.92042583] [-0.07732563 0.98556461 0.15060926 -0.50107157] [-0.17026869 -0.16189647 0.97200726 -0.49538915] [ 0. 0. 0. 1. ]] SLAMing on 75.013201008 meters Centerline goodness : 0.889278 with order 1 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.50, Z:-0.49 [[ 0.98217974 0.04745461 0.1818544 9.9208762 ] [-0.0756375 0.98558606 0.15132444 -0.50003509] [-0.17205212 -0.16238281 0.97161201 -0.49259582] [ 0. 0. 0. 1. ]] SLAMing on 75.073201008 meters Centerline goodness : 0.893018 with order 1 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.49, Z:-0.49 [[ 0.98159689 0.04393313 0.18584248 9.89544821] [-0.07332799 0.98528541 0.15438802 -0.49205703] [-0.17632514 -0.16517426 0.97037462 -0.48677795] [ 0. 0. 0. 1. ]] SLAMing on 75.13320100799999 meters Centerline goodness : 0.894462 with order 1 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.48, Z:-0.49 [[ 0.98151874 0.04857673 0.185098 9.87643975] [-0.0750298 0.98748726 0.1387063 -0.48449962] [-0.17604402 -0.1500307 0.97288195 -0.49359459] [ 0. 0. 0. 1. ]] SLAMing on 75.19320100799999 meters Centerline goodness : 0.895362 with order 1 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.48, Z:-0.50 [[ 0.98097831 0.05530834 0.18607133 9.85963582] [-0.08018189 0.98840721 0.1289265 -0.47551362] [-0.17678354 -0.14139366 0.97404077 -0.49968502] [ 0. 0. 0. 1. ]] SLAMing on 75.25320100799999 meters Centerline goodness : 0.891039 with order 1 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.47, Z:-0.50 [[ 0.98026264 0.05884355 0.18873947 9.8563576 ] [-0.08472279 0.98760633 0.13212033 -0.47113867] [-0.17862587 -0.14550315 0.97309898 -0.49993769] [ 0. 0. 0. 1. ]] SLAMing on 75.313201008 meters Centerline goodness : 0.890963 with order 1 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.47, Z:-0.50 [[ 0.97983795 0.06606263 0.18855589 9.85740509] [-0.09296897 0.98611209 0.13762161 -0.46505474] [-0.17684559 -0.15237673 0.97237183 -0.503725 ] [ 0. 0. 0. 1. ]] SLAMing on 75.373201008 meters Centerline goodness : 0.894111 with order 1 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.46, Z:-0.51 [[ 0.97866985 0.07311158 0.19198962 9.8668484 ] [-0.09858855 0.98703151 0.12668502 -0.46195925] [-0.18023767 -0.14291079 0.97318595 -0.51316798] [ 0. 0. 0. 1. ]] SLAMing on 75.433201008 meters Centerline goodness : 0.891561 with order 1 Centerline is valid? [False, False] Translation: X:9.85, Y:-0.46, Z:-0.52 [[ 0.97776194 0.08534102 0.1915685 9.85332294] [-0.1065757 0.98891209 0.10341418 -0.45583687] [-0.18061893 -0.121531 0.97601589 -0.52333078] [ 0. 0. 0. 1. ]] SLAMing on 75.493201008 meters Centerline goodness : 0.894356 with order 1 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.45, Z:-0.54 [[ 0.97652747 0.08968872 0.19583166 9.8609095 ] [-0.10855533 0.99020408 0.08781584 -0.45218899] [-0.18603722 -0.10701315 0.97669767 -0.53696539] [ 0. 0. 0. 1. ]] SLAMing on 75.55320100799999 meters Centerline goodness : 0.893808 with order 1 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.45, Z:-0.55 [[ 0.97571661 0.09126774 0.19911628 9.86790792] [-0.10671093 0.99194585 0.06823637 -0.4519798 ] [-0.19128478 -0.08782724 0.97759731 -0.5505323 ] [ 0. 0. 0. 1. ]] SLAMing on 75.61320100799999 meters Centerline goodness : 0.892095 with order 1 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.46, Z:-0.55 [[ 0.97581181 0.09086476 0.19883388 9.86908037] [-0.10641586 0.99192787 0.06895486 -0.45559344] [-0.1909633 -0.08844604 0.97760438 -0.55028096] [ 0. 0. 0. 1. ]] SLAMing on 75.67320100799999 meters Centerline goodness : 0.893797 with order 1 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.46, Z:-0.56 [[ 0.97609544 0.09687516 0.19455821 9.87676883] [-0.10903159 0.99263757 0.05275188 -0.45615644] [-0.18801544 -0.07270386 0.97947146 -0.55920665] [ 0. 0. 0. 1. ]] SLAMing on 75.733201008 meters Centerline goodness : 0.894292 with order 1 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.46, Z:-0.56 [[ 0.97727768 0.10148619 0.18608837 9.88850112] [-0.11263982 0.99235937 0.05035036 -0.46154053] [-0.17955667 -0.07016724 0.98124205 -0.5573969 ] [ 0. 0. 0. 1. ]] SLAMing on 75.793201008 meters Centerline goodness : 0.890009 with order 1 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.46, Z:-0.56 [[ 0.9773665 0.09955467 0.1866644 9.88622713] [-0.10950897 0.9930216 0.04377084 -0.45946526] [-0.18100419 -0.06322158 0.98144817 -0.56368703] [ 0. 0. 0. 1. ]] SLAMing on 75.853201008 meters Centerline goodness : 0.886172 with order 1 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.46, Z:-0.56 [[ 0.97761308 0.09841859 0.18597431 9.8892695 ] [-0.10834221 0.99314176 0.04394775 -0.46203765] [-0.18037358 -0.06311276 0.98157127 -0.56494589] [ 0. 0. 0. 1. ]] SLAMing on 75.91320100799999 meters Centerline goodness : 0.885538 with order 1 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.47, Z:-0.56 [[ 0.97831784 0.09688692 0.18304953 9.92297349] [-0.10785085 0.9928633 0.05089848 -0.47458529] [-0.17681176 -0.06953694 0.98178522 -0.55784658] [ 0. 0. 0. 1. ]] SLAMing on 75.97320100799999 meters Centerline goodness : 0.886336 with order 1 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.49, Z:-0.55 [[ 0.97905841 0.09279028 0.18120316 9.96470804] [-0.10555238 0.99247374 0.06208513 -0.48829031] [-0.17407848 -0.07991139 0.981484 -0.54992793] [ 0. 0. 0. 1. ]] SLAMing on 76.03320100799999 meters Centerline goodness : 0.884037 with order 1 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.49, Z:-0.55 [[ 0.97924217 0.09208075 0.18057105 9.96723983] [-0.10461848 0.99262971 0.06116565 -0.48832053] [-0.17360801 -0.07878705 0.98165822 -0.55259118] [ 0. 0. 0. 1. ]] SLAMing on 76.093201008 meters Centerline goodness : 0.881789 with order 1 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.48, Z:-0.56 [[ 0.97944929 0.09168457 0.17964696 9.97034636] [-0.10367671 0.99288777 0.05852364 -0.48320797] [-0.17300356 -0.07594614 0.98198877 -0.55802336] [ 0. 0. 0. 1. ]] SLAMing on 76.153201008 meters Centerline goodness : 0.880491 with order 1 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.49, Z:-0.56 [[ 0.98026994 0.09265767 0.17460071 10.00265194] [-0.1040778 0.99291092 0.05740828 -0.48578326] [-0.16804363 -0.07444767 0.98296433 -0.56228695] [ 0. 0. 0. 1. ]] SLAMing on 76.213201008 meters Centerline goodness : 0.877846 with order 1 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.48, Z:-0.56 [[ 0.98029063 0.09290288 0.17435408 10.00314891] [-0.10412034 0.99296916 0.05631352 -0.4829746 ] [-0.16789653 -0.07335742 0.98307143 -0.56414949] [ 0. 0. 0. 1. ]] SLAMing on 76.27320100799999 meters Centerline goodness : 0.881310 with order 1 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.48, Z:-0.57 [[ 0.97942159 0.09789331 0.17649431 10.00430197] [-0.10587724 0.99371356 0.03637821 -0.47751221] [-0.1718236 -0.05431634 0.98362919 -0.57424594] [ 0. 0. 0. 1. ]] SLAMing on 76.33320100799999 meters Centerline goodness : 0.879982 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.48, Z:-0.58 [[ 0.97953695 0.0975211 0.17605964 10.00562639] [-0.10538603 0.99378439 0.03586608 -0.47704648] [-0.17146762 -0.05368637 0.98372589 -0.57532037] [ 0. 0. 0. 1. ]] SLAMing on 76.39320100799999 meters Centerline goodness : 0.875648 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.48, Z:-0.58 [[ 0.9796388 0.09850174 0.17494353 10.01207492] [-0.10695161 0.9934783 0.03952481 -0.47657815] [-0.16990934 -0.05743053 0.98378481 -0.5773139 ] [ 0. 0. 0. 1. ]] SLAMing on 76.453201008 meters Centerline goodness : 0.873936 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.48, Z:-0.58 [[ 0.97958503 0.0989546 0.174989 10.01125072] [-0.10748108 0.99340554 0.03991567 -0.47707588] [-0.16988521 -0.0579088 0.98376094 -0.57592246] [ 0. 0. 0. 1. ]] SLAMing on 76.513201008 meters Centerline goodness : 0.876843 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.48, Z:-0.58 [[ 0.97959898 0.09948729 0.17460846 10.01119116] [-0.10797489 0.99335749 0.0397784 -0.47646943] [-0.16949118 -0.05782021 0.98383411 -0.57545819] [ 0. 0. 0. 1. ]] SLAMing on 76.573201008 meters Centerline goodness : 0.874905 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.48, Z:-0.58 [[ 0.97962433 0.10093806 0.17363085 10.01655837] [-0.10993712 0.99300831 0.04299204 -0.47651615] [-0.16807734 -0.06120453 0.98387195 -0.57850456] [ 0. 0. 0. 1. ]] SLAMing on 76.63320100799999 meters Centerline goodness : 0.871258 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.47, Z:-0.58 [[ 0.97987844 0.09858266 0.17355031 10.01538278] [-0.10640742 0.99365789 0.03635194 -0.47218708] [-0.16886596 -0.05408752 0.98415386 -0.58348379] [ 0. 0. 0. 1. ]] SLAMing on 76.69320100799999 meters Centerline goodness : 0.872125 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.47, Z:-0.58 [[ 0.98010814 0.09614139 0.17362279 10.01353807] [-0.10336765 0.99409404 0.03304804 -0.47292947] [-0.16942009 -0.05033763 0.98425757 -0.58151136] [ 0. 0. 0. 1. ]] SLAMing on 76.75320100799999 meters Centerline goodness : 0.872139 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.47, Z:-0.58 [[ 0.98027254 0.09559073 0.17299758 10.01550503] [-0.10271816 0.99417266 0.03270622 -0.47402103] [-0.16886305 -0.049831 0.98437906 -0.58304198] [ 0. 0. 0. 1. ]] SLAMing on 76.813201008 meters Centerline goodness : 0.866386 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.47, Z:-0.59 [[ 0.98042961 0.09498677 0.17243924 10.0179844 ] [-0.10164615 0.99436248 0.03018815 -0.47035175] [-0.16859963 -0.04712514 0.98455746 -0.58854058] [ 0. 0. 0. 1. ]] SLAMing on 76.873201008 meters Centerline goodness : 0.864363 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.47, Z:-0.59 [[ 0.98060445 0.09296279 0.17254804 10.01537468] [-0.09904321 0.99471808 0.0269516 -0.47095594] [-0.16913116 -0.04351857 0.98463231 -0.58634247] [ 0. 0. 0. 1. ]] SLAMing on 76.933201008 meters Centerline goodness : 0.868489 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.47, Z:-0.59 [[ 0.98077977 0.09216365 0.17197938 10.01744062] [-0.09833059 0.99476898 0.02767262 -0.47329156] [-0.16852934 -0.04405158 0.98471179 -0.58574223] [ 0. 0. 0. 1. ]] SLAMing on 76.993201008 meters Centerline goodness : 0.862931 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.47, Z:-0.59 [[ 0.9810705 0.09052317 0.1711906 10.02146143] [-0.0966346 0.99493461 0.02769268 -0.47431127] [-0.16781663 -0.0437114 0.98484866 -0.58706003] [ 0. 0. 0. 1. ]] SLAMing on 77.05320100799999 meters Centerline goodness : 0.861388 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.48, Z:-0.59 [[ 0.98119539 0.0898554 0.17082628 10.02293972] [-0.0959517 0.99499895 0.02775529 -0.47547794] [-0.16747801 -0.04362444 0.98491016 -0.58740953] [ 0. 0. 0. 1. ]] SLAMing on 77.11320100799999 meters Centerline goodness : 0.854926 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.48, Z:-0.59 [[ 0.98147293 0.08668811 0.17086854 10.02198308] [-0.09221881 0.99543271 0.02468619 -0.47719635] [-0.16794814 -0.03998613 0.98498453 -0.58508714] [ 0. 0. 0. 1. ]] SLAMing on 77.17320100799999 meters Centerline goodness : 0.852913 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.48, Z:-0.59 [[ 0.981565 0.08629035 0.17054067 10.02311462] [-0.09182119 0.99546665 0.02479938 -0.47779202] [-0.1676276 -0.04000145 0.98503851 -0.58518856] [ 0. 0. 0. 1. ]] SLAMing on 77.233201008 meters Centerline goodness : 0.850804 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.48, Z:-0.59 [[ 0.98173516 0.08537229 0.17002251 10.02550604] [-0.09084489 0.99555974 0.024658 -0.47802413] [-0.16716245 -0.03965331 0.98513163 -0.58616634] [ 0. 0. 0. 1. ]] SLAMing on 77.293201008 meters Centerline goodness : 0.844907 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.47, Z:-0.59 [[ 0.98197021 0.08423446 0.1692308 10.02882117] [-0.08935509 0.99573746 0.02286009 -0.47498844] [-0.16658384 -0.03756956 0.9853113 -0.59009847] [ 0. 0. 0. 1. ]] SLAMing on 77.353201008 meters Centerline goodness : 0.842866 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.47, Z:-0.59 [[ 0.98213159 0.08374402 0.16853631 10.0310855 ] [-0.08861112 0.99583305 0.02155449 -0.47235807] [-0.16602897 -0.03610353 0.98545975 -0.59261746] [ 0. 0. 0. 1. ]] SLAMing on 77.41320100799999 meters Centerline goodness : 0.844051 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.48, Z:-0.59 [[ 0.98229826 0.08503228 0.16691205 10.06620206] [-0.09124739 0.99537889 0.02991287 -0.47894522] [-0.16359717 -0.04461365 0.98551793 -0.58648459] [ 0. 0. 0. 1. ]] SLAMing on 77.47320100799999 meters Centerline goodness : 0.847323 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.48, Z:-0.59 [[ 0.98222427 0.08734658 0.16615071 10.0694384 ] [-0.09421572 0.99497429 0.03390514 -0.47912071] [-0.16235419 -0.04895646 0.98551732 -0.58674559] [ 0. 0. 0. 1. ]] SLAMing on 77.53320100799999 meters Centerline goodness : 0.841132 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.47, Z:-0.59 [[ 0.98213639 0.08884212 0.16587701 10.06930463] [-0.09516163 0.99499353 0.03053084 -0.47096035] [-0.16233413 -0.04577057 0.98567372 -0.5934239 ] [ 0. 0. 0. 1. ]] SLAMing on 77.593201008 meters Centerline goodness : 0.839558 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.47, Z:-0.59 [[ 0.98188864 0.09078222 0.16629278 10.06619353] [-0.09733321 0.99474813 0.03166062 -0.46913835] [-0.16254521 -0.04727301 0.98556802 -0.5895098 ] [ 0. 0. 0. 1. ]] SLAMing on 77.653201008 meters Centerline goodness : 0.838682 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.47, Z:-0.59 [[ 0.98178586 0.09155731 0.16647455 10.0645958 ] [-0.09822819 0.99464051 0.03227182 -0.46895336] [-0.16262761 -0.04803651 0.98551751 -0.5871629 ] [ 0. 0. 0. 1. ]] SLAMing on 77.713201008 meters Centerline goodness : 0.835373 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.47, Z:-0.59 [[ 0.98140721 0.09477665 0.16690501 10.06513352] [-0.10214872 0.99411268 0.03613325 -0.46803507] [-0.1624978 -0.05251057 0.98531066 -0.58764692] [ 0. 0. 0. 1. ]] SLAMing on 77.77320100799999 meters Centerline goodness : 0.836052 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.47, Z:-0.59 [[ 0.9811236 0.09787685 0.1667831 10.06640078] [-0.10609846 0.99350594 0.04109811 -0.47031314] [-0.16167745 -0.05801775 0.98513671 -0.58665657] [ 0. 0. 0. 1. ]] SLAMing on 77.83320100799999 meters Centerline goodness : 0.838624 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.47, Z:-0.58 [[ 0.9810119 0.09876563 0.16691616 10.0649995 ] [-0.10720756 0.99333542 0.04232361 -0.47253977] [-0.16162362 -0.05941464 0.98506229 -0.58419423] [ 0. 0. 0. 1. ]] SLAMing on 77.89320100799999 meters Centerline goodness : 0.839397 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.47, Z:-0.59 [[ 0.98109899 0.09878016 0.16639484 10.06668453] [-0.1070375 0.99339315 0.04138858 -0.47239944] [-0.16120713 -0.05841678 0.98519021 -0.58740386] [ 0. 0. 0. 1. ]] SLAMing on 77.953201008 meters Centerline goodness : 0.844121 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.47, Z:-0.59 [[ 0.98108017 0.1006682 0.16537115 10.07212803] [-0.1091928 0.9930784 0.04326915 -0.47236964] [-0.15987069 -0.06050785 0.98528177 -0.59421228] [ 0. 0. 0. 1. ]] SLAMing on 78.013201008 meters Centerline goodness : 0.848048 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.47, Z:-0.60 [[ 0.98120464 0.09880453 0.16575618 10.06929174] [-0.10658702 0.99354955 0.03871039 -0.47168884] [-0.16086221 -0.05565028 0.98540672 -0.59521978] [ 0. 0. 0. 1. ]] SLAMing on 78.073201008 meters Centerline goodness : 0.856823 with order 1 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.48, Z:-0.59 [[ 0.98169251 0.09154715 0.16702975 10.10219102] [-0.0993625 0.99428549 0.03903148 -0.48059919] [-0.16250203 -0.05491341 0.98517897 -0.58741367] [ 0. 0. 0. 1. ]] SLAMing on 78.13320100799999 meters Centerline goodness : 0.858691 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.48, Z:-0.58 [[ 0.9824787 0.08375818 0.16649377 10.12433914] [-0.09298274 0.99449109 0.04839099 -0.48381957] [-0.16152343 -0.06302417 0.98485437 -0.58260059] [ 0. 0. 0. 1. ]] SLAMing on 78.19320100799999 meters Centerline goodness : 0.859908 with order 1 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.49, Z:-0.57 [[ 0.98343346 0.07131031 0.16665376 10.13808588] [-0.08427596 0.99383337 0.07206103 -0.48780771] [-0.16048738 -0.08491213 0.98337873 -0.57204398] [ 0. 0. 0. 1. ]] SLAMing on 78.25320100799999 meters Centerline goodness : 0.862188 with order 1 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.49, Z:-0.57 [[ 0.98356329 0.06738772 0.16751758 10.1382689 ] [-0.07990114 0.99440413 0.06911035 -0.48730626] [-0.16192299 -0.08135925 0.98344375 -0.56974576] [ 0. 0. 0. 1. ]] SLAMing on 78.313201008 meters Centerline goodness : 0.865748 with order 1 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.49, Z:-0.57 [[ 0.98377648 0.06374289 0.16769224 10.13844981] [-0.07551582 0.99503776 0.06478594 -0.48791063] [-0.16273046 -0.0763983 0.98370834 -0.56980148] [ 0. 0. 0. 1. ]] SLAMing on 78.373201008 meters Centerline goodness : 0.869766 with order 1 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.49, Z:-0.54 [[ 0.98219989 0.05633242 0.17919275 10.11390876] [-0.07483268 0.99234772 0.09821438 -0.49111708] [-0.17228887 -0.10987563 0.97889933 -0.54453951] [ 0. 0. 0. 1. ]] SLAMing on 78.433201008 meters Centerline goodness : 0.872955 with order 1 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.49, Z:-0.54 [[ 0.98164433 0.05990136 0.18106971 10.11209653] [-0.07934117 0.99160557 0.10209487 -0.4850102 ] [-0.17343411 -0.11458713 0.97815663 -0.54377913] [ 0. 0. 0. 1. ]] SLAMing on 78.493201008 meters Centerline goodness : 0.874203 with order 1 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.48, Z:-0.55 [[ 0.98146717 0.06122452 0.18158678 10.11019643] [-0.08038573 0.99172411 0.10010707 -0.47884458] [-0.17395498 -0.11284878 0.97826623 -0.54609161] [ 0. 0. 0. 1. ]] SLAMing on 78.55320100799999 meters Centerline goodness : 0.877037 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.48, Z:-0.55 [[ 0.98012345 0.06644034 0.18693237 10.12179629] [-0.08479008 0.99214825 0.09193741 -0.47513276] [-0.17935627 -0.10596002 0.97806125 -0.55398254] [ 0. 0. 0. 1. ]] SLAMing on 78.61320100799999 meters Centerline goodness : 0.883205 with order 1 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.47, Z:-0.56 [[ 0.9798865 0.08009114 0.18277817 10.14450654] [-0.09599933 0.99216918 0.0799028 -0.4746448 ] [-0.17494736 -0.09584225 0.97990187 -0.55984469] [ 0. 0. 0. 1. ]] SLAMing on 78.67320100799999 meters Centerline goodness : 0.885353 with order 1 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.47, Z:-0.57 [[ 0.97891988 0.0824399 0.18686768 10.15855455] [-0.09661749 0.99299174 0.06806229 -0.47248249] [-0.17994701 -0.08468221 0.98002449 -0.57057952] [ 0. 0. 0. 1. ]] SLAMing on 78.733201008 meters Centerline goodness : 0.892987 with order 1 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.48, Z:-0.57 [[ 0.97951738 0.08124547 0.18424136 10.19760734] [-0.09667827 0.992381 0.07637583 -0.48075928] [-0.17663244 -0.09262359 0.9799091 -0.5691727 ] [ 0. 0. 0. 1. ]] SLAMing on 78.793201008 meters Centerline goodness : 0.893343 with order 1 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.49, Z:-0.56 [[ 0.98011687 0.08034481 0.18142665 10.24078381] [-0.09821723 0.99092508 0.0917653 -0.49135988] [-0.17240735 -0.10775995 0.97911363 -0.56140508] [ 0. 0. 0. 1. ]] SLAMing on 78.853201008 meters Centerline goodness : 0.898555 with order 1 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.50, Z:-0.55 [[ 0.9808442 0.07800947 0.17849142 10.28117007] [-0.09747845 0.98989004 0.10303228 -0.5027472 ] [-0.16864939 -0.11845768 0.97853215 -0.55211731] [ 0. 0. 0. 1. ]] SLAMing on 78.91320100799999 meters Centerline goodness : 0.899789 with order 1 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.50, Z:-0.55 [[ 0.98139146 0.07390128 0.17722699 10.29165714] [-0.09379608 0.98986437 0.10663406 -0.5034725 ] [-0.16755029 -0.12127295 0.97837609 -0.54855444] [ 0. 0. 0. 1. ]] SLAMing on 78.97320100799999 meters Centerline goodness : 0.894683 with order 1 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.51, Z:-0.54 [[ 0.98162955 0.07497339 0.17544922 10.32967154] [-0.09705777 0.98791123 0.12087673 -0.51168262] [-0.16426571 -0.13568488 0.97703961 -0.54237858] [ 0. 0. 0. 1. ]] SLAMing on 79.03320100799999 meters Centerline goodness : 0.896318 with order 1 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.51, Z:-0.55 [[ 0.9806375 0.07749759 0.17984499 10.34474873] [-0.09893004 0.98860841 0.11342955 -0.51127088] [-0.16900575 -0.12902534 0.97713332 -0.54660327] [ 0. 0. 0. 1. ]] SLAMing on 79.093201008 meters Centerline goodness : 0.897744 with order 1 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.51, Z:-0.54 [[ 0.98007588 0.08114973 0.18128981 10.36723312] [-0.10324153 0.98787611 0.11593951 -0.51474638] [-0.16968341 -0.13234616 0.97657157 -0.54422356] [ 0. 0. 0. 1. ]] SLAMing on 79.153201008 meters Centerline goodness : 0.895574 with order 1 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.51, Z:-0.55 [[ 0.98119323 0.084102 0.17374318 10.38813641] [-0.10382433 0.98874467 0.10772413 -0.51426696] [-0.16272783 -0.12373696 0.97888141 -0.54933592] [ 0. 0. 0. 1. ]] SLAMing on 79.213201008 meters Centerline goodness : 0.894738 with order 1 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.52, Z:-0.54 [[ 0.98165931 0.0808269 0.17266153 10.43420927] [-0.10310443 0.98688442 0.12421195 -0.52171329] [-0.16035731 -0.13973599 0.9771179 -0.53825773] [ 0. 0. 0. 1. ]] SLAMing on 79.27320100799999 meters Centerline goodness : 0.894329 with order 1 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.52, Z:-0.54 [[ 0.98238301 0.07862003 0.16953614 10.4727776 ] [-0.10129194 0.98639031 0.12951486 -0.52452242] [-0.15704635 -0.14440584 0.97697666 -0.53518757] [ 0. 0. 0. 1. ]] SLAMing on 79.33320100799999 meters Centerline goodness : 0.894367 with order 1 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.52, Z:-0.53 [[ 0.98268905 0.07633934 0.16880323 10.48464126] [-0.10030665 0.98529085 0.13834924 -0.5232867 ] [-0.15575879 -0.15288637 0.97589188 -0.52632408] [ 0. 0. 0. 1. ]] SLAMing on 79.39320100799999 meters Centerline goodness : 0.896055 with order 1 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.52, Z:-0.54 [[ 0.98183164 0.07860998 0.17270524 10.50226497] [-0.10166041 0.98642632 0.12895066 -0.5181017 ] [-0.16022418 -0.14416512 0.9764961 -0.5351211 ] [ 0. 0. 0. 1. ]] SLAMing on 79.453201008 meters Centerline goodness : 0.893890 with order 1 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.51, Z:-0.55 [[ 0.98089257 0.08417348 0.17539839 10.51463215] [-0.10561806 0.9875305 0.11674049 -0.51217742] [-0.1633848 -0.13303512 0.97755157 -0.54703896] [ 0. 0. 0. 1. ]] SLAMing on 79.513201008 meters Centerline goodness : 0.895633 with order 1 Centerline is valid? [False, False] Translation: X:10.52, Y:-0.51, Z:-0.56 [[ 0.97983837 0.09011766 0.17831316 10.52469431] [-0.10963217 0.98864375 0.10278291 -0.5063738 ] [-0.16702563 -0.1202595 0.97859087 -0.56117794] [ 0. 0. 0. 1. ]] SLAMing on 79.573201008 meters Centerline goodness : 0.898348 with order 1 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.50, Z:-0.57 [[ 0.97873919 0.0954982 0.18152048 10.53673014] [-0.11354117 0.98928914 0.09173546 -0.50270693] [-0.17081567 -0.11039513 0.97909904 -0.57155805] [ 0. 0. 0. 1. ]] SLAMing on 79.63320100799999 meters Centerline goodness : 0.896611 with order 1 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.51, Z:-0.57 [[ 0.97832509 0.09241586 0.18530875 10.57675691] [-0.11264455 0.98841024 0.10176645 -0.51014055] [-0.17375624 -0.12043469 0.97739667 -0.56672678] [ 0. 0. 0. 1. ]] SLAMing on 79.69320100799999 meters Centerline goodness : 0.896788 with order 1 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.52, Z:-0.56 [[ 0.97872506 0.090654 0.18406281 10.61720132] [-0.11234813 0.98744278 0.1110615 -0.51844167] [-0.17168332 -0.12937779 0.9766198 -0.56465095] [ 0. 0. 0. 1. ]] SLAMing on 79.75320100799999 meters Centerline goodness : 0.897051 with order 1 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.52, Z:-0.57 [[ 0.97844289 0.09101065 0.18538226 10.64602464] [-0.11257952 0.98760851 0.10934022 -0.52114022] [-0.17313397 -0.12785341 0.97656445 -0.56980041] [ 0. 0. 0. 1. ]] SLAMing on 79.813201008 meters Centerline goodness : 0.897730 with order 1 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.53, Z:-0.56 [[ 0.97810629 0.08853355 0.18833452 10.68919331] [-0.11295009 0.98594278 0.12312231 -0.53007248] [-0.1747866 -0.14169911 0.97435671 -0.56238519] [ 0. 0. 0. 1. ]] SLAMing on 79.873201008 meters Centerline goodness : 0.895976 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.54, Z:-0.55 [[ 0.97828062 0.08736118 0.18797619 10.73180652] [-0.11481617 0.98340014 0.14050416 -0.53992102] [-0.1725812 -0.1590352 0.97207177 -0.55092639] [ 0. 0. 0. 1. ]] SLAMing on 79.933201008 meters Centerline goodness : 0.897100 with order 1 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.55, Z:-0.53 [[ 0.9776407 0.07877405 0.19497003 10.76361079] [-0.11295249 0.97878958 0.17091724 -0.55116871] [-0.17737079 -0.189118 0.96580225 -0.52984181] [ 0. 0. 0. 1. ]] SLAMing on 79.993201008 meters Centerline goodness : 0.898440 with order 1 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.56, Z:-0.52 [[ 0.97758113 0.07168063 0.19798236 10.81096607] [-0.10977111 0.9758813 0.18869552 -0.56078177] [-0.17968147 -0.20619792 0.96187161 -0.51757186] [ 0. 0. 0. 1. ]] SLAMing on 80.05320100799999 meters Centerline goodness : 0.897840 with order 1 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.57, Z:-0.51 [[ 0.97807097 0.07088802 0.19583682 10.85170746] [-0.11042018 0.97375957 0.19899672 -0.56609662] [-0.1765915 -0.21625725 0.96023343 -0.51478115] [ 0. 0. 0. 1. ]] SLAMing on 80.11320100799999 meters Centerline goodness : 0.898890 with order 1 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.57, Z:-0.52 [[ 0.97750038 0.06969719 0.1990862 10.88671252] [-0.11076191 0.97284048 0.2032565 -0.56689067] [-0.1795127 -0.22073447 0.95867173 -0.51514852] [ 0. 0. 0. 1. ]] SLAMing on 80.17320100799999 meters Centerline goodness : 0.898920 with order 1 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.56, Z:-0.53 [[ 0.97886188 0.07789533 0.18910775 10.86855139] [-0.11195286 0.97787818 0.17669417 -0.55563874] [-0.17116069 -0.19413034 0.96592827 -0.5277467 ] [ 0. 0. 0. 1. ]] SLAMing on 80.233201008 meters Centerline goodness : 0.899697 with order 1 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.55, Z:-0.54 [[ 0.97828007 0.0824653 0.19017774 10.87561464] [-0.11322181 0.98108787 0.15699493 -0.54934161] [-0.17363444 -0.17511728 0.96911559 -0.54348093] [ 0. 0. 0. 1. ]] SLAMing on 80.293201008 meters Centerline goodness : 0.897270 with order 1 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.54, Z:-0.56 [[ 0.97763108 0.08754114 0.19124333 10.87899097] [-0.11480626 0.98396816 0.1364778 -0.54210927] [-0.17622992 -0.15538087 0.97200813 -0.55564967] [ 0. 0. 0. 1. ]] SLAMing on 80.353201008 meters Centerline goodness : 0.900820 with order 1 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.54, Z:-0.57 [[ 0.97672463 0.09425943 0.1926763 10.88084191] [-0.11829873 0.986024 0.11731189 -0.53518453] [-0.1789257 -0.13737478 0.9742247 -0.56787849] [ 0. 0. 0. 1. ]] SLAMing on 80.41320100799999 meters Centerline goodness : 0.901038 with order 1 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.53, Z:-0.58 [[ 0.97565114 0.10274463 0.19377406 10.88187487] [-0.12371281 0.98732882 0.09938284 -0.52568189] [-0.18110766 -0.12093532 0.97599932 -0.57891322] [ 0. 0. 0. 1. ]] SLAMing on 80.47320100799999 meters Centerline goodness : 0.899481 with order 1 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.52, Z:-0.59 [[ 0.97473017 0.10804964 0.19551568 10.89006334] [-0.12615698 0.98856309 0.08262832 -0.51946767] [-0.18435162 -0.10520598 0.97721348 -0.5931799 ] [ 0. 0. 0. 1. ]] SLAMing on 80.53320100799999 meters Centerline goodness : 0.896727 with order 1 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.51, Z:-0.61 [[ 0.97428822 0.11106562 0.19602779 10.89708147] [-0.12535408 0.99017186 0.06201647 -0.51362939] [-0.1872133 -0.08499479 0.97863531 -0.60600855] [ 0. 0. 0. 1. ]] SLAMing on 80.593201008 meters Centerline goodness : 0.895296 with order 1 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.51, Z:-0.61 [[ 0.97465149 0.1094654 0.19511995 10.90118873] [-0.12380215 0.99031607 0.06282598 -0.51434115] [-0.18635315 -0.0853897 0.97876509 -0.6050247 ] [ 0. 0. 0. 1. ]] SLAMing on 80.653201008 meters Centerline goodness : 0.892445 with order 1 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.51, Z:-0.61 [[ 0.97593626 0.10247857 0.19247481 10.91092431] [-0.11567824 0.99155593 0.05861215 -0.51492821] [-0.18484305 -0.07946687 0.97954993 -0.6073318 ] [ 0. 0. 0. 1. ]] SLAMing on 80.713201008 meters Centerline goodness : 0.891039 with order 1 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.52, Z:-0.60 [[ 0.97661004 0.09191901 0.19438035 10.94317165] [-0.10864639 0.99107824 0.0772003 -0.52368658] [-0.18554996 -0.09651331 0.97788363 -0.59642412] [ 0. 0. 0. 1. ]] SLAMing on 80.77320100799999 meters Centerline goodness : 0.890052 with order 1 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.53, Z:-0.59 [[ 0.97705476 0.08739382 0.19423263 10.98635825] [-0.10559445 0.99073544 0.08539969 -0.53246628] [-0.18496974 -0.10395006 0.97723108 -0.59356216] [ 0. 0. 0. 1. ]] SLAMing on 80.83320100799999 meters Centerline goodness : 0.891427 with order 1 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.53, Z:-0.60 [[ 0.97626497 0.08715249 0.19827041 11.02047119] [-0.10659172 0.99026074 0.08956489 -0.53393918] [-0.1885336 -0.10857304 0.9760466 -0.59614422] [ 0. 0. 0. 1. ]] SLAMing on 80.89320100799999 meters Centerline goodness : 0.895131 with order 1 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.53, Z:-0.61 [[ 0.97492021 0.09601622 0.20077717 11.02111083] [-0.11252937 0.99100042 0.07249347 -0.52680081] [-0.19200971 -0.09326868 0.97695098 -0.6093476 ] [ 0. 0. 0. 1. ]] SLAMing on 80.953201008 meters Centerline goodness : 0.894297 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.53, Z:-0.61 [[ 0.9760275 0.10106202 0.19276095 11.0312622 ] [-0.11642289 0.99072474 0.07007282 -0.52767873] [-0.18389134 -0.09083479 0.97874053 -0.60819264] [ 0. 0. 0. 1. ]] SLAMing on 81.013201008 meters Centerline goodness : 0.896064 with order 1 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.52, Z:-0.62 [[ 0.9749393 0.10781066 0.19460272 11.03500505] [-0.12011409 0.991369 0.05253677 -0.52321178] [-0.18725908 -0.07459469 0.97947418 -0.62065191] [ 0. 0. 0. 1. ]] SLAMing on 81.073201008 meters Centerline goodness : 0.897338 with order 1 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.52, Z:-0.62 [[ 0.97506635 0.1075688 0.19409937 11.03643881] [-0.11975505 0.99143297 0.05214786 -0.523998 ] [-0.18682703 -0.074092 0.97959483 -0.62215118] [ 0. 0. 0. 1. ]] SLAMing on 81.13320100799999 meters Centerline goodness : 0.896432 with order 1 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.52, Z:-0.63 [[ 0.9757767 0.10306568 0.19296969 11.0399235 ] [-0.11389328 0.99243423 0.04585437 -0.52363702] [-0.18678371 -0.06672158 0.98013268 -0.62848107] [ 0. 0. 0. 1. ]] SLAMing on 81.19320100799999 meters Centerline goodness : 0.894294 with order 1 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.53, Z:-0.63 [[ 0.9768151 0.09952232 0.18954566 11.08231986] [-0.11194018 0.99213865 0.05594913 -0.5347574 ] [-0.18248739 -0.07586973 0.98027656 -0.6254847 ] [ 0. 0. 0. 1. ]] SLAMing on 81.25320100799999 meters Centerline goodness : 0.896630 with order 1 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.54, Z:-0.63 [[ 0.97791294 0.09972322 0.18368876 11.10939938] [-0.11096253 0.99246671 0.05193415 -0.54314165] [-0.17712594 -0.07116964 0.98161158 -0.62816393] [ 0. 0. 0. 1. ]] SLAMing on 81.313201008 meters Centerline goodness : 0.895111 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.54, Z:-0.64 [[ 0.97681332 0.10406766 0.18709799 11.11693197] [-0.11267408 0.99298182 0.03593971 -0.5381564 ] [-0.18204474 -0.05618748 0.98168359 -0.64048406] [ 0. 0. 0. 1. ]] SLAMing on 81.373201008 meters Centerline goodness : 0.892463 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.53, Z:-0.65 [[ 0.97674322 0.1041589 0.18741293 11.11691355] [-0.11233121 0.99310603 0.0334978 -0.53299905] [-0.18263181 -0.05377107 0.98170988 -0.64501249] [ 0. 0. 0. 1. ]] SLAMing on 81.433201008 meters Centerline goodness : 0.894978 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.53, Z:-0.64 [[ 0.9771315 0.11133408 0.18115947 11.12228266] [-0.11745883 0.99280191 0.02340499 -0.53101978] [-0.1772497 -0.04414853 0.98317519 -0.64364026] [ 0. 0. 0. 1. ]] SLAMing on 81.493201008 meters Centerline goodness : 0.894883 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.53, Z:-0.65 [[ 0.97700343 0.11196642 0.18146024 11.12141177] [-0.11781061 0.99279853 0.02171973 -0.52706506] [-0.17772158 -0.04259819 0.9831584 -0.64616391] [ 0. 0. 0. 1. ]] SLAMing on 81.55320100799999 meters Centerline goodness : 0.890162 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.52, Z:-0.65 [[ 0.97700146 0.11190534 0.18150854 11.12191012] [-0.11742132 0.9928828 0.01989941 -0.52323299] [-0.17798986 -0.04075473 0.98318801 -0.64943675] [ 0. 0. 0. 1. ]] SLAMing on 81.61320100799999 meters Centerline goodness : 0.884477 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.52, Z:-0.65 [[ 0.97715563 0.10992009 0.18189131 11.11963067] [-0.11420898 0.99336848 0.01324306 -0.51766536] [-0.17922942 -0.03371415 0.98322946 -0.65405672] [ 0. 0. 0. 1. ]] SLAMing on 81.67320100799999 meters Centerline goodness : 0.886425 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.51, Z:-0.65 [[ 9.77683704e-01 1.05356066e-01 1.81754437e-01 1.11163404e+01] [-1.08008552e-01 9.94138714e-01 4.72977636e-03 -5.14346317e-01] [-1.80190811e-01 -2.42552588e-02 9.83332575e-01 -6.53865071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.733201008 meters Centerline goodness : 0.883414 with order 1 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.52, Z:-0.65 [[ 0.97842663 0.09857322 0.18156168 11.1340258 ] [-0.10230021 0.9946899 0.01125491 -0.51768413] [-0.17948814 -0.0295859 0.98331515 -0.65141762] [ 0. 0. 0. 1. ]] SLAMing on 81.793201008 meters Centerline goodness : 0.878108 with order 1 Centerline is valid? [False, False] Translation: X:11.18, Y:-0.53, Z:-0.64 [[ 0.97947543 0.09327831 0.1786814 11.18180777] [-0.10303114 0.99361005 0.04608317 -0.5288362 ] [-0.17324108 -0.06354708 0.9828272 -0.64372038] [ 0. 0. 0. 1. ]] SLAMing on 81.853201008 meters Centerline goodness : 0.873657 with order 1 Centerline is valid? [False, False] Translation: X:11.18, Y:-0.53, Z:-0.65 [[ 0.97967572 0.09107161 0.1787217 11.18037518] [-0.09964877 0.99423446 0.03959757 -0.52630133] [-0.17408506 -0.05660217 0.98310253 -0.64881887] [ 0. 0. 0. 1. ]] SLAMing on 81.91320100799999 meters Centerline goodness : 0.880235 with order 1 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.54, Z:-0.64 [[ 0.979565 0.09052679 0.17960322 11.21427896] [-0.10135173 0.99348962 0.05202122 -0.53801701] [-0.17372462 -0.06916127 0.9823627 -0.63532824] [ 0. 0. 0. 1. ]] SLAMing on 81.97320100799999 meters Centerline goodness : 0.878817 with order 1 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.54, Z:-0.63 [[ 0.97948238 0.09147409 0.17957384 11.21955681] [-0.10375778 0.99277732 0.06022882 -0.54038043] [-0.17276746 -0.07762525 0.98189904 -0.62839518] [ 0. 0. 0. 1. ]] SLAMing on 82.03320100799999 meters Centerline goodness : 0.872684 with order 1 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.54, Z:-0.64 [[ 0.97830968 0.09548339 0.18382899 11.23065024] [-0.10598246 0.99320207 0.04813911 -0.53742081] [-0.17798285 -0.06657761 0.98177876 -0.63895778] [ 0. 0. 0. 1. ]] SLAMing on 82.093201008 meters Centerline goodness : 0.873920 with order 1 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.54, Z:-0.64 [[ 0.97830519 0.09537313 0.18391009 11.23099257] [-0.10589929 0.99320473 0.04826698 -0.53810329] [-0.178057 -0.06669578 0.98175729 -0.6390293 ] [ 0. 0. 0. 1. ]] SLAMing on 82.153201008 meters Centerline goodness : 0.869834 with order 1 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.55, Z:-0.64 [[ 0.97866744 0.09782142 0.18066825 11.26439488] [-0.10938466 0.99246752 0.05516535 -0.54535948] [-0.17391102 -0.07375087 0.98199581 -0.63951058] [ 0. 0. 0. 1. ]] SLAMing on 82.213201008 meters Centerline goodness : 0.872936 with order 1 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.55, Z:-0.64 [[ 0.97820782 0.09944557 0.18226364 11.29018242] [-0.1107513 0.99243858 0.05291328 -0.54699344] [-0.17562347 -0.07194612 0.98182491 -0.64387251] [ 0. 0. 0. 1. ]] SLAMing on 82.27320100799999 meters Centerline goodness : 0.866398 with order 1 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.54, Z:-0.65 [[ 0.97827384 0.09924523 0.18201834 11.29137952] [-0.11021751 0.99258962 0.05116586 -0.54367302] [-0.17559155 -0.07011584 0.98196302 -0.64742726] [ 0. 0. 0. 1. ]] SLAMing on 82.33320100799999 meters Centerline goodness : 0.864185 with order 1 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.54, Z:-0.65 [[ 0.97821066 0.09978283 0.18206396 11.29114377] [-0.11069034 0.99255881 0.05074118 -0.54226117] [-0.17564609 -0.06978828 0.9819766 -0.64845225] [ 0. 0. 0. 1. ]] SLAMing on 82.39320100799999 meters Centerline goodness : 0.864503 with order 1 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.54, Z:-0.66 [[ 0.97894782 0.10312898 0.17614077 11.31891706] [-0.11315964 0.99242355 0.04785808 -0.54458028] [-0.1698707 -0.06678259 0.98320091 -0.65538122] [ 0. 0. 0. 1. ]] SLAMing on 82.453201008 meters Centerline goodness : 0.860214 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.56, Z:-0.65 [[ 0.97940034 0.09993574 0.17546457 11.36703999] [-0.11267923 0.99155467 0.06420854 -0.55515475] [-0.16756598 -0.08265708 0.98238966 -0.64894355] [ 0. 0. 0. 1. ]] SLAMing on 82.513201008 meters Centerline goodness : 0.862026 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.55, Z:-0.65 [[ 0.97971606 0.09702684 0.17533461 11.36614699] [-0.10896813 0.99224544 0.05979075 -0.55454506] [-0.16817366 -0.07768385 0.98269163 -0.64938747] [ 0. 0. 0. 1. ]] SLAMing on 82.573201008 meters Centerline goodness : 0.867420 with order 1 Centerline is valid? [False, False] Translation: X:11.41, Y:-0.57, Z:-0.65 [[ 0.98034204 0.0907039 0.17522068 11.40951699] [-0.10402389 0.99222173 0.06837441 -0.56630417] [-0.16765594 -0.08525745 0.98215205 -0.64575725] [ 0. 0. 0. 1. ]] SLAMing on 82.63320100799999 meters Centerline goodness : 0.867041 with order 1 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.57, Z:-0.65 [[ 0.9808602 0.08898454 0.1731907 11.44337681] [-0.10218676 0.99237962 0.06885172 -0.57205199] [-0.16574418 -0.0852317 0.98247871 -0.64883327] [ 0. 0. 0. 1. ]] SLAMing on 82.69320100799999 meters Centerline goodness : 0.864651 with order 1 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.57, Z:-0.65 [[ 0.98107057 0.08851124 0.17223906 11.44619345] [-0.10139585 0.99255433 0.06748916 -0.56975167] [-0.16498308 -0.08367595 0.98274052 -0.65169471] [ 0. 0. 0. 1. ]] SLAMing on 82.75320100799999 meters Centerline goodness : 0.858352 with order 1 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.57, Z:-0.66 [[ 0.98133444 0.08933045 0.17030203 11.45459897] [-0.10250457 0.99225336 0.07018602 -0.56696137] [-0.16271301 -0.0863327 0.98288918 -0.65586564] [ 0. 0. 0. 1. ]] SLAMing on 82.813201008 meters Centerline goodness : 0.861600 with order 1 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.57, Z:-0.66 [[ 0.98145378 0.09057928 0.16894934 11.48496152] [-0.10375587 0.99207611 0.07084993 -0.57017807] [-0.16119307 -0.08706542 0.98307497 -0.65776802] [ 0. 0. 0. 1. ]] SLAMing on 82.873201008 meters Centerline goodness : 0.863294 with order 1 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.57, Z:-0.66 [[ 0.98079623 0.09202786 0.17195821 11.5086398 ] [-0.10483889 0.99223313 0.06694937 -0.57052673] [-0.16446143 -0.0836916 0.98282661 -0.66349021] [ 0. 0. 0. 1. ]] SLAMing on 82.933201008 meters Centerline goodness : 0.857239 with order 1 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.57, Z:-0.67 [[ 0.98086031 0.09186667 0.17167865 11.50979059] [-0.10449994 0.99232977 0.06604087 -0.56819586] [-0.16429488 -0.08271727 0.98293695 -0.66506987] [ 0. 0. 0. 1. ]] SLAMing on 82.993201008 meters Centerline goodness : 0.860955 with order 1 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.56, Z:-0.68 [[ 0.97990869 0.09692119 0.17431365 11.52193567] [-0.10774521 0.99272607 0.05372082 -0.56354062] [-0.16783901 -0.07142295 0.98322369 -0.6763717 ] [ 0. 0. 0. 1. ]] SLAMing on 83.05320100799999 meters Centerline goodness : 0.858133 with order 1 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.56, Z:-0.69 [[ 0.97869059 0.1081203 0.17457011 11.52476007] [-0.116907 0.99230322 0.04082976 -0.55926574] [-0.16881196 -0.06036816 0.98379785 -0.68645223] [ 0. 0. 0. 1. ]] SLAMing on 83.11320100799999 meters Centerline goodness : 0.856882 with order 1 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.56, Z:-0.69 [[ 0.9781856 0.11191997 0.1750053 11.52469605] [-0.12143639 0.99159602 0.04461541 -0.55864841] [-0.16854121 -0.06489417 0.9835561 -0.68753039] [ 0. 0. 0. 1. ]] SLAMing on 83.17320100799999 meters Centerline goodness : 0.856197 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.56, Z:-0.69 [[ 0.97882986 0.10758382 0.17412013 11.52676079] [-0.11621935 0.99241159 0.04015355 -0.56015051] [-0.16847896 -0.05953962 0.98390542 -0.68899673] [ 0. 0. 0. 1. ]] SLAMing on 83.233201008 meters Centerline goodness : 0.853443 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.56, Z:-0.69 [[ 0.97956361 0.1032554 0.17260783 11.5305745 ] [-0.11071058 0.99326713 0.03411116 -0.55921178] [-0.16792352 -0.05252356 0.9843998 -0.6944045 ] [ 0. 0. 0. 1. ]] SLAMing on 83.293201008 meters Centerline goodness : 0.851508 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.56, Z:-0.70 [[ 0.97972483 0.1026925 0.17202761 11.53257516] [-0.11007756 0.99334371 0.03392925 -0.56106687] [-0.16739827 -0.05217771 0.98450765 -0.69608576] [ 0. 0. 0. 1. ]] SLAMing on 83.353201008 meters Centerline goodness : 0.848860 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.56, Z:-0.70 [[ 0.98017252 0.09937311 0.17142585 11.53327544] [-0.1058154 0.99396752 0.0288387 -0.5602033 ] [-0.16752593 -0.04640639 0.98477485 -0.69857342] [ 0. 0. 0. 1. ]] SLAMing on 83.41320100799999 meters Centerline goodness : 0.847120 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.56, Z:-0.70 [[ 0.98018039 0.09951224 0.17130008 11.53302471] [-0.10602945 0.99393112 0.02930342 -0.5601768 ] [-0.16734443 -0.04688549 0.98478302 -0.69677026] [ 0. 0. 0. 1. ]] SLAMing on 83.47320100799999 meters Centerline goodness : 0.850083 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.56, Z:-0.70 [[ 0.98021352 0.09946193 0.17113965 11.53348649] [-0.10577836 0.99399061 0.02817085 -0.55716519] [-0.16730928 -0.04571632 0.98484396 -0.69814829] [ 0. 0. 0. 1. ]] SLAMing on 83.53320100799999 meters Centerline goodness : 0.847640 with order 1 Centerline is valid? [False, False] Translation: X:11.54, Y:-0.56, Z:-0.70 [[ 0.98068698 0.09884379 0.16876895 11.54458371] [-0.10570867 0.99387678 0.03216567 -0.55649267] [-0.16455617 -0.0493848 0.98513066 -0.69985527] [ 0. 0. 0. 1. ]] SLAMing on 83.593201008 meters Centerline goodness : 0.845437 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.56, Z:-0.70 [[ 0.98093893 0.09796558 0.16781405 11.54736613] [-0.10476173 0.99397871 0.03211387 -0.55699498] [-0.16365754 -0.04908224 0.98529546 -0.69987824] [ 0. 0. 0. 1. ]] SLAMing on 83.653201008 meters Centerline goodness : 0.845990 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.56, Z:-0.70 [[ 0.98154096 0.09327825 0.16696262 11.55009307] [-0.0996751 0.99455756 0.03033376 -0.55861762] [-0.16322446 -0.04641585 0.9854965 -0.69533054] [ 0. 0. 0. 1. ]] SLAMing on 83.713201008 meters Centerline goodness : 0.848109 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.56, Z:-0.70 [[ 0.98202186 0.08915094 0.16638865 11.5515747 ] [-0.0947825 0.99515313 0.02620163 -0.55792609] [-0.16324629 -0.0415013 0.98571207 -0.695301 ] [ 0. 0. 0. 1. ]] SLAMing on 83.77320100799999 meters Centerline goodness : 0.852312 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.57, Z:-0.68 [[ 0.98212823 0.07669321 0.17187869 11.59985075] [-0.0872597 0.99467841 0.05477778 -0.56818391] [-0.16676294 -0.06879688 0.98359398 -0.68259562] [ 0. 0. 0. 1. ]] SLAMing on 83.83320100799999 meters Centerline goodness : 0.860285 with order 1 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.58, Z:-0.68 [[ 0.98249213 0.07674751 0.16976172 11.63997859] [-0.08918937 0.99376466 0.06691077 -0.5760416 ] [-0.16356796 -0.08088025 0.98321102 -0.67538895] [ 0. 0. 0. 1. ]] SLAMing on 83.89320100799999 meters Centerline goodness : 0.861745 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.58, Z:-0.67 [[ 0.98363497 0.08344489 0.15968469 11.65806016] [-0.09560261 0.99295384 0.07002012 -0.57833774] [-0.1527167 -0.08414051 0.98468167 -0.66688133] [ 0. 0. 0. 1. ]] SLAMing on 83.953201008 meters Centerline goodness : 0.860375 with order 1 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.58, Z:-0.67 [[ 0.98372828 0.08941688 0.15583095 11.68557931] [-0.10138576 0.99233774 0.07061686 -0.57865317] [-0.14832259 -0.08526684 0.9852563 -0.67217833] [ 0. 0. 0. 1. ]] SLAMing on 84.013201008 meters Centerline goodness : 0.859560 with order 1 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.58, Z:-0.67 [[ 0.98380602 0.09063324 0.1546329 11.69213955] [-0.1030917 0.99187541 0.07453366 -0.57504029] [-0.14662135 -0.08926803 0.98515654 -0.67220676] [ 0. 0. 0. 1. ]] SLAMing on 84.073201008 meters Centerline goodness : 0.864634 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.58, Z:-0.65 [[ 0.98376091 0.0812589 0.16003582 11.71892304] [-0.09757709 0.9905006 0.09688793 -0.58307715] [-0.15064257 -0.11093039 0.98234478 -0.65103992] [ 0. 0. 0. 1. ]] SLAMing on 84.13320100799999 meters Centerline goodness : 0.873965 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:-0.58, Z:-0.64 [[ 0.98408957 0.07770988 0.15977766 11.72623087] [-0.0947808 0.99024351 0.10214882 -0.58253339] [-0.15028082 -0.11566744 0.98185372 -0.64162116] [ 0. 0. 0. 1. ]] SLAMing on 84.19320100799999 meters Centerline goodness : 0.861704 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:-0.58, Z:-0.64 [[ 0.98412162 0.0792465 0.15882261 11.73179786] [-0.09670464 0.98971832 0.10538431 -0.58013644] [-0.14883831 -0.11906986 0.98166671 -0.64377025] [ 0. 0. 0. 1. ]] SLAMing on 84.25320100799999 meters Centerline goodness : 0.860460 with order 1 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.58, Z:-0.64 [[ 0.98431084 0.07988823 0.15732147 11.74642988] [-0.09866639 0.98840555 0.11540972 -0.57888146] [-0.14627753 -0.12912138 0.98078058 -0.64166969] [ 0. 0. 0. 1. ]] SLAMing on 84.313201008 meters Centerline goodness : 0.872193 with order 1 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.58, Z:-0.63 [[ 0.98427589 0.07811017 0.15842906 11.75605512] [-0.0986029 0.9871294 0.12590876 -0.5801772 ] [-0.14655523 -0.13955052 0.97930956 -0.63164774] [ 0. 0. 0. 1. ]] SLAMing on 84.373201008 meters Centerline goodness : 0.867829 with order 1 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.58, Z:-0.63 [[ 0.98467767 0.07573444 0.1570802 11.7630704 ] [-0.09594409 0.98746325 0.12534381 -0.57628518] [-0.14561808 -0.13849417 0.97959928 -0.63300704] [ 0. 0. 0. 1. ]] SLAMing on 84.433201008 meters Centerline goodness : 0.858912 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.58, Z:-0.63 [[ 0.9848464 0.07479138 0.15647306 11.76625551] [-0.09489225 0.98758212 0.12520793 -0.57538297] [-0.14516552 -0.13815866 0.97971381 -0.63375931] [ 0. 0. 0. 1. ]] SLAMing on 84.49320100799999 meters Centerline goodness : 0.857800 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.58, Z:-0.62 [[ 0.98450723 0.06877032 0.16129528 11.78671432] [-0.09227867 0.98539535 0.14311061 -0.57814477] [-0.14909785 -0.15577755 0.97647488 -0.62262656] [ 0. 0. 0. 1. ]] SLAMing on 84.55320100799999 meters Centerline goodness : 0.856632 with order 1 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.57, Z:-0.63 [[ 0.9835895 0.06609428 0.16787866 11.8151058 ] [-0.09043355 0.98576356 0.1417462 -0.57480619] [-0.15612006 -0.15460194 0.97556382 -0.62590426] [ 0. 0. 0. 1. ]] SLAMing on 84.61320100799999 meters Centerline goodness : 0.859331 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.58, Z:-0.62 [[ 0.98368805 0.06113005 0.16917726 11.82971396] [-0.08738798 0.98444732 0.15240348 -0.57578471] [-0.15722967 -0.16470154 0.97373109 -0.61583546] [ 0. 0. 0. 1. ]] SLAMing on 84.67320100799999 meters Centerline goodness : 0.861379 with order 1 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.57, Z:-0.61 [[ 0.98392508 0.05697544 0.16924903 11.83867612] [-0.08350368 0.98453343 0.15401646 -0.57056129] [-0.15785617 -0.16567358 0.97346479 -0.61437573] [ 0. 0. 0. 1. ]] SLAMing on 84.733201008 meters Centerline goodness : 0.856825 with order 1 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.56, Z:-0.61 [[ 0.98363546 0.04708517 0.17390877 11.81861473] [-0.07384215 0.98581024 0.15074982 -0.56151952] [-0.16434296 -0.16112466 0.97315478 -0.6149002 ] [ 0. 0. 0. 1. ]] SLAMing on 84.793201008 meters Centerline goodness : 0.859891 with order 1 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.56, Z:-0.62 [[ 0.98347756 0.04690244 0.17484866 11.81080728] [-0.07193277 0.98757923 0.13968874 -0.55580858] [-0.16612517 -0.14995809 0.97463583 -0.62378213] [ 0. 0. 0. 1. ]] SLAMing on 84.853201008 meters Centerline goodness : 0.854769 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.55, Z:-0.62 [[ 0.983925 0.04793985 0.17202722 11.77363899] [-0.07144366 0.9885172 0.13315235 -0.54866231] [-0.16366857 -0.14330218 0.97605178 -0.62119337] [ 0. 0. 0. 1. ]] SLAMing on 84.91320100799999 meters Centerline goodness : 0.858055 with order 1 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.54, Z:-0.62 [[ 0.98364839 0.04862008 0.1734126 11.76148972] [-0.07092945 0.9896349 0.12486701 -0.54290083] [-0.16554412 -0.1351253 0.97690138 -0.62040363] [ 0. 0. 0. 1. ]] SLAMing on 84.97320100799999 meters Centerline goodness : 0.859934 with order 1 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.55, Z:-0.59 [[ 0.98444251 0.04828082 0.16894351 11.74889553] [-0.07369685 0.98630226 0.14756903 -0.54694121] [-0.15950461 -0.15772383 0.97451602 -0.59335377] [ 0. 0. 0. 1. ]] SLAMing on 85.03320100799999 meters Centerline goodness : 0.868212 with order 1 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.54, Z:-0.60 [[ 0.98448881 0.04735204 0.1689366 11.75133083] [-0.0722175 0.98690579 0.14422759 -0.53897097] [-0.15989504 -0.15419063 0.97501735 -0.59927542] [ 0. 0. 0. 1. ]] SLAMing on 85.093201008 meters Centerline goodness : 0.863306 with order 1 Centerline is valid? [False, False] Translation: X:11.74, Y:-0.53, Z:-0.61 [[ 0.98416708 0.04765928 0.17071542 11.74323433] [-0.07097556 0.98854516 0.13319511 -0.5268683 ] [-0.16241192 -0.14320286 0.97627625 -0.60850771] [ 0. 0. 0. 1. ]] SLAMing on 85.153201008 meters Centerline goodness : 0.864514 with order 1 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.52, Z:-0.62 [[ 0.98392451 0.05437056 0.17010705 11.74741977] [-0.07454036 0.99061988 0.11452508 -0.51731039] [-0.16228463 -0.12536387 0.97874797 -0.61945851] [ 0. 0. 0. 1. ]] SLAMing on 85.213201008 meters Centerline goodness : 0.860801 with order 1 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.51, Z:-0.62 [[ 0.98363491 0.05727546 0.17082704 11.74750393] [-0.07818648 0.98989389 0.11830871 -0.51354086] [-0.16232445 -0.12972895 0.97817236 -0.61764039] [ 0. 0. 0. 1. ]] SLAMing on 85.27320100799999 meters Centerline goodness : 0.864003 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.51, Z:-0.62 [[ 0.98235647 0.06179682 0.17651321 11.76732091] [-0.08345003 0.98950015 0.11800653 -0.50779794] [-0.16736742 -0.13065451 0.97719883 -0.62079021] [ 0. 0. 0. 1. ]] SLAMing on 85.33320100799999 meters Centerline goodness : 0.864963 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.50, Z:-0.63 [[ 0.98116842 0.06753721 0.18096204 11.78300785] [-0.08869832 0.9897965 0.11151457 -0.50160683] [-0.17158421 -0.1254656 0.9771475 -0.63041502] [ 0. 0. 0. 1. ]] SLAMing on 85.39320100799999 meters Centerline goodness : 0.865532 with order 1 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.50, Z:-0.64 [[ 0.98005973 0.07219978 0.1851219 11.79587767] [-0.0922701 0.99047612 0.10219239 -0.49834238] [-0.17598055 -0.11723586 0.97738764 -0.63779149] [ 0. 0. 0. 1. ]] SLAMing on 85.453201008 meters Centerline goodness : 0.866306 with order 1 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.50, Z:-0.64 [[ 0.97903924 0.0745243 0.18954762 11.8174441 ] [-0.09466838 0.99052063 0.09953277 -0.49757108] [-0.18033322 -0.11539066 0.97681366 -0.64254647] [ 0. 0. 0. 1. ]] SLAMing on 85.513201008 meters Centerline goodness : 0.871336 with order 1 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.51, Z:-0.63 [[ 0.97923917 0.06922929 0.19052023 11.87113326] [-0.09390253 0.9878692 0.12368004 -0.50923591] [-0.17964678 -0.13900267 0.97386102 -0.62876297] [ 0. 0. 0. 1. ]] SLAMing on 85.573201008 meters Centerline goodness : 0.870877 with order 1 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.51, Z:-0.61 [[ 0.97911978 0.0636236 0.19307122 11.89195198] [-0.09225492 0.98539479 0.14312982 -0.51365513] [-0.18114494 -0.15795301 0.97068911 -0.61352556] [ 0. 0. 0. 1. ]] SLAMing on 85.63320100799999 meters Centerline goodness : 0.871788 with order 1 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.53, Z:-0.59 [[ 0.97917157 0.06295406 0.19302802 11.93000377] [-0.09560944 0.98167646 0.16483374 -0.5255934 ] [-0.17911412 -0.17985581 0.96724869 -0.59251862] [ 0. 0. 0. 1. ]] SLAMing on 85.69320100799999 meters Centerline goodness : 0.872998 with order 1 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.52, Z:-0.61 [[ 0.97817911 0.06983431 0.19567524 11.94273415] [-0.10105856 0.98282124 0.15443309 -0.5201619 ] [-0.18152906 -0.17083788 0.96843256 -0.60523203] [ 0. 0. 0. 1. ]] SLAMing on 85.75320100799999 meters Centerline goodness : 0.870664 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-0.51, Z:-0.62 [[ 0.97717611 0.07886143 0.19725042 11.95065116] [-0.10792406 0.98407842 0.14121638 -0.51227176] [-0.18297335 -0.15928133 0.97012896 -0.62068402] [ 0. 0. 0. 1. ]] SLAMing on 85.813201008 meters Centerline goodness : 0.873250 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.51, Z:-0.62 [[ 0.97635226 0.07900679 0.2012317 11.97497109] [-0.10824912 0.9843975 0.13872162 -0.51248887] [-0.18713203 -0.15722432 0.96967114 -0.62376297] [ 0. 0. 0. 1. ]] SLAMing on 85.873201008 meters Centerline goodness : 0.877881 with order 1 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.52, Z:-0.63 [[ 0.97651892 0.08136729 0.19947473 12.01436793] [-0.10804416 0.98603773 0.12671251 -0.51743581] [-0.18637936 -0.14528924 0.97167575 -0.62974188] [ 0. 0. 0. 1. ]] SLAMing on 85.933201008 meters Centerline goodness : 0.882398 with order 1 Centerline is valid? [False, False] Translation: X:12.05, Y:-0.52, Z:-0.63 [[ 0.97706435 0.07843754 0.19797176 12.04855959] [-0.10504842 0.98623381 0.1277016 -0.52187701] [-0.18522984 -0.1455693 0.97185363 -0.63359148] [ 0. 0. 0. 1. ]] SLAMing on 85.99320100799999 meters Centerline goodness : 0.883924 with order 1 Centerline is valid? [False, False] Translation: X:12.06, Y:-0.52, Z:-0.65 [[ 0.97627255 0.0811377 0.20076996 12.06379642] [-0.10549258 0.98789489 0.1137321 -0.5181151 ] [-0.18911166 -0.13221327 0.9730141 -0.6487541 ] [ 0. 0. 0. 1. ]] SLAMing on 86.05320100799999 meters Centerline goodness : 0.886016 with order 1 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.53, Z:-0.64 [[ 0.97601868 0.08175941 0.20174969 12.09326751] [-0.10789026 0.98663476 0.12211286 -0.52555428] [-0.18906938 -0.14095126 0.97179499 -0.6416352 ] [ 0. 0. 0. 1. ]] SLAMing on 86.11320100799999 meters Centerline goodness : 0.890802 with order 1 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.53, Z:-0.64 [[ 0.97657712 0.08011214 0.19969769 12.11879362] [-0.10655687 0.98636804 0.1253943 -0.53327128] [-0.18692981 -0.14373636 0.97180096 -0.63611905] [ 0. 0. 0. 1. ]] SLAMing on 86.17320100799999 meters Centerline goodness : 0.889638 with order 1 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.53, Z:-0.64 [[ 0.97686419 0.07553219 0.20007808 12.12116718] [-0.10114105 0.98748349 0.12102415 -0.53060074] [-0.18843258 -0.13846027 0.97227667 -0.63715694] [ 0. 0. 0. 1. ]] SLAMing on 86.233201008 meters Centerline goodness : 0.888192 with order 1 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.54, Z:-0.60 [[ 0.97489141 0.05269343 0.21635651 12.10895873] [-0.09147686 0.98059995 0.17336584 -0.53652653] [-0.20302394 -0.18880448 0.9607987 -0.59872084] [ 0. 0. 0. 1. ]] SLAMing on 86.293201008 meters Centerline goodness : 0.892858 with order 1 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.53, Z:-0.59 [[ 0.97321193 0.0391841 0.22654612 12.11771115] [-0.08395197 0.97789426 0.1915069 -0.53428237] [-0.21403412 -0.20539579 0.95498794 -0.58531936] [ 0. 0. 0. 1. ]] SLAMing on 86.353201008 meters Centerline goodness : 0.892839 with order 1 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.53, Z:-0.59 [[ 0.97297365 0.03811423 0.22774892 12.11388238] [-0.08166769 0.97933909 0.18500089 -0.52813387] [-0.21599226 -0.19860072 0.95598384 -0.58810652] [ 0. 0. 0. 1. ]] SLAMing on 86.41320100799999 meters Centerline goodness : 0.894315 with order 1 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.52, Z:-0.59 [[ 0.97206512 0.04493537 0.23036974 12.0930827 ] [-0.08712585 0.98045695 0.17638952 -0.52023274] [-0.21794148 -0.19153326 0.95698303 -0.58872297] [ 0. 0. 0. 1. ]] SLAMing on 86.47320100799999 meters Centerline goodness : 0.893993 with order 1 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.51, Z:-0.59 [[ 0.97117319 0.04749921 0.23359463 12.0855123 ] [-0.08946942 0.98093667 0.17250645 -0.51073203] [-0.22094762 -0.18843321 0.95690913 -0.59423961] [ 0. 0. 0. 1. ]] SLAMing on 86.53320100799999 meters Centerline goodness : 0.890012 with order 1 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.51, Z:-0.59 [[ 0.96914561 0.04456327 0.2424271 12.11831262] [-0.08999921 0.97959257 0.17971793 -0.50907976] [-0.22947096 -0.19599109 0.9533785 -0.59454652] [ 0. 0. 0. 1. ]] SLAMing on 86.593201008 meters Centerline goodness : 0.886712 with order 1 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.50, Z:-0.60 [[ 0.96916585 0.04423247 0.24240677 12.12074115] [-0.08896844 0.98020965 0.17684358 -0.50096093] [-0.22978723 -0.19295731 0.95392102 -0.60043674] [ 0. 0. 0. 1. ]] SLAMing on 86.653201008 meters Centerline goodness : 0.889470 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.50, Z:-0.60 [[ 0.96718229 0.04227757 0.25054146 12.15149548] [-0.09040607 0.97879083 0.18383483 -0.49855271] [-0.23745559 -0.20045227 0.95049131 -0.60058379] [ 0. 0. 0. 1. ]] SLAMing on 86.713201008 meters Centerline goodness : 0.888578 with order 1 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.49, Z:-0.60 [[ 0.96544851 0.04307192 0.25700971 12.17307379] [-0.09259781 0.97858478 0.18384088 -0.49496364] [-0.24358741 -0.20128744 0.94876158 -0.60264432] [ 0. 0. 0. 1. ]] SLAMing on 86.77320100799999 meters Centerline goodness : 0.891381 with order 1 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.49, Z:-0.62 [[ 0.96409374 0.0470902 0.26135374 12.18856348] [-0.09515553 0.98006127 0.17442861 -0.48951672] [-0.2479288 -0.19303478 0.94935182 -0.61538559] [ 0. 0. 0. 1. ]] SLAMing on 86.83320100799999 meters Centerline goodness : 0.891872 with order 1 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.49, Z:-0.63 [[ 0.96206489 0.05416414 0.26738996 12.19453804] [-0.10059319 0.98146444 0.16312132 -0.48588236] [-0.25359841 -0.18383091 0.94968102 -0.62627208] [ 0. 0. 0. 1. ]] SLAMing on 86.89320100799999 meters Centerline goodness : 0.893583 with order 1 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.49, Z:-0.63 [[ 0.9616844 0.0585079 0.26784311 12.24051074] [-0.10582289 0.98046849 0.16578015 -0.49115639] [-0.25291228 -0.18777212 0.94909273 -0.6287451 ] [ 0. 0. 0. 1. ]] SLAMing on 86.953201008 meters Centerline goodness : 0.895059 with order 1 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.49, Z:-0.64 [[ 0.960081 0.06490207 0.27208857 12.24128284] [-0.10806209 0.9832509 0.14676595 -0.48854184] [-0.25800592 -0.17030966 0.95101397 -0.64151839] [ 0. 0. 0. 1. ]] SLAMing on 87.013201008 meters Centerline goodness : 0.895045 with order 1 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.49, Z:-0.64 [[ 0.96108966 0.06353725 0.26883022 12.27832862] [-0.10774663 0.98232981 0.15303204 -0.4945775 ] [-0.2543567 -0.17604306 0.95095295 -0.64360269] [ 0. 0. 0. 1. ]] SLAMing on 87.073201008 meters Centerline goodness : 0.893117 with order 1 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.50, Z:-0.64 [[ 0.96219496 0.05825222 0.26605927 12.32509993] [-0.10574487 0.98012824 0.16782926 -0.50357899] [-0.25099578 -0.18961887 0.94923432 -0.64336931] [ 0. 0. 0. 1. ]] SLAMing on 87.13320100799999 meters Centerline goodness : 0.897809 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.52, Z:-0.63 [[ 0.96276427 0.04429001 0.26668962 12.38761409] [-0.09895834 0.97575874 0.19519765 -0.51605976] [-0.25157942 -0.21432049 0.94380852 -0.63069671] [ 0. 0. 0. 1. ]] SLAMing on 87.19320100799999 meters Centerline goodness : 0.898753 with order 1 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.52, Z:-0.61 [[ 0.96019544 0.02720114 0.27800146 12.42768792] [-0.09286136 0.96972535 0.22585286 -0.52387513] [-0.2634416 -0.24267848 0.9336518 -0.60879444] [ 0. 0. 0. 1. ]] SLAMing on 87.25320100799999 meters Centerline goodness : 0.900329 with order 1 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.52, Z:-0.61 [[ 0.95829317 0.02041521 0.28505688 12.45962953] [-0.08756901 0.97044239 0.22488494 -0.52224383] [-0.27204021 -0.24046785 0.93175605 -0.61295161] [ 0. 0. 0. 1. ]] SLAMing on 87.313201008 meters Centerline goodness : 0.901700 with order 1 Centerline is valid? [False, False] Translation: X:12.47, Y:-0.52, Z:-0.63 [[ 0.95653699 0.02637471 0.29041583 12.46753653] [-0.09100768 0.97315981 0.21137074 -0.51663718] [-0.27704617 -0.228614 0.93326366 -0.62845698] [ 0. 0. 0. 1. ]] SLAMing on 87.373201008 meters Centerline goodness : 0.901336 with order 1 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.51, Z:-0.64 [[ 0.95544418 0.04079325 0.29233941 12.46136277] [-0.10160079 0.97533429 0.19595998 -0.50973309] [-0.2771348 -0.21693073 0.93602209 -0.63915272] [ 0. 0. 0. 1. ]] SLAMing on 87.433201008 meters Centerline goodness : 0.899537 with order 1 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.50, Z:-0.65 [[ 0.95490069 0.05753456 0.29129787 12.44675099] [-0.11201669 0.97836029 0.17396382 -0.50195538] [-0.27498533 -0.1987484 0.94068174 -0.65227177] [ 0. 0. 0. 1. ]] SLAMing on 87.49320100799999 meters Centerline goodness : 0.896505 with order 1 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.50, Z:-0.66 [[ 0.95356101 0.06442477 0.29422925 12.45605165] [-0.11586745 0.98014614 0.16089833 -0.49900324] [-0.27802182 -0.18751797 0.94209388 -0.66486157] [ 0. 0. 0. 1. ]] SLAMing on 87.55320100799999 meters Centerline goodness : 0.889128 with order 1 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.50, Z:-0.68 [[ 0.95212377 0.06655274 0.29838074 12.47533214] [-0.11686159 0.98112551 0.15406526 -0.49752312] [-0.28249549 -0.18155845 0.94193037 -0.67507758] [ 0. 0. 0. 1. ]] SLAMing on 87.61320100799999 meters Centerline goodness : 0.887873 with order 1 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.49, Z:-0.69 [[ 0.95059893 0.07363016 0.30156305 12.47709027] [-0.11879866 0.98379712 0.13427619 -0.49171874] [-0.28679008 -0.16346809 0.94394366 -0.69048675] [ 0. 0. 0. 1. ]] SLAMing on 87.67320100799999 meters Centerline goodness : 0.885622 with order 1 Centerline is valid? [False, False] Translation: X:12.50, Y:-0.49, Z:-0.70 [[ 0.94928707 0.07499671 0.30533515 12.49944717] [-0.11936249 0.98439395 0.12931025 -0.49163329] [-0.29087223 -0.15919811 0.94342424 -0.70059669] [ 0. 0. 0. 1. ]] SLAMing on 87.733201008 meters Centerline goodness : 0.881810 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.49, Z:-0.70 [[ 0.95155365 0.07972244 0.29696797 12.51349388] [-0.12099634 0.98496787 0.12328088 -0.49386669] [-0.28267566 -0.15324041 0.9468959 -0.70461738] [ 0. 0. 0. 1. ]] SLAMing on 87.793201008 meters Centerline goodness : 0.882044 with order 1 Centerline is valid? [False, False] Translation: X:12.55, Y:-0.50, Z:-0.71 [[ 0.95236616 0.07921961 0.29448759 12.54698011] [-0.12167222 0.98418712 0.12873065 -0.50239822] [-0.27963291 -0.15842967 0.94694534 -0.70755487] [ 0. 0. 0. 1. ]] SLAMing on 87.853201008 meters Centerline goodness : 0.879633 with order 1 Centerline is valid? [False, False] Translation: X:12.55, Y:-0.50, Z:-0.72 [[ 0.9527999 0.07910087 0.29311331 12.55406133] [-0.12163125 0.98404949 0.12981693 -0.50295962] [-0.27816937 -0.1593413 0.94722339 -0.71554429] [ 0. 0. 0. 1. ]] SLAMing on 87.91320100799999 meters Centerline goodness : 0.879199 with order 1 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.50, Z:-0.73 [[ 0.95153147 0.08290268 0.2961672 12.5657197 ] [-0.12183722 0.98580758 0.11549508 -0.50062747] [-0.28238902 -0.14598139 0.94812756 -0.72980156] [ 0. 0. 0. 1. ]] SLAMing on 87.97320100799999 meters Centerline goodness : 0.881966 with order 1 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.50, Z:-0.74 [[ 0.95038411 0.08636452 0.2988498 12.58160621] [-0.12251381 0.98696162 0.10438926 -0.49816994] [-0.28593776 -0.13582312 0.9485735 -0.74301261] [ 0. 0. 0. 1. ]] SLAMing on 88.03320100799999 meters Centerline goodness : 0.882267 with order 1 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.49, Z:-0.75 [[ 0.94861835 0.0922818 0.30266696 12.58882258] [-0.12487243 0.98807182 0.09011631 -0.49358648] [-0.2907406 -0.12328075 0.94882652 -0.75458769] [ 0. 0. 0. 1. ]] SLAMing on 88.093201008 meters Centerline goodness : 0.881393 with order 1 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.49, Z:-0.77 [[ 0.94698969 0.10172049 0.30473508 12.59013114] [-0.12980746 0.9888248 0.07331808 -0.48651868] [-0.29387165 -0.10898835 0.94961097 -0.76544656] [ 0. 0. 0. 1. ]] SLAMing on 88.153201008 meters Centerline goodness : 0.880902 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.48, Z:-0.78 [[ 0.94530911 0.10843382 0.30762444 12.6038823 ] [-0.13448089 0.98880101 0.06471054 -0.48216581] [-0.29716255 -0.10254107 0.94930488 -0.77820681] [ 0. 0. 0. 1. ]] SLAMing on 88.213201008 meters Centerline goodness : 0.875560 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.47, Z:-0.79 [[ 0.94518474 0.11025863 0.30735783 12.60246961] [-0.13474695 0.9890886 0.05955667 -0.47225166] [-0.29743749 -0.09770759 0.94972847 -0.78682461] [ 0. 0. 0. 1. ]] SLAMing on 88.27320100799999 meters Centerline goodness : 0.875816 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.47, Z:-0.79 [[ 0.94733448 0.11786243 0.29776808 12.61558699] [-0.13993925 0.98869384 0.05386548 -0.47147453] [-0.28805275 -0.09269807 0.95311735 -0.79130214] [ 0. 0. 0. 1. ]] SLAMing on 88.33320100799999 meters Centerline goodness : 0.876755 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.47, Z:-0.80 [[ 0.94693064 0.12735731 0.29513128 12.61843614] [-0.14501867 0.98867361 0.03865335 -0.46715442] [-0.28686572 -0.07940159 0.95467452 -0.79914701] [ 0. 0. 0. 1. ]] SLAMing on 88.39320100799999 meters Centerline goodness : 0.878510 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.47, Z:-0.80 [[ 0.94668185 0.1282526 0.29554144 12.61708242] [-0.14620799 0.98846972 0.03938073 -0.46643357] [-0.28708309 -0.08049154 0.9545179 -0.79723114] [ 0. 0. 0. 1. ]] SLAMing on 88.453201008 meters Centerline goodness : 0.874480 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.47, Z:-0.80 [[ 0.94779358 0.13665587 0.28811892 12.6170565 ] [-0.15048358 0.98826281 0.02629284 -0.46587472] [-0.28114414 -0.06827736 0.9572336 -0.80111768] [ 0. 0. 0. 1. ]] SLAMing on 88.513201008 meters Centerline goodness : 0.874884 with order 1 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.47, Z:-0.80 [[ 0.94774871 0.13577741 0.28868127 12.61289972] [-0.14831642 0.9886973 0.02190629 -0.46622275] [-0.28244402 -0.06357783 0.95717461 -0.80109595] [ 0. 0. 0. 1. ]] SLAMing on 88.573201008 meters Centerline goodness : 0.877341 with order 1 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.46, Z:-0.81 [[ 9.48029044e-01 1.34634752e-01 2.88295707e-01 1.26060208e+01] [-1.43727972e-01 9.89561462e-01 1.05063312e-02 -4.62952696e-01] [-2.83871804e-01 -5.13964646e-02 9.57483787e-01 -8.06751478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63320100799999 meters Centerline goodness : 0.877137 with order 1 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.47, Z:-0.81 [[ 9.48515773e-01 1.33589523e-01 2.87178808e-01 1.26094461e+01] [-1.42363745e-01 9.89765978e-01 9.79143576e-03 -4.65661515e-01] [-2.82931781e-01 -5.01711820e-02 9.57826947e-01 -8.10963238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69320100799999 meters Centerline goodness : 0.878015 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.47, Z:-0.82 [[ 9.49829536e-01 1.28996949e-01 2.84927429e-01 1.26152373e+01] [-1.35717052e-01 9.90740039e-01 3.88036168e-03 -4.67564201e-01] [-2.81788458e-01 -4.23551928e-02 9.58541237e-01 -8.18982349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75320100799999 meters Centerline goodness : 0.876568 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.47, Z:-0.82 [[ 9.49986016e-01 1.28866939e-01 2.84464200e-01 1.26164572e+01] [-1.35365886e-01 9.90790451e-01 3.21856209e-03 -4.67056816e-01] [-2.81429646e-01 -4.15643373e-02 9.58681261e-01 -8.20928683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.813201008 meters Centerline goodness : 0.870688 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.47, Z:-0.82 [[ 9.50962517e-01 1.23184171e-01 2.83718085e-01 1.26164340e+01] [-1.26980879e-01 9.91892335e-01 -5.04507397e-03 -4.66373374e-01] [-2.82039267e-01 -3.12290955e-02 9.58894465e-01 -8.20858919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.873201008 meters Centerline goodness : 0.866648 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.46, Z:-0.82 [[ 9.51452760e-01 1.20447932e-01 2.83248902e-01 1.26168296e+01] [-1.22820366e-01 9.92384055e-01 -9.43633381e-03 -4.64849487e-01] [-2.82228281e-01 -2.58105080e-02 9.59000008e-01 -8.21618681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.933201008 meters Centerline goodness : 0.868591 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.46, Z:-0.82 [[ 9.51296522e-01 1.21179709e-01 2.83461471e-01 1.26157317e+01] [-1.23437494e-01 9.92302436e-01 -9.95289502e-03 -4.63645635e-01] [-2.82485597e-01 -2.55216191e-02 9.58931976e-01 -8.22046135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99320100799999 meters Centerline goodness : 0.867261 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.46, Z:-0.83 [[ 0.95121851 0.12221466 0.28327888 12.6154101 ] [-0.12363439 0.99224357 -0.0129321 -0.4591005 ] [-0.28266214 -0.02272176 0.95895038 -0.82822514] [ 0. 0. 0. 1. ]] SLAMing on 89.05320100799999 meters Centerline goodness : 0.868234 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.46, Z:-0.83 [[ 9.51520147e-01 1.23056094e-01 2.81898221e-01 1.26212891e+01] [-1.25678692e-01 9.92031684e-01 -8.83204281e-03 -4.61516584e-01] [-2.80738803e-01 -2.70247330e-02 9.59403663e-01 -8.30555001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11320100799999 meters Centerline goodness : 0.868510 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.46, Z:-0.83 [[ 9.51931857e-01 1.22442216e-01 2.80773297e-01 1.26243520e+01] [-1.24790784e-01 9.92136920e-01 -9.57042741e-03 -4.61875189e-01] [-2.79737378e-01 -2.59275250e-02 9.59726400e-01 -8.34007121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17320100799999 meters Centerline goodness : 0.865777 with order 1 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.47, Z:-0.82 [[ 9.52176081e-01 1.20056625e-01 2.80975295e-01 1.26337987e+01] [-1.25290904e-01 9.92119821e-01 6.70677874e-04 -4.69212509e-01] [-2.78680640e-01 -3.58422521e-02 9.59714767e-01 -8.24896895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.233201008 meters Centerline goodness : 0.862910 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.47, Z:-0.82 [[ 9.52495194e-01 1.19946147e-01 2.79938969e-01 1.26405228e+01] [-1.26934364e-01 9.91887125e-01 6.89912199e-03 -4.72740640e-01] [-2.76840337e-01 -4.21052555e-02 9.59993008e-01 -8.22736366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.293201008 meters Centerline goodness : 0.857821 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.47, Z:-0.82 [[ 9.52596899e-01 1.19701501e-01 2.79697512e-01 1.26415888e+01] [-1.26456486e-01 9.91953010e-01 6.16305891e-03 -4.71713654e-01] [-2.76709062e-01 -4.12404753e-02 9.60068393e-01 -8.24662507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.353201008 meters Centerline goodness : 0.858909 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.47, Z:-0.82 [[ 9.52611617e-01 1.19660321e-01 2.79665003e-01 1.26414885e+01] [-1.26575577e-01 9.91934135e-01 6.73022462e-03 -4.72605583e-01] [-2.76603922e-01 -4.18100494e-02 9.60074054e-01 -8.22856994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41320100799999 meters Centerline goodness : 0.851646 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.47, Z:-0.82 [[ 9.52993152e-01 1.17613127e-01 2.79233243e-01 1.26409417e+01] [-1.22992998e-01 9.92405977e-01 1.76022897e-03 -4.70527534e-01] [-2.76905713e-01 -3.60212199e-02 9.60221692e-01 -8.24626409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47320100799999 meters Centerline goodness : 0.851639 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.47, Z:-0.83 [[ 9.53219954e-01 1.17254568e-01 2.78609200e-01 1.26427242e+01] [-1.22562246e-01 9.92459465e-01 1.64521654e-03 -4.70915609e-01] [-2.76315428e-01 -3.57152224e-02 9.60403148e-01 -8.25630580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53320100799999 meters Centerline goodness : 0.851492 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.47, Z:-0.83 [[ 9.53562609e-01 1.16582144e-01 2.77717401e-01 1.26455140e+01] [-1.21319520e-01 9.92613499e-01 -1.26933124e-04 -4.69542398e-01] [-2.75680839e-01 -3.35715032e-02 9.60662807e-01 -8.30661059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.593201008 meters Centerline goodness : 0.852716 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.47, Z:-0.83 [[ 9.53898986e-01 1.15959702e-01 2.76821372e-01 1.26480989e+01] [-1.20566921e-01 9.92705129e-01 -3.79765322e-04 -4.70172313e-01] [-2.74846034e-01 -3.30132428e-02 9.60921320e-01 -8.32538892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.653201008 meters Centerline goodness : 0.856776 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.47, Z:-0.83 [[ 9.54214892e-01 1.15387045e-01 2.75970595e-01 1.26504480e+01] [-1.19940073e-01 9.92781060e-01 -3.82174583e-04 -4.71204125e-01] [-2.74022477e-01 -3.27352566e-02 9.61166003e-01 -8.33674551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.713201008 meters Centerline goodness : 0.852117 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.47, Z:-0.83 [[ 9.54528190e-01 1.14308814e-01 2.75335122e-01 1.26535673e+01] [-1.19064290e-01 9.92886388e-01 5.61337073e-04 -4.73120690e-01] [-2.73312329e-01 -3.33183928e-02 9.61348145e-01 -8.33336406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77320100799999 meters Centerline goodness : 0.852869 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.47, Z:-0.83 [[ 9.54522769e-01 1.14361047e-01 2.75332224e-01 1.26533810e+01] [-1.19248456e-01 9.92863922e-01 1.01843700e-03 -4.73664130e-01] [-2.73250963e-01 -3.38050639e-02 9.61348599e-01 -8.32053630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83320100799999 meters Centerline goodness : 0.851718 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.47, Z:-0.83 [[ 9.54306180e-01 1.16521769e-01 2.75177018e-01 1.26553946e+01] [-1.22713467e-01 9.92427828e-01 5.33029215e-03 -4.73672094e-01] [-2.72472235e-01 -3.88546567e-02 9.61378800e-01 -8.31688036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89320100799999 meters Centerline goodness : 0.855997 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.48, Z:-0.83 [[ 9.54149509e-01 1.18502621e-01 2.74874231e-01 1.26575886e+01] [-1.26116376e-01 9.91963764e-01 1.01267119e-02 -4.75835838e-01] [-2.71465234e-01 -4.43285390e-02 9.61426860e-01 -8.30337245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.953201008 meters Centerline goodness : 0.858925 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.47, Z:-0.83 [[ 9.54686281e-01 1.16305446e-01 2.73947344e-01 1.26581190e+01] [-1.22256107e-01 9.92487510e-01 4.68894905e-03 -4.72900021e-01] [-2.71343967e-01 -3.79682111e-02 9.61733262e-01 -8.32859200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.013201008 meters Centerline goodness : 0.855044 with order 1 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.47, Z:-0.84 [[ 9.55361724e-01 1.14719355e-01 2.72256213e-01 1.26737338e+01] [-1.22528526e-01 9.92394861e-01 1.17983176e-02 -4.73268170e-01] [-2.68832171e-01 -4.46308134e-02 9.62152459e-01 -8.38967171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.073201008 meters Centerline goodness : 0.858846 with order 1 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.48, Z:-0.84 [[ 0.95646524 0.1139163 0.26869559 12.71004258] [-0.12294241 0.99226904 0.01695052 -0.48138211] [-0.26468738 -0.04924667 0.96307599 -0.84190483] [ 0. 0. 0. 1. ]] SLAMing on 90.13320100799999 meters Centerline goodness : 0.864758 with order 1 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.49, Z:-0.84 [[ 0.95732038 0.11272835 0.26613908 12.74360108] [-0.12333339 0.99208889 0.02342014 -0.49348987] [-0.26139351 -0.05524441 0.96365008 -0.83929636] [ 0. 0. 0. 1. ]] SLAMing on 90.19320100799999 meters Centerline goodness : 0.863093 with order 1 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.50, Z:-0.84 [[ 0.95780666 0.11121526 0.2650237 12.74753279] [-0.12180353 0.99226873 0.0238047 -0.4962151 ] [-0.26032728 -0.05508112 0.96394802 -0.84038164] [ 0. 0. 0. 1. ]] SLAMing on 90.25320100799999 meters Centerline goodness : 0.857101 with order 1 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.49, Z:-0.84 [[ 0.95799215 0.11071312 0.26456312 12.74974082] [-0.1209411 0.99240155 0.02263637 -0.49361412] [-0.26004671 -0.05368202 0.96410266 -0.8436439 ] [ 0. 0. 0. 1. ]] SLAMing on 90.313201008 meters Centerline goodness : 0.865499 with order 1 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.49, Z:-0.84 [[ 0.95846434 0.10818069 0.2638997 12.74961913] [-0.11722497 0.99292893 0.01872006 -0.49406389] [-0.26000849 -0.04887815 0.96436845 -0.84277912] [ 0. 0. 0. 1. ]] SLAMing on 90.373201008 meters Centerline goodness : 0.868935 with order 1 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.49, Z:-0.85 [[ 0.95911646 0.10524287 0.26271575 12.75141644] [-0.11272898 0.99353348 0.01354279 -0.49265138] [-0.25959161 -0.04260479 0.96477823 -0.84547204] [ 0. 0. 0. 1. ]] SLAMing on 90.433201008 meters Centerline goodness : 0.865933 with order 1 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.49, Z:-0.85 [[ 9.59615496e-01 1.00643406e-01 2.62695652e-01 1.27488655e+01] [-1.05226464e-01 9.94442476e-01 3.39886851e-03 -4.87892139e-01] [-2.60893641e-01 -3.09041415e-02 9.64872760e-01 -8.48555487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49320100799999 meters Centerline goodness : 0.860759 with order 1 Centerline is valid? [False, False] Translation: X:12.75, Y:-0.49, Z:-0.85 [[ 9.59979757e-01 9.94963838e-02 2.61800182e-01 1.27519525e+01] [-1.04022646e-01 9.94568940e-01 3.45156835e-03 -4.88943034e-01] [-2.60034911e-01 -3.05465834e-02 9.65115926e-01 -8.49494324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55320100799999 meters Centerline goodness : 0.858615 with order 1 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.49, Z:-0.85 [[ 9.60921537e-01 9.57002165e-02 2.59752320e-01 1.27616806e+01] [-1.00084443e-01 9.94972165e-01 3.67367349e-03 -4.89173451e-01] [-2.58094757e-01 -2.95272783e-02 9.65668285e-01 -8.52116077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61320100799999 meters Centerline goodness : 0.865398 with order 1 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.49, Z:-0.86 [[ 9.61671748e-01 9.21792094e-02 2.58244929e-01 1.27645399e+01] [-9.47185342e-02 9.95500648e-01 -2.61892612e-03 -4.86180202e-01] [-2.57324404e-01 -2.19420338e-02 9.66075928e-01 -8.55930258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67320100799999 meters Centerline goodness : 0.870969 with order 1 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.49, Z:-0.85 [[ 9.62392638e-01 8.68419617e-02 2.57408011e-01 1.27809343e+01] [-9.16641714e-02 9.95766966e-01 6.76966880e-03 -4.88828845e-01] [-2.55730503e-01 -3.01101714e-02 9.66279094e-01 -8.48451933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.733201008 meters Centerline goodness : 0.860260 with order 1 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.49, Z:-0.85 [[ 9.62975386e-01 8.45393923e-02 2.55991205e-01 1.27924493e+01] [-9.07079882e-02 9.95800775e-01 1.23643605e-02 -4.87691112e-01] [-2.53870965e-01 -3.51270220e-02 9.66600034e-01 -8.47973128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.793201008 meters Centerline goodness : 0.846402 with order 1 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.48, Z:-0.84 [[ 0.96419233 0.07787661 0.25351209 12.7915966 ] [-0.08821796 0.99565936 0.02966525 -0.48432556] [-0.25010145 -0.05096732 0.96687724 -0.83691977] [ 0. 0. 0. 1. ]] SLAMing on 90.853201008 meters Centerline goodness : 0.862338 with order 1 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.48, Z:-0.84 [[ 0.96436947 0.07870292 0.25258142 12.79240773] [-0.0887769 0.99563739 0.02872011 -0.48000331] [-0.24921915 -0.05012019 0.96714931 -0.83681345] [ 0. 0. 0. 1. ]] SLAMing on 90.91320100799999 meters Centerline goodness : 0.852101 with order 1 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.48, Z:-0.83 [[ 0.96546706 0.08798888 0.24521686 12.80078514] [-0.09809724 0.99474563 0.02929286 -0.47526115] [-0.24135095 -0.05233638 0.9690256 -0.83224519] [ 0. 0. 0. 1. ]] SLAMing on 90.97320100799999 meters Centerline goodness : 0.849446 with order 1 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.47, Z:-0.84 [[ 0.9652412 0.09060004 0.24515516 12.80259147] [-0.10124767 0.99437326 0.03115643 -0.46879015] [-0.24095296 -0.05489485 0.96898309 -0.83569635] [ 0. 0. 0. 1. ]] SLAMing on 91.03320100799999 meters Centerline goodness : 0.842025 with order 1 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.46, Z:-0.84 [[ 0.96496477 0.09386768 0.24501397 12.80331798] [-0.10513251 0.99390122 0.03327958 -0.46186445] [-0.2403958 -0.05787256 0.96894821 -0.8372172 ] [ 0. 0. 0. 1. ]] SLAMing on 91.093201008 meters Centerline goodness : 0.839847 with order 1 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.45, Z:-0.84 [[ 0.96326614 0.10226058 0.24831656 12.80603637] [-0.11035193 0.99371382 0.01884903 -0.45197834] [-0.24482809 -0.04555884 0.96849553 -0.84454113] [ 0. 0. 0. 1. ]] SLAMing on 91.153201008 meters Centerline goodness : 0.828823 with order 1 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.45, Z:-0.85 [[ 0.96321777 0.10251125 0.24840081 12.80583658] [-0.11025543 0.99375046 0.01742906 -0.44701668] [-0.24506174 -0.04417552 0.96850052 -0.84576971] [ 0. 0. 0. 1. ]] SLAMing on 91.213201008 meters Centerline goodness : 0.828997 with order 1 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.45, Z:-0.84 [[ 0.96329837 0.10226628 0.24818917 12.80629031] [-0.10990419 0.99379544 0.01707875 -0.44525225] [-0.24490269 -0.04372897 0.96856102 -0.8448853 ] [ 0. 0. 0. 1. ]] SLAMing on 91.27320100799999 meters Centerline goodness : 0.827782 with order 1 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.44, Z:-0.85 [[ 9.63670368e-01 1.00491940e-01 2.47468771e-01 1.28060881e+01] [-1.06276255e-01 9.94285420e-01 1.00926144e-02 -4.38996527e-01] [-2.45040365e-01 -3.60260077e-02 9.68843303e-01 -8.49932105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33320100799999 meters Centerline goodness : 0.826850 with order 1 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.44, Z:-0.85 [[ 9.63950776e-01 9.96125537e-02 2.46731108e-01 1.28095635e+01] [-1.05193316e-01 9.94406341e-01 9.50761158e-03 -4.38019196e-01] [-2.44403901e-01 -3.51193330e-02 9.69037340e-01 -8.53147831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39320100799999 meters Centerline goodness : 0.818373 with order 1 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.44, Z:-0.86 [[ 9.64349821e-01 9.82090399e-02 2.45732389e-01 1.28136657e+01] [-1.03505308e-01 9.94590864e-01 8.69853277e-03 -4.37405376e-01] [-2.43548915e-01 -3.38230351e-02 9.69298679e-01 -8.56765705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.453201008 meters Centerline goodness : 0.823780 with order 1 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.44, Z:-0.86 [[ 9.64667622e-01 9.59831480e-02 2.45364247e-01 1.28131417e+01] [-9.99951636e-02 9.94980218e-01 3.91566080e-03 -4.35076060e-01] [-2.43756734e-01 -2.83125492e-02 9.69423052e-01 -8.57706905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.513201008 meters Centerline goodness : 0.823690 with order 1 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.44, Z:-0.86 [[ 9.64798177e-01 9.55124254e-02 2.45034395e-01 1.28141976e+01] [-9.95869807e-02 9.95019728e-01 4.26303330e-03 -4.36297286e-01] [-2.43406885e-01 -2.85152024e-02 9.69505014e-01 -8.56441259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.573201008 meters Centerline goodness : 0.823277 with order 1 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.43, Z:-0.86 [[ 9.64867815e-01 9.43282139e-02 2.45218858e-01 1.28113830e+01] [-9.72500320e-02 9.95259963e-01 -1.94392926e-04 -4.33276184e-01] [-2.44074848e-01 -2.36599783e-02 9.69467727e-01 -8.55851108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63320100799999 meters Centerline goodness : 0.821559 with order 1 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.43, Z:-0.86 [[ 9.64857318e-01 9.40505697e-02 2.45366760e-01 1.28118066e+01] [-9.69111709e-02 9.95292947e-01 -4.17400650e-04 -4.33611629e-01] [-2.44251063e-01 -2.33760480e-02 9.69430234e-01 -8.57221080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69320100799999 meters Centerline goodness : 0.823626 with order 1 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.44, Z:-0.86 [[ 9.65211572e-01 9.38443123e-02 2.44048902e-01 1.28196656e+01] [-9.77173605e-02 9.95207014e-01 3.78370602e-03 -4.35241756e-01] [-2.42524100e-01 -2.74998914e-02 9.69755545e-01 -8.60232168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75320100799999 meters Centerline goodness : 0.819316 with order 1 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.44, Z:-0.86 [[ 9.65461834e-01 9.35021241e-02 2.43188814e-01 1.28219697e+01] [-9.73567827e-02 9.95242087e-01 3.85301001e-03 -4.36370354e-01] [-2.41671478e-01 -2.73960146e-02 9.69971317e-01 -8.61138855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.813201008 meters Centerline goodness : 0.823848 with order 1 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.44, Z:-0.86 [[ 9.65659249e-01 9.15634088e-02 2.43142669e-01 1.28201645e+01] [-9.44508912e-02 9.95529498e-01 2.19222529e-04 -4.36177002e-01] [-2.42035626e-01 -2.31767360e-02 9.69990513e-01 -8.59410192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.873201008 meters Centerline goodness : 0.817567 with order 1 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.45, Z:-0.85 [[ 0.96527446 0.07923105 0.24893305 12.85643921] [-0.08811797 0.99580268 0.02474374 -0.44777975] [-0.24592773 -0.04581997 0.96820457 -0.84824423] [ 0. 0. 0. 1. ]] SLAMing on 91.933201008 meters Centerline goodness : 0.814292 with order 1 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.45, Z:-0.85 [[ 0.9656216 0.0770268 0.24827767 12.86171272] [-0.0861025 0.99594986 0.02588875 -0.44727721] [-0.24527799 -0.04637606 0.9683429 -0.84834416] [ 0. 0. 0. 1. ]] SLAMing on 91.99320100799999 meters Centerline goodness : 0.814361 with order 1 Centerline is valid? [False, False] Translation: X:12.90, Y:-0.46, Z:-0.83 [[ 0.96476104 0.06286262 0.25550818 12.90352779] [-0.08060263 0.99496569 0.0595524 -0.46286942] [-0.25047826 -0.07804846 0.96497103 -0.82800641] [ 0. 0. 0. 1. ]] SLAMing on 92.05320100799999 meters Centerline goodness : 0.816294 with order 1 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.46, Z:-0.83 [[ 0.96495892 0.06186509 0.2550039 12.90637226] [-0.07968719 0.99500339 0.06015158 -0.46127169] [-0.25000846 -0.07836435 0.96506725 -0.82648326] [ 0. 0. 0. 1. ]] SLAMing on 92.11320100799999 meters Centerline goodness : 0.815523 with order 1 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.46, Z:-0.82 [[ 0.96487866 0.06053424 0.25562624 12.91435057] [-0.08072141 0.99433 0.06922352 -0.4606135 ] [-0.24998645 -0.08742681 0.96429421 -0.8197586 ] [ 0. 0. 0. 1. ]] SLAMing on 92.17320100799999 meters Centerline goodness : 0.814855 with order 1 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.46, Z:-0.81 [[ 0.96177428 0.05281283 0.2687025 12.91160805] [-0.08060455 0.99235435 0.09346521 -0.46236312] [-0.26171193 -0.11155108 0.95867785 -0.80653551] [ 0. 0. 0. 1. ]] SLAMing on 92.233201008 meters Centerline goodness : 0.814942 with order 1 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.46, Z:-0.80 [[ 0.96111833 0.04617361 0.27224908 12.92236272] [-0.07684233 0.99170015 0.1030828 -0.46113877] [-0.26522975 -0.11999502 0.95668928 -0.79577612] [ 0. 0. 0. 1. ]] SLAMing on 92.293201008 meters Centerline goodness : 0.818328 with order 1 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.46, Z:-0.79 [[ 0.96072178 0.04631198 0.27362175 12.92069874] [-0.07758957 0.99148166 0.10461342 -0.4597023 ] [-0.26644609 -0.12173458 0.95613136 -0.79114301] [ 0. 0. 0. 1. ]] SLAMing on 92.353201008 meters Centerline goodness : 0.820950 with order 1 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.46, Z:-0.78 [[ 0.95746227 0.04019451 0.28574535 12.9141471 ] [-0.0796082 0.98861492 0.12768347 -0.46129309] [-0.27735994 -0.14499978 0.9497613 -0.7770499 ] [ 0. 0. 0. 1. ]] SLAMing on 92.41320100799999 meters Centerline goodness : 0.825657 with order 1 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.46, Z:-0.77 [[ 0.9570764 0.04257925 0.28669106 12.91444256] [-0.08410165 0.98739065 0.13411423 -0.4619145 ] [-0.27736559 -0.15246875 0.94858927 -0.77276106] [ 0. 0. 0. 1. ]] SLAMing on 92.47320100799999 meters Centerline goodness : 0.832221 with order 1 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.46, Z:-0.77 [[ 0.95685644 0.04423912 0.28717355 12.91280347] [-0.0854328 0.98748926 0.13253753 -0.45688039] [-0.27771745 -0.15135343 0.94866493 -0.77466862] [ 0. 0. 0. 1. ]] SLAMing on 92.53320100799999 meters Centerline goodness : 0.834663 with order 1 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.46, Z:-0.78 [[ 0.9587893 0.05096445 0.27950976 12.92404662] [-0.09085867 0.98711936 0.13168171 -0.45682942] [-0.26919841 -0.1516509 0.95107004 -0.7758807 ] [ 0. 0. 0. 1. ]] SLAMing on 92.593201008 meters Centerline goodness : 0.847525 with order 1 Centerline is valid? [False, False] Translation: X:12.93, Y:-0.46, Z:-0.78 [[ 0.96065398 0.05946786 0.27130703 12.93428803] [-0.09576126 0.98783136 0.12255199 -0.45702225] [-0.26071769 -0.14371076 0.95465884 -0.78122257] [ 0. 0. 0. 1. ]] SLAMing on 92.653201008 meters Centerline goodness : 0.849293 with order 1 Centerline is valid? [False, False] Translation: X:12.96, Y:-0.46, Z:-0.79 [[ 0.95978581 0.06085338 0.27405851 12.95817848] [-0.0964488 0.98827881 0.11833271 -0.45705047] [-0.26364527 -0.14000668 0.95440521 -0.79037387] [ 0. 0. 0. 1. ]] SLAMing on 92.713201008 meters Centerline goodness : 0.855001 with order 1 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.46, Z:-0.80 [[ 0.95794562 0.06283079 0.27998659 12.96876658] [-0.09654735 0.98941944 0.10829486 -0.45695694] [-0.27021992 -0.13077255 0.95387616 -0.79506283] [ 0. 0. 0. 1. ]] SLAMing on 92.77320100799999 meters Centerline goodness : 0.852705 with order 1 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.46, Z:-0.80 [[ 0.95672479 0.06271915 0.28415485 12.98814203] [-0.09498207 0.99032051 0.10121114 -0.45805666] [-0.2750565 -0.12382083 0.95342138 -0.80105645] [ 0. 0. 0. 1. ]] SLAMing on 92.83320100799999 meters Centerline goodness : 0.865349 with order 1 Centerline is valid? [False, False] Translation: X:13.00, Y:-0.46, Z:-0.81 [[ 0.95543182 0.06513931 0.28793559 13.00275215] [-0.09490917 0.99134934 0.0906572 -0.45836096] [-0.27953941 -0.1139445 0.95334903 -0.81057118] [ 0. 0. 0. 1. ]] SLAMing on 92.89320100799999 meters Centerline goodness : 0.871113 with order 1 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.46, Z:-0.81 [[ 0.95764312 0.06822518 0.27975877 13.01993482] [-0.09784064 0.99082035 0.09328581 -0.4635462 ] [-0.27082625 -0.11670629 0.95552749 -0.80913172] [ 0. 0. 0. 1. ]] SLAMing on 92.953201008 meters Centerline goodness : 0.871238 with order 1 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.47, Z:-0.81 [[ 0.95952999 0.07151196 0.27237517 13.04757611] [-0.10064737 0.99042137 0.09452844 -0.47110496] [-0.26300627 -0.11811672 0.9575365 -0.81477554] [ 0. 0. 0. 1. ]] SLAMing on 93.013201008 meters Centerline goodness : 0.873554 with order 1 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.47, Z:-0.82 [[ 0.95996583 0.07060566 0.27107276 13.0521048 ] [-0.09939222 0.99060183 0.09396386 -0.47194532] [-0.26189079 -0.11714462 0.95796156 -0.81904491] [ 0. 0. 0. 1. ]] SLAMing on 93.073201008 meters Centerline goodness : 0.874327 with order 1 Centerline is valid? [False, False] Translation: X:13.09, Y:-0.48, Z:-0.82 [[ 0.96097057 0.07021852 0.26759096 13.08720638] [-0.10017056 0.98993601 0.09996272 -0.48077409] [-0.2578787 -0.12286597 0.9583332 -0.82142524] [ 0. 0. 0. 1. ]] SLAMing on 93.13320100799999 meters Centerline goodness : 0.879986 with order 1 Centerline is valid? [False, False] Translation: X:13.11, Y:-0.49, Z:-0.83 [[ 0.96036347 0.06940311 0.26997262 13.11022907] [-0.09804225 0.99072614 0.09407146 -0.48655789] [-0.26094008 -0.11681152 0.95826163 -0.82778419] [ 0. 0. 0. 1. ]] SLAMing on 93.19320100799999 meters Centerline goodness : 0.883265 with order 1 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.49, Z:-0.84 [[ 0.95899319 0.07121065 0.27433756 13.12391325] [-0.09740093 0.9917746 0.08304338 -0.48766106] [-0.26616745 -0.10635877 0.95804107 -0.83690393] [ 0. 0. 0. 1. ]] SLAMing on 93.25320100799999 meters Centerline goodness : 0.881592 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.49, Z:-0.84 [[ 0.96067749 0.07426482 0.26755094 13.13393011] [-0.09928842 0.99173769 0.08122913 -0.48980518] [-0.25930788 -0.10459971 0.9601137 -0.83667076] [ 0. 0. 0. 1. ]] SLAMing on 93.313201008 meters Centerline goodness : 0.886291 with order 1 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.50, Z:-0.84 [[ 0.96125356 0.07274518 0.26589422 13.16674477] [-0.09783844 0.99178831 0.08236256 -0.49613363] [-0.2577193 -0.10518598 0.96047731 -0.84053876] [ 0. 0. 0. 1. ]] SLAMing on 93.373201008 meters Centerline goodness : 0.878311 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.50, Z:-0.85 [[ 0.96217373 0.07340481 0.2623613 13.19851484] [-0.09842675 0.9916331 0.08352221 -0.50060691] [-0.25403522 -0.10618625 0.96134832 -0.8467956 ] [ 0. 0. 0. 1. ]] SLAMing on 93.433201008 meters Centerline goodness : 0.881742 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:-0.50, Z:-0.85 [[ 0.9645356 0.07555024 0.25290956 13.21533859] [-0.09838807 0.9920163 0.07888878 -0.50460011] [-0.24493034 -0.10097432 0.96426828 -0.84598582] [ 0. 0. 0. 1. ]] SLAMing on 93.49320100799999 meters Centerline goodness : 0.884214 with order 1 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.51, Z:-0.85 [[ 0.96516499 0.07465592 0.25076492 13.24961027] [-0.09816179 0.99173997 0.08255966 -0.51047643] [-0.24253002 -0.10429922 0.96452105 -0.84919812] [ 0. 0. 0. 1. ]] SLAMing on 93.55320100799999 meters Centerline goodness : 0.883608 with order 1 Centerline is valid? [False, False] Translation: X:13.29, Y:-0.52, Z:-0.85 [[ 0.96576005 0.07251875 0.24909548 13.28663269] [-0.09736048 0.99127203 0.08888583 -0.51737459] [-0.24047549 -0.11009444 0.96439139 -0.84983982] [ 0. 0. 0. 1. ]] SLAMing on 93.61320100799999 meters Centerline goodness : 0.884869 with order 1 Centerline is valid? [False, False] Translation: X:13.29, Y:-0.51, Z:-0.85 [[ 0.96596571 0.07242351 0.24832454 13.28901825] [-0.09697015 0.99138294 0.08807188 -0.51433522] [-0.23980624 -0.10915449 0.96466485 -0.85137754] [ 0. 0. 0. 1. ]] SLAMing on 93.67320100799999 meters Centerline goodness : 0.888301 with order 1 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.51, Z:-0.86 [[ 0.96623848 0.08208583 0.24422351 13.29720609] [-0.10356382 0.99168245 0.07642287 -0.51237245] [-0.23591894 -0.09913544 0.96670286 -0.85734241] [ 0. 0. 0. 1. ]] SLAMing on 93.733201008 meters Centerline goodness : 0.885564 with order 1 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.51, Z:-0.86 [[ 0.96615952 0.0845526 0.24369375 13.30021273] [-0.10681321 0.99108715 0.0796065 -0.510862 ] [-0.23479081 -0.10294229 0.96657962 -0.86026212] [ 0. 0. 0. 1. ]] SLAMing on 93.793201008 meters Centerline goodness : 0.884593 with order 1 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.51, Z:-0.86 [[ 0.9659377 0.08710205 0.24367519 13.30183458] [-0.11046365 0.99033375 0.08388587 -0.51014641] [-0.23401314 -0.10794578 0.96622231 -0.85994082] [ 0. 0. 0. 1. ]] SLAMing on 93.853201008 meters Centerline goodness : 0.885119 with order 1 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.51, Z:-0.87 [[ 0.96485286 0.08850624 0.24743807 13.31923125] [-0.11011599 0.99109421 0.07487814 -0.50947623] [-0.23860726 -0.09949328 0.96600604 -0.86699655] [ 0. 0. 0. 1. ]] SLAMing on 93.91320100799999 meters Centerline goodness : 0.886958 with order 1 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.51, Z:-0.86 [[ 0.96486319 0.08813846 0.24752907 13.31958758] [-0.1101225 0.99097775 0.07639464 -0.51128159] [-0.23856249 -0.10096889 0.96586398 -0.86317398] [ 0. 0. 0. 1. ]] SLAMing on 93.97320100799999 meters Centerline goodness : 0.890181 with order 1 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.51, Z:-0.86 [[ 0.96522815 0.08643336 0.24670609 13.3238683 ] [-0.10831387 0.99116748 0.0765188 -0.51125104] [-0.23791328 -0.10057979 0.96606469 -0.86353512] [ 0. 0. 0. 1. ]] SLAMing on 94.03320100799999 meters Centerline goodness : 0.887234 with order 1 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.52, Z:-0.86 [[ 0.96627195 0.07922442 0.24503473 13.36971407] [-0.10316279 0.99090178 0.08643549 -0.52106727] [-0.23595755 -0.10879866 0.96565361 -0.86066202] [ 0. 0. 0. 1. ]] SLAMing on 94.093201008 meters Centerline goodness : 0.886425 with order 1 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.53, Z:-0.86 [[ 0.96683692 0.07636735 0.24370965 13.40896105] [-0.10315755 0.98971474 0.09911237 -0.5295127 ] [-0.23363408 -0.12096599 0.96477062 -0.85692047] [ 0. 0. 0. 1. ]] SLAMing on 94.153201008 meters Centerline goodness : 0.883321 with order 1 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.54, Z:-0.84 [[ 0.96699311 0.06926022 0.24520878 13.43712546] [-0.10164136 0.98731747 0.12195593 -0.53634621] [-0.23365222 -0.1428539 0.96176889 -0.84279565] [ 0. 0. 0. 1. ]] SLAMing on 94.213201008 meters Centerline goodness : 0.885631 with order 1 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.54, Z:-0.82 [[ 0.96662623 0.06511106 0.24777869 13.45511612] [-0.10293571 0.98437012 0.14289757 -0.54062409] [-0.23460172 -0.16363382 0.95822023 -0.82450994] [ 0. 0. 0. 1. ]] SLAMing on 94.27320100799999 meters Centerline goodness : 0.886419 with order 1 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.53, Z:-0.84 [[ 0.96564964 0.0686144 0.2506249 13.46637336] [-0.10307777 0.98652307 0.12707165 -0.53327996] [-0.23852831 -0.14854054 0.95970827 -0.83815374] [ 0. 0. 0. 1. ]] SLAMing on 94.33320100799999 meters Centerline goodness : 0.887337 with order 1 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.54, Z:-0.82 [[ 0.96444641 0.05490791 0.2585116 13.51266027] [-0.10020767 0.98111181 0.16546313 -0.54135532] [-0.24454354 -0.18548517 0.95173195 -0.81584417] [ 0. 0. 0. 1. ]] SLAMing on 94.39320100799999 meters Centerline goodness : 0.879015 with order 1 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.53, Z:-0.81 [[ 0.96429345 0.05485765 0.25909224 13.51238986] [-0.10058299 0.98086879 0.16667175 -0.53401364] [-0.24499227 -0.18678075 0.9513631 -0.81117399] [ 0. 0. 0. 1. ]] SLAMing on 94.453201008 meters Centerline goodness : 0.882507 with order 1 Centerline is valid? [False, False] Translation: X:13.53, Y:-0.53, Z:-0.82 [[ 0.96271376 0.05784601 0.26426513 13.52723823] [-0.10299508 0.98167579 0.16032671 -0.53043519] [-0.25014842 -0.18156673 0.95103065 -0.81535397] [ 0. 0. 0. 1. ]] SLAMing on 94.513201008 meters Centerline goodness : 0.884087 with order 1 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.53, Z:-0.80 [[ 0.96300813 0.05483049 0.26383509 13.54139414] [-0.10307696 0.97957342 0.17265881 -0.52530163] [-0.24897887 -0.19346715 0.94898893 -0.80273232] [ 0. 0. 0. 1. ]] SLAMing on 94.573201008 meters Centerline goodness : 0.881928 with order 1 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.52, Z:-0.80 [[ 0.96298064 0.05692058 0.26349257 13.54451912] [-0.10637478 0.9783703 0.17741467 -0.52307138] [-0.24769476 -0.19887585 0.94820657 -0.80150812] [ 0. 0. 0. 1. ]] SLAMing on 94.63320100799999 meters Centerline goodness : 0.879866 with order 1 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.52, Z:-0.81 [[ 0.96211065 0.06136143 0.26566495 13.56785648] [-0.11094798 0.97814012 0.17587625 -0.52161399] [-0.24906553 -0.1986874 0.94788696 -0.81119881] [ 0. 0. 0. 1. ]] SLAMing on 94.69320100799999 meters Centerline goodness : 0.881681 with order 1 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.52, Z:-0.82 [[ 0.96114481 0.06915888 0.26724092 13.57253658] [-0.11536426 0.98014562 0.16126269 -0.51746997] [-0.25078227 -0.18582685 0.95004033 -0.82074265] [ 0. 0. 0. 1. ]] SLAMing on 94.75320100799999 meters Centerline goodness : 0.881295 with order 1 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.51, Z:-0.83 [[ 0.96042003 0.08017516 0.26676829 13.57565212] [-0.12249363 0.98167666 0.14596656 -0.51087694] [-0.25017731 -0.17286663 0.95264287 -0.83208355] [ 0. 0. 0. 1. ]] SLAMing on 94.813201008 meters Centerline goodness : 0.880118 with order 1 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.51, Z:-0.83 [[ 0.95907456 0.08004394 0.27160442 13.60892856] [-0.12521886 0.98021569 0.15328872 -0.51282954] [-0.25396108 -0.18102531 0.95012294 -0.83342056] [ 0. 0. 0. 1. ]] SLAMing on 94.873201008 meters Centerline goodness : 0.878823 with order 1 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.50, Z:-0.85 [[ 0.95887118 0.09128125 0.26876345 13.60110785] [-0.129865 0.98304578 0.12944528 -0.50386028] [-0.25239084 -0.15902432 0.95446851 -0.84558837] [ 0. 0. 0. 1. ]] SLAMing on 94.933201008 meters Centerline goodness : 0.880253 with order 1 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.50, Z:-0.86 [[ 0.95768237 0.09813522 0.27058079 13.60326282] [-0.13201675 0.98512914 0.10996437 -0.49828579] [-0.25576564 -0.14103213 0.9563963 -0.8585465 ] [ 0. 0. 0. 1. ]] SLAMing on 94.99320100799999 meters Centerline goodness : 0.882305 with order 1 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.50, Z:-0.87 [[ 0.95647073 0.10122864 0.27370881 13.6148898 ] [-0.13173831 0.98667908 0.09544325 -0.49590922] [-0.26040116 -0.12734661 0.95706534 -0.87084614] [ 0. 0. 0. 1. ]] SLAMing on 95.05320100799999 meters Centerline goodness : 0.878150 with order 1 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.50, Z:-0.88 [[ 0.9561466 0.09927748 0.27554975 13.64592907] [-0.13009866 0.98685381 0.0958848 -0.5004074 ] [-0.26240812 -0.12752858 0.95649278 -0.87598432] [ 0. 0. 0. 1. ]] SLAMing on 95.11320100799999 meters Centerline goodness : 0.881486 with order 1 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.51, Z:-0.88 [[ 0.95698794 0.09758416 0.27322413 13.67849393] [-0.12799124 0.98714412 0.09573258 -0.5060566 ] [-0.26036961 -0.12658522 0.95717493 -0.88305603] [ 0. 0. 0. 1. ]] SLAMing on 95.17320100799999 meters Centerline goodness : 0.879204 with order 1 Centerline is valid? [False, False] Translation: X:13.73, Y:-0.52, Z:-0.88 [[ 0.95764501 0.08768707 0.27427543 13.73004635] [-0.12314601 0.98572265 0.11482992 -0.52018023] [-0.26029041 -0.14374223 0.95477069 -0.87696242] [ 0. 0. 0. 1. ]] SLAMing on 95.233201008 meters Centerline goodness : 0.882390 with order 1 Centerline is valid? [False, False] Translation: X:13.76, Y:-0.53, Z:-0.86 [[ 0.95748949 0.07596433 0.27828636 13.75962331] [-0.11781965 0.98355388 0.1368952 -0.53068799] [-0.26331048 -0.16386332 0.95069259 -0.86406968] [ 0. 0. 0. 1. ]] SLAMing on 95.293201008 meters Centerline goodness : 0.882628 with order 1 Centerline is valid? [False, False] Translation: X:13.80, Y:-0.54, Z:-0.86 [[ 0.95805617 0.07441704 0.27674983 13.79659503] [-0.1191587 0.98170281 0.14852876 -0.53968361] [-0.26063302 -0.17527605 0.94939388 -0.859392 ] [ 0. 0. 0. 1. ]] SLAMing on 95.353201008 meters Centerline goodness : 0.885592 with order 1 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.54, Z:-0.87 [[ 0.95714695 0.07927332 0.27854164 13.81260937] [-0.12156291 0.98294713 0.1379761 -0.53693421] [-0.26285388 -0.16592374 0.95046154 -0.87265552] [ 0. 0. 0. 1. ]] SLAMing on 95.41320100799999 meters Centerline goodness : 0.884463 with order 1 Centerline is valid? [False, False] Translation: X:13.83, Y:-0.53, Z:-0.89 [[ 0.95588081 0.08458481 0.28131351 13.82860419] [-0.12503918 0.98371784 0.12909072 -0.53469779] [-0.265814 -0.15857055 0.95089342 -0.88650782] [ 0. 0. 0. 1. ]] SLAMing on 95.47320100799999 meters Centerline goodness : 0.885836 with order 1 Centerline is valid? [False, False] Translation: X:13.83, Y:-0.53, Z:-0.90 [[ 0.95407671 0.09088797 0.28544179 13.83357914] [-0.12819442 0.98507957 0.1148235 -0.53110269] [-0.2707468 -0.14614247 0.9514928 -0.89562168] [ 0. 0. 0. 1. ]] SLAMing on 95.53320100799999 meters Centerline goodness : 0.889947 with order 1 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.53, Z:-0.90 [[ 0.95246449 0.09449511 0.28962401 13.84479273] [-0.12912561 0.98627971 0.10285387 -0.52951426] [-0.27593109 -0.13536253 0.95159814 -0.90423848] [ 0. 0. 0. 1. ]] SLAMing on 95.593201008 meters Centerline goodness : 0.892571 with order 1 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.53, Z:-0.92 [[ 0.95162144 0.10024248 0.29046184 13.85363746] [-0.13047126 0.9876629 0.08659818 -0.52584753] [-0.27819757 -0.12030561 0.95295995 -0.91801822] [ 0. 0. 0. 1. ]] SLAMing on 95.653201008 meters Centerline goodness : 0.888970 with order 1 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.53, Z:-0.92 [[ 0.95401356 0.10456954 0.28093298 13.87410943] [-0.13235289 0.98782459 0.08176358 -0.52706089] [-0.26896252 -0.11518585 0.95623814 -0.92299585] [ 0. 0. 0. 1. ]] SLAMing on 95.713201008 meters Centerline goodness : 0.890746 with order 1 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.52, Z:-0.93 [[ 0.95425396 0.10432941 0.28020486 13.87622919] [-0.13155165 0.98806648 0.0801174 -0.5247868 ] [-0.26850243 -0.11331376 0.95659105 -0.92689108] [ 0. 0. 0. 1. ]] SLAMing on 95.77320100799999 meters Centerline goodness : 0.892734 with order 1 Centerline is valid? [False, False] Translation: X:13.91, Y:-0.53, Z:-0.93 [[ 0.95452709 0.10460998 0.27916803 13.90780155] [-0.13223765 0.98782142 0.08198806 -0.52908211] [-0.26719139 -0.11517635 0.95673568 -0.92972396] [ 0. 0. 0. 1. ]] SLAMing on 95.83320100799999 meters Centerline goodness : 0.892579 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.54, Z:-0.92 [[ 0.954502 0.09372009 0.28309445 13.94385862] [-0.12857289 0.98589789 0.10711848 -0.53782425] [-0.26906307 -0.13864307 0.95309137 -0.92007031] [ 0. 0. 0. 1. ]] SLAMing on 95.89320100799999 meters Centerline goodness : 0.889599 with order 1 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.54, Z:-0.92 [[ 0.95472275 0.09338917 0.28245871 13.94529648] [-0.12816709 0.9859386 0.10723002 -0.53911436] [-0.26847283 -0.13857686 0.95326743 -0.91990335] [ 0. 0. 0. 1. ]] SLAMing on 95.953201008 meters Centerline goodness : 0.887844 with order 1 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.54, Z:-0.93 [[ 0.95322499 0.09769891 0.28603679 13.95506873] [-0.12923144 0.98719852 0.09347894 -0.53630066] [-0.27324231 -0.12607141 0.95364807 -0.93132277] [ 0. 0. 0. 1. ]] SLAMing on 96.013201008 meters Centerline goodness : 0.891151 with order 1 Centerline is valid? [False, False] Translation: X:13.97, Y:-0.53, Z:-0.94 [[ 0.95184075 0.10300674 0.28877119 13.96582573] [-0.13136249 0.98805671 0.08054705 -0.53403356] [-0.27702542 -0.11460166 0.95400386 -0.94395855] [ 0. 0. 0. 1. ]] SLAMing on 96.073201008 meters Centerline goodness : 0.886753 with order 1 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.53, Z:-0.95 [[ 0.95342547 0.11198994 0.28006808 13.95872931] [-0.13549956 0.98857826 0.0659765 -0.52943543] [-0.26948051 -0.10085277 0.95771028 -0.94691667] [ 0. 0. 0. 1. ]] SLAMing on 96.13320100799999 meters Centerline goodness : 0.888520 with order 1 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.52, Z:-0.95 [[ 0.95353404 0.11514346 0.27841483 13.94732195] [-0.13571095 0.9891816 0.05569826 -0.52421164] [-0.26898954 -0.09089412 0.95884456 -0.94988353] [ 0. 0. 0. 1. ]] SLAMing on 96.19320100799999 meters Centerline goodness : 0.888311 with order 1 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.52, Z:-0.95 [[ 0.9539629 0.11308681 0.27778797 13.9472079 ] [-0.13197665 0.98998048 0.05020771 -0.5212595 ] [-0.26932684 -0.08455782 0.95932947 -0.95254619] [ 0. 0. 0. 1. ]] SLAMing on 96.25320100799999 meters Centerline goodness : 0.885633 with order 1 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.51, Z:-0.96 [[ 0.9544187 0.11228006 0.27654681 13.94584715] [-0.1285204 0.99084826 0.04125802 -0.51493885] [-0.26938348 -0.07491933 0.96011439 -0.96152595] [ 0. 0. 0. 1. ]] SLAMing on 96.313201008 meters Centerline goodness : 0.883001 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.51, Z:-0.96 [[ 0.95471963 0.11040449 0.27626307 13.94486485] [-0.12502096 0.99150763 0.03581033 -0.51195488] [-0.26996332 -0.0687275 0.96041467 -0.96396131] [ 0. 0. 0. 1. ]] SLAMing on 96.373201008 meters Centerline goodness : 0.879370 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.51, Z:-0.97 [[ 0.95510371 0.10786877 0.27593702 13.94440021] [-0.12094109 0.99218322 0.03075233 -0.51017622] [-0.27046287 -0.06274379 0.96068364 -0.96540055] [ 0. 0. 0. 1. ]] SLAMing on 96.433201008 meters Centerline goodness : 0.883863 with order 1 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.51, Z:-0.97 [[ 0.95563649 0.10497567 0.2752072 13.94534004] [-0.11653593 0.99284745 0.02594829 -0.50883861] [-0.27051483 -0.05686866 0.96103469 -0.96694911] [ 0. 0. 0. 1. ]] SLAMing on 96.49320100799999 meters Centerline goodness : 0.881458 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.51, Z:-0.97 [[ 0.95618164 0.10083154 0.27486299 13.94294059] [-0.10932795 0.99388131 0.01572708 -0.50705649] [-0.2715954 -0.04508816 0.96135477 -0.97118497] [ 0. 0. 0. 1. ]] SLAMing on 96.55320100799999 meters Centerline goodness : 0.879310 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.50, Z:-0.98 [[ 9.56542543e-01 9.89465777e-02 2.74291703e-01 1.39426863e+01] [-1.05450094e-01 9.94383603e-01 9.02924317e-03 -5.03591466e-01] [-2.71857759e-01 -3.75609410e-02 9.61604147e-01 -9.77080901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61320100799999 meters Centerline goodness : 0.877318 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.51, Z:-0.98 [[ 9.56763767e-01 9.84331328e-02 2.73704242e-01 1.39449672e+01] [-1.04808413e-01 9.94454106e-01 8.73080746e-03 -5.05352705e-01] [-2.71326907e-01 -3.70398276e-02 9.61774277e-01 -9.80264471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67320100799999 meters Centerline goodness : 0.884842 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.51, Z:-0.98 [[ 9.56649264e-01 9.86358103e-02 2.74031317e-01 1.39436840e+01] [-1.05678452e-01 9.94339293e-01 1.10197300e-02 -5.11871972e-01] [-2.71393166e-01 -3.95012218e-02 9.61657633e-01 -9.76266574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.733201008 meters Centerline goodness : 0.885099 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.51, Z:-0.98 [[ 9.56726997e-01 9.82335388e-02 2.73904410e-01 1.39443933e+01] [-1.05392156e-01 9.94364169e-01 1.15062390e-02 -5.13816125e-01] [-2.71230432e-01 -3.98757058e-02 9.61688089e-01 -9.75961228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.793201008 meters Centerline goodness : 0.888406 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.51, Z:-0.98 [[ 9.56965170e-01 9.59430498e-02 2.73884273e-01 1.39434168e+01] [-1.01516545e-01 9.94814436e-01 6.21527637e-03 -5.11165532e-01] [-2.71867716e-01 -3.37515880e-02 9.61742572e-01 -9.78169135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.853201008 meters Centerline goodness : 0.884838 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.51, Z:-0.98 [[ 9.57292787e-01 9.47163503e-02 2.73165393e-01 1.39432285e+01] [-9.89822436e-02 9.95087490e-01 1.84478957e-03 -5.07871878e-01] [-2.71648734e-01 -2.88045273e-02 9.61965314e-01 -9.80189185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91320100799999 meters Centerline goodness : 0.882064 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.51, Z:-0.98 [[ 9.57451595e-01 9.42551607e-02 2.72768047e-01 1.39447832e+01] [-9.82652289e-02 9.95159711e-01 1.04580313e-03 -5.05985051e-01] [-2.71349198e-01 -2.78049204e-02 9.62079258e-01 -9.81883040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97320100799999 meters Centerline goodness : 0.882411 with order 1 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.50, Z:-0.98 [[ 9.57553754e-01 9.41431531e-02 2.72447932e-01 1.39454969e+01] [-9.79221369e-02 9.95194041e-01 2.75299634e-04 -5.03258511e-01] [-2.71112641e-01 -2.69422979e-02 9.62170488e-01 -9.82097939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03320100799999 meters Centerline goodness : 0.882715 with order 1 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.50, Z:-0.98 [[ 9.57703157e-01 9.39019839e-02 2.72005662e-01 1.39466916e+01] [-9.76996844e-02 9.95215853e-01 4.21142560e-04 -5.01674502e-01] [-2.70664800e-01 -2.69781969e-02 9.62295559e-01 -9.80941131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.093201008 meters Centerline goodness : 0.876696 with order 1 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.50, Z:-0.98 [[ 9.57808025e-01 9.33526181e-02 2.71825450e-01 1.39482053e+01] [-9.69094460e-02 9.95293144e-01 -3.40570390e-04 -4.97562680e-01] [-2.70577800e-01 -2.60162527e-02 9.62346512e-01 -9.82311499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.153201008 meters Centerline goodness : 0.867543 with order 1 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.50, Z:-0.98 [[ 9.58145258e-01 9.23269231e-02 2.70985984e-01 1.39511657e+01] [-9.56239934e-02 9.95416982e-01 -1.04105482e-03 -4.96815842e-01] [-2.69840167e-01 -2.49152802e-02 9.62582730e-01 -9.84310560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.213201008 meters Centerline goodness : 0.861424 with order 1 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.50, Z:-0.99 [[ 9.58487549e-01 9.12847929e-02 2.70127200e-01 1.39539835e+01] [-9.43845697e-02 9.95534651e-01 -1.52054088e-03 -4.96154668e-01] [-2.69059790e-01 -2.40384200e-02 9.62823444e-01 -9.85189270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27320100799999 meters Centerline goodness : 0.859213 with order 1 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.50, Z:-0.99 [[ 9.59006284e-01 8.98020999e-02 2.68779706e-01 1.39584933e+01] [-9.28163360e-02 9.95682118e-01 -1.49898062e-03 -4.96139112e-01] [-2.67753758e-01 -2.35096156e-02 9.63200510e-01 -9.85950063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33320100799999 meters Centerline goodness : 0.857765 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:-0.51, Z:-0.98 [[ 0.95976929 0.08536318 0.26749959 14.00414044] [-0.09257739 0.99560064 0.01444971 -0.50675961] [-0.26508929 -0.0386328 0.96344962 -0.98211955] [ 0. 0. 0. 1. ]] SLAMing on 97.39320100799999 meters Centerline goodness : 0.856342 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.51, Z:-0.98 [[ 0.9603673 0.08406152 0.26575988 14.01396039] [-0.09238707 0.99554265 0.01895957 -0.50736241] [-0.26298152 -0.04276092 0.9638528 -0.98368787] [ 0. 0. 0. 1. ]] SLAMing on 97.453201008 meters Centerline goodness : 0.856744 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.51, Z:-0.98 [[ 0.96059149 0.08507566 0.26462449 14.01937239] [-0.09510449 0.99514585 0.02529574 -0.51039043] [-0.26118791 -0.04946585 0.96401971 -0.98013337] [ 0. 0. 0. 1. ]] SLAMing on 97.513201008 meters Centerline goodness : 0.861111 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.51, Z:-0.98 [[ 0.96039241 0.08785848 0.2644377 14.02054116] [-0.09912653 0.99463609 0.02954628 -0.5107578 ] [-0.26042339 -0.05458882 0.96395006 -0.979324 ] [ 0. 0. 0. 1. ]] SLAMing on 97.573201008 meters Centerline goodness : 0.856814 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.51, Z:-0.98 [[ 0.96052944 0.08923255 0.26347816 14.02191526] [-0.10035701 0.99452758 0.02904087 -0.50712749] [-0.25944491 -0.0543365 0.96422813 -0.98191376] [ 0. 0. 0. 1. ]] SLAMing on 97.63320100799999 meters Centerline goodness : 0.846622 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.51, Z:-0.98 [[ 0.96000516 0.09453873 0.26353846 14.02411123] [-0.10817276 0.9934178 0.03767932 -0.50806381] [-0.25824164 -0.06468002 0.96391273 -0.98146515] [ 0. 0. 0. 1. ]] SLAMing on 97.69320100799999 meters Centerline goodness : 0.856616 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.51, Z:-0.98 [[ 0.95987937 0.09542374 0.26367766 14.02293967] [-0.10926818 0.99327365 0.03831338 -0.50732584] [-0.25824807 -0.0655878 0.96384966 -0.97936993] [ 0. 0. 0. 1. ]] SLAMing on 97.75320100799999 meters Centerline goodness : 0.845163 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.51, Z:-0.98 [[ 0.95989063 0.09554698 0.26359201 14.02363581] [-0.10958308 0.99321084 0.0390356 -0.50682278] [-0.2580727 -0.06635514 0.96384411 -0.97821852] [ 0. 0. 0. 1. ]] SLAMing on 97.813201008 meters Centerline goodness : 0.844408 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.51, Z:-0.98 [[ 0.96000491 0.09534589 0.26324841 14.02476519] [-0.10940167 0.99322331 0.03922678 -0.5068137 ] [-0.25772434 -0.06645771 0.96393025 -0.97784167] [ 0. 0. 0. 1. ]] SLAMing on 97.873201008 meters Centerline goodness : 0.839658 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.50, Z:-0.98 [[ 0.960291 0.09319265 0.2629759 14.02421483] [-0.10575155 0.99381179 0.03398147 -0.50402923] [-0.25818173 -0.06044221 0.96420378 -0.9803651 ] [ 0. 0. 0. 1. ]] SLAMing on 97.933201008 meters Centerline goodness : 0.836320 with order 1 Centerline is valid? [False, False] Translation: X:14.04, Y:-0.51, Z:-0.98 [[ 0.96131222 0.08814924 0.2609761 14.03651098] [-0.10119977 0.99417895 0.03697066 -0.50596467] [-0.25619801 -0.06195107 0.96463705 -0.97889503] [ 0. 0. 0. 1. ]] SLAMing on 97.99320100799999 meters Centerline goodness : 0.834592 with order 1 Centerline is valid? [False, False] Translation: X:14.05, Y:-0.51, Z:-0.98 [[ 0.96198018 0.08415432 0.25983105 14.04508445] [-0.09781616 0.99439704 0.04008141 -0.50972795] [-0.25500221 -0.0639732 0.9648219 -0.97514644] [ 0. 0. 0. 1. ]] SLAMing on 98.05320100799999 meters Centerline goodness : 0.822424 with order 1 Centerline is valid? [False, False] Translation: X:14.05, Y:-0.51, Z:-0.98 [[ 0.96259067 0.08029548 0.25878917 14.04804817] [-0.092633 0.9950559 0.03581746 -0.50921895] [-0.25463371 -0.05844997 0.96526954 -0.97603395] [ 0. 0. 0. 1. ]] SLAMing on 98.11320100799999 meters Centerline goodness : 0.824315 with order 1 Centerline is valid? [False, False] Translation: X:14.06, Y:-0.51, Z:-0.97 [[ 0.96322795 0.07589865 0.25774273 14.06336288] [-0.09034838 0.99490782 0.04467219 -0.51265661] [-0.2530397 -0.06631614 0.96518034 -0.97222953] [ 0. 0. 0. 1. ]] SLAMing on 98.17320100799999 meters Centerline goodness : 0.821632 with order 1 Centerline is valid? [False, False] Translation: X:14.07, Y:-0.51, Z:-0.98 [[ 0.9635768 0.07471617 0.25678248 14.06740027] [-0.08868872 0.9951198 0.04325395 -0.51018495] [-0.25229756 -0.06445222 0.96550083 -0.97616078] [ 0. 0. 0. 1. ]] SLAMing on 98.233201008 meters Centerline goodness : 0.822023 with order 1 Centerline is valid? [False, False] Translation: X:14.07, Y:-0.51, Z:-0.97 [[ 0.96394229 0.07254707 0.25603161 14.07241731] [-0.08739106 0.99506146 0.04706895 -0.51268181] [-0.25135247 -0.06774663 0.96552179 -0.9693874 ] [ 0. 0. 0. 1. ]] SLAMing on 98.293201008 meters Centerline goodness : 0.822760 with order 1 Centerline is valid? [False, False] Translation: X:14.07, Y:-0.51, Z:-0.97 [[ 0.96392565 0.07271287 0.25604723 14.07233801] [-0.08774202 0.99499787 0.04775538 -0.51297823] [-0.25129401 -0.06849874 0.96548394 -0.96741261] [ 0. 0. 0. 1. ]] SLAMing on 98.353201008 meters Centerline goodness : 0.823528 with order 1 Centerline is valid? [False, False] Translation: X:14.07, Y:-0.51, Z:-0.97 [[ 0.96360752 0.0764021 0.2561704 14.0722845 ] [-0.09234316 0.99443205 0.05077036 -0.50987198] [-0.25086509 -0.07257829 0.96529741 -0.96939245] [ 0. 0. 0. 1. ]] SLAMing on 98.41320100799999 meters Centerline goodness : 0.821182 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:-0.51, Z:-0.97 [[ 0.96454589 0.09044734 0.24793246 14.08264771] [-0.10661052 0.99291216 0.05253235 -0.50899746] [-0.24142374 -0.07710207 0.96735198 -0.97005725] [ 0. 0. 0. 1. ]] SLAMing on 98.47320100799999 meters Centerline goodness : 0.824649 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:-0.51, Z:-0.98 [[ 0.96285498 0.10147404 0.25022649 14.08481761] [-0.11529434 0.99247797 0.04116662 -0.50526296] [-0.24416694 -0.06848719 0.96731174 -0.97741294] [ 0. 0. 0. 1. ]] SLAMing on 98.53320100799999 meters Centerline goodness : 0.817332 with order 1 Centerline is valid? [False, False] Translation: X:14.09, Y:-0.50, Z:-0.99 [[ 0.96084395 0.10927735 0.25463182 14.09254571] [-0.12122362 0.99212031 0.03165631 -0.50195306] [-0.24916608 -0.06128416 0.9665198 -0.98624434] [ 0. 0. 0. 1. ]] SLAMing on 98.593201008 meters Centerline goodness : 0.816685 with order 1 Centerline is valid? [False, False] Translation: X:14.09, Y:-0.50, Z:-0.99 [[ 0.96041444 0.11128021 0.25538369 14.08966 ] [-0.12317163 0.99190108 0.03099981 -0.49857868] [-0.24986569 -0.06122869 0.96634268 -0.98753751] [ 0. 0. 0. 1. ]] SLAMing on 98.653201008 meters Centerline goodness : 0.815535 with order 1 Centerline is valid? [False, False] Translation: X:14.09, Y:-0.50, Z:-0.99 [[ 0.96070989 0.1090721 0.25522496 14.08863015] [-0.11970342 0.99245728 0.02645062 -0.49752377] [-0.25041484 -0.05596267 0.96651983 -0.9883969 ] [ 0. 0. 0. 1. ]] SLAMing on 98.713201008 meters Centerline goodness : 0.810784 with order 1 Centerline is valid? [False, False] Translation: X:14.09, Y:-0.50, Z:-0.99 [[ 0.96170348 0.10269926 0.25412452 14.09006209] [-0.11055796 0.99372771 0.01679833 -0.49711715] [-0.2508054 -0.0442505 0.96702562 -0.99265428] [ 0. 0. 0. 1. ]] SLAMing on 98.77320100799999 meters Centerline goodness : 0.807086 with order 1 Centerline is valid? [False, False] Translation: X:14.09, Y:-0.50, Z:-1.00 [[ 9.62835495e-01 9.56341976e-02 2.52590401e-01 1.40933172e+01] [-1.00719907e-01 9.94888403e-01 7.25026525e-03 -4.96698355e-01] [-2.50605887e-01 -3.24216944e-02 9.67546135e-01 -9.97543049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83320100799999 meters Centerline goodness : 0.807747 with order 1 Centerline is valid? [False, False] Translation: X:14.09, Y:-0.49, Z:-1.00 [[ 9.63508818e-01 9.03869305e-02 2.51954281e-01 1.40929035e+01] [-9.26672933e-02 9.95693120e-01 -2.82547518e-03 -4.94259231e-01] [-2.51124530e-01 -2.06255510e-02 9.67735014e-01 -1.00187792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89320100799999 meters Centerline goodness : 0.803674 with order 1 Centerline is valid? [False, False] Translation: X:14.10, Y:-0.49, Z:-1.01 [[ 9.64017360e-01 8.88012936e-02 2.50569072e-01 1.40981624e+01] [-9.06788118e-02 9.95871891e-01 -4.06579836e-03 -4.94681219e-01] [-2.49895743e-01 -1.88018055e-02 9.68090187e-01 -1.00749162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.953201008 meters Centerline goodness : 0.805288 with order 1 Centerline is valid? [False, False] Translation: X:14.10, Y:-0.49, Z:-1.01 [[ 9.64119242e-01 8.86728802e-02 2.50222315e-01 1.40995779e+01] [-9.03041646e-02 9.95901793e-01 -4.97756427e-03 -4.93943786e-01] [-2.49638227e-01 -1.77971516e-02 9.68175613e-01 -1.01057946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.013201008 meters Centerline goodness : 0.804477 with order 1 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.50, Z:-1.00 [[ 9.65326130e-01 9.61749804e-02 2.42684641e-01 1.41067734e+01] [-9.76129839e-02 9.95205625e-01 -6.12118449e-03 -4.98769159e-01] [-2.42109825e-01 -1.77802326e-02 9.70085922e-01 -1.00327363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.073201008 meters Centerline goodness : 0.808947 with order 1 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.50, Z:-1.00 [[ 9.65195961e-01 9.65805979e-02 2.43041035e-01 1.41053535e+01] [-9.83672785e-02 9.95138587e-01 -4.80322087e-03 -5.00656848e-01] [-2.42323410e-01 -1.92712357e-02 9.70004116e-01 -9.99781584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13320100799999 meters Centerline goodness : 0.808558 with order 1 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.50, Z:-1.00 [[ 9.65027857e-01 9.83827149e-02 2.42985753e-01 1.41076448e+01] [-1.01477625e-01 9.94837797e-01 2.21790390e-04 -5.02895041e-01] [-2.41709591e-01 -2.48716511e-02 9.70029832e-01 -9.98532196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19320100799999 meters Centerline goodness : 0.808575 with order 1 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.50, Z:-1.00 [[ 9.65096577e-01 9.82905671e-02 2.42749997e-01 1.41087582e+01] [-1.00986276e-01 9.94886910e-01 -1.34496021e-03 -5.00340336e-01] [-2.41640991e-01 -2.32164017e-02 9.70087950e-01 -1.00251794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25320100799999 meters Centerline goodness : 0.808641 with order 1 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.50, Z:-1.00 [[ 9.65236796e-01 9.80863674e-02 2.42274621e-01 1.41101930e+01] [-1.00684456e-01 9.94917015e-01 -1.66527788e-03 -4.99753728e-01] [-2.41206484e-01 -2.27859008e-02 9.70206285e-01 -1.00355686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.313201008 meters Centerline goodness : 0.812730 with order 1 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.50, Z:-1.00 [[ 9.65820018e-01 9.39210101e-02 2.41599952e-01 1.41121504e+01] [-9.56548290e-02 9.95404075e-01 -4.56956864e-03 -5.00284280e-01] [-2.40918756e-01 -1.86968212e-02 9.70365180e-01 -1.00042925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.373201008 meters Centerline goodness : 0.813545 with order 1 Centerline is valid? [False, False] Translation: X:14.13, Y:-0.50, Z:-1.00 [[ 9.66758493e-01 8.67594928e-02 2.40521946e-01 1.41317470e+01] [-8.99749317e-02 9.95941144e-01 2.39762223e-03 -5.00953065e-01] [-2.39337685e-01 -2.39588673e-02 9.70640739e-01 -9.99364289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.433201008 meters Centerline goodness : 0.810592 with order 1 Centerline is valid? [False, False] Translation: X:14.15, Y:-0.50, Z:-1.00 [[ 9.67342947e-01 8.49738926e-02 2.38803393e-01 1.41490135e+01] [-9.04607490e-02 9.95826625e-01 1.20907112e-02 -4.99674659e-01] [-2.36779382e-01 -3.32981980e-02 9.70992664e-01 -1.00057100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49320100799999 meters Centerline goodness : 0.812899 with order 1 Centerline is valid? [False, False] Translation: X:14.16, Y:-0.50, Z:-1.00 [[ 9.68879120e-01 9.29037503e-02 2.29438759e-01 1.41626181e+01] [-9.83160229e-02 9.95079895e-01 1.22459156e-02 -5.01006414e-01] [-2.27172204e-01 -3.44223181e-02 9.73246060e-01 -9.96352044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55320100799999 meters Centerline goodness : 0.817363 with order 1 Centerline is valid? [False, False] Translation: X:14.16, Y:-0.50, Z:-1.00 [[ 9.68882858e-01 9.37396714e-02 2.29082694e-01 1.41624600e+01] [-9.91335827e-02 9.95000249e-01 1.21258944e-02 -4.98319836e-01] [-2.26800661e-01 -3.44583594e-02 9.73331435e-01 -9.95166032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61320100799999 meters Centerline goodness : 0.813958 with order 1 Centerline is valid? [False, False] Translation: X:14.16, Y:-0.49, Z:-1.00 [[ 9.68755203e-01 9.46004610e-02 2.29268640e-01 1.41617994e+01] [-9.96289392e-02 9.94969987e-01 1.04307063e-02 -4.92084834e-01] [-2.27128667e-01 -3.29465924e-02 9.73307295e-01 -9.97722336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67320100799999 meters Centerline goodness : 0.813939 with order 1 Centerline is valid? [False, False] Translation: X:14.16, Y:-0.49, Z:-1.00 [[ 9.68845262e-01 9.45749342e-02 2.28898317e-01 1.41628612e+01] [-9.94327556e-02 9.94996452e-01 9.75642923e-03 -4.88777940e-01] [-2.26830299e-01 -3.22124606e-02 9.73401445e-01 -9.98613366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.733201008 meters Centerline goodness : 0.810526 with order 1 Centerline is valid? [False, False] Translation: X:14.17, Y:-0.49, Z:-1.00 [[ 9.69137817e-01 9.35981870e-02 2.28059796e-01 1.41657396e+01] [-9.82698188e-02 9.95117375e-01 9.18976270e-03 -4.87507275e-01] [-2.26086121e-01 -3.13175414e-02 9.73603758e-01 -9.99889728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.793201008 meters Centerline goodness : 0.815190 with order 1 Centerline is valid? [False, False] Translation: X:14.16, Y:-0.49, Z:-1.00 [[ 9.69451553e-01 9.10472859e-02 2.27758816e-01 1.41648407e+01] [-9.47323939e-02 9.95488787e-01 5.27713563e-03 -4.86936901e-01] [-2.26250878e-01 -2.66920652e-02 9.73703278e-01 -9.98514472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.853201008 meters Centerline goodness : 0.817333 with order 1 Centerline is valid? [False, False] Translation: X:14.17, Y:-0.49, Z:-1.00 [[ 9.69829479e-01 8.96947355e-02 2.26684002e-01 1.41683758e+01] [-9.32358476e-02 9.95631793e-01 4.94054771e-03 -4.86453394e-01] [-2.25250659e-01 -2.59265639e-02 9.73955828e-01 -9.99428754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91320100799999 meters Centerline goodness : 0.813591 with order 1 Centerline is valid? [False, False] Translation: X:14.17, Y:-0.49, Z:-1.00 [[ 9.69922332e-01 8.97153907e-02 2.26278191e-01 1.41728794e+01] [-9.38069815e-02 9.95563108e-01 7.37213378e-03 -4.86988212e-01] [-2.24612825e-01 -2.83768712e-02 9.74034821e-01 -1.00234386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97320100799999 meters Centerline goodness : 0.816461 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:-0.49, Z:-1.01 [[ 9.70323193e-01 8.87448550e-02 2.24938328e-01 1.41766647e+01] [-9.25427157e-02 9.95688303e-01 6.37565576e-03 -4.86490612e-01] [-2.23402655e-01 -2.70028504e-02 9.74352144e-01 -1.00507417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03320100799999 meters Centerline goodness : 0.816648 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:-0.49, Z:-1.01 [[ 9.70469630e-01 8.85344853e-02 2.24388820e-01 1.41780991e+01] [-9.22547533e-02 9.95716577e-01 6.12856617e-03 -4.86037813e-01] [-2.22885079e-01 -2.66485226e-02 9.74480425e-01 -1.00573541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.093201008 meters Centerline goodness : 0.816172 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:-0.48, Z:-1.01 [[ 9.70555545e-01 8.87582486e-02 2.23928354e-01 1.41787832e+01] [-9.24526168e-02 9.95698728e-01 6.04624004e-03 -4.84669726e-01] [-2.22428524e-01 -2.65709741e-02 9.74586854e-01 -1.00532440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.153201008 meters Centerline goodness : 0.817174 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:-0.48, Z:-1.01 [[ 9.70421119e-01 9.13560158e-02 2.23465725e-01 1.41809366e+01] [-9.60043553e-02 9.95330656e-01 1.00024770e-02 -4.83887512e-01] [-2.21508500e-01 -3.11602978e-02 9.74660464e-01 -1.00537976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.213201008 meters Centerline goodness : 0.816476 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:-0.48, Z:-1.01 [[ 9.70528816e-01 9.13433080e-02 2.23002731e-01 1.41821262e+01] [-9.57085418e-02 9.95370301e-01 8.82268001e-03 -4.80070678e-01] [-2.21164402e-01 -2.99059313e-02 9.74777894e-01 -1.00707240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27320100799999 meters Centerline goodness : 0.817993 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:-0.48, Z:-1.01 [[ 9.70791604e-01 9.05640651e-02 2.22175183e-01 1.41841980e+01] [-9.49974982e-02 9.95433816e-01 9.32705749e-03 -4.81851242e-01] [-2.20315994e-01 -3.01607157e-02 9.74962150e-01 -1.00599751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33320100799999 meters Centerline goodness : 0.821240 with order 1 Centerline is valid? [False, False] Translation: X:14.20, Y:-0.49, Z:-1.00 [[ 9.71727993e-01 8.52879186e-02 2.20160577e-01 1.41951872e+01] [-9.01512853e-02 9.95854341e-01 1.21192609e-02 -4.86469870e-01] [-2.18214240e-01 -3.16243841e-02 9.75388355e-01 -1.00339867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39320100799999 meters Centerline goodness : 0.830790 with order 3 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.49, Z:-1.00 [[ 0.97234986 0.08101102 0.21902731 14.20953125] [-0.08750541 0.99596128 0.02009811 -0.49227509] [-0.21651455 -0.03870847 0.97551171 -1.00011068] [ 0. 0. 0. 1. ]] SLAMing on 100.453201008 meters Centerline goodness : 0.817837 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.49, Z:-1.00 [[ 0.97262477 0.08021711 0.21809692 14.21261734] [-0.08660128 0.99604514 0.01985672 -0.4924944 ] [-0.21564153 -0.03820061 0.97572509 -1.00167342] [ 0. 0. 0. 1. ]] SLAMing on 100.513201008 meters Centerline goodness : 0.824644 with order 3 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.50, Z:-1.00 [[ 0.97259419 0.08234122 0.21744074 14.21569044] [-0.08988341 0.99563824 0.02500921 -0.49580189] [-0.21443303 -0.04386813 0.97575308 -1.00037731] [ 0. 0. 0. 1. ]] SLAMing on 100.573201008 meters Centerline goodness : 0.824822 with order 3 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.50, Z:-1.00 [[ 0.97249695 0.08505185 0.21683144 14.21802269] [-0.09367152 0.99515795 0.02977078 -0.49849414] [-0.21324947 -0.04926292 0.975755 -0.9997654 ] [ 0. 0. 0. 1. ]] SLAMing on 100.63320100799999 meters Centerline goodness : 0.824973 with order 3 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.50, Z:-1.00 [[ 0.97215441 0.0888311 0.2168521 14.2180757 ] [-0.09853579 0.99454097 0.034336 -0.49779297] [-0.21261819 -0.05474759 0.97560043 -0.99855837] [ 0. 0. 0. 1. ]] SLAMing on 100.69320100799999 meters Centerline goodness : 0.819118 with order 1 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.50, Z:-1.00 [[ 0.97180401 0.09203355 0.21708705 14.21824852] [-0.10288329 0.99392099 0.03919311 -0.4997534 ] [-0.2121603 -0.06042265 0.97536512 -0.99716059] [ 0. 0. 0. 1. ]] SLAMing on 100.75320100799999 meters Centerline goodness : 0.820050 with order 1 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.50, Z:-1.00 [[ 0.97195737 0.0915625 0.21659911 14.22005172] [-0.10240003 0.99396555 0.03932838 -0.5007425 ] [-0.21169105 -0.06040527 0.97546815 -0.99764906] [ 0. 0. 0. 1. ]] SLAMing on 100.813201008 meters Centerline goodness : 0.821972 with order 1 Centerline is valid? [False, False] Translation: X:14.26, Y:-0.51, Z:-0.99 [[ 0.9728287 0.08901414 0.21373069 14.25770436] [-0.10132032 0.99372835 0.04730927 -0.51162993] [-0.20817905 -0.06767908 0.97574639 -0.99466922] [ 0. 0. 0. 1. ]] SLAMing on 100.873201008 meters Centerline goodness : 0.826133 with order 1 Centerline is valid? [False, False] Translation: X:14.28, Y:-0.52, Z:-1.00 [[ 0.97465683 0.09007214 0.20477077 14.27857612] [-0.10056534 0.99406847 0.04140645 -0.5181531 ] [-0.19982659 -0.06094993 0.97793376 -0.99534614] [ 0. 0. 0. 1. ]] SLAMing on 100.933201008 meters Centerline goodness : 0.823952 with order 1 Centerline is valid? [False, False] Translation: X:14.32, Y:-0.53, Z:-0.99 [[ 0.9755687 0.08627192 0.20204669 14.31761712] [-0.09806256 0.99396959 0.04907329 -0.52927999] [-0.19659462 -0.06768758 0.97814567 -0.99363035] [ 0. 0. 0. 1. ]] SLAMing on 100.99320100799999 meters Centerline goodness : 0.828802 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:-0.54, Z:-0.99 [[ 0.97620947 0.08209288 0.2006884 14.32713492] [-0.09480422 0.99399998 0.05455451 -0.53503225] [-0.19500573 -0.07228274 0.97813495 -0.98644217] [ 0. 0. 0. 1. ]] SLAMing on 101.05320100799999 meters Centerline goodness : 0.827074 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:-0.54, Z:-0.99 [[ 0.97607248 0.08347527 0.20078442 14.3534208 ] [-0.09636183 0.99381061 0.0552708 -0.54110257] [-0.19492795 -0.07329626 0.97807502 -0.98736801] [ 0. 0. 0. 1. ]] SLAMing on 101.11320100799999 meters Centerline goodness : 0.832318 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:-0.54, Z:-0.99 [[ 0.97589357 0.08455976 0.20119988 14.35171972] [-0.09776257 0.99359913 0.05659723 -0.54340856] [-0.19512618 -0.07490269 0.97791378 -0.98541736] [ 0. 0. 0. 1. ]] SLAMing on 101.17320100799999 meters Centerline goodness : 0.833358 with order 1 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.55, Z:-0.98 [[ 0.97696265 0.08942054 0.19377293 14.36076533] [-0.10185932 0.99326671 0.05518989 -0.54707759] [-0.18753309 -0.07365604 0.97949279 -0.98162671] [ 0. 0. 0. 1. ]] SLAMing on 101.233201008 meters Centerline goodness : 0.836074 with order 1 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.55, Z:-0.98 [[ 0.97717418 0.08854832 0.19310571 14.36331158] [-0.10096223 0.99334646 0.05540243 -0.54856432] [-0.18691509 -0.07363421 0.97961255 -0.98181695] [ 0. 0. 0. 1. ]] SLAMing on 101.293201008 meters Centerline goodness : 0.831759 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:-0.56, Z:-0.98 [[ 0.97774654 0.08527009 0.19167868 14.40998839] [-0.10029468 0.99248647 0.07008274 -0.55842458] [-0.18426254 -0.08774751 0.97895234 -0.97808845] [ 0. 0. 0. 1. ]] SLAMing on 101.35320100799998 meters Centerline goodness : 0.824606 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:-0.56, Z:-0.97 [[ 0.97802241 0.08190822 0.19173734 14.40999549] [-0.09646615 0.99302094 0.06785051 -0.55725143] [-0.18484168 -0.08485548 0.97909811 -0.97385642] [ 0. 0. 0. 1. ]] SLAMing on 101.41320100799999 meters Centerline goodness : 0.827587 with order 1 Centerline is valid? [False, False] Translation: X:14.43, Y:-0.56, Z:-0.98 [[ 0.97723321 0.08331402 0.19512569 14.43359891] [-0.09739026 0.99320715 0.06367651 -0.55563455] [-0.18849508 -0.08123015 0.97870898 -0.98054048] [ 0. 0. 0. 1. ]] SLAMing on 101.47320100799999 meters Centerline goodness : 0.830511 with order 1 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.55, Z:-0.98 [[ 0.97750761 0.08228744 0.19418456 14.44433876] [-0.09774057 0.9926493 0.07137324 -0.55434773] [-0.18688405 -0.0887476 0.97836507 -0.97639747] [ 0. 0. 0. 1. ]] SLAMing on 101.53320100799999 meters Centerline goodness : 0.830883 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.56, Z:-0.98 [[ 0.97851587 0.091082 0.18496149 14.45760199] [-0.105608 0.99192364 0.07024553 -0.55565286] [-0.17706957 -0.08826978 0.98023202 -0.97560717] [ 0. 0. 0. 1. ]] SLAMing on 101.593201008 meters Centerline goodness : 0.832361 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.55, Z:-0.98 [[ 0.97855407 0.09126358 0.1846697 14.45841255] [-0.10574509 0.99191702 0.07013275 -0.55390195] [-0.17677645 -0.0881566 0.98029511 -0.97544584] [ 0. 0. 0. 1. ]] SLAMing on 101.653201008 meters Centerline goodness : 0.832351 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:-0.55, Z:-0.97 [[ 0.97923592 0.08427408 0.18437704 14.47266532] [-0.09976941 0.99207083 0.07642997 -0.55436705] [-0.17647402 -0.09323816 0.97987936 -0.96766556] [ 0. 0. 0. 1. ]] SLAMing on 101.713201008 meters Centerline goodness : 0.834821 with order 1 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.56, Z:-0.96 [[ 0.97977802 0.07821405 0.18416731 14.48435269] [-0.09445986 0.99221603 0.08114608 -0.55566963] [-0.17638699 -0.09690156 0.97953954 -0.96096922] [ 0. 0. 0. 1. ]] SLAMing on 101.77320100799999 meters Centerline goodness : 0.834101 with order 1 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.56, Z:-0.95 [[ 0.97983817 0.07479308 0.1852651 14.49473235] [-0.09280634 0.99155937 0.09053732 -0.55880181] [-0.17692978 -0.1059057 0.97850899 -0.95348771] [ 0. 0. 0. 1. ]] SLAMing on 101.83320100799999 meters Centerline goodness : 0.832793 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.56, Z:-0.95 [[ 0.97981202 0.07411535 0.18567528 14.49540859] [-0.09227341 0.99155452 0.09113319 -0.55717685] [-0.1773528 -0.10642629 0.97837591 -0.95123875] [ 0. 0. 0. 1. ]] SLAMing on 101.89320100799999 meters Centerline goodness : 0.835749 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.56, Z:-0.95 [[ 0.97990551 0.07202031 0.18600611 14.50584399] [-0.09159279 0.99087687 0.09886248 -0.55598284] [-0.17718905 -0.11391271 0.97756224 -0.94532484] [ 0. 0. 0. 1. ]] SLAMing on 101.953201008 meters Centerline goodness : 0.837145 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.55, Z:-0.95 [[ 0.97981492 0.07177491 0.18657729 14.50583914] [-0.09124674 0.99099898 0.09795432 -0.55282222] [-0.17786724 -0.11300168 0.97754481 -0.94581212] [ 0. 0. 0. 1. ]] SLAMing on 102.013201008 meters Centerline goodness : 0.836224 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.55, Z:-0.94 [[ 0.97980705 0.0734045 0.18598365 14.51007686] [-0.09370205 0.99027885 0.10279943 -0.55412263] [-0.17662974 -0.11815065 0.97716035 -0.94466758] [ 0. 0. 0. 1. ]] SLAMing on 102.073201008 meters Centerline goodness : 0.837434 with order 1 Centerline is valid? [False, False] Translation: X:14.53, Y:-0.56, Z:-0.95 [[ 0.98002468 0.07867045 0.1826543 14.53246922] [-0.09825652 0.99004577 0.10077221 -0.55611675] [-0.17290832 -0.11670623 0.97799917 -0.94781951] [ 0. 0. 0. 1. ]] SLAMing on 102.13320100799999 meters Centerline goodness : 0.845256 with order 1 Centerline is valid? [False, False] Translation: X:14.54, Y:-0.55, Z:-0.95 [[ 0.9799334 0.08131184 0.18198604 14.53574605] [-0.10141166 0.98939316 0.10400407 -0.55479799] [-0.17159898 -0.12037257 0.97778537 -0.94968662] [ 0. 0. 0. 1. ]] SLAMing on 102.19320100799999 meters Centerline goodness : 0.842046 with order 1 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.55, Z:-0.96 [[ 0.97934665 0.08605934 0.1829588 14.55625262] [-0.10523603 0.98962501 0.09781476 -0.5533253 ] [-0.17264273 -0.11504842 0.97824248 -0.95897325] [ 0. 0. 0. 1. ]] SLAMing on 102.25320100799999 meters Centerline goodness : 0.848635 with order 1 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.55, Z:-0.97 [[ 0.97836859 0.09206254 0.18525496 14.56209581] [-0.10867885 0.99072085 0.08161563 -0.5483621 ] [-0.17602221 -0.09998347 0.9792954 -0.96987042] [ 0. 0. 0. 1. ]] SLAMing on 102.313201008 meters Centerline goodness : 0.846571 with order 1 Centerline is valid? [False, False] Translation: X:14.57, Y:-0.55, Z:-0.98 [[ 0.9770414 0.09593289 0.19022875 14.57473437] [-0.11141976 0.99112986 0.07243788 -0.54521921] [-0.18159222 -0.09197005 0.97906372 -0.97838326] [ 0. 0. 0. 1. ]] SLAMing on 102.373201008 meters Centerline goodness : 0.848186 with order 1 Centerline is valid? [False, False] Translation: X:14.58, Y:-0.55, Z:-0.98 [[ 0.97717629 0.09542247 0.18979214 14.57608627] [-0.11090875 0.99116805 0.07269897 -0.54643194] [-0.18117879 -0.09208932 0.9791291 -0.97795353] [ 0. 0. 0. 1. ]] SLAMing on 102.433201008 meters Centerline goodness : 0.852300 with order 1 Centerline is valid? [False, False] Translation: X:14.59, Y:-0.55, Z:-0.99 [[ 0.97676562 0.09418455 0.19250506 14.58726575] [-0.10642196 0.99284127 0.05422718 -0.54663318] [-0.1860196 -0.07345402 0.97979652 -0.98726616] [ 0. 0. 0. 1. ]] SLAMing on 102.49320100799999 meters Centerline goodness : 0.853413 with order 1 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.55, Z:-0.99 [[ 0.97744838 0.09276081 0.18971055 14.62186657] [-0.10526691 0.99281354 0.05692237 -0.55387997] [-0.18306704 -0.07560892 0.98018863 -0.99031241] [ 0. 0. 0. 1. ]] SLAMing on 102.55320100799999 meters Centerline goodness : 0.846603 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:-0.55, Z:-1.00 [[ 0.9778491 0.09094274 0.18852201 14.62728623] [-0.1030102 0.9931467 0.05521342 -0.55408952] [-0.18220875 -0.07341008 0.98051565 -0.99607804] [ 0. 0. 0. 1. ]] SLAMing on 102.61320100799999 meters Centerline goodness : 0.848002 with order 1 Centerline is valid? [False, False] Translation: X:14.64, Y:-0.56, Z:-0.99 [[ 0.9790828 0.09555197 0.17962933 14.64004489] [-0.10655506 0.99291368 0.05261597 -0.55764538] [-0.17332886 -0.07065581 0.98232625 -0.99437485] [ 0. 0. 0. 1. ]] SLAMing on 102.67320100799999 meters Centerline goodness : 0.856602 with order 1 Centerline is valid? [False, False] Translation: X:14.64, Y:-0.56, Z:-0.99 [[ 0.97916385 0.09529835 0.17932198 14.64110663] [-0.10656196 0.99282538 0.05424317 -0.56100901] [-0.17286613 -0.07222185 0.9822939 -0.99130736] [ 0. 0. 0. 1. ]] SLAMing on 102.733201008 meters Centerline goodness : 0.854509 with order 1 Centerline is valid? [False, False] Translation: X:14.64, Y:-0.56, Z:-0.99 [[ 0.97940337 0.09429916 0.17854048 14.64450731] [-0.10547129 0.99294789 0.05413219 -0.56149138] [-0.17217678 -0.07184814 0.98244237 -0.99264232] [ 0. 0. 0. 1. ]] SLAMing on 102.793201008 meters Centerline goodness : 0.856614 with order 1 Centerline is valid? [False, False] Translation: X:14.65, Y:-0.56, Z:-0.99 [[ 0.97924937 0.09693791 0.17797111 14.64719325] [-0.1088177 0.9923549 0.05822773 -0.56122789] [-0.17096603 -0.07638588 0.98231147 -0.99205649] [ 0. 0. 0. 1. ]] SLAMing on 102.85320100799998 meters Centerline goodness : 0.853247 with order 1 Centerline is valid? [False, False] Translation: X:14.65, Y:-0.56, Z:-0.99 [[ 0.97942713 0.09642211 0.17727178 14.64942528] [-0.10812489 0.99246935 0.05756393 -0.56050821] [-0.17038637 -0.07554717 0.98247703 -0.99359048] [ 0. 0. 0. 1. ]] SLAMing on 102.91320100799999 meters Centerline goodness : 0.846517 with order 1 Centerline is valid? [False, False] Translation: X:14.65, Y:-0.56, Z:-0.99 [[ 0.97978291 0.09439434 0.17639492 14.65433754] [-0.1060227 0.99268921 0.05768298 -0.56120444] [-0.16966039 -0.07521866 0.98262786 -0.99454823] [ 0. 0. 0. 1. ]] SLAMing on 102.97320100799999 meters Centerline goodness : 0.847649 with order 1 Centerline is valid? [False, False] Translation: X:14.66, Y:-0.56, Z:-0.99 [[ 0.98024987 0.0905553 0.17581219 14.65562792] [-0.10139512 0.9933977 0.05366595 -0.56179733] [-0.16979169 -0.07043254 0.98295984 -0.99471492] [ 0. 0. 0. 1. ]] SLAMing on 103.03320100799999 meters Centerline goodness : 0.844220 with order 1 Centerline is valid? [False, False] Translation: X:14.66, Y:-0.56, Z:-0.99 [[ 0.98047265 0.08942558 0.17514696 14.65830567] [-0.10026783 0.99349141 0.05404791 -0.56261137] [-0.16917373 -0.0705541 0.98305766 -0.99356746] [ 0. 0. 0. 1. ]] SLAMing on 103.093201008 meters Centerline goodness : 0.843833 with order 1 Centerline is valid? [False, False] Translation: X:14.66, Y:-0.56, Z:-1.00 [[ 0.98063533 0.0888912 0.17450706 14.66079904] [-0.09946237 0.99364056 0.05277958 -0.55939737] [-0.16870565 -0.0691144 0.98324036 -0.99619629] [ 0. 0. 0. 1. ]] SLAMing on 103.153201008 meters Centerline goodness : 0.841324 with order 1 Centerline is valid? [False, False] Translation: X:14.66, Y:-0.56, Z:-1.00 [[ 0.98076362 0.08859431 0.17393608 14.66277826] [-0.09865193 0.99386311 0.05003915 -0.55503324] [-0.16843547 -0.06623571 0.98348479 -1.00158686] [ 0. 0. 0. 1. ]] SLAMing on 103.213201008 meters Centerline goodness : 0.839569 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.56, Z:-1.00 [[ 0.98093646 0.08791881 0.17330301 14.66502321] [-0.09790311 0.9939434 0.04991495 -0.55514862] [-0.16786492 -0.0659303 0.98360285 -1.00200353] [ 0. 0. 0. 1. ]] SLAMing on 103.27320100799999 meters Centerline goodness : 0.841884 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.56, Z:-1.01 [[ 0.98191512 0.0887662 0.1672222 14.69463721] [-0.09784764 0.99409764 0.04685864 -0.55784525] [-0.16207573 -0.0623735 0.98480506 -1.00875573] [ 0. 0. 0. 1. ]] SLAMing on 103.33320100799999 meters Centerline goodness : 0.845114 with order 1 Centerline is valid? [False, False] Translation: X:14.74, Y:-0.57, Z:-1.00 [[ 0.98258396 0.08530242 0.16508257 14.73727085] [-0.09584627 0.9937639 0.05698082 -0.56624033] [-0.1591925 -0.07181098 0.98463238 -1.00261532] [ 0. 0. 0. 1. ]] SLAMing on 103.39320100799999 meters Centerline goodness : 0.844386 with order 1 Centerline is valid? [False, False] Translation: X:14.76, Y:-0.57, Z:-1.01 [[ 0.9824036 0.08499052 0.16631229 14.76497243] [-0.09524093 0.99395316 0.05464687 -0.56882472] [-0.16066217 -0.06952502 0.98455774 -1.00531976] [ 0. 0. 0. 1. ]] SLAMing on 103.453201008 meters Centerline goodness : 0.844089 with order 1 Centerline is valid? [False, False] Translation: X:14.80, Y:-0.58, Z:-1.00 [[ 0.98258415 0.08683543 0.16428026 14.8013845 ] [-0.09871461 0.99295315 0.06557026 -0.57649773] [-0.15742878 -0.08064516 0.98423195 -1.00029602] [ 0. 0. 0. 1. ]] SLAMing on 103.513201008 meters Centerline goodness : 0.837258 with order 1 Centerline is valid? [False, False] Translation: X:14.83, Y:-0.58, Z:-1.00 [[ 0.98200399 0.09023557 0.16590875 14.82941374] [-0.10275224 0.99234838 0.06845925 -0.57885654] [-0.15846182 -0.08427475 0.98376197 -1.00236583] [ 0. 0. 0. 1. ]] SLAMing on 103.573201008 meters Centerline goodness : 0.836883 with order 1 Centerline is valid? [False, False] Translation: X:14.84, Y:-0.57, Z:-1.01 [[ 0.98060368 0.09667988 0.17049755 14.83843179] [-0.10808441 0.992395 0.05890605 -0.57428074] [-0.16350589 -0.07619161 0.98359578 -1.00940185] [ 0. 0. 0. 1. ]] SLAMing on 103.63320100799999 meters Centerline goodness : 0.834584 with order 1 Centerline is valid? [False, False] Translation: X:14.84, Y:-0.57, Z:-1.01 [[ 0.98033229 0.09992268 0.17018831 14.84011027] [-0.11196541 0.9917336 0.06267543 -0.57235803] [-0.16251877 -0.08049795 0.98341636 -1.00954887] [ 0. 0. 0. 1. ]] SLAMing on 103.69320100799999 meters Centerline goodness : 0.827923 with order 1 Centerline is valid? [False, False] Translation: X:14.85, Y:-0.57, Z:-1.01 [[ 0.98065904 0.10978019 0.16203752 14.85028811] [-0.12100771 0.99076938 0.06109975 -0.5706328 ] [-0.15383427 -0.07952581 0.98489119 -1.01012186] [ 0. 0. 0. 1. ]] SLAMing on 103.75320100799999 meters Centerline goodness : 0.831814 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.57, Z:-1.02 [[ 0.97963486 0.11364838 0.1655282 14.86339991] [-0.12360787 0.99101299 0.05113063 -0.56898773] [-0.15822969 -0.07054994 0.98487871 -1.01726291] [ 0. 0. 0. 1. ]] SLAMing on 103.813201008 meters Centerline goodness : 0.830220 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.57, Z:-1.02 [[ 0.97966121 0.11373524 0.16531246 14.86388402] [-0.12364299 0.99102052 0.05089932 -0.56830933] [-0.15803899 -0.07030382 0.98492693 -1.01752288] [ 0. 0. 0. 1. ]] SLAMing on 103.873201008 meters Centerline goodness : 0.831913 with order 1 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.57, Z:-1.02 [[ 0.9799368 0.11359449 0.16376862 14.87383991] [-0.1241168 0.99071506 0.05548587 -0.56780676] [-0.15594515 -0.07469908 0.98493713 -1.01896041] [ 0. 0. 0. 1. ]] SLAMing on 103.933201008 meters Centerline goodness : 0.827938 with order 1 Centerline is valid? [False, False] Translation: X:14.88, Y:-0.57, Z:-1.02 [[ 0.98029275 0.11224141 0.16256688 14.87821544] [-0.12251384 0.99096514 0.05457511 -0.56841054] [-0.15497252 -0.07341628 0.98518707 -1.02211081] [ 0. 0. 0. 1. ]] SLAMing on 103.99320100799999 meters Centerline goodness : 0.827351 with order 1 Centerline is valid? [False, False] Translation: X:14.94, Y:-0.58, Z:-1.01 [[ 0.9814671 0.09739731 0.16503362 14.9431928 ] [-0.11107043 0.99092261 0.07573469 -0.58483507] [-0.15615919 -0.09266146 0.9833759 -1.00672991] [ 0. 0. 0. 1. ]] SLAMing on 104.05320100799999 meters Centerline goodness : 0.832686 with order 1 Centerline is valid? [False, False] Translation: X:14.99, Y:-0.60, Z:-1.00 [[ 0.98223344 0.09001063 0.16466803 14.98615454] [-0.10505269 0.99082495 0.08502858 -0.59541693] [-0.15550371 -0.10081673 0.98267725 -0.99842108] [ 0. 0. 0. 1. ]] SLAMing on 104.11320100799999 meters Centerline goodness : 0.833343 with order 1 Centerline is valid? [False, False] Translation: X:14.99, Y:-0.59, Z:-1.00 [[ 0.98217528 0.09204399 0.16388908 14.99067574] [-0.10747165 0.99031617 0.08788471 -0.5939281 ] [-0.15421275 -0.10393162 0.98255618 -1.00191472] [ 0. 0. 0. 1. ]] SLAMing on 104.17320100799999 meters Centerline goodness : 0.832732 with order 1 Centerline is valid? [False, False] Translation: X:15.01, Y:-0.59, Z:-1.01 [[ 0.98127284 0.09512984 0.16749309 15.00538995] [-0.1092585 0.99100745 0.0772451 -0.59166976] [-0.15863858 -0.09409856 0.98284244 -1.01197253] [ 0. 0. 0. 1. ]] SLAMing on 104.233201008 meters Centerline goodness : 0.837121 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:-0.59, Z:-1.02 [[ 0.98040411 0.09820182 0.17077525 15.01958288] [-0.11077267 0.99167256 0.06568831 -0.58951735] [-0.16290242 -0.08331832 0.98311793 -1.02197157] [ 0. 0. 0. 1. ]] SLAMing on 104.293201008 meters Centerline goodness : 0.840533 with order 1 Centerline is valid? [False, False] Translation: X:15.03, Y:-0.59, Z:-1.03 [[ 0.98137337 0.09201006 0.16864299 15.02777633] [-0.10344407 0.99280575 0.06029979 -0.5869604 ] [-0.16188155 -0.07662172 0.98383102 -1.02580093] [ 0. 0. 0. 1. ]] SLAMing on 104.35320100799998 meters Centerline goodness : 0.842690 with order 1 Centerline is valid? [False, False] Translation: X:15.05, Y:-0.59, Z:-1.03 [[ 0.98234654 0.09591291 0.16061127 15.05036336] [-0.10609814 0.99277361 0.05606915 -0.58940925] [-0.15407287 -0.07211989 0.9854239 -1.03099342] [ 0. 0. 0. 1. ]] SLAMing on 104.41320100799999 meters Centerline goodness : 0.846278 with order 1 Centerline is valid? [False, False] Translation: X:15.05, Y:-0.59, Z:-1.03 [[ 0.98240894 0.0960525 0.16014556 15.05158142] [-0.10616984 0.99277857 0.05584506 -0.58948182] [-0.15362502 -0.07186531 0.98551242 -1.03212801] [ 0. 0. 0. 1. ]] SLAMing on 104.47320100799999 meters Centerline goodness : 0.849507 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:-0.59, Z:-1.04 [[ 0.98160498 0.09812171 0.16377971 15.06865355] [-0.10724726 0.99308182 0.04781765 -0.58954477] [-0.1579547 -0.06450297 0.98533734 -1.03841313] [ 0. 0. 0. 1. ]] SLAMing on 104.53320100799999 meters Centerline goodness : 0.853820 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:-0.59, Z:-1.04 [[ 0.98158498 0.09846009 0.1636965 15.06886444] [-0.10750945 0.99307579 0.04735179 -0.58711783] [-0.15790077 -0.06407873 0.98537367 -1.03920994] [ 0. 0. 0. 1. ]] SLAMing on 104.593201008 meters Centerline goodness : 0.856619 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:-0.59, Z:-1.04 [[ 0.98163637 0.0983873 0.16343189 15.06968152] [-0.10730458 0.99313161 0.04664043 -0.58527773] [-0.15772055 -0.06332093 0.98545151 -1.04034919] [ 0. 0. 0. 1. ]] SLAMing on 104.653201008 meters Centerline goodness : 0.861688 with order 1 Centerline is valid? [False, False] Translation: X:15.08, Y:-0.59, Z:-1.04 [[ 0.98080658 0.0990793 0.16793373 15.08391062] [-0.10664206 0.99362333 0.03660806 -0.58598164] [-0.16323577 -0.05381423 0.98511832 -1.04467491] [ 0. 0. 0. 1. ]] SLAMing on 104.713201008 meters Centerline goodness : 0.862387 with order 1 Centerline is valid? [False, False] Translation: X:15.09, Y:-0.59, Z:-1.05 [[ 0.98101639 0.0981806 0.16723461 15.08661324] [-0.10560158 0.99375471 0.03605381 -0.58619328] [-0.1626504 -0.05302962 0.98525769 -1.04661782] [ 0. 0. 0. 1. ]] SLAMing on 104.77320100799999 meters Centerline goodness : 0.865144 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.59, Z:-1.05 [[ 0.9815167 0.09880929 0.16389537 15.11916142] [-0.10640849 0.99358721 0.03823212 -0.59159351] [-0.15906666 -0.05496532 0.98573658 -1.04984859] [ 0. 0. 0. 1. ]] SLAMing on 104.83320100799999 meters Centerline goodness : 0.867742 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.59, Z:-1.05 [[ 0.98162223 0.09853098 0.16343022 15.1206825 ] [-0.10616103 0.99359914 0.03860812 -0.59221877] [-0.15858003 -0.05524851 0.98579916 -1.04916221] [ 0. 0. 0. 1. ]] SLAMing on 104.89320100799999 meters Centerline goodness : 0.868553 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.59, Z:-1.05 [[ 0.98149772 0.0993659 0.16367236 15.11988246] [-0.1069472 0.99353226 0.03815678 -0.59011635] [-0.15882228 -0.0549551 0.98577656 -1.05002887] [ 0. 0. 0. 1. ]] SLAMing on 104.953201008 meters Centerline goodness : 0.869896 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.59, Z:-1.05 [[ 0.98151384 0.09934859 0.16358617 15.12070029] [-0.1068438 0.99356258 0.03765373 -0.58883972] [-0.15879226 -0.05443582 0.98581021 -1.05131473] [ 0. 0. 0. 1. ]] SLAMing on 105.013201008 meters Centerline goodness : 0.873086 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.59, Z:-1.05 [[ 0.98149274 0.09968363 0.16350893 15.12065448] [-0.10720291 0.99351817 0.03780456 -0.58918381] [-0.15868059 -0.05463354 0.98581725 -1.05106359] [ 0. 0. 0. 1. ]] SLAMing on 105.073201008 meters Centerline goodness : 0.874753 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.59, Z:-1.05 [[ 0.98146969 0.09984805 0.16354699 15.12115574] [-0.10736109 0.99350354 0.03774004 -0.58954988] [-0.15871624 -0.05459929 0.98581341 -1.05195015] [ 0. 0. 0. 1. ]] SLAMing on 105.13320100799999 meters Centerline goodness : 0.876360 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.59, Z:-1.05 [[ 0.98139942 0.10025267 0.16372104 15.12076995] [-0.10780966 0.99344806 0.03792132 -0.59019058] [-0.15884663 -0.05486667 0.98577756 -1.0519633 ] [ 0. 0. 0. 1. ]] SLAMing on 105.19320100799999 meters Centerline goodness : 0.876843 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.59, Z:-1.05 [[ 0.98141428 0.10010315 0.16372346 15.12201128] [-0.10753157 0.99350793 0.03713424 -0.58833458] [-0.1589433 -0.05404951 0.98580712 -1.05443749] [ 0. 0. 0. 1. ]] SLAMing on 105.25320100799999 meters Centerline goodness : 0.875107 with order 1 Centerline is valid? [False, False] Translation: X:15.13, Y:-0.59, Z:-1.06 [[ 0.98174779 0.09846385 0.1627149 15.12673715] [-0.10576205 0.99371048 0.03679503 -0.58819172] [-0.15806852 -0.0533325 0.98598681 -1.05637945] [ 0. 0. 0. 1. ]] SLAMing on 105.313201008 meters Centerline goodness : 0.874822 with order 1 Centerline is valid? [False, False] Translation: X:15.14, Y:-0.59, Z:-1.05 [[ 0.98325923 0.09864142 0.15320301 15.14210859] [-0.10437325 0.99409126 0.02981265 -0.5921421 ] [-0.14935701 -0.04530386 0.98774493 -1.05475286] [ 0. 0. 0. 1. ]] SLAMing on 105.373201008 meters Centerline goodness : 0.871839 with order 1 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.59, Z:-1.05 [[ 0.98307464 0.10089974 0.15291664 15.14541565] [-0.10733829 0.99362622 0.03443004 -0.59432647] [-0.148468 -0.05026111 0.98763914 -1.05485139] [ 0. 0. 0. 1. ]] SLAMing on 105.433201008 meters Centerline goodness : 0.869405 with order 1 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.59, Z:-1.06 [[ 0.98280063 0.1035617 0.15289834 15.14779499] [-0.11059136 0.99313205 0.03818756 -0.59429947] [-0.14789348 -0.05443999 0.98750383 -1.05636611] [ 0. 0. 0. 1. ]] SLAMing on 105.49320100799999 meters Centerline goodness : 0.869484 with order 1 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.60, Z:-1.06 [[ 0.98290076 0.10320634 0.15249442 15.14936989] [-0.11021547 0.99317237 0.03822556 -0.59558058] [-0.14750813 -0.05437918 0.98756481 -1.05689402] [ 0. 0. 0. 1. ]] SLAMing on 105.55320100799999 meters Centerline goodness : 0.870739 with order 1 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.59, Z:-1.06 [[ 0.98292775 0.10319486 0.15232813 15.15058052] [-0.10998559 0.99325076 0.03682519 -0.59271447] [-0.14749986 -0.0529504 0.98764368 -1.06012975] [ 0. 0. 0. 1. ]] SLAMing on 105.61320100799999 meters Centerline goodness : 0.868475 with order 1 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.59, Z:-1.06 [[ 0.98296455 0.10305867 0.15218279 15.15127893] [-0.10978908 0.99328512 0.03648332 -0.5924602 ] [-0.14740098 -0.05256982 0.98767878 -1.06097028] [ 0. 0. 0. 1. ]] SLAMing on 105.67320100799999 meters Centerline goodness : 0.869390 with order 1 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.59, Z:-1.06 [[ 0.98323773 0.10810059 0.14682585 15.15858744] [-0.1130836 0.9932452 0.02600139 -0.59324983] [-0.14302331 -0.04216915 0.98882056 -1.05982935] [ 0. 0. 0. 1. ]] SLAMing on 105.733201008 meters Centerline goodness : 0.867854 with order 1 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.59, Z:-1.06 [[ 0.98334876 0.1075969 0.14645175 15.15982066] [-0.11255825 0.99330496 0.02599821 -0.59349282] [-0.14267392 -0.04204965 0.98887612 -1.05988324] [ 0. 0. 0. 1. ]] SLAMing on 105.793201008 meters Centerline goodness : 0.862354 with order 1 Centerline is valid? [False, False] Translation: X:15.22, Y:-0.61, Z:-1.05 [[ 0.9839696 0.08807343 0.15507065 15.22038099] [-0.09764482 0.99368857 0.05521335 -0.60570092] [-0.1492291 -0.0694701 0.98635925 -1.04645407] [ 0. 0. 0. 1. ]] SLAMing on 105.85320100799998 meters Centerline goodness : 0.857610 with order 1 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.64, Z:-0.95 [[ 0.981272 0.04814693 0.1865131 15.28417088] [-0.08052436 0.98212755 0.17012144 -0.64359352] [-0.17498883 -0.18195425 0.96761126 -0.95458641] [ 0. 0. 0. 1. ]] SLAMing on 105.91320100799999 meters Centerline goodness : 0.860579 with order 1 Centerline is valid? [False, False] Translation: X:15.31, Y:-0.64, Z:-0.95 [[ 0.98109355 0.03407228 0.19051125 15.31481571] [-0.06942511 0.9808246 0.18210784 -0.64419852] [-0.18065329 -0.19189109 0.96464615 -0.94826994] [ 0. 0. 0. 1. ]] SLAMing on 105.97320100799999 meters Centerline goodness : 0.859754 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.64, Z:-0.95 [[ 0.98121532 0.03001989 0.19056576 15.31654591] [-0.06415716 0.98237071 0.17558941 -0.64005733] [-0.18193505 -0.18451717 0.96584318 -0.95285276] [ 0. 0. 0. 1. ]] SLAMing on 106.03320100799999 meters Centerline goodness : 0.854157 with order 1 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.63, Z:-0.97 [[ 0.98146441 0.03563575 0.18830214 15.29467492] [-0.06554426 0.98572483 0.15508224 -0.62781864] [-0.18008763 -0.16454983 0.96978957 -0.96863531] [ 0. 0. 0. 1. ]] SLAMing on 106.093201008 meters Centerline goodness : 0.854125 with order 1 Centerline is valid? [False, False] Translation: X:15.27, Y:-0.62, Z:-0.98 [[ 0.98158145 0.04178879 0.18641766 15.26873995] [-0.06772533 0.98852672 0.13501186 -0.61681829] [-0.17863686 -0.14515034 0.97314966 -0.97904457] [ 0. 0. 0. 1. ]] SLAMing on 106.153201008 meters Centerline goodness : 0.857861 with order 1 Centerline is valid? [False, False] Translation: X:15.25, Y:-0.60, Z:-0.99 [[ 0.98117252 0.05182404 0.18605042 15.2529459 ] [-0.07280723 0.99150513 0.10778071 -0.60387452] [-0.17888432 -0.11929729 0.97661075 -0.98968726] [ 0. 0. 0. 1. ]] SLAMing on 106.213201008 meters Centerline goodness : 0.860998 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.59, Z:-1.00 [[ 0.98077282 0.05705123 0.18662754 15.2381965 ] [-0.07625671 0.99231962 0.09739962 -0.59264204] [-0.1796374 -0.1097585 0.97759065 -0.99518056] [ 0. 0. 0. 1. ]] SLAMing on 106.27320100799999 meters Centerline goodness : 0.856636 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.59, Z:-1.00 [[ 0.98057455 0.06023547 0.1866688 15.23924571] [-0.07993729 0.99178355 0.09987702 -0.58756079] [-0.17911891 -0.11285866 0.97733277 -0.99723308] [ 0. 0. 0. 1. ]] SLAMing on 106.33320100799999 meters Centerline goodness : 0.857098 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.58, Z:-1.00 [[ 0.98029106 0.06327019 0.18715319 15.23971478] [-0.08328272 0.99138707 0.10107259 -0.57869848] [-0.17914637 -0.11466718 0.9771172 -1.00081228] [ 0. 0. 0. 1. ]] SLAMing on 106.39320100799999 meters Centerline goodness : 0.857070 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.58, Z:-1.00 [[ 0.97994744 0.06407323 0.18867334 15.2373818 ] [-0.0845457 0.99113006 0.10253401 -0.57535642] [-0.18043014 -0.11642946 0.97667249 -0.99713608] [ 0. 0. 0. 1. ]] SLAMing on 106.453201008 meters Centerline goodness : 0.861245 with order 1 Centerline is valid? [False, False] Translation: X:15.25, Y:-0.57, Z:-1.00 [[ 0.97888731 0.06788552 0.1927983 15.2511492 ] [-0.08717358 0.99180677 0.09338148 -0.5711774 ] [-0.18487941 -0.10821686 0.97678489 -1.00454951] [ 0. 0. 0. 1. ]] SLAMing on 106.513201008 meters Centerline goodness : 0.856783 with order 1 Centerline is valid? [False, False] Translation: X:15.25, Y:-0.57, Z:-1.01 [[ 0.97873315 0.07065028 0.19258755 15.25364437] [-0.09049715 0.99123207 0.09627691 -0.56710966] [-0.18409696 -0.11165803 0.97654534 -1.00660321] [ 0. 0. 0. 1. ]] SLAMing on 106.573201008 meters Centerline goodness : 0.852491 with order 1 Centerline is valid? [False, False] Translation: X:15.27, Y:-0.57, Z:-1.01 [[ 0.97970585 0.07759265 0.18481295 15.26623547] [-0.09692192 0.99046042 0.09795053 -0.56642387] [-0.17544967 -0.11387514 0.97788029 -1.00812512] [ 0. 0. 0. 1. ]] SLAMing on 106.63320100799999 meters Centerline goodness : 0.853302 with order 1 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.56, Z:-1.02 [[ 0.97875478 0.08356441 0.18723267 15.28136628] [-0.10170468 0.99078416 0.08945899 -0.56338689] [-0.17803157 -0.10660085 0.97823362 -1.01871694] [ 0. 0. 0. 1. ]] SLAMing on 106.69320100799999 meters Centerline goodness : 0.853145 with order 1 Centerline is valid? [False, False] Translation: X:15.30, Y:-0.56, Z:-1.03 [[ 0.97749837 0.08959396 0.19097084 15.29523475] [-0.10692007 0.99084535 0.08242326 -0.5614818 ] [-0.18183794 -0.10098722 0.9781291 -1.02694722] [ 0. 0. 0. 1. ]] SLAMing on 106.75320100799999 meters Centerline goodness : 0.855371 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.57, Z:-1.03 [[ 0.97738498 0.09077489 0.19099352 15.32119412] [-0.10817765 0.99068275 0.08273629 -0.56685456] [-0.18170361 -0.10152643 0.97809825 -1.02802566] [ 0. 0. 0. 1. ]] SLAMing on 106.813201008 meters Centerline goodness : 0.855380 with order 1 Centerline is valid? [False, False] Translation: X:15.36, Y:-0.58, Z:-1.02 [[ 0.97806934 0.08858965 0.18849996 15.35949955] [-0.10753125 0.98986704 0.09273763 -0.57734774] [-0.1783743 -0.11097346 0.97768476 -1.02376049] [ 0. 0. 0. 1. ]] SLAMing on 106.873201008 meters Centerline goodness : 0.855922 with order 1 Centerline is valid? [False, False] Translation: X:15.39, Y:-0.58, Z:-1.02 [[ 0.97848805 0.08729818 0.18692288 15.38903712] [-0.1061977 0.98993083 0.09358951 -0.58484782] [-0.17687053 -0.11142699 0.97790636 -1.02394515] [ 0. 0. 0. 1. ]] SLAMing on 106.933201008 meters Centerline goodness : 0.859927 with order 1 Centerline is valid? [False, False] Translation: X:15.43, Y:-0.59, Z:-1.02 [[ 0.97889637 0.08403556 0.18627915 15.4277987 ] [-0.10482941 0.9889601 0.10473162 -0.59492881] [-0.17542147 -0.12204894 0.97689885 -1.01685475] [ 0. 0. 0. 1. ]] SLAMing on 106.99320100799999 meters Centerline goodness : 0.858664 with order 1 Centerline is valid? [False, False] Translation: X:15.47, Y:-0.61, Z:-1.01 [[ 0.9791919 0.08261156 0.18536062 15.46797265] [-0.10619429 0.98694042 0.12112551 -0.60649402] [-0.17293352 -0.13828936 0.97517693 -1.00785368] [ 0. 0. 0. 1. ]] SLAMing on 107.05320100799999 meters Centerline goodness : 0.863496 with order 1 Centerline is valid? [False, False] Translation: X:15.49, Y:-0.61, Z:-1.01 [[ 0.97850147 0.08342729 0.18861271 15.49059941] [-0.10677584 0.98734966 0.11721592 -0.60799024] [-0.17644769 -0.13483524 0.97503111 -1.01218751] [ 0. 0. 0. 1. ]] SLAMing on 107.11320100799999 meters Centerline goodness : 0.865866 with order 1 Centerline is valid? [False, False] Translation: X:15.52, Y:-0.61, Z:-1.02 [[ 0.9793059 0.08258949 0.18476724 15.52381964] [-0.10547153 0.98743889 0.11764433 -0.61261772] [-0.17273017 -0.13469747 0.97571557 -1.01561569] [ 0. 0. 0. 1. ]] SLAMing on 107.17320100799999 meters Centerline goodness : 0.866564 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.62, Z:-1.02 [[ 0.97946818 0.08150903 0.18438647 15.55615275] [-0.10433196 0.98755807 0.11766012 -0.61518289] [-0.17250199 -0.13448174 0.9757857 -1.02030735] [ 0. 0. 0. 1. ]] SLAMing on 107.233201008 meters Centerline goodness : 0.873304 with order 1 Centerline is valid? [False, False] Translation: X:15.57, Y:-0.61, Z:-1.03 [[ 0.97892775 0.08112631 0.18740057 15.57193156] [-0.10191156 0.98933475 0.10407106 -0.61335047] [-0.176959 -0.12097634 0.97675495 -1.02870536] [ 0. 0. 0. 1. ]] SLAMing on 107.293201008 meters Centerline goodness : 0.870444 with order 1 Centerline is valid? [False, False] Translation: X:15.60, Y:-0.61, Z:-1.03 [[ 0.9782357 0.08034547 0.19130999 15.59887479] [-0.101226 0.98962206 0.10198758 -0.61238233] [-0.18113035 -0.11913343 0.97621669 -1.0334854 ] [ 0. 0. 0. 1. ]] SLAMing on 107.35320100799998 meters Centerline goodness : 0.870523 with order 1 Centerline is valid? [False, False] Translation: X:15.62, Y:-0.61, Z:-1.04 [[ 0.97750449 0.08454287 0.19322906 15.61826351] [-0.10417313 0.99012769 0.09378232 -0.60795855] [-0.18339282 -0.11180191 0.97666136 -1.04484972] [ 0. 0. 0. 1. ]] SLAMing on 107.41320100799999 meters Centerline goodness : 0.872260 with order 1 Centerline is valid? [False, False] Translation: X:15.62, Y:-0.60, Z:-1.06 [[ 0.97656647 0.09501681 0.19310551 15.6235496 ] [-0.11222624 0.99044059 0.08020418 -0.59939199] [-0.18363879 -0.09999622 0.97789445 -1.05565381] [ 0. 0. 0. 1. ]] SLAMing on 107.47320100799999 meters Centerline goodness : 0.867375 with order 1 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.59, Z:-1.07 [[ 0.97523503 0.10380071 0.1952999 15.63038041] [-0.1188625 0.99064624 0.06702046 -0.5927278 ] [-0.18651634 -0.08857453 0.97845092 -1.06834375] [ 0. 0. 0. 1. ]] SLAMing on 107.53320100799999 meters Centerline goodness : 0.862232 with order 1 Centerline is valid? [False, False] Translation: X:15.64, Y:-0.59, Z:-1.08 [[ 0.973783 0.11052646 0.19882297 15.64421256] [-0.12467589 0.99037713 0.06007544 -0.58943492] [-0.1902698 -0.08328887 0.9781924 -1.07707369] [ 0. 0. 0. 1. ]] SLAMing on 107.593201008 meters Centerline goodness : 0.851864 with order 1 Centerline is valid? [False, False] Translation: X:15.64, Y:-0.58, Z:-1.08 [[ 0.97234118 0.12312607 0.19847568 15.63892288] [-0.13425903 0.9899869 0.04359419 -0.58005013] [-0.19112074 -0.06903558 0.97913582 -1.08470952] [ 0. 0. 0. 1. ]] SLAMing on 107.653201008 meters Centerline goodness : 0.846028 with order 1 Centerline is valid? [False, False] Translation: X:15.64, Y:-0.58, Z:-1.09 [[ 0.97229521 0.12349261 0.19847316 15.63876557] [-0.13452681 0.98997414 0.04305511 -0.5781757 ] [-0.19116631 -0.06856223 0.97916018 -1.08520613] [ 0. 0. 0. 1. ]] SLAMing on 107.713201008 meters Centerline goodness : 0.839931 with order 1 Centerline is valid? [False, False] Translation: X:15.64, Y:-0.58, Z:-1.08 [[ 0.97213417 0.12498181 0.1983298 15.63791071] [-0.13622322 0.98969915 0.044032 -0.57756137] [-0.19078363 -0.06982214 0.97914579 -1.08376946] [ 0. 0. 0. 1. ]] SLAMing on 107.77320100799999 meters Centerline goodness : 0.835908 with order 1 Centerline is valid? [False, False] Translation: X:15.64, Y:-0.58, Z:-1.08 [[ 0.97259886 0.12210606 0.1978423 15.63797772] [-0.13244702 0.99038841 0.03985696 -0.57835049] [-0.19107395 -0.06496846 0.97942322 -1.08493312] [ 0. 0. 0. 1. ]] SLAMing on 107.83320100799999 meters Centerline goodness : 0.835005 with order 1 Centerline is valid? [False, False] Translation: X:15.64, Y:-0.58, Z:-1.09 [[ 0.97298562 0.12058086 0.19687368 15.64180157] [-0.13072395 0.99063891 0.03931672 -0.58076262] [-0.19028988 -0.06399071 0.97964021 -1.08770748] [ 0. 0. 0. 1. ]] SLAMing on 107.89320100799999 meters Centerline goodness : 0.833898 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:-0.59, Z:-1.09 [[ 0.97472665 0.12098028 0.18780767 15.66132027] [-0.12933611 0.99105661 0.03284769 -0.58730744] [-0.18215411 -0.05630783 0.98165641 -1.09129263] [ 0. 0. 0. 1. ]] SLAMing on 107.953201008 meters Centerline goodness : 0.835460 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:-0.58, Z:-1.10 [[ 0.97518843 0.11799769 0.18730745 15.6619175 ] [-0.12510536 0.99178822 0.02654769 -0.58459996] [-0.18263675 -0.04932216 0.98194253 -1.09645161] [ 0. 0. 0. 1. ]] SLAMing on 108.013201008 meters Centerline goodness : 0.833468 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:-0.59, Z:-1.10 [[ 0.97523144 0.11776124 0.18723228 15.66255542] [-0.12495234 0.99179424 0.02703875 -0.58883247] [-0.18251178 -0.04976415 0.98194347 -1.09730341] [ 0. 0. 0. 1. ]] SLAMing on 108.073201008 meters Centerline goodness : 0.837808 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:-0.59, Z:-1.10 [[ 0.97528934 0.1177075 0.18696428 15.66327526] [-0.12497294 0.99177845 0.02751866 -0.59178806] [-0.182188 -0.05020413 0.9819812 -1.09754254] [ 0. 0. 0. 1. ]] SLAMing on 108.13320100799999 meters Centerline goodness : 0.837716 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:-0.59, Z:-1.10 [[ 0.9751399 0.11839401 0.18731001 15.66251559] [-0.12583217 0.99164813 0.02828875 -0.5947226 ] [-0.18239641 -0.05115511 0.98189343 -1.09773053] [ 0. 0. 0. 1. ]] SLAMing on 108.19320100799999 meters Centerline goodness : 0.838746 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:-0.60, Z:-1.10 [[ 0.97502427 0.11903243 0.18750723 15.66207599] [-0.12655775 0.99154562 0.0286431 -0.59584822] [-0.18251251 -0.05165821 0.98184551 -1.09836866] [ 0. 0. 0. 1. ]] SLAMing on 108.25320100799999 meters Centerline goodness : 0.842646 with order 1 Centerline is valid? [False, False] Translation: X:15.67, Y:-0.60, Z:-1.10 [[ 0.97578794 0.12534594 0.17923806 15.67204806] [-0.13210537 0.99088834 0.02623881 -0.60340873] [-0.17431597 -0.04928182 0.98345577 -1.09575292] [ 0. 0. 0. 1. ]] SLAMing on 108.313201008 meters Centerline goodness : 0.842162 with order 1 Centerline is valid? [False, False] Translation: X:15.69, Y:-0.61, Z:-1.09 [[ 0.97683321 0.11894702 0.17790021 15.68584263] [-0.12621529 0.99154697 0.03007154 -0.60847006] [-0.1728195 -0.05182861 0.98358895 -1.09309422] [ 0. 0. 0. 1. ]] SLAMing on 108.373201008 meters Centerline goodness : 0.842701 with order 1 Centerline is valid? [False, False] Translation: X:15.71, Y:-0.61, Z:-1.09 [[ 0.97820131 0.10865415 0.17696461 15.70673392] [-0.1163717 0.99263041 0.03380072 -0.6145829 ] [-0.17198787 -0.05365758 0.98363664 -1.09317003] [ 0. 0. 0. 1. ]] SLAMing on 108.433201008 meters Centerline goodness : 0.840440 with order 1 Centerline is valid? [False, False] Translation: X:15.73, Y:-0.62, Z:-1.09 [[ 0.9789706 0.10809905 0.17300625 15.73366817] [-0.11517491 0.99284986 0.03136719 -0.62355322] [-0.16837846 -0.05063354 0.98442112 -1.09498165] [ 0. 0. 0. 1. ]] SLAMing on 108.49320100799999 meters Centerline goodness : 0.845025 with order 1 Centerline is valid? [False, False] Translation: X:15.78, Y:-0.64, Z:-1.09 [[ 0.97967672 0.10344878 0.17184843 15.77537979] [-0.11255761 0.99266571 0.04410872 -0.63722057] [-0.16602505 -0.06255513 0.98413543 -1.08504182] [ 0. 0. 0. 1. ]] SLAMing on 108.55320100799999 meters Centerline goodness : 0.841923 with order 1 Centerline is valid? [False, False] Translation: X:15.78, Y:-0.64, Z:-1.09 [[ 0.97998617 0.10203686 0.17092564 15.77924443] [-0.11097372 0.99286877 0.04354814 -0.63877727] [-0.16526322 -0.06164483 0.98432108 -1.08752868] [ 0. 0. 0. 1. ]] SLAMing on 108.61320100799999 meters Centerline goodness : 0.841173 with order 1 Centerline is valid? [False, False] Translation: X:15.78, Y:-0.64, Z:-1.09 [[ 0.9798415 0.10420519 0.17044619 15.78281356] [-0.11378076 0.99237527 0.04738419 -0.64015699] [-0.16420891 -0.06582249 0.98422702 -1.08902718] [ 0. 0. 0. 1. ]] SLAMing on 108.67320100799999 meters Centerline goodness : 0.845077 with order 1 Centerline is valid? [False, False] Translation: X:15.78, Y:-0.64, Z:-1.09 [[ 0.97995536 0.10390395 0.16997487 15.78410106] [-0.11360629 0.99234812 0.0483613 -0.64240885] [-0.16364931 -0.06670213 0.98426101 -1.08697606] [ 0. 0. 0. 1. ]] SLAMing on 108.733201008 meters Centerline goodness : 0.845324 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:-0.64, Z:-1.09 [[ 0.98004172 0.10370783 0.16959633 15.78543563] [-0.11323534 0.99243312 0.04747907 -0.64053254] [-0.16338906 -0.06573577 0.98436925 -1.08859134] [ 0. 0. 0. 1. ]] SLAMing on 108.793201008 meters Centerline goodness : 0.845569 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:-0.64, Z:-1.09 [[ 0.98061326 0.09941938 0.16885915 15.78745258] [-0.10822134 0.99316475 0.04372553 -0.64044964] [-0.16335779 -0.06115199 0.98466983 -1.08786472] [ 0. 0. 0. 1. ]] SLAMing on 108.85320100799998 meters Centerline goodness : 0.843295 with order 1 Centerline is valid? [False, False] Translation: X:15.82, Y:-0.64, Z:-1.09 [[ 0.98154452 0.10145125 0.16210492 15.81713314] [-0.10942192 0.99314947 0.04099958 -0.64271306] [-0.15683496 -0.05798075 0.98592141 -1.09465526] [ 0. 0. 0. 1. ]] SLAMing on 108.91320100799999 meters Centerline goodness : 0.844110 with order 1 Centerline is valid? [False, False] Translation: X:15.82, Y:-0.64, Z:-1.10 [[ 0.98183887 0.10039061 0.16097877 15.82150669] [-0.10799055 0.99338053 0.03915574 -0.63951397] [-0.15598231 -0.05582881 0.98618085 -1.09902454] [ 0. 0. 0. 1. ]] SLAMing on 108.97320100799999 meters Centerline goodness : 0.842303 with order 1 Centerline is valid? [False, False] Translation: X:15.83, Y:-0.64, Z:-1.10 [[ 0.98216812 0.0995271 0.15949963 15.82592489] [-0.10670291 0.99360028 0.03705362 -0.63706488] [-0.15479103 -0.05341196 0.98650236 -1.10396784] [ 0. 0. 0. 1. ]] SLAMing on 109.03320100799999 meters Centerline goodness : 0.842397 with order 1 Centerline is valid? [False, False] Translation: X:15.83, Y:-0.64, Z:-1.10 [[ 0.98217284 0.0996549 0.15939074 15.82603068] [-0.10683288 0.99358473 0.03709608 -0.6355016 ] [-0.1546714 -0.05346293 0.98651836 -1.10302698] [ 0. 0. 0. 1. ]] SLAMing on 109.093201008 meters Centerline goodness : 0.848837 with order 1 Centerline is valid? [False, False] Translation: X:15.83, Y:-0.63, Z:-1.10 [[ 0.98220275 0.09965091 0.15920884 15.82632148] [-0.10679696 0.99359381 0.03695612 -0.63425878] [-0.15450621 -0.05330143 0.98655298 -1.10254505] [ 0. 0. 0. 1. ]] SLAMing on 109.153201008 meters Centerline goodness : 0.847259 with order 1 Centerline is valid? [False, False] Translation: X:15.84, Y:-0.63, Z:-1.11 [[ 0.98115162 0.10357345 0.16313813 15.83799021] [-0.10915065 0.99369607 0.02557838 -0.62966652] [-0.15946047 -0.0429029 0.98627161 -1.11067632] [ 0. 0. 0. 1. ]] SLAMing on 109.213201008 meters Centerline goodness : 0.845267 with order 1 Centerline is valid? [False, False] Translation: X:15.84, Y:-0.63, Z:-1.11 [[ 0.98124765 0.10322519 0.16278088 15.83920231] [-0.10862279 0.99377885 0.02459035 -0.62712479] [-0.15922985 -0.04181094 0.98635577 -1.11194951] [ 0. 0. 0. 1. ]] SLAMing on 109.27320100799999 meters Centerline goodness : 0.850995 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:-0.63, Z:-1.11 [[ 0.98180786 0.1006225 0.16102308 15.84586666] [-0.10586269 0.9940843 0.02427959 -0.62718054] [-0.15762745 -0.04088423 0.98665195 -1.11287459] [ 0. 0. 0. 1. ]] SLAMing on 109.33320100799999 meters Centerline goodness : 0.855202 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:-0.63, Z:-1.11 [[ 0.98200093 0.09986238 0.16031746 15.8480934 ] [-0.10492599 0.99420435 0.02341485 -0.62554371] [-0.15705005 -0.03981488 0.98678775 -1.11410984] [ 0. 0. 0. 1. ]] SLAMing on 109.39320100799999 meters Centerline goodness : 0.856730 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:-0.62, Z:-1.12 [[ 0.98214347 0.09925794 0.15981888 15.85009977] [-0.10423516 0.99428564 0.02304571 -0.6249007 ] [-0.15661814 -0.03929294 0.98687731 -1.11525864] [ 0. 0. 0. 1. ]] SLAMing on 109.453201008 meters Centerline goodness : 0.860540 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:-0.63, Z:-1.11 [[ 0.98221033 0.09919286 0.15944795 15.85084727] [-0.10417943 0.99428779 0.02320416 -0.62530409] [-0.15623547 -0.03940256 0.98693359 -1.11475242] [ 0. 0. 0. 1. ]] SLAMing on 109.513201008 meters Centerline goodness : 0.863538 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:-0.63, Z:-1.11 [[ 0.98207819 0.10005648 0.15972201 15.84908675] [-0.10522177 0.99415442 0.02419458 -0.62582888] [-0.15636752 -0.0405672 0.98686549 -1.11195469] [ 0. 0. 0. 1. ]] SLAMing on 109.573201008 meters Centerline goodness : 0.866519 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:-0.62, Z:-1.11 [[ 0.98206669 0.10022171 0.15968917 15.84913347] [-0.10536066 0.99414384 0.02402411 -0.62497952] [-0.15634627 -0.04041824 0.98687497 -1.11208936] [ 0. 0. 0. 1. ]] SLAMing on 109.63320100799999 meters Centerline goodness : 0.865194 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:-0.63, Z:-1.11 [[ 0.98229598 0.09927412 0.15886866 15.85192962] [-0.10437875 0.99424569 0.02409515 -0.62651124] [-0.15556245 -0.04025108 0.98700566 -1.11285228] [ 0. 0. 0. 1. ]] SLAMing on 109.69320100799999 meters Centerline goodness : 0.863226 with order 1 Centerline is valid? [False, False] Translation: X:15.86, Y:-0.63, Z:-1.12 [[ 0.9826193 0.09776044 0.15780434 15.85612864] [-0.10266877 0.99444413 0.02323774 -0.62712772] [-0.15465587 -0.03903543 0.98719694 -1.11588219] [ 0. 0. 0. 1. ]] SLAMing on 109.75320100799999 meters Centerline goodness : 0.861312 with order 1 Centerline is valid? [False, False] Translation: X:15.86, Y:-0.63, Z:-1.12 [[ 0.9832413 0.09320581 0.15668194 15.85940227] [-0.09727352 0.9950861 0.01848033 -0.62831358] [-0.15418955 -0.03341163 0.9874762 -1.11866195] [ 0. 0. 0. 1. ]] SLAMing on 109.813201008 meters Centerline goodness : 0.860540 with order 1 Centerline is valid? [False, False] Translation: X:15.90, Y:-0.64, Z:-1.11 [[ 0.98383706 0.08977892 0.15493349 15.90018727] [-0.09542737 0.99500219 0.02939814 -0.63993294] [-0.15151983 -0.04370787 0.9874874 -1.11000328] [ 0. 0. 0. 1. ]] SLAMing on 109.873201008 meters Centerline goodness : 0.856018 with order 1 Centerline is valid? [False, False] Translation: X:15.91, Y:-0.64, Z:-1.11 [[ 0.98460468 0.08389368 0.15334758 15.91298776] [-0.08960225 0.99550467 0.03069007 -0.64160208] [-0.15008353 -0.04395787 0.98769562 -1.11091262] [ 0. 0. 0. 1. ]] SLAMing on 109.933201008 meters Centerline goodness : 0.852270 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:-0.65, Z:-1.10 [[ 0.98520199 0.08130602 0.15088527 15.95732902] [-0.08887538 0.99506561 0.04410885 -0.65165539] [-0.14655443 -0.05686611 0.98756673 -1.10450246] [ 0. 0. 0. 1. ]] SLAMing on 109.99320100799999 meters Centerline goodness : 0.852456 with order 1 Centerline is valid? [False, False] Translation: X:16.01, Y:-0.66, Z:-1.09 [[ 0.98540225 0.07151385 0.15449326 16.01173866] [-0.08161339 0.99485382 0.06004271 -0.66156418] [-0.14940432 -0.07177494 0.98616769 -1.09151539] [ 0. 0. 0. 1. ]] SLAMing on 110.05320100799999 meters Centerline goodness : 0.852224 with order 1 Centerline is valid? [False, False] Translation: X:16.04, Y:-0.66, Z:-1.09 [[ 0.98528167 0.07090629 0.15553883 16.0413835 ] [-0.08121781 0.99482999 0.06096683 -0.66455386] [-0.15041176 -0.07270202 0.98594661 -1.09036978] [ 0. 0. 0. 1. ]] SLAMing on 110.11320100799999 meters Centerline goodness : 0.837105 with order 1 Centerline is valid? [False, False] Translation: X:16.05, Y:-0.66, Z:-1.10 [[ 0.98529927 0.07275552 0.15457031 16.04647531] [-0.08321504 0.99458204 0.06230425 -0.65906461] [-0.14919988 -0.0742509 0.98601531 -1.09594083] [ 0. 0. 0. 1. ]] SLAMing on 110.17320100799999 meters Centerline goodness : 0.832646 with order 1 Centerline is valid? [False, False] Translation: X:16.07, Y:-0.66, Z:-1.10 [[ 0.98561859 0.07845157 0.1496708 16.07296864] [-0.08838706 0.99422166 0.06091818 -0.6598492 ] [-0.14402683 -0.07327105 0.98685745 -1.10134909] [ 0. 0. 0. 1. ]] SLAMing on 110.233201008 meters Centerline goodness : 0.829354 with order 1 Centerline is valid? [False, False] Translation: X:16.09, Y:-0.66, Z:-1.11 [[ 0.98486332 0.08330739 0.1520004 16.09100818] [-0.09235712 0.99428924 0.05347021 -0.65562074] [-0.1466779 -0.06669917 0.98693303 -1.11043122] [ 0. 0. 0. 1. ]] SLAMing on 110.293201008 meters Centerline goodness : 0.822870 with order 1 Centerline is valid? [False, False] Translation: X:16.11, Y:-0.65, Z:-1.12 [[ 0.98418966 0.08701388 0.15427021 16.11341647] [-0.09541925 0.99428257 0.04793051 -0.65029 ] [-0.14921756 -0.06189306 0.98686543 -1.11989349] [ 0. 0. 0. 1. ]] SLAMing on 110.35320100799998 meters Centerline goodness : 0.821052 with order 1 Centerline is valid? [False, False] Translation: X:16.14, Y:-0.65, Z:-1.12 [[ 0.9838888 0.09051604 0.15417415 16.1411156 ] [-0.09899489 0.9939189 0.04822057 -0.65043046] [-0.14887186 -0.06270613 0.98686631 -1.12383191] [ 0. 0. 0. 1. ]] SLAMing on 110.41320100799999 meters Centerline goodness : 0.820594 with order 1 Centerline is valid? [False, False] Translation: X:16.15, Y:-0.65, Z:-1.13 [[ 0.98269131 0.09518614 0.15892576 16.15273881] [-0.10254602 0.99397315 0.03875153 -0.64510086] [-0.15427933 -0.054378 0.98652974 -1.13136584] [ 0. 0. 0. 1. ]] SLAMing on 110.47320100799999 meters Centerline goodness : 0.818675 with order 1 Centerline is valid? [False, False] Translation: X:16.15, Y:-0.64, Z:-1.13 [[ 0.98266311 0.09548664 0.15891983 16.15291458] [-0.10265224 0.99401059 0.03748963 -0.64154854] [-0.15438824 -0.05315315 0.98657945 -1.13344956] [ 0. 0. 0. 1. ]] SLAMing on 110.53320100799999 meters Centerline goodness : 0.814380 with order 1 Centerline is valid? [False, False] Translation: X:16.18, Y:-0.64, Z:-1.14 [[ 0.98249142 0.09922218 0.15768821 16.17681136] [-0.10576153 0.99382323 0.03361375 -0.64162037] [-0.15337898 -0.04970257 0.98691669 -1.14025665] [ 0. 0. 0. 1. ]] SLAMing on 110.593201008 meters Centerline goodness : 0.809811 with order 1 Centerline is valid? [False, False] Translation: X:16.18, Y:-0.64, Z:-1.14 [[ 0.9826814 0.0984566 0.15698266 16.17943617] [-0.10477613 0.99396523 0.03248208 -0.64066786] [-0.15283723 -0.04836757 0.98706705 -1.14297942] [ 0. 0. 0. 1. ]] SLAMing on 110.653201008 meters Centerline goodness : 0.807631 with order 1 Centerline is valid? [False, False] Translation: X:16.19, Y:-0.64, Z:-1.14 [[ 0.98310258 0.09616521 0.15576123 16.19042837] [-0.10298433 0.99402043 0.03629904 -0.64241079] [-0.15133914 -0.05172665 0.98712756 -1.14465028] [ 0. 0. 0. 1. ]] SLAMing on 110.713201008 meters Centerline goodness : 0.806943 with order 1 Centerline is valid? [False, False] Translation: X:16.19, Y:-0.64, Z:-1.15 [[ 0.98324186 0.09539879 0.15535287 16.19246204] [-0.10219029 0.99410178 0.03631512 -0.64309933] [-0.15097215 -0.0515821 0.98719132 -1.14519461] [ 0. 0. 0. 1. ]] SLAMing on 110.77320100799999 meters Centerline goodness : 0.810792 with order 1 Centerline is valid? [False, False] Translation: X:16.19, Y:-0.64, Z:-1.14 [[ 0.98345108 0.09281281 0.15559483 16.19037324] [-0.09908982 0.99452894 0.03306646 -0.64436024] [-0.15167457 -0.04793711 0.98726737 -1.1434027 ] [ 0. 0. 0. 1. ]] SLAMing on 110.83320100799999 meters Centerline goodness : 0.809477 with order 1 Centerline is valid? [False, False] Translation: X:16.19, Y:-0.64, Z:-1.15 [[ 0.98349118 0.09262558 0.15545289 16.19148538] [-0.09881597 0.99457286 0.03256127 -0.64359186] [-0.15159322 -0.04738495 0.98730652 -1.14506415] [ 0. 0. 0. 1. ]] SLAMing on 110.89320100799999 meters Centerline goodness : 0.808190 with order 1 Centerline is valid? [False, False] Translation: X:16.19, Y:-0.64, Z:-1.15 [[ 0.9831154 0.09622541 0.1556431 16.19193845] [-0.10306174 0.99400696 0.03644786 -0.64329682] [-0.15120311 -0.0518733 0.98714071 -1.14573416] [ 0. 0. 0. 1. ]] SLAMing on 110.953201008 meters Centerline goodness : 0.811686 with order 1 Centerline is valid? [False, False] Translation: X:16.20, Y:-0.64, Z:-1.15 [[ 0.98185802 0.10290407 0.15926574 16.20038151] [-0.10829328 0.99379154 0.02551355 -0.64193096] [-0.1556515 -0.04229809 0.98690602 -1.15475298] [ 0. 0. 0. 1. ]] SLAMing on 111.013201008 meters Centerline goodness : 0.807820 with order 1 Centerline is valid? [False, False] Translation: X:16.20, Y:-0.64, Z:-1.16 [[ 0.98142168 0.1066211 0.15950998 16.20079138] [-0.11271004 0.99318695 0.02959937 -0.64188597] [-0.15526731 -0.04702784 0.98675247 -1.15536553] [ 0. 0. 0. 1. ]] SLAMing on 111.073201008 meters Centerline goodness : 0.806952 with order 1 Centerline is valid? [False, False] Translation: X:16.20, Y:-0.64, Z:-1.16 [[ 0.98079898 0.11127881 0.16015741 16.19992623] [-0.11785712 0.99251004 0.03214838 -0.63998198] [-0.1553804 -0.05040679 0.98656783 -1.15955953] [ 0. 0. 0. 1. ]] SLAMing on 111.13320100799999 meters Centerline goodness : 0.810357 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:-0.64, Z:-1.16 [[ 0.98150545 0.11728656 0.15129742 16.21064961] [-0.12305874 0.99196567 0.0293368 -0.64499265] [-0.14664103 -0.0474127 0.98805285 -1.15637326] [ 0. 0. 0. 1. ]] SLAMing on 111.19320100799999 meters Centerline goodness : 0.812355 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:-0.65, Z:-1.16 [[ 0.98149575 0.1175535 0.1511531 16.2104948 ] [-0.12349376 0.99187655 0.03049911 -0.65011403] [-0.14633994 -0.04860121 0.98803975 -1.15547349] [ 0. 0. 0. 1. ]] SLAMing on 111.25320100799999 meters Centerline goodness : 0.813653 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:-0.65, Z:-1.16 [[ 0.98159902 0.11709596 0.1508373 16.212213 ] [-0.1230106 0.99193765 0.0304646 -0.65199264] [-0.14605391 -0.04845861 0.98808907 -1.15721418] [ 0. 0. 0. 1. ]] SLAMing on 111.313201008 meters Centerline goodness : 0.815849 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:-0.65, Z:-1.16 [[ 0.98191461 0.11433382 0.15090221 16.21071213] [-0.1197196 0.99243859 0.02707131 -0.65399638] [-0.14666601 -0.04464766 0.98817795 -1.15705113] [ 0. 0. 0. 1. ]] SLAMing on 111.373201008 meters Centerline goodness : 0.816071 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:-0.66, Z:-1.16 [[ 0.98229018 0.11131541 0.1507146 16.2095933 ] [-0.1161882 0.99293979 0.023893 -0.65706368] [-0.14699087 -0.04098111 0.98828854 -1.15583028] [ 0. 0. 0. 1. ]] SLAMing on 111.433201008 meters Centerline goodness : 0.818099 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:-0.66, Z:-1.16 [[ 0.98266889 0.10824364 0.15048308 16.20899844] [-0.11238821 0.99347712 0.01929 -0.65615399] [-0.14741348 -0.0358682 0.98842437 -1.15679594] [ 0. 0. 0. 1. ]] SLAMing on 111.49320100799999 meters Centerline goodness : 0.820979 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:-0.66, Z:-1.16 [[ 9.83066534e-01 1.04954820e-01 1.50215434e-01 1.62084575e+01] [-1.08515017e-01 9.93971136e-01 1.56802843e-02 -6.58117396e-01] [-1.47664084e-01 -3.17153931e-02 9.88528933e-01 -1.15642454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55320100799999 meters Centerline goodness : 0.824301 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:-0.66, Z:-1.16 [[ 9.83373322e-01 1.03503231e-01 1.49211230e-01 1.62127470e+01] [-1.06825128e-01 9.94173526e-01 1.44011185e-02 -6.57337985e-01] [-1.46851293e-01 -3.01011846e-02 9.88700469e-01 -1.16041995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61320100799999 meters Centerline goodness : 0.820839 with order 1 Centerline is valid? [False, False] Translation: X:16.22, Y:-0.66, Z:-1.16 [[ 9.83628333e-01 1.02396041e-01 1.48291445e-01 1.62163975e+01] [-1.05511785e-01 9.94329404e-01 1.32778199e-02 -6.56733532e-01] [-1.46090948e-01 -2.87069349e-02 9.88854563e-01 -1.16359447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67320100799999 meters Centerline goodness : 0.825196 with order 1 Centerline is valid? [False, False] Translation: X:16.22, Y:-0.66, Z:-1.17 [[ 9.84280145e-01 9.81369941e-02 1.46839121e-01 1.62196158e+01] [-1.00407922e-01 9.94913253e-01 8.11587528e-03 -6.56508610e-01] [-1.45295720e-01 -2.27321059e-02 9.89127093e-01 -1.16628511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.733201008 meters Centerline goodness : 0.827309 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:-0.66, Z:-1.17 [[ 9.85014422e-01 9.32718817e-02 1.45075649e-01 1.62294089e+01] [-9.56416056e-02 9.95371156e-01 9.43108093e-03 -6.61006391e-01] [-1.43524462e-01 -2.31650188e-02 9.89375617e-01 -1.16522203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.793201008 meters Centerline goodness : 0.827167 with order 1 Centerline is valid? [False, False] Translation: X:16.24, Y:-0.66, Z:-1.17 [[ 9.85570751e-01 9.01917237e-02 1.43233195e-01 1.62376606e+01] [-9.25190552e-02 9.95664069e-01 9.65848801e-03 -6.62305433e-01] [-1.41741030e-01 -2.27709232e-02 9.89641837e-01 -1.16725935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85320100799998 meters Centerline goodness : 0.827778 with order 1 Centerline is valid? [False, False] Translation: X:16.24, Y:-0.67, Z:-1.16 [[ 9.85624080e-01 9.17573031e-02 1.41865326e-01 1.62435489e+01] [-9.48987322e-02 9.95365873e-01 1.55244951e-02 -6.65459526e-01] [-1.39783418e-01 -2.87641558e-02 9.89764224e-01 -1.16483155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91320100799999 meters Centerline goodness : 0.832834 with order 1 Centerline is valid? [False, False] Translation: X:16.24, Y:-0.67, Z:-1.16 [[ 0.98523946 0.09585033 0.14183063 16.24239315] [-0.09989887 0.99476118 0.02168872 -0.66763777] [-0.13900874 -0.0355373 0.98965331 -1.15874646] [ 0. 0. 0. 1. ]] SLAMing on 111.97320100799999 meters Centerline goodness : 0.835260 with order 1 Centerline is valid? [False, False] Translation: X:16.26, Y:-0.67, Z:-1.15 [[ 0.98560482 0.08955783 0.14339644 16.26444249] [-0.09571036 0.99473669 0.0365848 -0.67310819] [-0.13936525 -0.04978268 0.98898888 -1.14759391] [ 0. 0. 0. 1. ]] SLAMing on 112.03320100799999 meters Centerline goodness : 0.833289 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:-0.67, Z:-1.15 [[ 0.98621669 0.08520109 0.14183586 16.28332354] [-0.09234334 0.99473023 0.04454755 -0.67330201] [-0.13729292 -0.05703113 0.98888731 -1.14532374] [ 0. 0. 0. 1. ]] SLAMing on 112.093201008 meters Centerline goodness : 0.834413 with order 1 Centerline is valid? [False, False] Translation: X:16.29, Y:-0.67, Z:-1.14 [[ 0.98650284 0.08477532 0.14009028 16.2941949 ] [-0.09254089 0.99445925 0.04986962 -0.671147 ] [-0.13508637 -0.0621606 0.98888206 -1.14452358] [ 0. 0. 0. 1. ]] SLAMing on 112.153201008 meters Centerline goodness : 0.837600 with order 1 Centerline is valid? [False, False] Translation: X:16.29, Y:-0.67, Z:-1.14 [[ 0.98604894 0.0894595 0.14037264 16.29213177] [-0.09807808 0.99361775 0.05571765 -0.67004949] [-0.13449227 -0.0687078 0.98852975 -1.13828765] [ 0. 0. 0. 1. ]] SLAMing on 112.213201008 meters Centerline goodness : 0.843265 with order 1 Centerline is valid? [False, False] Translation: X:16.32, Y:-0.67, Z:-1.14 [[ 0.9855877 0.08827497 0.14430668 16.31989667] [-0.09712095 0.99372745 0.05543717 -0.67090106] [-0.1385078 -0.06865339 0.9879789 -1.13687053] [ 0. 0. 0. 1. ]] SLAMing on 112.27320100799999 meters Centerline goodness : 0.842464 with order 1 Centerline is valid? [False, False] Translation: X:16.34, Y:-0.67, Z:-1.13 [[ 0.98592316 0.08260248 0.14536969 16.34394037] [-0.09365745 0.99307588 0.07091248 -0.67406682] [-0.13850559 -0.08352921 0.98683285 -1.128178 ] [ 0. 0. 0. 1. ]] SLAMing on 112.33320100799999 meters Centerline goodness : 0.844496 with order 1 Centerline is valid? [False, False] Translation: X:16.37, Y:-0.68, Z:-1.12 [[ 0.98637929 0.07470595 0.14654319 16.37316123] [-0.0881196 0.99227881 0.08727949 -0.68078112] [-0.13889141 -0.09900401 0.98534633 -1.12078594] [ 0. 0. 0. 1. ]] SLAMing on 112.39320100799999 meters Centerline goodness : 0.847558 with order 1 Centerline is valid? [False, False] Translation: X:16.41, Y:-0.69, Z:-1.11 [[ 0.98680656 0.07311248 0.14445544 16.41349771] [-0.08818027 0.99098979 0.10081411 -0.6900337 ] [-0.13578309 -0.11222215 0.9843623 -1.1119202 ] [ 0. 0. 0. 1. ]] SLAMing on 112.453201008 meters Centerline goodness : 0.853991 with order 1 Centerline is valid? [False, False] Translation: X:16.44, Y:-0.70, Z:-1.10 [[ 0.98684503 0.06775749 0.14678491 16.43648044] [-0.08565166 0.98916497 0.11923282 -0.69580863] [-0.13711557 -0.13023668 0.98195607 -1.09880947] [ 0. 0. 0. 1. ]] SLAMing on 112.513201008 meters Centerline goodness : 0.859092 with order 1 Centerline is valid? [False, False] Translation: X:16.45, Y:-0.69, Z:-1.11 [[ 0.98587167 0.07095954 0.15172937 16.44931706] [-0.08801262 0.99015997 0.10879806 -0.69357311] [-0.14251609 -0.12061502 0.98241599 -1.10824873] [ 0. 0. 0. 1. ]] SLAMing on 112.573201008 meters Centerline goodness : 0.861595 with order 1 Centerline is valid? [False, False] Translation: X:16.47, Y:-0.69, Z:-1.12 [[ 0.98515309 0.07211866 0.15579568 16.468662 ] [-0.08838293 0.99104222 0.10011879 -0.69210309] [-0.14717966 -0.11240201 0.98270236 -1.11763564] [ 0. 0. 0. 1. ]] SLAMing on 112.63320100799999 meters Centerline goodness : 0.863696 with order 1 Centerline is valid? [False, False] Translation: X:16.51, Y:-0.70, Z:-1.10 [[ 0.98529891 0.0678604 0.15678339 16.51084984] [-0.08656589 0.98950074 0.11573519 -0.70308245] [-0.14728344 -0.12760585 0.98082839 -1.10188313] [ 0. 0. 0. 1. ]] SLAMing on 112.69320100799999 meters Centerline goodness : 0.862930 with order 1 Centerline is valid? [False, False] Translation: X:16.52, Y:-0.70, Z:-1.10 [[ 0.98578618 0.06476945 0.15501786 16.51975291] [-0.08333761 0.98969457 0.11644527 -0.70313882] [-0.14587823 -0.12770896 0.98102496 -1.10247008] [ 0. 0. 0. 1. ]] SLAMing on 112.75320100799999 meters Centerline goodness : 0.866815 with order 1 Centerline is valid? [False, False] Translation: X:16.55, Y:-0.71, Z:-1.10 [[ 0.98623032 0.06754775 0.15095381 16.55303797] [-0.0862485 0.98890052 0.12098325 -0.70644704] [-0.14110615 -0.13233689 0.98110958 -1.1048783 ] [ 0. 0. 0. 1. ]] SLAMing on 112.813201008 meters Centerline goodness : 0.863496 with order 1 Centerline is valid? [False, False] Translation: X:16.57, Y:-0.71, Z:-1.11 [[ 0.98566319 0.06851637 0.15418683 16.57439431] [-0.08662991 0.98969639 0.11400142 -0.70500344] [-0.14478719 -0.12572419 0.98144287 -1.1116603 ] [ 0. 0. 0. 1. ]] SLAMing on 112.873201008 meters Centerline goodness : 0.864772 with order 1 Centerline is valid? [False, False] Translation: X:16.60, Y:-0.70, Z:-1.12 [[ 0.98505582 0.07003734 0.15735246 16.59844091] [-0.08774051 0.9902136 0.10852942 -0.70176658] [-0.14821143 -0.12071372 0.98156078 -1.11968543] [ 0. 0. 0. 1. ]] SLAMing on 112.933201008 meters Centerline goodness : 0.866824 with order 1 Centerline is valid? [False, False] Translation: X:16.62, Y:-0.70, Z:-1.12 [[ 0.98425007 0.07077744 0.16199492 16.62254939] [-0.08860413 0.99045326 0.10560132 -0.69958354] [-0.15297421 -0.11829153 0.98112487 -1.12445544] [ 0. 0. 0. 1. ]] SLAMing on 112.99320100799999 meters Centerline goodness : 0.873907 with order 1 Centerline is valid? [False, False] Translation: X:16.69, Y:-0.74, Z:-1.08 [[ 0.70722223 0.25044907 -0.66114444 16.69092346] [-0.47448807 0.86139997 -0.18124888 -0.7360301 ] [ 0.52411619 0.44188839 0.72803631 -1.077078 ] [ 0. 0. 0. 1. ]] SLAMing on 113.05320100799999 meters Centerline goodness : 0.859161 with order 1 Centerline is valid? [False, False] Translation: X:16.86, Y:-0.87, Z:-1.07 [[ 0.8755368 0.33209177 -0.35092788 16.85688263] [-0.4185952 0.88409965 -0.20771585 -0.86561577] [ 0.24127449 0.32875959 0.91307379 -1.07171668] [ 0. 0. 0. 1. ]] SLAMing on 113.11320100799999 meters Centerline goodness : 0.861799 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.87, Z:-1.06 [[ 0.87740353 0.34409204 -0.33431081 16.82798418] [-0.41676016 0.89184405 -0.17585551 -0.87379463] [ 0.23764262 0.29362367 0.92591097 -1.05883214] [ 0. 0. 0. 1. ]] SLAMing on 113.17320100799999 meters Centerline goodness : 0.858337 with order 1 Centerline is valid? [False, False] Translation: X:16.81, Y:-0.89, Z:-1.04 [[ 0.88156165 0.35386903 -0.31245123 16.81396741] [-0.41014811 0.90185046 -0.13580968 -0.89360568] [ 0.23372545 0.24787589 0.94017549 -1.03553535] [ 0. 0. 0. 1. ]] SLAMing on 113.233201008 meters Centerline goodness : 0.860411 with order 1 Centerline is valid? [False, False] Translation: X:16.81, Y:-0.91, Z:-1.01 [[ 0.8861113 0.35925802 -0.29281469 16.80713995] [-0.40218017 0.91002198 -0.10055402 -0.91433599] [ 0.23034297 0.20686632 0.95086721 -1.01205039] [ 0. 0. 0. 1. ]] SLAMing on 113.293201008 meters Centerline goodness : 0.861393 with order 1 Centerline is valid? [False, False] Translation: X:16.78, Y:-0.94, Z:-0.98 [[ 0.8949048 0.36428359 -0.25776513 16.78422198] [-0.38796279 0.92052643 -0.04599959 -0.93866912] [ 0.22052271 0.14116853 0.965112 -0.97735945] [ 0. 0. 0. 1. ]] SLAMing on 113.35320100799998 meters Centerline goodness : 0.858372 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:-0.95, Z:-0.96 [[ 8.99069296e-01 3.68523245e-01 -2.36357820e-01 1.67669227e+01] [-3.82337994e-01 9.23919435e-01 -1.38034894e-02 -9.45974760e-01] [ 2.13288677e-01 1.02778868e-01 9.71568034e-01 -9.57928493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41320100799999 meters Centerline goodness : 0.855006 with order 1 Centerline is valid? [False, False] Translation: X:16.75, Y:-0.96, Z:-0.93 [[ 0.90391852 0.37219041 -0.21072638 16.75344417] [-0.37617759 0.92627708 0.02238715 -0.95532049] [ 0.2035233 0.05903438 0.9772887 -0.932487 ] [ 0. 0. 0. 1. ]] SLAMing on 113.47320100799999 meters Centerline goodness : 0.861700 with order 1 Centerline is valid? [False, False] Translation: X:16.75, Y:-0.96, Z:-0.92 [[ 0.9069711 0.37221271 -0.19713226 16.75022629] [-0.37291081 0.92720698 0.03499631 -0.95903835] [ 0.19580848 0.04177211 0.97975208 -0.92091031] [ 0. 0. 0. 1. ]] SLAMing on 113.53320100799999 meters Centerline goodness : 0.857364 with order 1 Centerline is valid? [False, False] Translation: X:16.75, Y:-0.97, Z:-0.89 [[ 0.91289677 0.37618728 -0.15843807 16.74581133] [-0.36639799 0.92627208 0.0881621 -0.97295839] [ 0.17992222 -0.0224315 0.98342505 -0.88699296] [ 0. 0. 0. 1. ]] SLAMing on 113.593201008 meters Centerline goodness : 0.856714 with order 1 Centerline is valid? [False, False] Translation: X:16.75, Y:-0.97, Z:-0.88 [[ 0.91541861 0.37707363 -0.14079861 16.74665511] [-0.36488164 0.92509391 0.10517916 -0.97305883] [ 0.16991222 -0.04490813 0.98443542 -0.8766766 ] [ 0. 0. 0. 1. ]] SLAMing on 113.653201008 meters Centerline goodness : 0.866766 with order 1 Centerline is valid? [False, False] Translation: X:16.76, Y:-0.98, Z:-0.85 [[ 0.9148748 0.38276461 -0.12843423 16.75787709] [-0.36755184 0.9212432 0.12734442 -0.98046927] [ 0.1670621 -0.06929797 0.98350803 -0.85388089] [ 0. 0. 0. 1. ]] SLAMing on 113.713201008 meters Centerline goodness : 0.868365 with order 1 Centerline is valid? [False, False] Translation: X:16.75, Y:-0.97, Z:-0.86 [[ 0.91323032 0.38627978 -0.12960833 16.74890231] [-0.37191562 0.92021201 0.12201896 -0.97237159] [ 0.1664006 -0.06322805 0.98402899 -0.86096241] [ 0. 0. 0. 1. ]] SLAMing on 113.77320100799999 meters Centerline goodness : 0.868548 with order 1 Centerline is valid? [False, False] Translation: X:16.75, Y:-0.97, Z:-0.87 [[ 0.91317959 0.386289 -0.12993788 16.7522179 ] [-0.372339 0.92037901 0.11944098 -0.96666476] [ 0.16573084 -0.06069012 0.98430178 -0.86634784] [ 0. 0. 0. 1. ]] SLAMing on 113.83320100799999 meters Centerline goodness : 0.876612 with order 1 Centerline is valid? [False, False] Translation: X:16.75, Y:-0.96, Z:-0.87 [[ 0.91366452 0.38493312 -0.13055132 16.74816357] [-0.37161187 0.92118695 0.1154089 -0.96387927] [ 0.16468688 -0.0569306 0.98470155 -0.86763756] [ 0. 0. 0. 1. ]] SLAMing on 113.89320100799999 meters Centerline goodness : 0.868835 with order 1 Centerline is valid? [False, False] Translation: X:16.74, Y:-0.96, Z:-0.87 [[ 0.91432639 0.38336537 -0.13053066 16.73967725] [-0.37102698 0.92215364 0.10941502 -0.96063921] [ 0.16231526 -0.05161064 0.9853883 -0.87068979] [ 0. 0. 0. 1. ]] SLAMing on 113.953201008 meters Centerline goodness : 0.877552 with order 1 Centerline is valid? [False, False] Translation: X:16.74, Y:-0.96, Z:-0.87 [[ 0.91607999 0.37854697 -0.13228622 16.74236296] [-0.36686519 0.92437204 0.10462442 -0.96084378] [ 0.16188694 -0.04731312 0.98567443 -0.87371376] [ 0. 0. 0. 1. ]] SLAMing on 114.013201008 meters Centerline goodness : 0.873333 with order 1 Centerline is valid? [False, False] Translation: X:16.75, Y:-0.96, Z:-0.88 [[ 0.91654254 0.37702381 -0.13342722 16.74752535] [-0.36538678 0.92503515 0.10393493 -0.96256543] [ 0.16261081 -0.04650824 0.98559358 -0.8760587 ] [ 0. 0. 0. 1. ]] SLAMing on 114.073201008 meters Centerline goodness : 0.877601 with order 1 Centerline is valid? [False, False] Translation: X:16.75, Y:-0.96, Z:-0.88 [[ 0.9192859 0.36884332 -0.13736099 16.74922749] [-0.35873459 0.92878043 0.09314727 -0.96113571] [ 0.16193495 -0.03635283 0.98613161 -0.8835677 ] [ 0. 0. 0. 1. ]] SLAMing on 114.13320100799999 meters Centerline goodness : 0.873463 with order 1 Centerline is valid? [False, False] Translation: X:16.75, Y:-0.96, Z:-0.88 [[ 0.92066898 0.36491391 -0.1385874 16.74998859] [-0.35540472 0.93046821 0.08897414 -0.9601518 ] [ 0.16141907 -0.03266112 0.98634534 -0.88497763] [ 0. 0. 0. 1. ]] SLAMing on 114.19320100799999 meters Centerline goodness : 0.876208 with order 1 Centerline is valid? [False, False] Translation: X:16.75, Y:-0.96, Z:-0.89 [[ 0.92087028 0.36422563 -0.13905977 16.75299753] [-0.35474793 0.9307506 0.08864103 -0.95910956] [ 0.1617153 -0.03229572 0.98630885 -0.8855802 ] [ 0. 0. 0. 1. ]] SLAMing on 114.25320100799999 meters Centerline goodness : 0.872284 with order 1 Centerline is valid? [False, False] Translation: X:16.75, Y:-0.96, Z:-0.89 [[ 0.92090235 0.36401315 -0.13940333 16.75482925] [-0.35470741 0.93087308 0.0875098 -0.95718448] [ 0.16162153 -0.03114058 0.98636137 -0.88773622] [ 0. 0. 0. 1. ]] SLAMing on 114.313201008 meters Centerline goodness : 0.877426 with order 1 Centerline is valid? [False, False] Translation: X:16.75, Y:-0.95, Z:-0.89 [[ 0.92191947 0.3611865 -0.14003142 16.75265593] [-0.35249213 0.93208549 0.08346222 -0.95397631] [ 0.16066668 -0.02758548 0.98662316 -0.8879665 ] [ 0. 0. 0. 1. ]] SLAMing on 114.373201008 meters Centerline goodness : 0.873991 with order 1 Centerline is valid? [False, False] Translation: X:16.76, Y:-0.96, Z:-0.88 [[ 0.92376111 0.35744946 -0.13746016 16.76059195] [-0.34769419 0.93325485 0.09024482 -0.96056928] [ 0.16054333 -0.03557055 0.98638764 -0.8761073 ] [ 0. 0. 0. 1. ]] SLAMing on 114.433201008 meters Centerline goodness : 0.871579 with order 1 Centerline is valid? [False, False] Translation: X:16.79, Y:-0.97, Z:-0.85 [[ 0.92560204 0.35603409 -0.1284546 16.7892757 ] [-0.34329034 0.93261545 0.11126619 -0.97393404] [ 0.1594133 -0.05889099 0.98545383 -0.8541056 ] [ 0. 0. 0. 1. ]] SLAMing on 114.49320100799999 meters Centerline goodness : 0.875898 with order 1 Centerline is valid? [False, False] Translation: X:16.81, Y:-0.98, Z:-0.84 [[ 0.92701789 0.35457673 -0.12211949 16.80949423] [-0.33960782 0.93185959 0.12768807 -0.98393632] [ 0.15907344 -0.07689639 0.98426754 -0.83501892] [ 0. 0. 0. 1. ]] SLAMing on 114.55320100799999 meters Centerline goodness : 0.876204 with order 1 Centerline is valid? [False, False] Translation: X:16.81, Y:-0.98, Z:-0.84 [[ 0.92823437 0.35092314 -0.12342567 16.81023721] [-0.33658553 0.93358124 0.12302948 -0.98038739] [ 0.15840179 -0.0726569 0.98469785 -0.83641855] [ 0. 0. 0. 1. ]] SLAMing on 114.61320100799999 meters Centerline goodness : 0.877345 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.99, Z:-0.82 [[ 0.9290097 0.35119009 -0.11664688 16.82729209] [-0.33463999 0.93183908 0.14032824 -0.9894167 ] [ 0.15797801 -0.09133159 0.98320979 -0.81675193] [ 0. 0. 0. 1. ]] SLAMing on 114.67320100799999 meters Centerline goodness : 0.872634 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.99, Z:-0.82 [[ 0.92918124 0.35054897 -0.11720768 16.83019287] [-0.33421082 0.93224073 0.13867356 -0.98690247] [ 0.15787764 -0.08968079 0.98337785 -0.81980748] [ 0. 0. 0. 1. ]] SLAMing on 114.733201008 meters Centerline goodness : 0.876284 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.98, Z:-0.82 [[ 0.92905935 0.35091513 -0.11707815 16.83007283] [-0.33469866 0.93216624 0.13799602 -0.98464015] [ 0.15756119 -0.08902059 0.98348859 -0.8204419 ] [ 0. 0. 0. 1. ]] SLAMing on 114.793201008 meters Centerline goodness : 0.873782 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.98, Z:-0.82 [[ 0.92902125 0.35094207 -0.11729952 16.83143307] [-0.33491642 0.93228194 0.13667983 -0.98146687] [ 0.15732292 -0.08769294 0.983646 -0.8224662 ] [ 0. 0. 0. 1. ]] SLAMing on 114.85320100799998 meters Centerline goodness : 0.869827 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.98, Z:-0.83 [[ 0.93021946 0.34729442 -0.11865218 16.83227615] [-0.33218534 0.93419852 0.13010008 -0.97607766] [ 0.15602772 -0.08160711 0.98437576 -0.82816082] [ 0. 0. 0. 1. ]] SLAMing on 114.91320100799999 meters Centerline goodness : 0.867020 with order 1 Centerline is valid? [False, False] Translation: X:16.86, Y:-0.98, Z:-0.82 [[ 0.93155583 0.34481109 -0.11536485 16.86100504] [-0.33052077 0.93527968 0.12652251 -0.98441316] [ 0.15152476 -0.07973231 0.98523246 -0.82412839] [ 0. 0. 0. 1. ]] SLAMing on 114.97320100799999 meters Centerline goodness : 0.864690 with order 1 Centerline is valid? [False, False] Translation: X:16.86, Y:-0.98, Z:-0.83 [[ 0.93312483 0.34014395 -0.11653391 16.86202167] [-0.32649078 0.93734152 0.12163322 -0.98332192] [ 0.15060488 -0.07545173 0.98571051 -0.82628368] [ 0. 0. 0. 1. ]] SLAMing on 115.03320100799999 meters Centerline goodness : 0.857762 with order 1 Centerline is valid? [False, False] Translation: X:16.87, Y:-0.98, Z:-0.83 [[ 0.93519331 0.333395 -0.11942044 16.86878641] [-0.32041516 0.94019572 0.11561203 -0.98377474] [ 0.15082306 -0.06985548 0.98608956 -0.83097932] [ 0. 0. 0. 1. ]] SLAMing on 115.093201008 meters Centerline goodness : 0.858900 with order 1 Centerline is valid? [False, False] Translation: X:16.87, Y:-0.98, Z:-0.84 [[ 0.93802635 0.324207 -0.12245971 16.87159144] [-0.31247681 0.9440232 0.10572817 -0.98123845] [ 0.14988262 -0.06090999 0.98682581 -0.83513693] [ 0. 0. 0. 1. ]] SLAMing on 115.153201008 meters Centerline goodness : 0.859334 with order 1 Centerline is valid? [False, False] Translation: X:16.88, Y:-0.98, Z:-0.84 [[ 0.93958357 0.31887337 -0.124509 16.87504463] [-0.30795244 0.94619954 0.09935657 -0.97858165] [ 0.14949252 -0.05501095 0.98723137 -0.83967526] [ 0. 0. 0. 1. ]] SLAMing on 115.21320100799998 meters Centerline goodness : 0.856459 with order 1 Centerline is valid? [False, False] Translation: X:16.91, Y:-1.00, Z:-0.81 [[ 0.94190564 0.31699842 -0.11102142 16.90997203] [-0.30293978 0.94453794 0.1267895 -0.99697683] [ 0.14505602 -0.08579094 0.98569705 -0.81182196] [ 0. 0. 0. 1. ]] SLAMing on 115.27320100799999 meters Centerline goodness : 0.858290 with order 1 Centerline is valid? [False, False] Translation: X:16.91, Y:-0.99, Z:-0.82 [[ 0.94343719 0.31144069 -0.11371437 16.91497292] [-0.29829486 0.94703626 0.11892223 -0.99186518] [ 0.14472885 -0.07827524 0.98637039 -0.81903552] [ 0. 0. 0. 1. ]] SLAMing on 115.33320100799999 meters Centerline goodness : 0.853967 with order 1 Centerline is valid? [False, False] Translation: X:16.92, Y:-0.98, Z:-0.83 [[ 0.94460322 0.30703044 -0.11600459 16.91849383] [-0.29483065 0.94906351 0.11114559 -0.98465013] [ 0.14422081 -0.07078677 0.98701043 -0.82596618] [ 0. 0. 0. 1. ]] SLAMing on 115.39320100799999 meters Centerline goodness : 0.849815 with order 1 Centerline is valid? [False, False] Translation: X:16.94, Y:-0.98, Z:-0.83 [[ 0.94475874 0.30648537 -0.11617934 16.938227 ] [-0.29611927 0.95007663 0.09832484 -0.98240849] [ 0.1405144 -0.05849031 0.98834943 -0.83288747] [ 0. 0. 0. 1. ]] SLAMing on 115.453201008 meters Centerline goodness : 0.852259 with order 1 Centerline is valid? [False, False] Translation: X:16.96, Y:-0.98, Z:-0.83 [[ 0.94499077 0.30725632 -0.11218736 16.9630527 ] [-0.29760035 0.94995813 0.09493988 -0.98389012] [ 0.13574417 -0.05633032 0.98914125 -0.82963076] [ 0. 0. 0. 1. ]] SLAMing on 115.513201008 meters Centerline goodness : 0.853326 with order 1 Centerline is valid? [False, False] Translation: X:16.94, Y:-0.97, Z:-0.84 [[ 0.94597893 0.30473641 -0.11072304 16.93727661] [-0.29609773 0.95110355 0.08791006 -0.96674361] [ 0.13209847 -0.05037622 0.98995567 -0.84368499] [ 0. 0. 0. 1. ]] SLAMing on 115.573201008 meters Centerline goodness : 0.846703 with order 1 Centerline is valid? [False, False] Translation: X:16.94, Y:-0.96, Z:-0.85 [[ 0.94587087 0.30498894 -0.11095068 16.93813525] [-0.2966043 0.95112682 0.0859282 -0.96102918] [ 0.13173532 -0.04836853 0.99010418 -0.84639947] [ 0. 0. 0. 1. ]] SLAMing on 115.63320100799999 meters Centerline goodness : 0.847704 with order 1 Centerline is valid? [False, False] Translation: X:16.94, Y:-0.96, Z:-0.85 [[ 0.94570458 0.30547133 -0.11104104 16.93743069] [-0.2971165 0.95098833 0.08569119 -0.95894582] [ 0.13177493 -0.04804643 0.99011459 -0.84565217] [ 0. 0. 0. 1. ]] SLAMing on 115.69320100799999 meters Centerline goodness : 0.845968 with order 1 Centerline is valid? [False, False] Translation: X:16.94, Y:-0.96, Z:-0.85 [[ 0.94574163 0.30515065 -0.11160575 16.93919289] [-0.29691781 0.95115187 0.08455727 -0.9558272 ] [ 0.13195673 -0.0468316 0.99014859 -0.84691242] [ 0. 0. 0. 1. ]] SLAMing on 115.75320100799999 meters Centerline goodness : 0.844031 with order 1 Centerline is valid? [False, False] Translation: X:16.94, Y:-0.95, Z:-0.85 [[ 0.94607716 0.30357132 -0.11305954 16.94477442] [-0.29550144 0.95175067 0.08276209 -0.9541263 ] [ 0.13272869 -0.04489006 0.99013533 -0.85025015] [ 0. 0. 0. 1. ]] SLAMing on 115.813201008 meters Centerline goodness : 0.841466 with order 1 Centerline is valid? [False, False] Translation: X:16.95, Y:-0.95, Z:-0.85 [[ 0.94626761 0.30248916 -0.11435871 16.94907635] [-0.2946503 0.95220313 0.08056303 -0.95092499] [ 0.13326217 -0.04253836 0.9901675 -0.85389724] [ 0. 0. 0. 1. ]] SLAMing on 115.873201008 meters Centerline goodness : 0.842657 with order 1 Centerline is valid? [False, False] Translation: X:16.95, Y:-0.95, Z:-0.86 [[ 0.94708734 0.29917038 -0.11628697 16.94982895] [-0.29189621 0.9534554 0.07562676 -0.94744142] [ 0.13349972 -0.03768142 0.99033223 -0.85547189] [ 0. 0. 0. 1. ]] SLAMing on 115.933201008 meters Centerline goodness : 0.845445 with order 1 Centerline is valid? [False, False] Translation: X:16.97, Y:-0.95, Z:-0.86 [[ 0.94641768 0.30192224 -0.11461476 16.96666231] [-0.29588325 0.95287938 0.06688786 -0.94790032] [ 0.12940898 -0.02939126 0.99115562 -0.85938072] [ 0. 0. 0. 1. ]] SLAMing on 115.99320100799999 meters Centerline goodness : 0.842441 with order 1 Centerline is valid? [False, False] Translation: X:16.97, Y:-0.95, Z:-0.86 [[ 0.94627459 0.3025161 -0.11422965 16.96583751] [-0.29654357 0.95270148 0.06649661 -0.94534601] [ 0.12894305 -0.02904998 0.99122641 -0.85967345] [ 0. 0. 0. 1. ]] SLAMing on 116.05320100799999 meters Centerline goodness : 0.847922 with order 1 Centerline is valid? [False, False] Translation: X:16.97, Y:-0.94, Z:-0.86 [[ 0.94596335 0.30332658 -0.11465741 16.96651156] [-0.29750734 0.95248604 0.06526656 -0.94122925] [ 0.12900667 -0.02762835 0.99125877 -0.8615691 ] [ 0. 0. 0. 1. ]] SLAMing on 116.11320100799999 meters Centerline goodness : 0.850769 with order 1 Centerline is valid? [False, False] Translation: X:16.97, Y:-0.94, Z:-0.86 [[ 0.94659486 0.30076711 -0.11617792 16.96565044] [-0.29549358 0.95341865 0.06063348 -0.9379761 ] [ 0.12900275 -0.02306551 0.99137595 -0.86291338] [ 0. 0. 0. 1. ]] SLAMing on 116.17320100799999 meters Centerline goodness : 0.851646 with order 1 Centerline is valid? [False, False] Translation: X:16.97, Y:-0.94, Z:-0.87 [[ 0.9474673 0.29745836 -0.11757649 16.96583194] [-0.29273751 0.9545534 0.05596927 -0.93618545] [ 0.12888156 -0.01861001 0.99148536 -0.8650338 ] [ 0. 0. 0. 1. ]] SLAMing on 116.233201008 meters Centerline goodness : 0.852082 with order 1 Centerline is valid? [False, False] Translation: X:16.97, Y:-0.94, Z:-0.87 [[ 0.94769047 0.29643066 -0.11837077 16.96874171] [-0.29172573 0.95488039 0.05567359 -0.93771523] [ 0.12953328 -0.01822953 0.99140749 -0.86605686] [ 0. 0. 0. 1. ]] SLAMing on 116.293201008 meters Centerline goodness : 0.851079 with order 1 Centerline is valid? [False, False] Translation: X:16.97, Y:-0.94, Z:-0.87 [[ 0.94816908 0.2942769 -0.11990202 16.97467568] [-0.2896358 0.95556398 0.05485056 -0.94013357] [ 0.13071531 -0.01727969 0.99126935 -0.86845211] [ 0. 0. 0. 1. ]] SLAMing on 116.35320100799998 meters Centerline goodness : 0.853460 with order 1 Centerline is valid? [False, False] Translation: X:16.98, Y:-0.94, Z:-0.87 [[ 9.49248127e-01 2.90156497e-01 -1.21396869e-01 1.69758628e+01] [-2.86085945e-01 9.56893210e-01 5.01020682e-02 -9.37967230e-01] [ 1.30701280e-01 -1.28293564e-02 9.91338783e-01 -8.70211505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41320100799999 meters Centerline goodness : 0.860113 with order 1 Centerline is valid? [False, False] Translation: X:16.97, Y:-0.94, Z:-0.87 [[ 9.50047716e-01 2.87072922e-01 -1.22468264e-01 1.69742123e+01] [-2.83465025e-01 9.57863771e-01 4.63095615e-02 -9.37266121e-01] [ 1.30602135e-01 -9.28082354e-03 9.91391421e-01 -8.70018121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47320100799999 meters Centerline goodness : 0.857885 with order 1 Centerline is valid? [False, False] Translation: X:16.98, Y:-0.94, Z:-0.87 [[ 9.50038162e-01 2.87078804e-01 -1.22528576e-01 1.69751104e+01] [-2.83497856e-01 9.57864111e-01 4.61010923e-02 -9.37466698e-01] [ 1.30600372e-01 -9.06120840e-03 9.91393684e-01 -8.71304060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53320100799999 meters Centerline goodness : 0.853372 with order 1 Centerline is valid? [False, False] Translation: X:16.98, Y:-0.94, Z:-0.87 [[ 9.50224416e-01 2.86218416e-01 -1.23095810e-01 1.69774916e+01] [-2.82672793e-01 9.58125192e-01 4.57406705e-02 -9.37863714e-01] [ 1.31033019e-01 -8.66806556e-03 9.91340109e-01 -8.72186710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.593201008 meters Centerline goodness : 0.849668 with order 1 Centerline is valid? [False, False] Translation: X:16.99, Y:-0.94, Z:-0.87 [[ 9.50868513e-01 2.83463568e-01 -1.24488863e-01 1.69850950e+01] [-2.79474564e-01 9.58912876e-01 4.87859117e-02 -9.41453757e-01] [ 1.33203002e-01 -1.15975167e-02 9.91020917e-01 -8.65977140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.653201008 meters Centerline goodness : 0.855866 with order 1 Centerline is valid? [False, False] Translation: X:16.99, Y:-0.94, Z:-0.87 [[ 9.51920982e-01 2.79102752e-01 -1.26285778e-01 1.69869753e+01] [-2.75683241e-01 9.60234166e-01 4.41485741e-02 -9.40765091e-01] [ 1.33585907e-01 -7.21108153e-03 9.91011002e-01 -8.67805809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71320100799998 meters Centerline goodness : 0.852066 with order 1 Centerline is valid? [False, False] Translation: X:17.02, Y:-0.96, Z:-0.84 [[ 0.95473914 0.27360201 -0.11668381 17.01633169] [-0.26750289 0.96133674 0.06537485 -0.95855103] [ 0.13005912 -0.03120267 0.99101515 -0.84423214] [ 0. 0. 0. 1. ]] SLAMing on 116.77320100799999 meters Centerline goodness : 0.846232 with order 1 Centerline is valid? [False, False] Translation: X:17.02, Y:-0.96, Z:-0.85 [[ 0.95598853 0.26870339 -0.11783214 17.01885898] [-0.26323419 0.96286152 0.06004548 -0.95564486] [ 0.12959046 -0.02638534 0.99121649 -0.84764729] [ 0. 0. 0. 1. ]] SLAMing on 116.83320100799999 meters Centerline goodness : 0.850134 with order 1 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.96, Z:-0.83 [[ 0.9568414 0.26792803 -0.11255712 17.03680153] [-0.26066971 0.96249746 0.07516615 -0.9644241 ] [ 0.12847506 -0.04258185 0.99079814 -0.8331269 ] [ 0. 0. 0. 1. ]] SLAMing on 116.89320100799999 meters Centerline goodness : 0.848155 with order 1 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.97, Z:-0.83 [[ 0.95810048 0.26270131 -0.11415555 17.0384362 ] [-0.25576677 0.96405992 0.07191541 -0.96545835] [ 0.12894506 -0.039705 0.99085654 -0.83073081] [ 0. 0. 0. 1. ]] SLAMing on 116.953201008 meters Centerline goodness : 0.841793 with order 1 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.96, Z:-0.83 [[ 0.95903948 0.25875374 -0.11528128 17.03942055] [-0.25251981 0.96533824 0.06599872 -0.96102437] [ 0.12836284 -0.03418457 0.99113793 -0.83454964] [ 0. 0. 0. 1. ]] SLAMing on 117.013201008 meters Centerline goodness : 0.839732 with order 1 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.95, Z:-0.84 [[ 0.9587361 0.25981715 -0.11541293 17.04086777] [-0.25384751 0.96512621 0.0639753 -0.95385773] [ 0.12800993 -0.03203814 0.99125527 -0.83900702] [ 0. 0. 0. 1. ]] SLAMing on 117.073201008 meters Centerline goodness : 0.836950 with order 1 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.95, Z:-0.84 [[ 0.95736611 0.26555775 -0.11370673 17.03790154] [-0.25915241 0.96343271 0.06809873 -0.95080202] [ 0.12763293 -0.03572805 0.99117775 -0.83755477] [ 0. 0. 0. 1. ]] SLAMing on 117.13320100799999 meters Centerline goodness : 0.835469 with order 1 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.94, Z:-0.84 [[ 0.95696892 0.26710342 -0.11342948 17.03624231] [-0.26081202 0.9630363 0.067366 -0.94498759] [ 0.1272304 -0.0348834 0.99125959 -0.83774951] [ 0. 0. 0. 1. ]] SLAMing on 117.19320100799999 meters Centerline goodness : 0.834058 with order 1 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.94, Z:-0.84 [[ 0.95702129 0.26688294 -0.11350662 17.03693372] [-0.26072436 0.96313412 0.06629835 -0.94181681] [ 0.127016 -0.03385499 0.99132274 -0.83894749] [ 0. 0. 0. 1. ]] SLAMing on 117.25320100799999 meters Centerline goodness : 0.832496 with order 1 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.94, Z:-0.84 [[ 0.95801592 0.26293381 -0.11432981 17.03669248] [-0.25740689 0.96437919 0.06094643 -0.93819438] [ 0.12628216 -0.02895837 0.9915716 -0.84117479] [ 0. 0. 0. 1. ]] SLAMing on 117.313201008 meters Centerline goodness : 0.830236 with order 1 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.94, Z:-0.84 [[ 0.95910814 0.25846286 -0.11536261 17.03768155] [-0.25354316 0.96571843 0.05571165 -0.93560933] [ 0.12580719 -0.0241841 0.99175989 -0.84368688] [ 0. 0. 0. 1. ]] SLAMing on 117.373201008 meters Centerline goodness : 0.832666 with order 1 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.94, Z:-0.85 [[ 0.96014287 0.25413296 -0.1163706 17.03898345] [-0.24969547 0.96695457 0.05148813 -0.93507338] [ 0.12560991 -0.02037875 0.99187038 -0.84529393] [ 0. 0. 0. 1. ]] SLAMing on 117.433201008 meters Centerline goodness : 0.835300 with order 1 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.94, Z:-0.85 [[ 0.96025405 0.25354292 -0.11673967 17.04115336] [-0.2491464 0.96711825 0.05107214 -0.93682648] [ 0.12585005 -0.01995696 0.99184852 -0.84725095] [ 0. 0. 0. 1. ]] SLAMing on 117.49320100799999 meters Centerline goodness : 0.836208 with order 1 Centerline is valid? [False, False] Translation: X:17.05, Y:-0.94, Z:-0.84 [[ 0.96134995 0.25054796 -0.11415778 17.05335165] [-0.24503289 0.96764081 0.06025065 -0.94496125] [ 0.12555941 -0.02994955 0.99163393 -0.83633535] [ 0. 0. 0. 1. ]] SLAMing on 117.55320100799999 meters Centerline goodness : 0.838489 with order 1 Centerline is valid? [False, False] Translation: X:17.05, Y:-0.94, Z:-0.84 [[ 0.96221376 0.24728436 -0.11399617 17.05054747] [-0.24228175 0.96858566 0.05604795 -0.94381328] [ 0.12427483 -0.02631092 0.99189894 -0.83747541] [ 0. 0. 0. 1. ]] SLAMing on 117.61320100799999 meters Centerline goodness : 0.834344 with order 1 Centerline is valid? [False, False] Translation: X:17.05, Y:-0.94, Z:-0.84 [[ 0.96232791 0.24675113 -0.11418785 17.05214925] [-0.24174411 0.96872194 0.05601409 -0.94415326] [ 0.12443781 -0.02629969 0.9918788 -0.83776396] [ 0. 0. 0. 1. ]] SLAMing on 117.67320100799999 meters Centerline goodness : 0.834723 with order 1 Centerline is valid? [False, False] Translation: X:17.05, Y:-0.94, Z:-0.84 [[ 0.96316123 0.24322911 -0.11471724 17.05144053] [-0.23878193 0.96972014 0.0512449 -0.94102281] [ 0.12370787 -0.02196469 0.99207556 -0.83968349] [ 0. 0. 0. 1. ]] SLAMing on 117.733201008 meters Centerline goodness : 0.835168 with order 1 Centerline is valid? [False, False] Translation: X:17.06, Y:-0.94, Z:-0.84 [[ 0.96233572 0.24632137 -0.11504667 17.0559898 ] [-0.24145324 0.96886907 0.0547089 -0.941302 ] [ 0.12494113 -0.02486993 0.99185241 -0.8403968 ] [ 0. 0. 0. 1. ]] SLAMing on 117.793201008 meters Centerline goodness : 0.837644 with order 1 Centerline is valid? [False, False] Translation: X:17.06, Y:-0.94, Z:-0.84 [[ 0.96237221 0.24595532 -0.1155236 17.05778644] [-0.24117316 0.96898341 0.05391346 -0.94026535] [ 0.12520076 -0.02402362 0.99184053 -0.84174122] [ 0. 0. 0. 1. ]] SLAMing on 117.85320100799998 meters Centerline goodness : 0.839306 with order 1 Centerline is valid? [False, False] Translation: X:17.07, Y:-0.94, Z:-0.84 [[ 0.9620453 0.24690528 -0.11621799 17.06588675] [-0.24138776 0.96859723 0.05959321 -0.94409544] [ 0.1272823 -0.02927776 0.99143433 -0.83781669] [ 0. 0. 0. 1. ]] SLAMing on 117.91320100799999 meters Centerline goodness : 0.836570 with order 1 Centerline is valid? [False, False] Translation: X:17.10, Y:-0.96, Z:-0.82 [[ 0.96460936 0.23981829 -0.10961736 17.10064168] [-0.23212513 0.96951817 0.0784375 -0.95760224] [ 0.12508677 -0.0502166 0.99087416 -0.81892735] [ 0. 0. 0. 1. ]] SLAMing on 117.97320100799999 meters Centerline goodness : 0.837106 with order 1 Centerline is valid? [False, False] Translation: X:17.11, Y:-0.96, Z:-0.81 [[ 0.96444423 0.23992091 -0.11083898 17.11229342] [-0.23132967 0.96915862 0.08495973 -0.96059675] [ 0.12780417 -0.05629857 0.99020027 -0.81335308] [ 0. 0. 0. 1. ]] SLAMing on 118.03320100799999 meters Centerline goodness : 0.831654 with order 1 Centerline is valid? [False, False] Translation: X:17.13, Y:-0.96, Z:-0.82 [[ 0.96449803 0.24051061 -0.10907885 17.12757009] [-0.23352958 0.96960624 0.07299099 -0.95991894] [ 0.12331864 -0.04492653 0.99134965 -0.81924499] [ 0. 0. 0. 1. ]] SLAMing on 118.093201008 meters Centerline goodness : 0.834035 with order 1 Centerline is valid? [False, False] Translation: X:17.14, Y:-0.96, Z:-0.82 [[ 0.9650363 0.23958161 -0.10632773 17.14404652] [-0.23400727 0.97023612 0.0623094 -0.96137128] [ 0.11809119 -0.03524937 0.99237692 -0.82269916] [ 0. 0. 0. 1. ]] SLAMing on 118.153201008 meters Centerline goodness : 0.826361 with order 1 Centerline is valid? [False, False] Translation: X:17.15, Y:-0.96, Z:-0.82 [[ 0.9644341 0.24203198 -0.1062421 17.14801991] [-0.23592637 0.96946618 0.06688857 -0.9636428 ] [ 0.1191873 -0.03944431 0.99208797 -0.82143373] [ 0. 0. 0. 1. ]] SLAMing on 118.21320100799998 meters Centerline goodness : 0.827000 with order 1 Centerline is valid? [False, False] Translation: X:17.17, Y:-0.98, Z:-0.80 [[ 0.96579971 0.23987161 -0.09845069 17.17491171] [-0.23167514 0.96882488 0.08777799 -0.97673128] [ 0.11643692 -0.06196738 0.99126308 -0.80210668] [ 0. 0. 0. 1. ]] SLAMing on 118.27320100799999 meters Centerline goodness : 0.825796 with order 1 Centerline is valid? [False, False] Translation: X:17.18, Y:-0.98, Z:-0.80 [[ 0.9658079 0.23967339 -0.09885225 17.17598355] [-0.23124069 0.96876555 0.08956034 -0.97929777] [ 0.11722988 -0.06363942 0.99106366 -0.79836519] [ 0. 0. 0. 1. ]] SLAMing on 118.33320100799999 meters Centerline goodness : 0.828087 with order 1 Centerline is valid? [False, False] Translation: X:17.19, Y:-0.99, Z:-0.79 [[ 0.96680517 0.23730615 -0.09472881 17.19361489] [-0.22762901 0.96832933 0.10258333 -0.98815849] [ 0.11607234 -0.07761507 0.99020357 -0.78505939] [ 0. 0. 0. 1. ]] SLAMing on 118.39320100799999 meters Centerline goodness : 0.826175 with order 1 Centerline is valid? [False, False] Translation: X:17.20, Y:-0.99, Z:-0.78 [[ 0.96708695 0.23590368 -0.09535348 17.19694143] [-0.22620707 0.96869109 0.10231287 -0.98626541] [ 0.11650405 -0.07737581 0.9901716 -0.78455069] [ 0. 0. 0. 1. ]] SLAMing on 118.453201008 meters Centerline goodness : 0.828634 with order 1 Centerline is valid? [False, False] Translation: X:17.21, Y:-0.99, Z:-0.79 [[ 0.96975709 0.22872608 -0.08517963 17.2087726 ] [-0.22071245 0.97079628 0.09402444 -0.98501653] [ 0.10419791 -0.07238067 0.99191927 -0.79217309] [ 0. 0. 0. 1. ]] SLAMing on 118.513201008 meters Centerline goodness : 0.824495 with order 1 Centerline is valid? [False, False] Translation: X:17.21, Y:-0.98, Z:-0.80 [[ 0.97084287 0.22323088 -0.08736188 17.21363776] [-0.21590431 0.97262271 0.08596735 -0.97782797] [ 0.10416072 -0.06459898 0.99246033 -0.79919885] [ 0. 0. 0. 1. ]] SLAMing on 118.573201008 meters Centerline goodness : 0.828410 with order 1 Centerline is valid? [False, False] Translation: X:17.23, Y:-0.98, Z:-0.80 [[ 0.97098467 0.22315214 -0.08597616 17.23382883] [-0.2169235 0.97321523 0.07613351 -0.97707455] [ 0.10066267 -0.05527422 0.99338401 -0.8033406 ] [ 0. 0. 0. 1. ]] SLAMing on 118.63320100799999 meters Centerline goodness : 0.831101 with order 1 Centerline is valid? [False, False] Translation: X:17.23, Y:-0.97, Z:-0.80 [[ 0.97070304 0.22422133 -0.0863736 17.23296792] [-0.21800514 0.97299813 0.0758182 -0.97351484] [ 0.10104141 -0.05476707 0.99337365 -0.80251551] [ 0. 0. 0. 1. ]] SLAMing on 118.69320100799999 meters Centerline goodness : 0.834925 with order 1 Centerline is valid? [False, False] Translation: X:17.23, Y:-0.97, Z:-0.80 [[ 0.97051084 0.22489743 -0.08677472 17.23313317] [-0.21873573 0.97289116 0.07508312 -0.97024329] [ 0.10130836 -0.05388825 0.99339452 -0.80310397] [ 0. 0. 0. 1. ]] SLAMing on 118.75320100799999 meters Centerline goodness : 0.829983 with order 1 Centerline is valid? [False, False] Translation: X:17.23, Y:-0.96, Z:-0.81 [[ 0.96942891 0.2296586 -0.08639744 17.23474279] [-0.2233048 0.97168051 0.07727841 -0.96283926] [ 0.10169836 -0.05562296 0.99325904 -0.80552758] [ 0. 0. 0. 1. ]] SLAMing on 118.813201008 meters Centerline goodness : 0.831518 with order 1 Centerline is valid? [False, False] Translation: X:17.23, Y:-0.96, Z:-0.80 [[ 0.96853623 0.23339973 -0.08638361 17.23199717] [-0.22683199 0.97068779 0.07945105 -0.95761271] [ 0.10239537 -0.05735666 0.99308882 -0.80210448] [ 0. 0. 0. 1. ]] SLAMing on 118.873201008 meters Centerline goodness : 0.836103 with order 1 Centerline is valid? [False, False] Translation: X:17.23, Y:-0.95, Z:-0.80 [[ 0.96803241 0.23586172 -0.08533761 17.22603117] [-0.22929929 0.97005924 0.0800432 -0.95463436] [ 0.10166166 -0.05791656 0.9931317 -0.79921299] [ 0. 0. 0. 1. ]] SLAMing on 118.933201008 meters Centerline goodness : 0.831842 with order 1 Centerline is valid? [False, False] Translation: X:17.22, Y:-0.95, Z:-0.80 [[ 0.96706183 0.24018705 -0.08427098 17.22310215] [-0.2333925 0.96883228 0.08301781 -0.95007609] [ 0.10158424 -0.06061514 0.99297857 -0.79704234] [ 0. 0. 0. 1. ]] SLAMing on 118.99320100799999 meters Centerline goodness : 0.828585 with order 1 Centerline is valid? [False, False] Translation: X:17.22, Y:-0.95, Z:-0.80 [[ 0.96815615 0.23536528 -0.08530442 17.22456884] [-0.22909323 0.97033799 0.07720413 -0.94629644] [ 0.10094529 -0.05520299 0.99335929 -0.80013571] [ 0. 0. 0. 1. ]] SLAMing on 119.05320100799999 meters Centerline goodness : 0.831040 with order 1 Centerline is valid? [False, False] Translation: X:17.23, Y:-0.94, Z:-0.80 [[ 0.96924087 0.23035881 -0.08664271 17.22666595] [-0.22458028 0.97182748 0.0715195 -0.94337656] [ 0.10067691 -0.04986137 0.99366896 -0.80301636] [ 0. 0. 0. 1. ]] SLAMing on 119.11320100799999 meters Centerline goodness : 0.824414 with order 1 Centerline is valid? [False, False] Translation: X:17.24, Y:-0.94, Z:-0.81 [[ 0.9705422 0.22349868 -0.08997882 17.23502696] [-0.21852596 0.97386628 0.06189409 -0.9369656 ] [ 0.10146058 -0.04040812 0.99401858 -0.81324255] [ 0. 0. 0. 1. ]] SLAMing on 119.17320100799999 meters Centerline goodness : 0.824493 with order 1 Centerline is valid? [False, False] Translation: X:17.24, Y:-0.93, Z:-0.82 [[ 0.97091675 0.22096002 -0.09218102 17.23558554] [-0.21674629 0.9747562 0.05358533 -0.92958839] [ 0.10169423 -0.032047 0.99429939 -0.82080767] [ 0. 0. 0. 1. ]] SLAMing on 119.233201008 meters Centerline goodness : 0.827351 with order 1 Centerline is valid? [False, False] Translation: X:17.23, Y:-0.93, Z:-0.82 [[ 0.97132191 0.21884961 -0.09294403 17.23362964] [-0.21503619 0.97535808 0.04935629 -0.92563386] [ 0.10145531 -0.02795451 0.99444727 -0.82132679] [ 0. 0. 0. 1. ]] SLAMing on 119.293201008 meters Centerline goodness : 0.824221 with order 1 Centerline is valid? [False, False] Translation: X:17.23, Y:-0.92, Z:-0.82 [[ 0.97131595 0.21884139 -0.09302568 17.23409746] [-0.21507985 0.9753752 0.04882497 -0.92445929] [ 0.10141986 -0.02741653 0.99446586 -0.82227934] [ 0. 0. 0. 1. ]] SLAMing on 119.35320100799998 meters Centerline goodness : 0.819517 with order 1 Centerline is valid? [False, False] Translation: X:17.24, Y:-0.92, Z:-0.82 [[ 0.9713537 0.21849654 -0.09344117 17.23570377] [-0.21475215 0.97546208 0.04853092 -0.92459736] [ 0.10175216 -0.02707399 0.9944413 -0.82319528] [ 0. 0. 0. 1. ]] SLAMing on 119.41320100799999 meters Centerline goodness : 0.817656 with order 1 Centerline is valid? [False, False] Translation: X:17.24, Y:-0.93, Z:-0.82 [[ 0.97164292 0.21723072 -0.09338548 17.23539832] [-0.21323595 0.97567202 0.05093656 -0.93148162] [ 0.10217858 -0.029579 0.99432621 -0.81826318] [ 0. 0. 0. 1. ]] SLAMing on 119.47320100799999 meters Centerline goodness : 0.818425 with order 1 Centerline is valid? [False, False] Translation: X:17.23, Y:-0.93, Z:-0.82 [[ 0.97331769 0.20921714 -0.09423834 17.23244404] [-0.20597668 0.97761163 0.04300122 -0.93086322] [ 0.10112509 -0.02244295 0.99462055 -0.81766458] [ 0. 0. 0. 1. ]] SLAMing on 119.53320100799999 meters Centerline goodness : 0.814442 with order 1 Centerline is valid? [False, False] Translation: X:17.24, Y:-0.93, Z:-0.82 [[ 0.97363392 0.20729693 -0.09521017 17.23786858] [-0.20413726 0.97804456 0.04191439 -0.93185824] [ 0.10180851 -0.02137333 0.99457439 -0.82118199] [ 0. 0. 0. 1. ]] SLAMing on 119.593201008 meters Centerline goodness : 0.812764 with order 2 Centerline is valid? [False, False] Translation: X:17.24, Y:-0.93, Z:-0.82 [[ 0.97373309 0.20655231 -0.09581242 17.24089453] [-0.20347501 0.97822323 0.04095409 -0.93140661] [ 0.1021851 -0.02038292 0.99455656 -0.82376159] [ 0. 0. 0. 1. ]] SLAMing on 119.653201008 meters Centerline goodness : 0.817289 with order 2 Centerline is valid? [False, False] Translation: X:17.24, Y:-0.93, Z:-0.83 [[ 9.74245392e-01 2.03878098e-01 -9.63308779e-02 1.72388386e+01] [-2.01265747e-01 9.78867451e-01 3.62023828e-02 -9.31105390e-01] [ 1.01676034e-01 -1.58818984e-02 9.94690781e-01 -8.26053717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71320100799998 meters Centerline goodness : 0.812643 with order 1 Centerline is valid? [False, False] Translation: X:17.24, Y:-0.93, Z:-0.83 [[ 9.74215752e-01 2.03993685e-01 -9.63859134e-02 1.72394652e+01] [-2.01379054e-01 9.78843443e-01 3.62214111e-02 -9.31556552e-01] [ 1.01735658e-01 -1.58773652e-02 9.94684757e-01 -8.26376324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77320100799999 meters Centerline goodness : 0.809884 with order 3 Centerline is valid? [False, False] Translation: X:17.24, Y:-0.93, Z:-0.83 [[ 0.97408374 0.20475633 -0.09610263 17.24416862] [-0.20182258 0.97862852 0.03941919 -0.93399275] [ 0.1021201 -0.01900191 0.99459058 -0.82686215] [ 0. 0. 0. 1. ]] SLAMing on 119.83320100799999 meters Centerline goodness : 0.807866 with order 3 Centerline is valid? [False, False] Translation: X:17.24, Y:-0.93, Z:-0.83 [[ 0.97411224 0.20466632 -0.09600542 17.24483339] [-0.2018121 0.97866107 0.03865739 -0.93160236] [ 0.10186863 -0.01828158 0.99462986 -0.82824329] [ 0. 0. 0. 1. ]] SLAMing on 119.89320100799999 meters Centerline goodness : 0.812691 with order 1 Centerline is valid? [False, False] Translation: X:17.26, Y:-0.93, Z:-0.83 [[ 9.74194188e-01 2.05913536e-01 -9.24407944e-02 1.72579474e+01] [-2.04074316e-01 9.78524891e-01 2.90294708e-02 -9.31596577e-01] [ 9.64331793e-02 -9.41554983e-03 9.95294926e-01 -8.30187560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.953201008 meters Centerline goodness : 0.815285 with order 1 Centerline is valid? [False, False] Translation: X:17.26, Y:-0.93, Z:-0.83 [[ 9.74037384e-01 2.07056056e-01 -9.15366782e-02 1.72552681e+01] [-2.05246273e-01 9.78284609e-01 2.88650377e-02 -9.28663529e-01] [ 9.55256044e-02 -9.32806378e-03 9.95383266e-01 -8.30141852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.013201008 meters Centerline goodness : 0.811232 with order 1 Centerline is valid? [False, False] Translation: X:17.26, Y:-0.93, Z:-0.83 [[ 9.73194322e-01 2.11431159e-01 -9.04968366e-02 1.72551053e+01] [-2.09266055e-01 9.77305514e-01 3.28884617e-02 -9.27105664e-01] [ 9.53967030e-02 -1.30689482e-02 9.95353541e-01 -8.29671298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.073201008 meters Centerline goodness : 0.809583 with order 1 Centerline is valid? [False, False] Translation: X:17.25, Y:-0.93, Z:-0.83 [[ 9.73121300e-01 2.11996127e-01 -8.99587519e-02 1.72537914e+01] [-2.09859280e-01 9.77184912e-01 3.26914448e-02 -9.25577790e-01] [ 9.48367948e-02 -1.29340623e-02 9.95408807e-01 -8.29949122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13320100799999 meters Centerline goodness : 0.809767 with order 1 Centerline is valid? [False, False] Translation: X:17.25, Y:-0.92, Z:-0.83 [[ 9.73704633e-01 2.09398639e-01 -8.97301342e-02 1.72499910e+01] [-2.07550743e-01 9.77777610e-01 2.95572958e-02 -9.24949388e-01] [ 9.39253737e-02 -1.01565198e-02 9.95527433e-01 -8.28551845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19320100799999 meters Centerline goodness : 0.806632 with order 1 Centerline is valid? [False, False] Translation: X:17.26, Y:-0.93, Z:-0.82 [[ 0.97415541 0.20765545 -0.08888449 17.2601325 ] [-0.2051086 0.97804004 0.03698833 -0.92989969] [ 0.09461342 -0.01780141 0.99535492 -0.82144114] [ 0. 0. 0. 1. ]] SLAMing on 120.25320100799999 meters Centerline goodness : 0.804688 with order 1 Centerline is valid? [False, False] Translation: X:17.27, Y:-0.93, Z:-0.82 [[ 0.97488831 0.20365623 -0.09009399 17.26796355] [-0.20105395 0.97887471 0.03716995 -0.93356893] [ 0.09576062 -0.0181228 0.9952394 -0.82139908] [ 0. 0. 0. 1. ]] SLAMing on 120.313201008 meters Centerline goodness : 0.803023 with order 1 Centerline is valid? [False, False] Translation: X:17.27, Y:-0.94, Z:-0.82 [[ 0.97507714 0.20233012 -0.09103343 17.27182772] [-0.19968287 0.97914657 0.03739981 -0.93606769] [ 0.09670218 -0.01828988 0.9951453 -0.82156424] [ 0. 0. 0. 1. ]] SLAMing on 120.373201008 meters Centerline goodness : 0.807892 with order 1 Centerline is valid? [False, False] Translation: X:17.27, Y:-0.94, Z:-0.82 [[ 0.9751446 0.20194566 -0.09116447 17.27282275] [-0.19913498 0.97919431 0.0390354 -0.94040063] [ 0.09715076 -0.01991112 0.99507049 -0.81950129] [ 0. 0. 0. 1. ]] SLAMing on 120.433201008 meters Centerline goodness : 0.805672 with order 1 Centerline is valid? [False, False] Translation: X:17.27, Y:-0.94, Z:-0.82 [[ 0.97513566 0.20231342 -0.09044187 17.27153794] [-0.1995099 0.97911432 0.03912732 -0.9406843 ] [ 0.09646891 -0.0201104 0.99513282 -0.82002951] [ 0. 0. 0. 1. ]] SLAMing on 120.49320100799999 meters Centerline goodness : 0.808777 with order 1 Centerline is valid? [False, False] Translation: X:17.27, Y:-0.94, Z:-0.82 [[ 0.97515708 0.20214096 -0.09059635 17.27204039] [-0.19929218 0.97914153 0.03955375 -0.9420182 ] [ 0.09670208 -0.02051597 0.99510191 -0.81936899] [ 0. 0. 0. 1. ]] SLAMing on 120.55320100799999 meters Centerline goodness : 0.810189 with order 1 Centerline is valid? [False, False] Translation: X:17.27, Y:-0.94, Z:-0.82 [[ 0.9752728 0.20145944 -0.09086837 17.27432948] [-0.19866336 0.97929446 0.03892599 -0.94144058] [ 0.0968289 -0.01991125 0.99510186 -0.82113247] [ 0. 0. 0. 1. ]] SLAMing on 120.61320100799999 meters Centerline goodness : 0.807622 with order 1 Centerline is valid? [False, False] Translation: X:17.28, Y:-0.94, Z:-0.82 [[ 0.9746425 0.20456 -0.0907039 17.27670086] [-0.20130423 0.97854924 0.04379491 -0.94480394] [ 0.09771692 -0.02442531 0.99491447 -0.81953029] [ 0. 0. 0. 1. ]] SLAMing on 120.67320100799999 meters Centerline goodness : 0.810586 with order 1 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.95, Z:-0.81 [[ 0.97519359 0.2024268 -0.08955921 17.28860927] [-0.19830412 0.97871466 0.05284962 -0.9519568 ] [ 0.0983511 -0.03377865 0.99457834 -0.80934587] [ 0. 0. 0. 1. ]] SLAMing on 120.733201008 meters Centerline goodness : 0.810235 with order 1 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.95, Z:-0.81 [[ 0.97528937 0.20179491 -0.08994142 17.29078742] [-0.19779478 0.97889185 0.05145846 -0.95062351] [ 0.09842698 -0.03239694 0.99461679 -0.81217587] [ 0. 0. 0. 1. ]] SLAMing on 120.793201008 meters Centerline goodness : 0.808090 with order 1 Centerline is valid? [False, False] Translation: X:17.30, Y:-0.95, Z:-0.81 [[ 0.97481295 0.20375926 -0.09067455 17.29682618] [-0.19927642 0.97833564 0.05610953 -0.95311146] [ 0.10014298 -0.03662699 0.99429867 -0.8107224 ] [ 0. 0. 0. 1. ]] SLAMing on 120.85320100799998 meters Centerline goodness : 0.807465 with order 1 Centerline is valid? [False, False] Translation: X:17.32, Y:-0.96, Z:-0.80 [[ 0.97603038 0.1992399 -0.08756804 17.31948298] [-0.19370315 0.97871341 0.06781703 -0.96108888] [ 0.09921587 -0.04922928 0.99384742 -0.80106613] [ 0. 0. 0. 1. ]] SLAMing on 120.91320100799999 meters Centerline goodness : 0.807690 with order 1 Centerline is valid? [False, False] Translation: X:17.33, Y:-0.97, Z:-0.79 [[ 0.97642214 0.1967951 -0.08872145 17.32597489] [-0.19081768 0.97901539 0.07153658 -0.96517708] [ 0.10093771 -0.05292028 0.99348428 -0.79410504] [ 0. 0. 0. 1. ]] SLAMing on 120.97320100799999 meters Centerline goodness : 0.807191 with order 1 Centerline is valid? [False, False] Translation: X:17.35, Y:-0.97, Z:-0.77 [[ 0.97756248 0.19409517 -0.08184536 17.35085064] [-0.18652727 0.97815241 0.09179018 -0.9745495 ] [ 0.09787326 -0.07446424 0.99240914 -0.77479254] [ 0. 0. 0. 1. ]] SLAMing on 121.03320100799999 meters Centerline goodness : 0.808352 with order 1 Centerline is valid? [False, False] Translation: X:17.38, Y:-0.99, Z:-0.76 [[ 0.97892201 0.19070712 -0.07309231 17.37973436] [-0.18174215 0.97668795 0.11423852 -0.98565279] [ 0.09317448 -0.09854665 0.99076086 -0.75538081] [ 0. 0. 0. 1. ]] SLAMing on 121.093201008 meters Centerline goodness : 0.804906 with order 1 Centerline is valid? [False, False] Translation: X:17.41, Y:-0.99, Z:-0.75 [[ 0.97961536 0.18852712 -0.06936334 17.40587783] [-0.18036683 0.97748893 0.10946779 -0.98739523] [ 0.08843954 -0.09472548 0.99156721 -0.75431735] [ 0. 0. 0. 1. ]] SLAMing on 121.153201008 meters Centerline goodness : 0.809924 with order 1 Centerline is valid? [False, False] Translation: X:17.43, Y:-1.00, Z:-0.73 [[ 0.98014385 0.18853433 -0.06142343 17.42640785] [-0.17924636 0.97489515 0.13209918 -0.99828325] [ 0.08478663 -0.11846627 0.98933158 -0.73318495] [ 0. 0. 0. 1. ]] SLAMing on 121.21320100799998 meters Centerline goodness : 0.811503 with order 1 Centerline is valid? [False, False] Translation: X:17.45, Y:-1.00, Z:-0.74 [[ 0.97978063 0.19137325 -0.05836267 17.44547618] [-0.18298658 0.97508531 0.12539758 -0.99708734] [ 0.08090633 -0.11218254 0.99038843 -0.73663238] [ 0. 0. 0. 1. ]] SLAMing on 121.27320100799999 meters Centerline goodness : 0.806783 with order 1 Centerline is valid? [False, False] Translation: X:17.47, Y:-0.99, Z:-0.75 [[ 0.97942043 0.19352744 -0.05729527 17.46774321] [-0.18600117 0.97567672 0.11601082 -0.9947579 ] [ 0.07835294 -0.10296638 0.99159404 -0.74574744] [ 0. 0. 0. 1. ]] SLAMing on 121.33320100799999 meters Centerline goodness : 0.811156 with order 1 Centerline is valid? [False, False] Translation: X:17.49, Y:-0.99, Z:-0.75 [[ 0.9793719 0.19421268 -0.05578642 17.48583443] [-0.18773463 0.97666576 0.10430581 -0.99299067] [ 0.07474219 -0.09168113 0.99297944 -0.75325611] [ 0. 0. 0. 1. ]] SLAMing on 121.39320100799999 meters Centerline goodness : 0.813883 with order 1 Centerline is valid? [False, False] Translation: X:17.50, Y:-0.99, Z:-0.76 [[ 0.97900325 0.19653175 -0.05411018 17.49736033] [-0.1911961 0.97736339 0.09058065 -0.98995319] [ 0.07068729 -0.0783331 0.99441804 -0.76107813] [ 0. 0. 0. 1. ]] SLAMing on 121.453201008 meters Centerline goodness : 0.815804 with order 1 Centerline is valid? [False, False] Translation: X:17.51, Y:-0.99, Z:-0.77 [[ 0.9788671 0.19768607 -0.05233952 17.5149953 ] [-0.19328807 0.97796797 0.07885667 -0.98755544] [ 0.06677524 -0.06707359 0.99551103 -0.76924849] [ 0. 0. 0. 1. ]] SLAMing on 121.513201008 meters Centerline goodness : 0.816359 with order 1 Centerline is valid? [False, False] Translation: X:17.53, Y:-0.99, Z:-0.78 [[ 0.97903164 0.1972198 -0.05100381 17.53397864] [-0.19373893 0.97882848 0.0660306 -0.98577822] [ 0.06294653 -0.05476463 0.99651321 -0.77840959] [ 0. 0. 0. 1. ]] SLAMing on 121.573201008 meters Centerline goodness : 0.820622 with order 1 Centerline is valid? [False, False] Translation: X:17.53, Y:-0.98, Z:-0.78 [[ 0.97979001 0.19323684 -0.0516822 17.53430781] [-0.19003833 0.97988116 0.06097822 -0.98434636] [ 0.06242565 -0.04992425 0.99680018 -0.780884 ] [ 0. 0. 0. 1. ]] SLAMing on 121.63320100799999 meters Centerline goodness : 0.824140 with order 1 Centerline is valid? [False, False] Translation: X:17.56, Y:-1.00, Z:-0.77 [[ 0.98123846 0.18705871 -0.04669183 17.55913038] [-0.18323109 0.98012843 0.07599101 -0.99650006] [ 0.05997877 -0.06600991 0.99601468 -0.76630449] [ 0. 0. 0. 1. ]] SLAMing on 121.69320100799999 meters Centerline goodness : 0.826611 with order 1 Centerline is valid? [False, False] Translation: X:17.58, Y:-1.00, Z:-0.77 [[ 0.98264353 0.17915074 -0.04813208 17.57657953] [-0.17515947 0.98150504 0.07724641 -1.00023763] [ 0.06108063 -0.06747489 0.99584953 -0.76520856] [ 0. 0. 0. 1. ]] SLAMing on 121.75320100799999 meters Centerline goodness : 0.828712 with order 1 Centerline is valid? [False, False] Translation: X:17.59, Y:-1.01, Z:-0.76 [[ 0.98325151 0.17599189 -0.04736371 17.59003857] [-0.17154298 0.9814464 0.08565029 -1.00581866] [ 0.0615587 -0.07609087 0.99519883 -0.75683203] [ 0. 0. 0. 1. ]] SLAMing on 121.813201008 meters Centerline goodness : 0.828735 with order 1 Centerline is valid? [False, False] Translation: X:17.62, Y:-1.01, Z:-0.76 [[ 0.98380057 0.17353891 -0.04495213 17.61537462] [-0.16966639 0.98232545 0.07905716 -1.00741555] [ 0.05787711 -0.07014961 0.99585605 -0.75676692] [ 0. 0. 0. 1. ]] SLAMing on 121.873201008 meters Centerline goodness : 0.829177 with order 1 Centerline is valid? [False, False] Translation: X:17.64, Y:-1.00, Z:-0.76 [[ 0.98399303 0.17293353 -0.04303142 17.63798115] [-0.16976487 0.98308073 0.06879076 -1.0046268 ] [ 0.05419959 -0.0603844 0.99670263 -0.76431097] [ 0. 0. 0. 1. ]] SLAMing on 121.933201008 meters Centerline goodness : 0.832651 with order 1 Centerline is valid? [False, False] Translation: X:17.66, Y:-1.01, Z:-0.75 [[ 0.98485504 0.16901254 -0.03866933 17.66333031] [-0.16528314 0.98257496 0.08501723 -1.00959611] [ 0.05236449 -0.07733826 0.99562882 -0.75132907] [ 0. 0. 0. 1. ]] SLAMing on 121.99320100799999 meters Centerline goodness : 0.832774 with order 1 Centerline is valid? [False, False] Translation: X:17.68, Y:-1.02, Z:-0.74 [[ 0.98538253 0.1670985 -0.03315671 17.68361331] [-0.16294293 0.98126881 0.10276732 -1.01604282] [ 0.04970791 -0.09586247 0.99415266 -0.73590254] [ 0. 0. 0. 1. ]] SLAMing on 122.05320100799999 meters Centerline goodness : 0.832494 with order 1 Centerline is valid? [False, False] Translation: X:17.70, Y:-1.01, Z:-0.74 [[ 0.98482791 0.17088949 -0.03017881 17.69977115] [-0.16744683 0.98145929 0.09326965 -1.01050584] [ 0.04555808 -0.08680121 0.99518341 -0.74333515] [ 0. 0. 0. 1. ]] SLAMing on 122.11320100799999 meters Centerline goodness : 0.834977 with order 1 Centerline is valid? [False, False] Translation: X:17.71, Y:-1.01, Z:-0.75 [[ 0.9842014 0.17496758 -0.02709153 17.71380662] [-0.17219617 0.98152572 0.08340109 -1.00680673] [ 0.04118352 -0.07741841 0.99614773 -0.7501653 ] [ 0. 0. 0. 1. ]] SLAMing on 122.17320100799999 meters Centerline goodness : 0.838731 with order 1 Centerline is valid? [False, False] Translation: X:17.72, Y:-1.00, Z:-0.76 [[ 0.98271435 0.18368276 -0.02309013 17.72451804] [-0.18148126 0.9804672 0.07581967 -1.00065687] [ 0.03656588 -0.07031866 0.99685416 -0.75773078] [ 0. 0. 0. 1. ]] SLAMing on 122.233201008 meters Centerline goodness : 0.837893 with order 1 Centerline is valid? [False, False] Translation: X:17.72, Y:-1.00, Z:-0.76 [[ 0.98184156 0.18842338 -0.02199498 17.71734848] [-0.18632377 0.97963509 0.07482336 -0.99542543] [ 0.03564552 -0.06936649 0.9969542 -0.75993312] [ 0. 0. 0. 1. ]] SLAMing on 122.293201008 meters Centerline goodness : 0.839862 with order 1 Centerline is valid? [False, False] Translation: X:17.73, Y:-0.99, Z:-0.77 [[ 0.98176742 0.18899089 -0.02037609 17.73369941] [-0.18746404 0.98038904 0.0607829 -0.99168003] [ 0.03146391 -0.05585489 0.99794301 -0.76996415] [ 0. 0. 0. 1. ]] SLAMing on 122.35320100799998 meters Centerline goodness : 0.844734 with order 1 Centerline is valid? [False, False] Translation: X:17.73, Y:-0.99, Z:-0.77 [[ 0.98241479 0.18548311 -0.02138231 17.7343602 ] [-0.18409708 0.98138305 0.05473183 -0.98758259] [ 0.03113606 -0.04983294 0.99827212 -0.77366919] [ 0. 0. 0. 1. ]] SLAMing on 122.41320100799999 meters Centerline goodness : 0.844062 with order 1 Centerline is valid? [False, False] Translation: X:17.74, Y:-0.99, Z:-0.78 [[ 0.98257856 0.18452228 -0.02215641 17.7371972 ] [-0.18312681 0.98161346 0.05384784 -0.98679645] [ 0.03168515 -0.0488523 0.99830331 -0.77523116] [ 0. 0. 0. 1. ]] SLAMing on 122.47320100799999 meters Centerline goodness : 0.846286 with order 1 Centerline is valid? [False, False] Translation: X:17.76, Y:-1.00, Z:-0.76 [[ 0.98375437 0.17860191 -0.0181302 17.7613484 ] [-0.17701597 0.98188262 0.06761557 -0.99563323] [ 0.02987799 -0.06330778 0.99754671 -0.76435611] [ 0. 0. 0. 1. ]] SLAMing on 122.53320100799999 meters Centerline goodness : 0.847150 with order 1 Centerline is valid? [False, False] Translation: X:17.76, Y:-0.99, Z:-0.77 [[ 0.98507537 0.17102346 -0.01942924 17.7614444 ] [-0.16969593 0.98386616 0.05666271 -0.99093418] [ 0.02880643 -0.05251998 0.99820431 -0.7699183 ] [ 0. 0. 0. 1. ]] SLAMing on 122.593201008 meters Centerline goodness : 0.849736 with order 1 Centerline is valid? [False, False] Translation: X:17.79, Y:-1.00, Z:-0.76 [[ 9.86548655e-01 1.62810274e-01 -1.46480844e-02 1.77872594e+01] [-1.61498166e-01 9.84608904e-01 6.68105394e-02 -9.97809033e-01] [ 2.53000765e-02 -6.35462090e-02 9.97658151e-01 -7.62434875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.653201008 meters Centerline goodness : 0.848386 with order 1 Centerline is valid? [False, False] Translation: X:17.80, Y:-1.00, Z:-0.75 [[ 9.87122635e-01 1.59365089e-01 -1.38445772e-02 1.78000171e+01] [-1.57915459e-01 9.84627673e-01 7.46394822e-02 -1.00230741e+00] [ 2.55266815e-02 -7.14920496e-02 9.97114475e-01 -7.54754615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71320100799998 meters Centerline goodness : 0.846912 with order 1 Centerline is valid? [False, False] Translation: X:17.82, Y:-1.01, Z:-0.74 [[ 9.87752913e-01 1.55762047e-01 -9.07564748e-03 1.78242781e+01] [-1.54250233e-01 9.83607679e-01 9.33959316e-02 -1.00880677e+00] [ 2.34744181e-02 -9.08521828e-02 9.95587682e-01 -7.39650694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77320100799999 meters Centerline goodness : 0.848954 with order 1 Centerline is valid? [False, False] Translation: X:17.84, Y:-1.02, Z:-0.73 [[ 9.88278459e-01 1.52575937e-01 -5.12555641e-03 1.78416314e+01] [-1.51123257e-01 9.82520554e-01 1.08697385e-01 -1.01683114e+00] [ 2.16205698e-02 -1.06648693e-01 9.94061672e-01 -7.25122836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83320100799999 meters Centerline goodness : 0.852544 with order 1 Centerline is valid? [False, False] Translation: X:17.87, Y:-1.03, Z:-0.71 [[ 9.87489056e-01 1.57595482e-01 -5.38786537e-03 1.78749669e+01] [-1.55731440e-01 9.80034959e-01 1.23609052e-01 -1.02667133e+00] [ 2.47605245e-02 -1.21223526e-01 9.92316368e-01 -7.07972677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89320100799999 meters Centerline goodness : 0.853516 with order 1 Centerline is valid? [False, False] Translation: X:17.90, Y:-1.02, Z:-0.71 [[ 9.87196395e-01 1.59496255e-01 -2.05464931e-03 1.78974417e+01] [-1.58159397e-01 9.80431909e-01 1.17212953e-01 -1.02484190e+00] [ 2.07094707e-02 -1.15387242e-01 9.93104678e-01 -7.13933953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.953201008 meters Centerline goodness : 0.855572 with order 1 Centerline is valid? [False, False] Translation: X:17.91, Y:-1.02, Z:-0.73 [[ 9.86259864e-01 1.65188127e-01 -2.08910568e-03 1.79092071e+01] [-1.64093036e-01 9.81027282e-01 1.03242174e-01 -1.02164057e+00] [ 1.91038510e-02 -1.01480805e-01 9.94654055e-01 -7.27288309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.013201008 meters Centerline goodness : 0.857689 with order 1 Centerline is valid? [False, False] Translation: X:17.93, Y:-1.02, Z:-0.73 [[ 9.86400946e-01 1.64355919e-01 5.51862799e-04 1.79279960e+01] [-1.63703114e-01 9.82172807e-01 9.24005832e-02 -1.02130222e+00] [ 1.46445582e-02 -9.12343644e-02 9.95721762e-01 -7.32224116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.073201008 meters Centerline goodness : 0.854267 with order 1 Centerline is valid? [False, False] Translation: X:17.94, Y:-1.02, Z:-0.74 [[ 9.86637988e-01 1.62894219e-01 3.30968027e-03 1.79420799e+01] [-1.62663956e-01 9.83681064e-01 7.68895370e-02 -1.01923753e+00] [ 9.26919123e-03 -7.64005037e-02 9.97034124e-01 -7.41060920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13320100799999 meters Centerline goodness : 0.852042 with order 1 Centerline is valid? [False, False] Translation: X:17.96, Y:-1.02, Z:-0.75 [[ 9.86821178e-01 1.61716627e-01 5.62985543e-03 1.79629333e+01] [-1.61736565e-01 9.84667820e-01 6.53495806e-02 -1.01788978e+00] [ 5.02457628e-03 -6.53989036e-02 9.97846550e-01 -7.49226461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19320100799999 meters Centerline goodness : 0.854148 with order 1 Centerline is valid? [False, False] Translation: X:17.98, Y:-1.01, Z:-0.76 [[ 9.86878832e-01 1.61253236e-01 8.21982327e-03 1.79769658e+01] [-1.61462596e-01 9.85611551e-01 4.99970049e-02 -1.01483321e+00] [-3.93739445e-05 -5.06681798e-02 9.98715542e-01 -7.59119963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25320100799999 meters Centerline goodness : 0.850485 with order 1 Centerline is valid? [False, False] Translation: X:17.99, Y:-1.01, Z:-0.77 [[ 9.86780393e-01 1.61674704e-01 1.12136110e-02 1.79908694e+01] [-1.61979330e-01 9.86131134e-01 3.61674297e-02 -1.01222940e+00] [-5.21073245e-03 -3.75056837e-02 9.99282829e-01 -7.67960367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.313201008 meters Centerline goodness : 0.846341 with order 1 Centerline is valid? [False, False] Translation: X:18.01, Y:-1.01, Z:-0.77 [[ 9.86598859e-01 1.62540873e-01 1.42532933e-02 1.80106524e+01] [-1.62885474e-01 9.86253498e-01 2.77913526e-02 -1.01208934e+00] [-9.54012966e-03 -2.97405712e-02 9.99512123e-01 -7.73875942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.373201008 meters Centerline goodness : 0.846473 with order 1 Centerline is valid? [False, False] Translation: X:18.02, Y:-1.02, Z:-0.77 [[ 9.87038001e-01 1.59944490e-01 1.31812085e-02 1.80239550e+01] [-1.60306856e-01 9.86488099e-01 3.38074279e-02 -1.01693429e+00] [-7.59579352e-03 -3.54822541e-02 9.99341440e-01 -7.70467954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.433201008 meters Centerline goodness : 0.842709 with order 1 Centerline is valid? [False, False] Translation: X:18.06, Y:-1.03, Z:-0.76 [[ 9.89405314e-01 1.44106454e-01 1.76196996e-02 1.80595326e+01] [-1.44766323e-01 9.88446983e-01 4.48917925e-02 -1.02865215e+00] [-1.09469419e-02 -4.69669172e-02 9.98836460e-01 -7.57877827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49320100799999 meters Centerline goodness : 0.843839 with order 1 Centerline is valid? [False, False] Translation: X:18.10, Y:-1.04, Z:-0.75 [[ 9.91029657e-01 1.31787221e-01 2.21888984e-02 1.81040925e+01] [-1.32963986e-01 9.89020420e-01 6.44917648e-02 -1.03988154e+00] [-1.34460832e-02 -6.68635760e-02 9.97671522e-01 -7.45141794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55320100799999 meters Centerline goodness : 0.838787 with order 1 Centerline is valid? [False, False] Translation: X:18.14, Y:-1.05, Z:-0.74 [[ 9.91983437e-01 1.24043648e-01 2.41253885e-02 1.81411346e+01] [-1.25567013e-01 9.89026755e-01 7.78395998e-02 -1.04512455e+00] [-1.42051468e-02 -8.02449467e-02 9.96673950e-01 -7.43185252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61320100799999 meters Centerline goodness : 0.836075 with order 1 Centerline is valid? [False, False] Translation: X:18.16, Y:-1.04, Z:-0.75 [[ 9.91866979e-01 1.24596711e-01 2.59914720e-02 1.81585379e+01] [-1.26044980e-01 9.89918349e-01 6.46090132e-02 -1.04352790e+00] [-1.76793646e-02 -6.73596413e-02 9.97572112e-01 -7.53385549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67320100799999 meters Centerline goodness : 0.839999 with order 1 Centerline is valid? [False, False] Translation: X:18.17, Y:-1.04, Z:-0.76 [[ 0.99135312 0.12791551 0.02926786 18.17277547] [-0.12935117 0.99012846 0.05398062 -1.04179049] [-0.02207398 -0.05729969 0.99811296 -0.76141825] [ 0. 0. 0. 1. ]] SLAMing on 123.733201008 meters Centerline goodness : 0.843222 with order 1 Centerline is valid? [False, False] Translation: X:18.19, Y:-1.04, Z:-0.77 [[ 0.99080015 0.13130487 0.03277333 18.18595941] [-0.13266528 0.9902054 0.04351076 -1.0389313 ] [-0.02673915 -0.04745835 0.99851526 -0.76820621] [ 0. 0. 0. 1. ]] SLAMing on 123.793201008 meters Centerline goodness : 0.841693 with order 1 Centerline is valid? [False, False] Translation: X:18.18, Y:-1.03, Z:-0.77 [[ 0.99056959 0.13294417 0.0331321 18.18383113] [-0.13429577 0.9900255 0.04259287 -1.03347594] [-0.02713915 -0.0466407 0.99854299 -0.76891008] [ 0. 0. 0. 1. ]] SLAMing on 123.85320100799998 meters Centerline goodness : 0.835380 with order 1 Centerline is valid? [False, False] Translation: X:18.21, Y:-1.03, Z:-0.77 [[ 0.99032397 0.13379605 0.03683811 18.21004033] [-0.13520491 0.99005575 0.03884886 -1.03157486] [-0.03127396 -0.04345365 0.99856583 -0.77236304] [ 0. 0. 0. 1. ]] SLAMing on 123.91320100799999 meters Centerline goodness : 0.831614 with order 1 Centerline is valid? [False, False] Translation: X:18.22, Y:-1.03, Z:-0.78 [[ 0.9896344 0.13726935 0.04220046 18.22353998] [-0.13861535 0.98986698 0.03080828 -1.02708609] [-0.03754381 -0.03633856 0.99863405 -0.77794926] [ 0. 0. 0. 1. ]] SLAMing on 123.97320100799999 meters Centerline goodness : 0.830467 with order 1 Centerline is valid? [False, False] Translation: X:18.22, Y:-1.02, Z:-0.78 [[ 0.98956775 0.13767295 0.04244789 18.22341465] [-0.1389798 0.98985467 0.02953549 -1.02208191] [-0.03795101 -0.03512677 0.99866202 -0.7794659 ] [ 0. 0. 0. 1. ]] SLAMing on 124.03320100799999 meters Centerline goodness : 0.830345 with order 1 Centerline is valid? [False, False] Translation: X:18.24, Y:-1.02, Z:-0.79 [[ 0.98878973 0.14200725 0.04613911 18.23673214] [-0.14304455 0.98951415 0.02000029 -1.0178569 ] [-0.04281512 -0.02637603 0.99873479 -0.78648924] [ 0. 0. 0. 1. ]] SLAMing on 124.093201008 meters Centerline goodness : 0.830731 with order 1 Centerline is valid? [False, False] Translation: X:18.23, Y:-1.02, Z:-0.78 [[ 0.98855101 0.14343949 0.04681891 18.23350859] [-0.14450873 0.98929536 0.02029583 -1.01650384] [-0.04340651 -0.0268292 0.99869719 -0.78477812] [ 0. 0. 0. 1. ]] SLAMing on 124.153201008 meters Centerline goodness : 0.828624 with order 1 Centerline is valid? [False, False] Translation: X:18.24, Y:-1.01, Z:-0.79 [[ 0.98863757 0.14292746 0.04655637 18.23513192] [-0.1439653 0.9893858 0.01974172 -1.01459546] [-0.04324057 -0.02621991 0.99872057 -0.78586647] [ 0. 0. 0. 1. ]] SLAMing on 124.21320100799998 meters Centerline goodness : 0.831532 with order 1 Centerline is valid? [False, False] Translation: X:18.24, Y:-1.02, Z:-0.79 [[ 0.988857 0.14161011 0.04591741 18.2381742 ] [-0.14262847 0.98958022 0.01970045 -1.01569094] [-0.04264917 -0.02603006 0.99875096 -0.78641848] [ 0. 0. 0. 1. ]] SLAMing on 124.27320100799999 meters Centerline goodness : 0.833286 with order 1 Centerline is valid? [False, False] Translation: X:18.26, Y:-1.02, Z:-0.78 [[ 0.98939718 0.1363951 0.0498958 18.25925918] [-0.13803446 0.98994156 0.03101928 -1.02132391] [-0.04516305 -0.03757772 0.99827261 -0.780246 ] [ 0. 0. 0. 1. ]] SLAMing on 124.33320100799999 meters Centerline goodness : 0.842204 with order 1 Centerline is valid? [False, False] Translation: X:18.29, Y:-1.03, Z:-0.76 [[ 0.99047103 0.12521057 0.05735378 18.29235568] [-0.12823793 0.99035052 0.05254415 -1.0324933 ] [-0.05022126 -0.05939839 0.99697024 -0.7604284 ] [ 0. 0. 0. 1. ]] SLAMing on 124.39320100799999 meters Centerline goodness : 0.843342 with order 1 Centerline is valid? [False, False] Translation: X:18.32, Y:-1.04, Z:-0.74 [[ 0.99082146 0.11465701 0.07160025 18.31736376] [-0.12088871 0.98859595 0.08979961 -1.04123476] [-0.06048756 -0.09763105 0.99338282 -0.7371029 ] [ 0. 0. 0. 1. ]] SLAMing on 124.453201008 meters Centerline goodness : 0.839947 with order 1 Centerline is valid? [False, False] Translation: X:18.31, Y:-1.04, Z:-0.72 [[ 0.99155429 0.10046279 0.08202029 18.31187939] [-0.10970422 0.98702185 0.11727252 -1.03860963] [-0.06917429 -0.12528005 0.98970694 -0.7244764 ] [ 0. 0. 0. 1. ]] SLAMing on 124.513201008 meters Centerline goodness : 0.840892 with order 1 Centerline is valid? [False, False] Translation: X:18.29, Y:-1.03, Z:-0.72 [[ 0.99202676 0.08840502 0.08981899 18.28515246] [-0.09945514 0.98689116 0.12710044 -1.032624 ] [-0.07740525 -0.13502 0.98781477 -0.71919697] [ 0. 0. 0. 1. ]] SLAMing on 124.573201008 meters Centerline goodness : 0.843498 with order 1 Centerline is valid? [False, False] Translation: X:18.23, Y:-1.02, Z:-0.72 [[ 0.99268268 0.07888986 0.09141925 18.22888782] [-0.08930101 0.98922238 0.11603622 -1.01712876] [-0.08127989 -0.12335098 0.98902888 -0.72239067] [ 0. 0. 0. 1. ]] SLAMing on 124.63320100799999 meters Centerline goodness : 0.844581 with order 1 Centerline is valid? [False, False] Translation: X:18.18, Y:-1.00, Z:-0.73 [[ 0.99295224 0.07970713 0.0877076 18.1830515 ] [-0.08849844 0.99090261 0.10139059 -1.00294852] [-0.07882813 -0.108438 0.99097292 -0.72814241] [ 0. 0. 0. 1. ]] SLAMing on 124.69320100799999 meters Centerline goodness : 0.845331 with order 1 Centerline is valid? [False, False] Translation: X:18.15, Y:-0.99, Z:-0.74 [[ 0.99287864 0.08350553 0.0849637 18.15279997] [-0.09025958 0.99277795 0.07902626 -0.98897046] [-0.07775096 -0.08613227 0.9932452 -0.73723201] [ 0. 0. 0. 1. ]] SLAMing on 124.75320100799999 meters Centerline goodness : 0.844005 with order 1 Centerline is valid? [False, False] Translation: X:18.11, Y:-0.97, Z:-0.74 [[ 0.9924894 0.08581832 0.08717801 18.11107495] [-0.09190396 0.99341803 0.06836863 -0.97388275] [-0.08073693 -0.07586715 0.99384391 -0.74393573] [ 0. 0. 0. 1. ]] SLAMing on 124.813201008 meters Centerline goodness : 0.845678 with order 1 Centerline is valid? [False, False] Translation: X:18.06, Y:-0.96, Z:-0.74 [[ 0.99229842 0.08476479 0.0903259 18.06006857] [-0.09163828 0.99297323 0.07487724 -0.96488162] [-0.08334425 -0.08257787 0.99309347 -0.73857077] [ 0. 0. 0. 1. ]] SLAMing on 124.873201008 meters Centerline goodness : 0.841052 with order 1 Centerline is valid? [False, False] Translation: X:18.04, Y:-0.95, Z:-0.75 [[ 0.99130783 0.09524912 0.09075455 18.0444707 ] [-0.10181376 0.9922898 0.07067473 -0.95335774] [-0.08332311 -0.07930048 0.99336232 -0.74507603] [ 0. 0. 0. 1. ]] SLAMing on 124.933201008 meters Centerline goodness : 0.842072 with order 1 Centerline is valid? [False, False] Translation: X:18.04, Y:-0.95, Z:-0.74 [[ 0.99046642 0.10312904 0.09132724 18.04429465] [-0.1104135 0.99076803 0.07866116 -0.94910344] [-0.08237186 -0.087995 0.9927093 -0.74265279] [ 0. 0. 0. 1. ]] SLAMing on 124.99320100799999 meters Centerline goodness : 0.839204 with order 1 Centerline is valid? [False, False] Translation: X:18.05, Y:-0.94, Z:-0.75 [[ 0.98889667 0.11434806 0.09490997 18.04662081] [-0.12102468 0.99032856 0.06784069 -0.93987226] [-0.0862346 -0.07857388 0.99317156 -0.75104173] [ 0. 0. 0. 1. ]] SLAMing on 125.05320100799999 meters Centerline goodness : 0.840741 with order 1 Centerline is valid? [False, False] Translation: X:18.06, Y:-0.93, Z:-0.76 [[ 0.98805915 0.11898955 0.09788053 18.05974021] [-0.12488492 0.99056308 0.05646716 -0.93481776] [-0.09023784 -0.06801669 0.99359492 -0.76087276] [ 0. 0. 0. 1. ]] SLAMing on 125.11320100799999 meters Centerline goodness : 0.842869 with order 1 Centerline is valid? [False, False] Translation: X:18.06, Y:-0.93, Z:-0.77 [[ 0.98802119 0.11971932 0.09737258 18.0606048 ] [-0.12530548 0.99067933 0.05341348 -0.92801048] [-0.09007037 -0.06497496 0.99381366 -0.76600954] [ 0. 0. 0. 1. ]] SLAMing on 125.17320100799999 meters Centerline goodness : 0.838215 with order 1 Centerline is valid? [False, False] Translation: X:18.06, Y:-0.93, Z:-0.77 [[ 0.98812798 0.11938027 0.09670288 18.06242975] [-0.12486387 0.99076949 0.05277153 -0.92767818] [-0.08951038 -0.06421972 0.99391334 -0.7671039 ] [ 0. 0. 0. 1. ]] SLAMing on 125.233201008 meters Centerline goodness : 0.836895 with order 1 Centerline is valid? [False, False] Translation: X:18.09, Y:-0.94, Z:-0.75 [[ 0.98843732 0.11233145 0.10184947 18.09215845] [-0.12026839 0.98987036 0.07544654 -0.93750663] [-0.09234275 -0.08682344 0.99193473 -0.75204933] [ 0. 0. 0. 1. ]] SLAMing on 125.293201008 meters Centerline goodness : 0.838884 with order 1 Centerline is valid? [False, False] Translation: X:18.10, Y:-0.94, Z:-0.75 [[ 0.98891995 0.10972078 0.09999337 18.0990127 ] [-0.11764868 0.99005288 0.07716266 -0.93970477] [-0.09053238 -0.08807178 0.99199156 -0.74951061] [ 0. 0. 0. 1. ]] SLAMing on 125.35320100799998 meters Centerline goodness : 0.835507 with order 1 Centerline is valid? [False, False] Translation: X:18.14, Y:-0.96, Z:-0.72 [[ 0.98895027 0.09596558 0.11299548 18.14499093] [-0.10894886 0.98737661 0.11496775 -0.96027247] [-0.10053615 -0.12600812 0.9869217 -0.72000161] [ 0. 0. 0. 1. ]] SLAMing on 125.41320100799999 meters Centerline goodness : 0.837028 with order 1 Centerline is valid? [False, False] Translation: X:18.20, Y:-0.97, Z:-0.70 [[ 0.98902281 0.08344936 0.12194298 18.19649941] [-0.10115601 0.98393686 0.14709086 -0.97374004] [-0.10770955 -0.15781148 0.9815774 -0.70183823] [ 0. 0. 0. 1. ]] SLAMing on 125.47320100799999 meters Centerline goodness : 0.836326 with order 1 Centerline is valid? [False, False] Translation: X:18.24, Y:-0.98, Z:-0.69 [[ 0.98935574 0.07569612 0.12427922 18.24462094] [-0.09583266 0.98162498 0.16501063 -0.98252385] [-0.10950493 -0.17516422 0.97843046 -0.68813475] [ 0. 0. 0. 1. ]] SLAMing on 125.53320100799999 meters Centerline goodness : 0.833540 with order 1 Centerline is valid? [False, False] Translation: X:18.30, Y:-0.99, Z:-0.68 [[ 0.98895715 0.07646899 0.12694976 18.29560591] [-0.09798283 0.98004187 0.17296617 -0.98989204] [-0.11118953 -0.18349502 0.97671207 -0.68107557] [ 0. 0. 0. 1. ]] SLAMing on 125.593201008 meters Centerline goodness : 0.836383 with order 1 Centerline is valid? [False, False] Translation: X:18.33, Y:-1.00, Z:-0.67 [[ 0.98799143 0.07612466 0.13445435 18.3317267 ] [-0.10143748 0.97598025 0.19280299 -0.99548178] [-0.11654773 -0.20412642 0.97198201 -0.66890281] [ 0. 0. 0. 1. ]] SLAMing on 125.653201008 meters Centerline goodness : 0.834802 with order 1 Centerline is valid? [False, False] Translation: X:18.36, Y:-1.00, Z:-0.67 [[ 0.98708631 0.07784975 0.14000011 18.35672516] [-0.1048097 0.97480226 0.19691491 -0.99554525] [-0.12114265 -0.20904538 0.97037338 -0.66575283] [ 0. 0. 0. 1. ]] SLAMing on 125.71320100799998 meters Centerline goodness : 0.834532 with order 1 Centerline is valid? [False, False] Translation: X:18.38, Y:-0.99, Z:-0.67 [[ 0.98609957 0.08213618 0.14443433 18.3777575 ] [-0.11007173 0.97409295 0.19755286 -0.9931958 ] [-0.12446623 -0.21070493 0.96959352 -0.66651607] [ 0. 0. 0. 1. ]] SLAMing on 125.77320100799999 meters Centerline goodness : 0.837913 with order 1 Centerline is valid? [False, False] Translation: X:18.40, Y:-0.99, Z:-0.67 [[ 0.98538071 0.08469683 0.14782186 18.39923356] [-0.11273984 0.97468822 0.19306115 -0.98977054] [-0.12772856 -0.20690414 0.96998768 -0.67228562] [ 0. 0. 0. 1. ]] SLAMing on 125.83320100799999 meters Centerline goodness : 0.837644 with order 1 Centerline is valid? [False, False] Translation: X:18.42, Y:-0.99, Z:-0.68 [[ 0.98491091 0.08832982 0.14882319 18.41776068] [-0.11537235 0.97609397 0.18420037 -0.98549752] [-0.12899504 -0.19859104 0.97155642 -0.68226282] [ 0. 0. 0. 1. ]] SLAMing on 125.89320100799999 meters Centerline goodness : 0.839557 with order 1 Centerline is valid? [False, False] Translation: X:18.44, Y:-0.98, Z:-0.69 [[ 0.98420169 0.09056871 0.15213263 18.43624706] [-0.11716242 0.97737319 0.17610966 -0.98277603] [-0.13274033 -0.19115166 0.9725436 -0.69044697] [ 0. 0. 0. 1. ]] SLAMing on 125.953201008 meters Centerline goodness : 0.840201 with order 1 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.98, Z:-0.70 [[ 0.98345052 0.09392279 0.15493093 18.45172546] [-0.11945789 0.97907635 0.16474011 -0.97857287] [-0.13621636 -0.18052147 0.97409296 -0.70103364] [ 0. 0. 0. 1. ]] SLAMing on 126.013201008 meters Centerline goodness : 0.842746 with order 1 Centerline is valid? [False, False] Translation: X:18.46, Y:-0.97, Z:-0.71 [[ 0.98240896 0.09834306 0.15874909 18.46035371] [-0.12253445 0.98097186 0.15059723 -0.97337259] [-0.14091819 -0.1674003 0.97576596 -0.71162879] [ 0. 0. 0. 1. ]] SLAMing on 126.073201008 meters Centerline goodness : 0.842801 with order 1 Centerline is valid? [False, False] Translation: X:18.46, Y:-0.97, Z:-0.72 [[ 0.98083026 0.10792517 0.16224723 18.4643665 ] [-0.13093469 0.9816625 0.13854548 -0.9680484 ] [-0.14431948 -0.15713339 0.97697543 -0.72180831] [ 0. 0. 0. 1. ]] SLAMing on 126.13320100799999 meters Centerline goodness : 0.842760 with order 1 Centerline is valid? [False, False] Translation: X:18.47, Y:-0.96, Z:-0.73 [[ 0.97971934 0.11501538 0.16407766 18.46860625] [-0.13594012 0.98310582 0.12256927 -0.96310897] [-0.14720835 -0.14238822 0.97880299 -0.7332057 ] [ 0. 0. 0. 1. ]] SLAMing on 126.19320100799999 meters Centerline goodness : 0.844602 with order 1 Centerline is valid? [False, False] Translation: X:18.47, Y:-0.96, Z:-0.74 [[ 0.9787365 0.11996756 0.16638104 18.47488611] [-0.1388116 0.98455917 0.10665168 -0.96110522] [-0.15101723 -0.12747951 0.98027688 -0.74388596] [ 0. 0. 0. 1. ]] SLAMing on 126.25320100799999 meters Centerline goodness : 0.843982 with order 1 Centerline is valid? [False, False] Translation: X:18.49, Y:-0.96, Z:-0.76 [[ 0.97840234 0.12030494 0.16809397 18.48950705] [-0.13690842 0.98640276 0.0909158 -0.96055507] [-0.15487074 -0.11196571 0.98156953 -0.75567682] [ 0. 0. 0. 1. ]] SLAMing on 126.313201008 meters Centerline goodness : 0.839456 with order 1 Centerline is valid? [False, False] Translation: X:18.52, Y:-0.97, Z:-0.76 [[ 0.97951427 0.1165886 0.16419163 18.52398758] [-0.13305493 0.9867251 0.0931126 -0.97214011] [-0.15115614 -0.11305162 0.98202401 -0.75547286] [ 0. 0. 0. 1. ]] SLAMing on 126.373201008 meters Centerline goodness : 0.842504 with order 1 Centerline is valid? [False, False] Translation: X:18.55, Y:-0.98, Z:-0.76 [[ 0.98005681 0.11686586 0.1607203 18.54697671] [-0.13259853 0.98699352 0.09089235 -0.98129942] [-0.14800769 -0.11039095 0.98280596 -0.75631363] [ 0. 0. 0. 1. ]] SLAMing on 126.433201008 meters Centerline goodness : 0.842269 with order 1 Centerline is valid? [False, False] Translation: X:18.56, Y:-0.99, Z:-0.75 [[ 0.98068705 0.11157084 0.16063893 18.55624806] [-0.12782792 0.98726698 0.09467805 -0.98820666] [-0.1480302 -0.11338368 0.98246181 -0.75233749] [ 0. 0. 0. 1. ]] SLAMing on 126.49320100799999 meters Centerline goodness : 0.842650 with order 1 Centerline is valid? [False, False] Translation: X:18.56, Y:-0.99, Z:-0.75 [[ 0.98082963 0.11113215 0.16007151 18.5584418 ] [-0.127318 0.98733442 0.09466189 -0.99160515] [-0.14752414 -0.11322717 0.98255597 -0.75390935] [ 0. 0. 0. 1. ]] SLAMing on 126.55320100799999 meters Centerline goodness : 0.840995 with order 1 Centerline is valid? [False, False] Translation: X:18.58, Y:-1.00, Z:-0.76 [[ 0.98057381 0.11377323 0.15978314 18.58085426] [-0.12940875 0.98739819 0.09109436 -0.99731158] [-0.14740548 -0.11000208 0.98294006 -0.75696732] [ 0. 0. 0. 1. ]] SLAMing on 126.61320100799999 meters Centerline goodness : 0.838187 with order 1 Centerline is valid? [False, False] Translation: X:18.59, Y:-1.00, Z:-0.77 [[ 0.97934337 0.11871482 0.16368678 18.58738907] [-0.13256653 0.9882225 0.07643564 -0.99584902] [-0.15268491 -0.09655612 0.98354676 -0.76890458] [ 0. 0. 0. 1. ]] SLAMing on 126.67320100799999 meters Centerline goodness : 0.837925 with order 1 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.99, Z:-0.78 [[ 0.97843382 0.12218501 0.16654756 18.60037467] [-0.13439425 0.98885369 0.06408249 -0.99420732] [-0.15686125 -0.08508351 0.98394885 -0.7800425 ] [ 0. 0. 0. 1. ]] SLAMing on 126.733201008 meters Centerline goodness : 0.836989 with order 1 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.99, Z:-0.79 [[ 0.976995 0.1283096 0.17034501 18.60831521] [-0.13889484 0.98895666 0.0517006 -0.99316155] [-0.16183015 -0.07417127 0.98402725 -0.791348 ] [ 0. 0. 0. 1. ]] SLAMing on 126.793201008 meters Centerline goodness : 0.837297 with order 1 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.99, Z:-0.80 [[ 0.97580162 0.13343265 0.17322508 18.61360259] [-0.14172071 0.98923954 0.0363368 -0.99149833] [-0.16651258 -0.06000709 0.98421172 -0.80115662] [ 0. 0. 0. 1. ]] SLAMing on 126.85320100799998 meters Centerline goodness : 0.838514 with order 1 Centerline is valid? [False, False] Translation: X:18.61, Y:-1.00, Z:-0.80 [[ 0.97571053 0.13386733 0.17340273 18.61308092] [-0.14229268 0.98913107 0.03704744 -0.9953572 ] [-0.16655858 -0.06082152 0.98415394 -0.80153293] [ 0. 0. 0. 1. ]] SLAMing on 126.91320100799999 meters Centerline goodness : 0.837168 with order 1 Centerline is valid? [False, False] Translation: X:18.61, Y:-0.99, Z:-0.80 [[ 0.9761661 0.13079293 0.17318473 18.61292123] [-0.13829698 0.98987553 0.03194331 -0.99489635] [-0.16725337 -0.0551329 0.98437121 -0.80477174] [ 0. 0. 0. 1. ]] SLAMing on 126.97320100799999 meters Centerline goodness : 0.835325 with order 1 Centerline is valid? [False, False] Translation: X:18.62, Y:-1.00, Z:-0.81 [[ 0.97801025 0.11953582 0.17090095 18.62074173] [-0.12509508 0.9918986 0.0220997 -1.00015323] [-0.16687471 -0.0429926 0.98504034 -0.81052094] [ 0. 0. 0. 1. ]] SLAMing on 127.03320100799999 meters Centerline goodness : 0.828166 with order 1 Centerline is valid? [False, False] Translation: X:18.66, Y:-1.02, Z:-0.80 [[ 0.97865349 0.10408372 0.17721154 18.66185948] [-0.1133975 0.99260837 0.04323923 -1.01587659] [-0.17140116 -0.06241157 0.98322248 -0.79958907] [ 0. 0. 0. 1. ]] SLAMing on 127.093201008 meters Centerline goodness : 0.825620 with order 1 Centerline is valid? [False, False] Translation: X:18.71, Y:-1.03, Z:-0.79 [[ 0.97946893 0.09736869 0.17652184 18.70514296] [-0.10825089 0.99270547 0.05308101 -1.029683 ] [-0.17006577 -0.07109985 0.98286441 -0.79316766] [ 0. 0. 0. 1. ]] SLAMing on 127.153201008 meters Centerline goodness : 0.818523 with order 1 Centerline is valid? [False, False] Translation: X:18.71, Y:-1.03, Z:-0.79 [[ 0.97964201 0.09762071 0.17541875 18.71271165] [-0.10942069 0.99224999 0.05888175 -1.03179966] [-0.16831117 -0.07687748 0.9827315 -0.79150509] [ 0. 0. 0. 1. ]] SLAMing on 127.21320100799998 meters Centerline goodness : 0.819006 with order 1 Centerline is valid? [False, False] Translation: X:18.75, Y:-1.04, Z:-0.79 [[ 0.97985792 0.09872604 0.17358464 18.74825921] [-0.11155826 0.99157911 0.06576944 -1.0377017 ] [-0.16562974 -0.08380951 0.98262035 -0.79202694] [ 0. 0. 0. 1. ]] SLAMing on 127.27320100799999 meters Centerline goodness : 0.821228 with order 1 Centerline is valid? [False, False] Translation: X:18.80, Y:-1.05, Z:-0.78 [[ 0.98024308 0.09480105 0.17359798 18.79867406] [-0.11119427 0.98996038 0.08725984 -1.05101308] [-0.1635828 -0.10483896 0.98094315 -0.77849814] [ 0. 0. 0. 1. ]] SLAMing on 127.33320100799999 meters Centerline goodness : 0.817011 with order 1 Centerline is valid? [False, False] Translation: X:18.84, Y:-1.06, Z:-0.78 [[ 0.98074418 0.09466922 0.17081745 18.8356434 ] [-0.11168559 0.98939104 0.0929069 -1.05648071] [-0.16020983 -0.11019575 0.98091269 -0.77913878] [ 0. 0. 0. 1. ]] SLAMing on 127.39320100799999 meters Centerline goodness : 0.815928 with order 1 Centerline is valid? [False, False] Translation: X:18.88, Y:-1.06, Z:-0.78 [[ 0.98113185 0.09446167 0.16869286 18.87777915] [-0.11309966 0.98807148 0.10451418 -1.06341211] [-0.15680802 -0.12162129 0.98011199 -0.77699389] [ 0. 0. 0. 1. ]] SLAMing on 127.453201008 meters Centerline goodness : 0.815363 with order 1 Centerline is valid? [False, False] Translation: X:18.89, Y:-1.06, Z:-0.79 [[ 0.98032586 0.09664271 0.17210867 18.88879273] [-0.11339097 0.98944028 0.09027963 -1.06097151] [-0.16156638 -0.10801903 0.98093231 -0.78594194] [ 0. 0. 0. 1. ]] SLAMing on 127.513201008 meters Centerline goodness : 0.815896 with order 1 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.06, Z:-0.80 [[ 0.97927464 0.10051147 0.17583691 18.89706973] [-0.11527275 0.99043533 0.07582915 -1.05731388] [-0.16653339 -0.09452677 0.98149443 -0.79513154] [ 0. 0. 0. 1. ]] SLAMing on 127.573201008 meters Centerline goodness : 0.815444 with order 1 Centerline is valid? [False, False] Translation: X:18.91, Y:-1.05, Z:-0.81 [[ 0.97811245 0.10560201 0.17928818 18.90968223] [-0.11885605 0.99079215 0.06483943 -1.05336115] [-0.17079015 -0.08472974 0.98165758 -0.80666032] [ 0. 0. 0. 1. ]] SLAMing on 127.63320100799999 meters Centerline goodness : 0.819102 with order 1 Centerline is valid? [False, False] Translation: X:18.91, Y:-1.05, Z:-0.81 [[ 0.97779319 0.10918676 0.17888189 18.91162615] [-0.12300756 0.99006966 0.06805305 -1.04967885] [-0.16967504 -0.08854563 0.98151416 -0.80845514] [ 0. 0. 0. 1. ]] SLAMing on 127.69320100799999 meters Centerline goodness : 0.817538 with order 1 Centerline is valid? [False, False] Translation: X:18.91, Y:-1.05, Z:-0.81 [[ 0.97745458 0.11211191 0.17892309 18.91288228] [-0.12660603 0.98935669 0.07172344 -1.04807526] [-0.1689777 -0.09275915 0.98124527 -0.80888533] [ 0. 0. 0. 1. ]] SLAMing on 127.75320100799999 meters Centerline goodness : 0.816194 with order 1 Centerline is valid? [False, False] Translation: X:18.93, Y:-1.04, Z:-0.82 [[ 0.9764425 0.1161241 0.18186599 18.92679787] [-0.12888079 0.98984743 0.05993172 -1.04308309] [-0.17306006 -0.08195891 0.98149526 -0.82051324] [ 0. 0. 0. 1. ]] SLAMing on 127.813201008 meters Centerline goodness : 0.815926 with order 1 Centerline is valid? [False, False] Translation: X:18.93, Y:-1.04, Z:-0.82 [[ 0.97677209 0.11338416 0.18182495 18.92548662] [-0.12536713 0.9905407 0.05578708 -1.04198961] [-0.17377964 -0.07728614 0.98174716 -0.82015826] [ 0. 0. 0. 1. ]] SLAMing on 127.873201008 meters Centerline goodness : 0.818415 with order 1 Centerline is valid? [False, False] Translation: X:18.93, Y:-1.04, Z:-0.82 [[ 0.97726393 0.11015766 0.18116431 18.92599746] [-0.1212552 0.99129312 0.05133349 -1.04129842] [-0.17393216 -0.07213349 0.9821122 -0.8209496 ] [ 0. 0. 0. 1. ]] SLAMing on 127.933201008 meters Centerline goodness : 0.816894 with order 1 Centerline is valid? [False, False] Translation: X:18.93, Y:-1.04, Z:-0.82 [[ 0.97756148 0.10903344 0.18023667 18.92949493] [-0.11990843 0.99149702 0.05055314 -1.04138554] [-0.17319214 -0.0710307 0.98232333 -0.82375395] [ 0. 0. 0. 1. ]] SLAMing on 127.99320100799999 meters Centerline goodness : 0.816001 with order 1 Centerline is valid? [False, False] Translation: X:18.93, Y:-1.04, Z:-0.83 [[ 0.97795852 0.10742588 0.17904414 18.93385559] [-0.118114 0.99173467 0.05011405 -1.04268157] [-0.17218074 -0.07015709 0.98256388 -0.82588397] [ 0. 0. 0. 1. ]] SLAMing on 128.053201008 meters Centerline goodness : 0.819115 with order 1 Centerline is valid? [False, False] Translation: X:18.93, Y:-1.04, Z:-0.83 [[ 0.9783947 0.10426779 0.1785274 18.93414373] [-0.11410061 0.99241765 0.04569741 -1.0422473 ] [-0.17240898 -0.06508019 0.98287319 -0.82691008] [ 0. 0. 0. 1. ]] SLAMing on 128.113201008 meters Centerline goodness : 0.819288 with order 1 Centerline is valid? [False, False] Translation: X:18.94, Y:-1.04, Z:-0.83 [[ 0.97852177 0.1037377 0.1781394 18.93548902] [-0.11361539 0.99245257 0.0461458 -1.04474745] [-0.17200784 -0.06539404 0.98292264 -0.82678881] [ 0. 0. 0. 1. ]] SLAMing on 128.173201008 meters Centerline goodness : 0.820527 with order 1 Centerline is valid? [False, False] Translation: X:18.94, Y:-1.04, Z:-0.83 [[ 0.97857065 0.10357582 0.17796498 18.9367707 ] [-0.11328384 0.99253144 0.04525601 -1.04290302] [-0.17194841 -0.06444676 0.98299561 -0.82921927] [ 0. 0. 0. 1. ]] SLAMing on 128.233201008 meters Centerline goodness : 0.822241 with order 1 Centerline is valid? [False, False] Translation: X:18.95, Y:-1.05, Z:-0.82 [[ 0.97883617 0.1140414 0.16992442 18.94508615] [-0.12362853 0.99121891 0.04691547 -1.04720325] [-0.16308199 -0.06693006 0.98433969 -0.82287347] [ 0. 0. 0. 1. ]] SLAMing on 128.293201008 meters Centerline goodness : 0.819879 with order 1 Centerline is valid? [False, False] Translation: X:18.94, Y:-1.05, Z:-0.82 [[ 0.97875841 0.11463723 0.16997143 18.94471903] [-0.12414988 0.99117796 0.04640097 -1.04535362] [-0.16315265 -0.06651728 0.98435596 -0.82392425] [ 0. 0. 0. 1. ]] SLAMing on 128.353201008 meters Centerline goodness : 0.819600 with order 1 Centerline is valid? [False, False] Translation: X:18.94, Y:-1.04, Z:-0.82 [[ 0.97843178 0.11613897 0.17083031 18.94170131] [-0.12569404 0.99099334 0.04618675 -1.0439924 ] [-0.16392762 -0.06666294 0.98421735 -0.82418903] [ 0. 0. 0. 1. ]] SLAMing on 128.41320100800002 meters Centerline goodness : 0.820027 with order 1 Centerline is valid? [False, False] Translation: X:18.94, Y:-1.04, Z:-0.83 [[ 0.97860805 0.11544196 0.1702922 18.94384755] [-0.12488433 0.99111439 0.04578384 -1.04475637] [-0.16349368 -0.06607126 0.98432942 -0.82598965] [ 0. 0. 0. 1. ]] SLAMing on 128.47320100800002 meters Centerline goodness : 0.819583 with order 1 Centerline is valid? [False, False] Translation: X:18.95, Y:-1.05, Z:-0.83 [[ 0.97936441 0.11093273 0.16893572 18.9473725 ] [-0.11941829 0.99200146 0.04089477 -1.04567431] [-0.16304791 -0.06022489 0.98477832 -0.82892337] [ 0. 0. 0. 1. ]] SLAMing on 128.533201008 meters Centerline goodness : 0.820597 with order 1 Centerline is valid? [False, False] Translation: X:18.96, Y:-1.05, Z:-0.83 [[ 0.9809895 0.09990318 0.16636994 18.95784923] [-0.10719533 0.99360681 0.03542118 -1.04761419] [-0.16176762 -0.05258189 0.98542701 -0.82632373] [ 0. 0. 0. 1. ]] SLAMing on 128.593201008 meters Centerline goodness : 0.820355 with order 1 Centerline is valid? [False, False] Translation: X:18.96, Y:-1.05, Z:-0.83 [[ 0.9811748 0.09926099 0.16566008 18.96000898] [-0.10652677 0.99367431 0.03554442 -1.04896423] [-0.16108399 -0.05252252 0.98554215 -0.82674042] [ 0. 0. 0. 1. ]] SLAMing on 128.653201008 meters Centerline goodness : 0.819694 with order 1 Centerline is valid? [False, False] Translation: X:18.97, Y:-1.05, Z:-0.83 [[ 0.98154813 0.09830464 0.16401057 18.97094694] [-0.10625079 0.99351912 0.04037983 -1.04934251] [-0.15897811 -0.057061 0.98563178 -0.82766321] [ 0. 0. 0. 1. ]] SLAMing on 128.713201008 meters Centerline goodness : 0.815960 with order 1 Centerline is valid? [False, False] Translation: X:18.97, Y:-1.05, Z:-0.83 [[ 0.98145379 0.09892767 0.16420039 18.97034541] [-0.10686396 0.99346054 0.04020272 -1.04700463] [-0.15914944 -0.05700421 0.98560741 -0.82821329] [ 0. 0. 0. 1. ]] SLAMing on 128.773201008 meters Centerline goodness : 0.817564 with order 1 Centerline is valid? [False, False] Translation: X:18.97, Y:-1.05, Z:-0.82 [[ 0.98130568 0.09966826 0.1646372 18.96822352] [-0.1079001 0.99328197 0.04181496 -1.04918679] [-0.15936354 -0.05879762 0.98546745 -0.82397598] [ 0. 0. 0. 1. ]] SLAMing on 128.833201008 meters Centerline goodness : 0.821313 with order 1 Centerline is valid? [False, False] Translation: X:18.96, Y:-1.05, Z:-0.82 [[ 0.98107521 0.1006634 0.1654035 18.96487665] [-0.10925286 0.99305483 0.04365687 -1.04954033] [-0.15986009 -0.06090148 0.98525924 -0.81821676] [ 0. 0. 0. 1. ]] SLAMing on 128.893201008 meters Centerline goodness : 0.822367 with order 1 Centerline is valid? [False, False] Translation: X:18.97, Y:-1.05, Z:-0.82 [[ 0.98130398 0.09957638 0.16470291 18.9683495 ] [-0.10786307 0.99327241 0.04213635 -1.04610456] [-0.15939908 -0.05911393 0.98544278 -0.82170789] [ 0. 0. 0. 1. ]] SLAMing on 128.953201008 meters Centerline goodness : 0.824163 with order 1 Centerline is valid? [False, False] Translation: X:18.98, Y:-1.05, Z:-0.83 [[ 0.98182903 0.09707098 0.1630613 18.97517622] [-0.10492234 0.99366645 0.04022799 -1.04552067] [-0.15812357 -0.05660578 0.98579548 -0.8272831 ] [ 0. 0. 0. 1. ]] SLAMing on 129.013201008 meters Centerline goodness : 0.826819 with order 1 Centerline is valid? [False, False] Translation: X:19.00, Y:-1.05, Z:-0.82 [[ 0.98258855 0.0891549 0.16300658 18.99847854] [-0.09900848 0.99365578 0.05334333 -1.05085839] [-0.15721661 -0.06855358 0.98518188 -0.8165626 ] [ 0. 0. 0. 1. ]] SLAMing on 129.073201008 meters Centerline goodness : 0.832565 with order 1 Centerline is valid? [False, False] Translation: X:19.04, Y:-1.06, Z:-0.79 [[ 0.98199431 0.07967428 0.17128686 19.03675343] [-0.09582332 0.99148589 0.08816809 -1.06176058] [-0.16280378 -0.10299384 0.98126816 -0.79045959] [ 0. 0. 0. 1. ]] SLAMing on 129.13320100800001 meters Centerline goodness : 0.836153 with order 1 Centerline is valid? [False, False] Translation: X:19.04, Y:-1.06, Z:-0.79 [[ 0.98207873 0.07967221 0.17080312 19.03812282] [-0.09563531 0.99157609 0.08735409 -1.05816076] [-0.1624046 -0.10212341 0.98142527 -0.79093046] [ 0. 0. 0. 1. ]] SLAMing on 129.19320100800002 meters Centerline goodness : 0.835404 with order 1 Centerline is valid? [False, False] Translation: X:19.05, Y:-1.05, Z:-0.80 [[ 0.98100973 0.0848914 0.17439425 19.0503428 ] [-0.09939383 0.99212873 0.07616722 -1.05205696] [-0.1665556 -0.09205449 0.98172562 -0.80252508] [ 0. 0. 0. 1. ]] SLAMing on 129.25320100800002 meters Centerline goodness : 0.840940 with order 1 Centerline is valid? [False, False] Translation: X:19.07, Y:-1.05, Z:-0.81 [[ 0.9799302 0.08779139 0.17896781 19.07109644] [-0.10246387 0.99194722 0.07444368 -1.05155275] [-0.17099111 -0.09128734 0.98103449 -0.80527834] [ 0. 0. 0. 1. ]] SLAMing on 129.313201008 meters Centerline goodness : 0.839720 with order 1 Centerline is valid? [False, False] Translation: X:19.08, Y:-1.05, Z:-0.81 [[ 0.978597 0.09286509 0.18364092 19.08225306] [-0.10641828 0.99217104 0.06535882 -1.04849498] [-0.17613365 -0.08350269 0.98081815 -0.81242113] [ 0. 0. 0. 1. ]] SLAMing on 129.373201008 meters Centerline goodness : 0.840297 with order 1 Centerline is valid? [False, False] Translation: X:19.08, Y:-1.05, Z:-0.81 [[ 0.97872658 0.09247465 0.1831467 19.08354578] [-0.10603771 0.99219044 0.06568208 -1.04982146] [-0.17564247 -0.08370526 0.98088896 -0.81159466] [ 0. 0. 0. 1. ]] SLAMing on 129.433201008 meters Centerline goodness : 0.838807 with order 1 Centerline is valid? [False, False] Translation: X:19.13, Y:-1.06, Z:-0.81 [[ 0.97941484 0.08951929 0.18092226 19.1294559 ] [-0.1056242 0.99106746 0.08141758 -1.06007554] [-0.17201772 -0.09885136 0.98012158 -0.80571086] [ 0. 0. 0. 1. ]] SLAMing on 129.493201008 meters Centerline goodness : 0.841238 with order 1 Centerline is valid? [False, False] Translation: X:19.16, Y:-1.06, Z:-0.81 [[ 0.97999001 0.09311151 0.17592562 19.15714993] [-0.10888868 0.99064561 0.08224672 -1.06445259] [-0.16662183 -0.09975727 0.9809616 -0.81053743] [ 0. 0. 0. 1. ]] SLAMing on 129.553201008 meters Centerline goodness : 0.844207 with order 1 Centerline is valid? [False, False] Translation: X:19.20, Y:-1.08, Z:-0.80 [[ 0.98027542 0.09015866 0.1758736 19.20065232] [-0.10868789 0.98916173 0.09872188 -1.07626283] [-0.1650668 -0.11588997 0.97945008 -0.7997513 ] [ 0. 0. 0. 1. ]] SLAMing on 129.613201008 meters Centerline goodness : 0.849257 with order 1 Centerline is valid? [False, False] Translation: X:19.23, Y:-1.08, Z:-0.80 [[ 0.97983679 0.08846793 0.17914602 19.22694186] [-0.10678111 0.98970582 0.09529005 -1.07840913] [-0.16887175 -0.1124981 0.97919687 -0.80183497] [ 0. 0. 0. 1. ]] SLAMing on 129.673201008 meters Centerline goodness : 0.845837 with order 1 Centerline is valid? [False, False] Translation: X:19.27, Y:-1.09, Z:-0.80 [[ 0.98040691 0.0859987 0.17721882 19.26558213] [-0.10519647 0.98921361 0.10193198 -1.08538462] [-0.16654125 -0.11857762 0.97887862 -0.79852539] [ 0. 0. 0. 1. ]] SLAMing on 129.733201008 meters Centerline goodness : 0.849905 with order 1 Centerline is valid? [False, False] Translation: X:19.30, Y:-1.09, Z:-0.79 [[ 0.98071661 0.08444027 0.17625202 19.30401883] [-0.10563559 0.98778506 0.1145504 -1.09280529] [-0.16442645 -0.13095996 0.97765711 -0.79004894] [ 0. 0. 0. 1. ]] SLAMing on 129.793201008 meters Centerline goodness : 0.848282 with order 1 Centerline is valid? [False, False] Translation: X:19.35, Y:-1.10, Z:-0.77 [[ 0.9800202 0.07066655 0.18592106 19.3456585 ] [-0.09886609 0.98417333 0.14706582 -1.10367784] [-0.17258591 -0.16250876 0.97149627 -0.76885511] [ 0. 0. 0. 1. ]] SLAMing on 129.853201008 meters Centerline goodness : 0.847385 with order 1 Centerline is valid? [False, False] Translation: X:19.36, Y:-1.11, Z:-0.76 [[ 0.97977301 0.06329886 0.18983702 19.36281955] [-0.09459413 0.98247323 0.16061851 -1.10609991] [-0.17634282 -0.17532715 0.96858846 -0.75916512] [ 0. 0. 0. 1. ]] SLAMing on 129.91320100800002 meters Centerline goodness : 0.853238 with order 1 Centerline is valid? [False, False] Translation: X:19.37, Y:-1.10, Z:-0.75 [[ 0.97967182 0.06014863 0.19137729 19.36816253] [-0.0925551 0.98190973 0.16518726 -1.10139474] [-0.17797944 -0.17954225 0.96751636 -0.75247846] [ 0. 0. 0. 1. ]] SLAMing on 129.97320100800002 meters Centerline goodness : 0.842795 with order 1 Centerline is valid? [False, False] Translation: X:19.38, Y:-1.09, Z:-0.76 [[ 0.97842799 0.06605659 0.1957427 19.38052079] [-0.09754928 0.98294531 0.15589308 -1.09484559] [-0.1821066 -0.17162471 0.96818497 -0.76247539] [ 0. 0. 0. 1. ]] SLAMing on 130.033201008 meters Centerline goodness : 0.846709 with order 1 Centerline is valid? [False, False] Translation: X:19.41, Y:-1.09, Z:-0.77 [[ 0.97749482 0.06766566 0.19981299 19.4108258 ] [-0.1003337 0.98229834 0.15818697 -1.09326971] [-0.18557215 -0.17467492 0.96698069 -0.76735311] [ 0. 0. 0. 1. ]] SLAMing on 130.093201008 meters Centerline goodness : 0.847974 with order 1 Centerline is valid? [False, False] Translation: X:19.42, Y:-1.09, Z:-0.78 [[ 0.97634168 0.07462169 0.20294958 19.42132564] [-0.10571909 0.98347365 0.14697977 -1.08822174] [-0.18862769 -0.16495811 0.96809525 -0.7788232 ] [ 0. 0. 0. 1. ]] SLAMing on 130.153201008 meters Centerline goodness : 0.847976 with order 1 Centerline is valid? [False, False] Translation: X:19.43, Y:-1.08, Z:-0.79 [[ 0.97519424 0.07955206 0.2065615 19.43177738] [-0.10863579 0.98507654 0.13350082 -1.08427338] [-0.19285863 -0.1526292 0.96928318 -0.79138692] [ 0. 0. 0. 1. ]] SLAMing on 130.213201008 meters Centerline goodness : 0.850327 with order 1 Centerline is valid? [False, False] Translation: X:19.44, Y:-1.08, Z:-0.80 [[ 0.97401882 0.08557073 0.20967829 19.43603335] [-0.11186516 0.986821 0.11692095 -1.07993947] [-0.19690993 -0.1373389 0.97075461 -0.80242455] [ 0. 0. 0. 1. ]] SLAMing on 130.273201008 meters Centerline goodness : 0.846792 with order 1 Centerline is valid? [False, False] Translation: X:19.45, Y:-1.08, Z:-0.82 [[ 0.97335908 0.08838944 0.2115642 19.45297209] [-0.11224643 0.98827237 0.10353 -1.07527019] [-0.19993209 -0.12451919 0.97186528 -0.81802016] [ 0. 0. 0. 1. ]] SLAMing on 130.333201008 meters Centerline goodness : 0.844562 with order 1 Centerline is valid? [False, False] Translation: X:19.46, Y:-1.07, Z:-0.83 [[ 0.97259429 0.09337193 0.21293669 19.46180067] [-0.11383326 0.98977736 0.08592301 -1.06928705] [-0.20273712 -0.1078075 0.97328064 -0.8335322 ] [ 0. 0. 0. 1. ]] SLAMing on 130.393201008 meters Centerline goodness : 0.841432 with order 1 Centerline is valid? [False, False] Translation: X:19.47, Y:-1.07, Z:-0.85 [[ 0.97177571 0.09566885 0.2156373 19.47481256] [-0.11334474 0.99100666 0.07112501 -1.06588579] [-0.20689355 -0.09355891 0.97387976 -0.84572794] [ 0. 0. 0. 1. ]] SLAMing on 130.453201008 meters Centerline goodness : 0.841628 with order 1 Centerline is valid? [False, False] Translation: X:19.50, Y:-1.07, Z:-0.85 [[ 0.97168467 0.09596021 0.21591792 19.49596823] [-0.11168762 0.99181802 0.06182945 -1.06752049] [-0.20821812 -0.08419408 0.97445193 -0.85453803] [ 0. 0. 0. 1. ]] SLAMing on 130.513201008 meters Centerline goodness : 0.841814 with order 1 Centerline is valid? [False, False] Translation: X:19.50, Y:-1.07, Z:-0.86 [[ 0.97187488 0.09509298 0.21544501 19.49814559] [-0.11074462 0.99192849 0.06175347 -1.06859913] [-0.20783372 -0.08387602 0.97456142 -0.8554249 ] [ 0. 0. 0. 1. ]] SLAMing on 130.573201008 meters Centerline goodness : 0.842322 with order 1 Centerline is valid? [False, False] Translation: X:19.54, Y:-1.08, Z:-0.85 [[ 0.97257514 0.09023429 0.21437205 19.53954021] [-0.10739819 0.99176333 0.06979341 -1.07846016] [-0.20630858 -0.0909025 0.97425536 -0.85360367] [ 0. 0. 0. 1. ]] SLAMing on 130.63320100800001 meters Centerline goodness : 0.843940 with order 1 Centerline is valid? [False, False] Translation: X:19.58, Y:-1.09, Z:-0.85 [[ 0.97341414 0.08420141 0.21301416 19.5804128 ] [-0.10214216 0.9919648 0.07465133 -1.08776261] [-0.2050168 -0.09442439 0.97419307 -0.85308184] [ 0. 0. 0. 1. ]] SLAMing on 130.69320100800002 meters Centerline goodness : 0.843606 with order 1 Centerline is valid? [False, False] Translation: X:19.61, Y:-1.09, Z:-0.86 [[ 0.97436453 0.08481812 0.2083738 19.6115605 ] [-0.10214073 0.99202779 0.07381144 -1.09214696] [-0.20045205 -0.0932027 0.97526008 -0.85904931] [ 0. 0. 0. 1. ]] SLAMing on 130.75320100800002 meters Centerline goodness : 0.840936 with order 1 Centerline is valid? [False, False] Translation: X:19.62, Y:-1.09, Z:-0.87 [[ 0.97482988 0.08310395 0.20688267 19.62154541] [-0.10045041 0.99212724 0.07478814 -1.09103703] [-0.19903874 -0.09368716 0.9755031 -0.86592352] [ 0. 0. 0. 1. ]] SLAMing on 130.813201008 meters Centerline goodness : 0.837081 with order 1 Centerline is valid? [False, False] Translation: X:19.68, Y:-1.11, Z:-0.85 [[ 0.97505748 0.07396313 0.20926624 19.6809764 ] [-0.09700621 0.99003578 0.10207324 -1.10601571] [-0.19963141 -0.1198274 0.97251668 -0.85112633] [ 0. 0. 0. 1. ]] SLAMing on 130.873201008 meters Centerline goodness : 0.837984 with order 1 Centerline is valid? [False, False] Translation: X:19.72, Y:-1.11, Z:-0.84 [[ 0.97432441 0.06076612 0.2167935 19.72150376] [-0.09039608 0.9874524 0.12948477 -1.11302822] [-0.20620497 -0.14575745 0.967592 -0.83977663] [ 0. 0. 0. 1. ]] SLAMing on 130.933201008 meters Centerline goodness : 0.837874 with order 1 Centerline is valid? [False, False] Translation: X:19.72, Y:-1.11, Z:-0.83 [[ 0.97229963 0.05159442 0.22797246 19.71943356] [-0.08578121 0.98604231 0.142696 -1.107721 ] [-0.21742818 -0.15829902 0.96315441 -0.83373123] [ 0. 0. 0. 1. ]] SLAMing on 130.993201008 meters Centerline goodness : 0.840727 with order 1 Centerline is valid? [False, False] Translation: X:19.72, Y:-1.10, Z:-0.83 [[ 0.97157095 0.0523515 0.23088785 19.71660808] [-0.0872306 0.98579174 0.14354605 -1.0996666 ] [-0.22009249 -0.15960566 0.96233327 -0.83182701] [ 0. 0. 0. 1. ]] SLAMing on 131.053201008 meters Centerline goodness : 0.835982 with order 1 Centerline is valid? [False, False] Translation: X:19.72, Y:-1.09, Z:-0.84 [[ 0.97038526 0.06027821 0.23392091 19.7168692 ] [-0.09162661 0.98784777 0.12554423 -1.09060415] [-0.22351067 -0.14325965 0.964116 -0.84164323] [ 0. 0. 0. 1. ]] SLAMing on 131.113201008 meters Centerline goodness : 0.834964 with order 1 Centerline is valid? [False, False] Translation: X:19.73, Y:-1.09, Z:-0.85 [[ 0.96895768 0.06564103 0.23835323 19.7276554 ] [-0.09505892 0.9889116 0.11409494 -1.08569488] [-0.22822097 -0.13321077 0.96445325 -0.85342996] [ 0. 0. 0. 1. ]] SLAMing on 131.173201008 meters Centerline goodness : 0.831591 with order 1 Centerline is valid? [False, False] Translation: X:19.73, Y:-1.08, Z:-0.87 [[ 0.96724802 0.07580296 0.24225024 19.73121233] [-0.10301412 0.98946765 0.10169497 -1.07870453] [-0.23198999 -0.12331945 0.9648694 -0.86545611] [ 0. 0. 0. 1. ]] SLAMing on 131.233201008 meters Centerline goodness : 0.830667 with order 1 Centerline is valid? [False, False] Translation: X:19.73, Y:-1.07, Z:-0.88 [[ 0.9658995 0.08983503 0.24283292 19.72559843] [-0.11347304 0.98988555 0.0851497 -1.06981867] [-0.23272737 -0.10980105 0.96632381 -0.876277 ] [ 0. 0. 0. 1. ]] SLAMing on 131.293201008 meters Centerline goodness : 0.828885 with order 1 Centerline is valid? [False, False] Translation: X:19.73, Y:-1.06, Z:-0.89 [[ 0.96478589 0.09817738 0.24402743 19.72619501] [-0.11758633 0.99085041 0.06624887 -1.06389218] [-0.23529054 -0.09261026 0.96750282 -0.88826439] [ 0. 0. 0. 1. ]] SLAMing on 131.353201008 meters Centerline goodness : 0.831124 with order 1 Centerline is valid? [False, False] Translation: X:19.73, Y:-1.06, Z:-0.89 [[ 0.96499147 0.09898835 0.24288429 19.73245023] [-0.11943464 0.99030608 0.07091706 -1.06499696] [-0.23350983 -0.09744316 0.96745956 -0.88878421] [ 0. 0. 0. 1. ]] SLAMing on 131.41320100800002 meters Centerline goodness : 0.832922 with order 1 Centerline is valid? [False, False] Translation: X:19.74, Y:-1.07, Z:-0.89 [[ 0.96530608 0.09793666 0.24205903 19.73565903] [-0.11811894 0.99050872 0.07028788 -1.06591126] [-0.23287782 -0.09644107 0.96771227 -0.89159401] [ 0. 0. 0. 1. ]] SLAMing on 131.47320100800002 meters Centerline goodness : 0.832014 with order 1 Centerline is valid? [False, False] Translation: X:19.74, Y:-1.07, Z:-0.89 [[ 0.96601492 0.0933228 0.24105193 19.73942384] [-0.11244839 0.99140868 0.06681461 -1.06780967] [-0.23274564 -0.09164981 0.96820957 -0.89209907] [ 0. 0. 0. 1. ]] SLAMing on 131.533201008 meters Centerline goodness : 0.833433 with order 1 Centerline is valid? [False, False] Translation: X:19.78, Y:-1.08, Z:-0.89 [[ 0.96712856 0.08756315 0.23873634 19.78416338] [-0.10841899 0.99122264 0.07565051 -1.07720142] [-0.23001667 -0.09904733 0.96813323 -0.89215815] [ 0. 0. 0. 1. ]] SLAMing on 131.593201008 meters Centerline goodness : 0.834143 with order 1 Centerline is valid? [False, False] Translation: X:19.84, Y:-1.09, Z:-0.89 [[ 0.96890598 0.07698958 0.23514635 19.83656798] [-0.09982229 0.99121405 0.08677684 -1.09100038] [-0.22639946 -0.10755145 0.96807849 -0.88928219] [ 0. 0. 0. 1. ]] SLAMing on 131.653201008 meters Centerline goodness : 0.836095 with order 1 Centerline is valid? [False, False] Translation: X:19.88, Y:-1.11, Z:-0.86 [[ 0.96709177 0.05048197 0.24936935 19.88260326] [-0.0874187 0.98637813 0.13934188 -1.11029906] [-0.23893822 -0.15655593 0.95833124 -0.86119494] [ 0. 0. 0. 1. ]] SLAMing on 131.713201008 meters Centerline goodness : 0.837114 with order 1 Centerline is valid? [False, False] Translation: X:19.90, Y:-1.11, Z:-0.85 [[ 0.9647029 0.0317416 0.26142071 19.89943964] [-0.07712004 0.98323923 0.16520627 -1.11433511] [-0.25179519 -0.17953575 0.95098165 -0.84873883] [ 0. 0. 0. 1. ]] SLAMing on 131.773201008 meters Centerline goodness : 0.838258 with order 1 Centerline is valid? [False, False] Translation: X:19.90, Y:-1.11, Z:-0.85 [[ 0.96441963 0.02749582 0.2629425 19.89943452] [-0.07201021 0.98429253 0.16119164 -1.11047531] [-0.25438024 -0.17439092 0.95125102 -0.84771253] [ 0. 0. 0. 1. ]] SLAMing on 131.833201008 meters Centerline goodness : 0.842433 with order 1 Centerline is valid? [False, False] Translation: X:19.86, Y:-1.10, Z:-0.85 [[ 0.96482785 0.03432949 0.26063135 19.86336944] [-0.07145204 0.98835805 0.13432416 -1.09767493] [-0.25298581 -0.14822233 0.95604828 -0.8503918 ] [ 0. 0. 0. 1. ]] SLAMing on 131.893201008 meters Centerline goodness : 0.840264 with order 1 Centerline is valid? [False, False] Translation: X:19.82, Y:-1.08, Z:-0.85 [[ 0.96627242 0.04380781 0.25376856 19.82287706] [-0.07367801 0.99126092 0.10942279 -1.08415222] [-0.24675728 -0.12442939 0.96105576 -0.8532761 ] [ 0. 0. 0. 1. ]] SLAMing on 131.953201008 meters Centerline goodness : 0.843204 with order 1 Centerline is valid? [False, False] Translation: X:19.78, Y:-1.07, Z:-0.86 [[ 0.96755589 0.0572487 0.24608574 19.78304597] [-0.08201735 0.99241229 0.09160243 -1.06955416] [-0.23897439 -0.10881377 0.96490974 -0.85549856] [ 0. 0. 0. 1. ]] SLAMing on 132.013201008 meters Centerline goodness : 0.838028 with order 1 Centerline is valid? [False, False] Translation: X:19.75, Y:-1.06, Z:-0.84 [[ 0.96717149 0.06293675 0.24620778 19.74615357] [-0.08865935 0.99153888 0.09481649 -1.0639643 ] [-0.23815714 -0.11353243 0.96456807 -0.84209636] [ 0. 0. 0. 1. ]] SLAMing on 132.073201008 meters Centerline goodness : 0.843077 with order 1 Centerline is valid? [False, False] Translation: X:19.74, Y:-1.06, Z:-0.85 [[ 0.9653505 0.07815457 0.24897844 19.73894411] [-0.10179672 0.99129275 0.08352313 -1.05566546] [-0.24028281 -0.10597429 0.96490083 -0.84554901] [ 0. 0. 0. 1. ]] SLAMing on 132.13320100800001 meters Centerline goodness : 0.843670 with order 1 Centerline is valid? [False, False] Translation: X:19.74, Y:-1.05, Z:-0.84 [[ 0.96491822 0.08223912 0.24933824 19.73784123] [-0.10704339 0.9903887 0.08758953 -1.05319151] [-0.23973849 -0.11120674 0.96444726 -0.84467077] [ 0. 0. 0. 1. ]] SLAMing on 132.19320100800002 meters Centerline goodness : 0.844672 with order 1 Centerline is valid? [False, False] Translation: X:19.74, Y:-1.05, Z:-0.86 [[ 0.96339911 0.09401333 0.25104512 19.74138692] [-0.11636428 0.99031816 0.07569211 -1.04714555] [-0.24149848 -0.10213439 0.96501143 -0.85577696] [ 0. 0. 0. 1. ]] SLAMing on 132.25320100800002 meters Centerline goodness : 0.846589 with order 1 Centerline is valid? [False, False] Translation: X:19.75, Y:-1.05, Z:-0.85 [[ 0.96426639 0.09924582 0.24564321 19.74912438] [-0.1219127 0.98940614 0.07882119 -1.05003312] [-0.23521823 -0.10595165 0.96615042 -0.85420292] [ 0. 0. 0. 1. ]] SLAMing on 132.313201008 meters Centerline goodness : 0.844275 with order 1 Centerline is valid? [False, False] Translation: X:19.75, Y:-1.05, Z:-0.86 [[ 0.96255362 0.10529871 0.24980533 19.75435812] [-0.12504906 0.99005101 0.06451154 -1.04827594] [-0.24052704 -0.09333374 0.96614469 -0.86453999] [ 0. 0. 0. 1. ]] SLAMing on 132.373201008 meters Centerline goodness : 0.843197 with order 1 Centerline is valid? [False, False] Translation: X:19.75, Y:-1.05, Z:-0.86 [[ 0.96266277 0.10321737 0.25025299 19.7520939 ] [-0.12200088 0.99067195 0.06070322 -1.0491698 ] [-0.24165299 -0.08896781 0.96627561 -0.86464289] [ 0. 0. 0. 1. ]] SLAMing on 132.433201008 meters Centerline goodness : 0.842258 with order 1 Centerline is valid? [False, False] Translation: X:19.75, Y:-1.05, Z:-0.87 [[ 0.96301345 0.10051916 0.250002 19.75205612] [-0.11794313 0.99145806 0.05568069 -1.04791246] [-0.24226952 -0.08310727 0.96664299 -0.86722091] [ 0. 0. 0. 1. ]] SLAMing on 132.493201008 meters Centerline goodness : 0.846814 with order 1 Centerline is valid? [False, False] Translation: X:19.79, Y:-1.06, Z:-0.87 [[ 0.9645904 0.09597565 0.24567059 19.78850132] [-0.11301507 0.99200296 0.05619361 -1.05903964] [-0.23831273 -0.08196829 0.96772323 -0.87245851] [ 0. 0. 0. 1. ]] SLAMing on 132.553201008 meters Centerline goodness : 0.846063 with order 1 Centerline is valid? [False, False] Translation: X:19.82, Y:-1.07, Z:-0.88 [[ 0.96599281 0.09392412 0.24090693 19.82008183] [-0.11002272 0.9924481 0.05423813 -1.0666139 ] [-0.23399335 -0.07889888 0.96903151 -0.87753401] [ 0. 0. 0. 1. ]] SLAMing on 132.613201008 meters Centerline goodness : 0.845824 with order 1 Centerline is valid? [False, False] Translation: X:19.86, Y:-1.08, Z:-0.88 [[ 0.96763163 0.08653842 0.23706567 19.86055717] [-0.10313885 0.99294412 0.05851796 -1.08059838] [-0.23032891 -0.08107451 0.96972961 -0.87774018] [ 0. 0. 0. 1. ]] SLAMing on 132.673201008 meters Centerline goodness : 0.847653 with order 1 Centerline is valid? [False, False] Translation: X:19.92, Y:-1.10, Z:-0.86 [[ 0.96801103 0.0752061 0.23937143 19.91980555] [-0.09850775 0.99133446 0.08690341 -1.09577837] [-0.23076148 -0.1077034 0.96703108 -0.86201581] [ 0. 0. 0. 1. ]] SLAMing on 132.733201008 meters Centerline goodness : 0.848361 with order 1 Centerline is valid? [False, False] Translation: X:19.97, Y:-1.11, Z:-0.85 [[ 0.96848181 0.07042142 0.23892218 19.96627143] [-0.09858592 0.98924561 0.10804604 -1.10746927] [-0.22874396 -0.12819498 0.96500894 -0.84937306] [ 0. 0. 0. 1. ]] SLAMing on 132.793201008 meters Centerline goodness : 0.850915 with order 1 Centerline is valid? [False, False] Translation: X:20.00, Y:-1.12, Z:-0.83 [[ 0.96716306 0.05775407 0.24750774 20.00491209] [-0.09474857 0.98557013 0.14026484 -1.11604238] [-0.23583537 -0.15910998 0.95867914 -0.83018719] [ 0. 0. 0. 1. ]] SLAMing on 132.853201008 meters Centerline goodness : 0.853838 with order 1 Centerline is valid? [False, False] Translation: X:20.02, Y:-1.11, Z:-0.82 [[ 0.9669704 0.05015818 0.24990479 20.02395296] [-0.09005102 0.98444628 0.15085202 -1.11367484] [-0.23845138 -0.16837362 0.95644721 -0.8248466 ] [ 0. 0. 0. 1. ]] SLAMing on 132.91320100800002 meters Centerline goodness : 0.847505 with order 1 Centerline is valid? [False, False] Translation: X:20.03, Y:-1.11, Z:-0.82 [[ 0.96691334 0.04982946 0.25019118 20.02505749] [-0.08998792 0.98431646 0.15173424 -1.11091186] [-0.23870646 -0.16922804 0.95623276 -0.82209031] [ 0. 0. 0. 1. ]] SLAMing on 132.97320100800002 meters Centerline goodness : 0.845103 with order 1 Centerline is valid? [False, False] Translation: X:20.03, Y:-1.11, Z:-0.82 [[ 0.96678426 0.05173187 0.25030381 20.02718192] [-0.09319542 0.98323121 0.15675143 -1.10731315] [-0.23799748 -0.17487199 0.95539363 -0.81806403] [ 0. 0. 0. 1. ]] SLAMing on 133.033201008 meters Centerline goodness : 0.846655 with order 1 Centerline is valid? [False, False] Translation: X:20.06, Y:-1.11, Z:-0.81 [[ 0.96516364 0.05019229 0.2567876 20.05949991] [-0.09531418 0.98143848 0.16641431 -1.10821235] [-0.24366852 -0.18509254 0.95203277 -0.81345137] [ 0. 0. 0. 1. ]] SLAMing on 133.093201008 meters Centerline goodness : 0.846801 with order 1 Centerline is valid? [False, False] Translation: X:20.07, Y:-1.10, Z:-0.82 [[ 0.96344506 0.05392939 0.26242187 20.07374205] [-0.09839601 0.98230186 0.15937776 -1.10256339] [-0.24918235 -0.17937299 0.95170031 -0.8205427 ] [ 0. 0. 0. 1. ]] SLAMing on 133.153201008 meters Centerline goodness : 0.844172 with order 1 Centerline is valid? [False, False] Translation: X:20.10, Y:-1.10, Z:-0.83 [[ 0.96210003 0.05434196 0.26722741 20.10069823] [-0.09979976 0.98212584 0.15958959 -1.09725183] [-0.25377853 -0.18021039 0.95032661 -0.82520546] [ 0. 0. 0. 1. ]] SLAMing on 133.213201008 meters Centerline goodness : 0.846478 with order 1 Centerline is valid? [False, False] Translation: X:20.12, Y:-1.09, Z:-0.84 [[ 0.96088776 0.05830078 0.27073185 20.11555458] [-0.10135503 0.98379878 0.14787534 -1.0911481 ] [-0.25772442 -0.16953164 0.95122928 -0.83907811] [ 0. 0. 0. 1. ]] SLAMing on 133.273201008 meters Centerline goodness : 0.847166 with order 1 Centerline is valid? [False, False] Translation: X:20.13, Y:-1.08, Z:-0.85 [[ 0.95948606 0.06487444 0.27418572 20.12697564] [-0.10559113 0.98500402 0.13644633 -1.08369166] [-0.26122215 -0.15986993 0.95194779 -0.85174136] [ 0. 0. 0. 1. ]] SLAMing on 133.333201008 meters Centerline goodness : 0.849687 with order 1 Centerline is valid? [False, False] Translation: X:20.14, Y:-1.08, Z:-0.86 [[ 0.95791592 0.07121383 0.27807495 20.13863801] [-0.10982324 0.98595529 0.12582138 -1.07733272] [-0.26520925 -0.1510654 0.9522832 -0.86477338] [ 0. 0. 0. 1. ]] SLAMing on 133.393201008 meters Centerline goodness : 0.850072 with order 1 Centerline is valid? [False, False] Translation: X:20.14, Y:-1.07, Z:-0.88 [[ 0.95604328 0.08238921 0.28141299 20.13996604] [-0.11788801 0.98673432 0.11161452 -1.0680385 ] [-0.26848403 -0.13988353 0.95307341 -0.87783456] [ 0. 0. 0. 1. ]] SLAMing on 133.453201008 meters Centerline goodness : 0.852997 with order 1 Centerline is valid? [False, False] Translation: X:20.14, Y:-1.06, Z:-0.89 [[ 0.95446723 0.0941861 0.28305703 20.14122737] [-0.12608672 0.98730043 0.09664368 -1.06032721] [-0.27035984 -0.12793296 0.95422152 -0.89122678] [ 0. 0. 0. 1. ]] SLAMing on 133.513201008 meters Centerline goodness : 0.851594 with order 1 Centerline is valid? [False, False] Translation: X:20.15, Y:-1.06, Z:-0.90 [[ 0.95278945 0.10152585 0.28615515 20.14982268] [-0.13042415 0.98791399 0.08375855 -1.05610428] [-0.27419302 -0.1171258 0.95451545 -0.90495429] [ 0. 0. 0. 1. ]] SLAMing on 133.573201008 meters Centerline goodness : 0.850600 with order 1 Centerline is valid? [False, False] Translation: X:20.15, Y:-1.05, Z:-0.91 [[ 0.95443857 0.10768151 0.27830149 20.15314071] [-0.13290586 0.98840979 0.07336298 -1.05362268] [-0.26717608 -0.10700835 0.95768792 -0.91030992] [ 0. 0. 0. 1. ]] SLAMing on 133.63320100800001 meters Centerline goodness : 0.845083 with order 1 Centerline is valid? [False, False] Translation: X:20.18, Y:-1.06, Z:-0.91 [[ 0.95690393 0.10866848 0.26930659 20.17687518] [-0.13160974 0.98892554 0.06859412 -1.0570147 ] [-0.25887015 -0.10108135 0.96060856 -0.91428558] [ 0. 0. 0. 1. ]] SLAMing on 133.69320100800002 meters Centerline goodness : 0.846534 with order 1 Centerline is valid? [False, False] Translation: X:20.22, Y:-1.07, Z:-0.92 [[ 0.9587946 0.10366326 0.26451246 20.21926705] [-0.12722842 0.98914467 0.07352377 -1.06565981] [-0.25401938 -0.10414769 0.96157549 -0.92014529] [ 0. 0. 0. 1. ]] SLAMing on 133.75320100800002 meters Centerline goodness : 0.844242 with order 1 Centerline is valid? [False, False] Translation: X:20.28, Y:-1.09, Z:-0.90 [[ 0.95880261 0.07930415 0.27277904 20.28128702] [-0.11299062 0.98748065 0.11006852 -1.08613912] [-0.26063514 -0.13635546 0.95575965 -0.90253986] [ 0. 0. 0. 1. ]] SLAMing on 133.813201008 meters Centerline goodness : 0.842125 with order 1 Centerline is valid? [False, False] Translation: X:20.32, Y:-1.10, Z:-0.88 [[ 0.95721461 0.05980619 0.28313145 20.32185879] [-0.10250468 0.98504671 0.13847661 -1.09999842] [-0.27061595 -0.16157413 0.94903151 -0.88309547] [ 0. 0. 0. 1. ]] SLAMing on 133.873201008 meters Centerline goodness : 0.842392 with order 1 Centerline is valid? [False, False] Translation: X:20.36, Y:-1.11, Z:-0.87 [[ 0.95474037 0.04422541 0.29413422 20.36141254] [-0.09702258 0.98110124 0.1674126 -1.10906165] [-0.28117156 -0.18837323 0.94098782 -0.86945726] [ 0. 0. 0. 1. ]] SLAMing on 133.933201008 meters Centerline goodness : 0.840321 with order 1 Centerline is valid? [False, False] Translation: X:20.40, Y:-1.11, Z:-0.86 [[ 0.95303405 0.03609999 0.30070398 20.40364168] [-0.09479147 0.97854148 0.18295121 -1.11429521] [-0.28764678 -0.20286291 0.93600533 -0.86437133] [ 0. 0. 0. 1. ]] SLAMing on 133.993201008 meters Centerline goodness : 0.839738 with order 1 Centerline is valid? [False, False] Translation: X:20.42, Y:-1.12, Z:-0.85 [[ 0.95099692 0.02744889 0.30797958 20.42424318] [-0.0951028 0.97373325 0.20687922 -1.11659438] [-0.29421136 -0.22603122 0.92862779 -0.8491812 ] [ 0. 0. 0. 1. ]] SLAMing on 134.053201008 meters Centerline goodness : 0.838601 with order 1 Centerline is valid? [False, False] Translation: X:20.45, Y:-1.12, Z:-0.83 [[ 9.48910108e-01 1.86640635e-02 3.14994064e-01 2.04487751e+01] [-9.73570233e-02 9.66864700e-01 2.35996318e-01 -1.11874671e+00] [-3.00151991e-01 -2.54606176e-01 9.19284764e-01 -8.32247608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.113201008 meters Centerline goodness : 0.838707 with order 1 Centerline is valid? [False, False] Translation: X:20.43, Y:-1.11, Z:-0.84 [[ 0.94902143 0.02553229 0.3141758 20.42632432] [-0.09887241 0.97052414 0.21978884 -1.10661282] [-0.29930349 -0.23964764 0.92357265 -0.83918142] [ 0. 0. 0. 1. ]] SLAMing on 134.173201008 meters Centerline goodness : 0.837518 with order 1 Centerline is valid? [False, False] Translation: X:20.44, Y:-1.10, Z:-0.85 [[ 0.94714537 0.02838026 0.31954689 20.44171695] [-0.1009222 0.97186524 0.21282073 -1.1012451 ] [-0.30451661 -0.23382155 0.92336186 -0.84672567] [ 0. 0. 0. 1. ]] SLAMing on 134.233201008 meters Centerline goodness : 0.835606 with order 1 Centerline is valid? [False, False] Translation: X:20.44, Y:-1.09, Z:-0.86 [[ 0.94578102 0.03709246 0.32268003 20.44313394] [-0.10542655 0.97472639 0.19696116 -1.09110839] [-0.30721897 -0.22030118 0.92578826 -0.85601118] [ 0. 0. 0. 1. ]] SLAMing on 134.293201008 meters Centerline goodness : 0.838652 with order 1 Centerline is valid? [False, False] Translation: X:20.45, Y:-1.08, Z:-0.87 [[ 0.9443377 0.04585303 0.32576649 20.4453487 ] [-0.10932478 0.97770175 0.1792969 -1.08282876] [-0.31028116 -0.20493117 0.9282935 -0.87041421] [ 0. 0. 0. 1. ]] SLAMing on 134.353201008 meters Centerline goodness : 0.836253 with order 1 Centerline is valid? [False, False] Translation: X:20.49, Y:-1.09, Z:-0.87 [[ 0.94368374 0.04393843 0.32791831 20.48957842] [-0.11504398 0.97287083 0.20071679 -1.08710579] [-0.31020298 -0.2271382 0.92313723 -0.86584781] [ 0. 0. 0. 1. ]] SLAMing on 134.41320100800002 meters Centerline goodness : 0.837181 with order 1 Centerline is valid? [False, False] Translation: X:20.48, Y:-1.08, Z:-0.88 [[ 0.943783 0.05962665 0.32514351 20.47902142] [-0.12320535 0.97617616 0.17860726 -1.07555162] [-0.30674759 -0.20862592 0.92864479 -0.87744661] [ 0. 0. 0. 1. ]] SLAMing on 134.47320100800002 meters Centerline goodness : 0.837436 with order 1 Centerline is valid? [False, False] Translation: X:20.48, Y:-1.07, Z:-0.89 [[ 0.94251728 0.07193114 0.32632361 20.4774712 ] [-0.1307494 0.9780829 0.16204452 -1.06685743] [-0.3075155 -0.19539638 0.93126499 -0.88881213] [ 0. 0. 0. 1. ]] SLAMing on 134.533201008 meters Centerline goodness : 0.837711 with order 1 Centerline is valid? [False, False] Translation: X:20.47, Y:-1.06, Z:-0.90 [[ 0.94115098 0.08766776 0.32641874 20.47119485] [-0.1418227 0.97907228 0.14595821 -1.05712285] [-0.30679171 -0.1836623 0.93388811 -0.89995222] [ 0. 0. 0. 1. ]] SLAMing on 134.593201008 meters Centerline goodness : 0.837377 with order 1 Centerline is valid? [False, False] Translation: X:20.44, Y:-1.05, Z:-0.90 [[ 0.94199139 0.10509139 0.31876013 20.44343468] [-0.15077913 0.98099093 0.12215751 -1.04650053] [-0.29986309 -0.1631337 0.9399306 -0.90190119] [ 0. 0. 0. 1. ]] SLAMing on 134.653201008 meters Centerline goodness : 0.836033 with order 1 Centerline is valid? [False, False] Translation: X:20.44, Y:-1.04, Z:-0.91 [[ 0.94052764 0.11297544 0.32038151 20.44171246] [-0.15236943 0.98319001 0.10060299 -1.0419038 ] [-0.30363023 -0.14343624 0.94193138 -0.91291449] [ 0. 0. 0. 1. ]] SLAMing on 134.713201008 meters Centerline goodness : 0.838801 with order 1 Centerline is valid? [False, False] Translation: X:20.43, Y:-1.04, Z:-0.92 [[ 0.94169879 0.12233633 0.31342816 20.43429675] [-0.15403629 0.98495306 0.07836006 -1.03660092] [-0.29912574 -0.12207088 0.94637334 -0.91809282] [ 0. 0. 0. 1. ]] SLAMing on 134.773201008 meters Centerline goodness : 0.837912 with order 1 Centerline is valid? [False, False] Translation: X:20.47, Y:-1.05, Z:-0.92 [[ 0.94306238 0.12035641 0.31007688 20.47085246] [-0.15330377 0.98459522 0.08408453 -1.0460404 ] [-0.29518011 -0.12683292 0.94698581 -0.92415079] [ 0. 0. 0. 1. ]] SLAMing on 134.833201008 meters Centerline goodness : 0.839415 with order 1 Centerline is valid? [False, False] Translation: X:20.47, Y:-1.04, Z:-0.93 [[ 0.94388229 0.11678891 0.30894428 20.46924208] [-0.14552159 0.98676272 0.07157379 -1.04315616] [-0.29649567 -0.1125153 0.94838316 -0.93418053] [ 0. 0. 0. 1. ]] SLAMing on 134.893201008 meters Centerline goodness : 0.836368 with order 1 Centerline is valid? [False, False] Translation: X:20.48, Y:-1.05, Z:-0.93 [[ 0.94461513 0.11336669 0.30797768 20.47535198] [-0.14198006 0.98724237 0.07207054 -1.04741397] [-0.29587821 -0.11180561 0.94865989 -0.93489627] [ 0. 0. 0. 1. ]] SLAMing on 134.953201008 meters Centerline goodness : 0.838125 with order 1 Centerline is valid? [False, False] Translation: X:20.50, Y:-1.05, Z:-0.94 [[ 0.94732818 0.11303301 0.29965456 20.49570584] [-0.13791073 0.98842977 0.0631445 -1.05390901] [-0.28905007 -0.10114415 0.95195584 -0.94006568] [ 0. 0. 0. 1. ]] SLAMing on 135.013201008 meters Centerline goodness : 0.836098 with order 1 Centerline is valid? [False, False] Translation: X:20.51, Y:-1.06, Z:-0.94 [[ 0.94842732 0.1077643 0.29811488 20.50660638] [-0.13227218 0.98919445 0.063233 -1.05656196] [-0.28807933 -0.09940421 0.95243326 -0.94423228] [ 0. 0. 0. 1. ]] SLAMing on 135.073201008 meters Centerline goodness : 0.836080 with order 1 Centerline is valid? [False, False] Translation: X:20.52, Y:-1.06, Z:-0.94 [[ 0.95071595 0.11155371 0.28930081 20.52209013] [-0.13458811 0.98902693 0.06092427 -1.06266575] [-0.27932997 -0.09685813 0.95529748 -0.9422228 ] [ 0. 0. 0. 1. ]] SLAMing on 135.13320100800001 meters Centerline goodness : 0.836236 with order 1 Centerline is valid? [False, False] Translation: X:20.53, Y:-1.07, Z:-0.94 [[ 0.95184577 0.11400239 0.28459282 20.52872216] [-0.13687562 0.98866148 0.06175387 -1.06513218] [-0.27432587 -0.09773398 0.9566574 -0.94055938] [ 0. 0. 0. 1. ]] SLAMing on 135.19320100800002 meters Centerline goodness : 0.836055 with order 1 Centerline is valid? [False, False] Translation: X:20.54, Y:-1.07, Z:-0.94 [[ 0.95339833 0.11884281 0.27732294 20.53833096] [-0.14078726 0.98818755 0.0605336 -1.06721011] [-0.2668531 -0.09675617 0.95886791 -0.93959339] [ 0. 0. 0. 1. ]] SLAMing on 135.25320100800002 meters Centerline goodness : 0.837979 with order 1 Centerline is valid? [False, False] Translation: X:20.54, Y:-1.07, Z:-0.94 [[ 0.95337998 0.11892214 0.277352 20.53851268] [-0.14075538 0.98821778 0.06011274 -1.06679772] [-0.26693544 -0.09634907 0.95888598 -0.94052016] [ 0. 0. 0. 1. ]] SLAMing on 135.313201008 meters Centerline goodness : 0.834732 with order 1 Centerline is valid? [False, False] Translation: X:20.55, Y:-1.07, Z:-0.94 [[ 0.95519257 0.12341813 0.26902626 20.5485265 ] [-0.14291994 0.98825598 0.05407413 -1.06901146] [-0.25919308 -0.09010043 0.96161368 -0.93852361] [ 0. 0. 0. 1. ]] SLAMing on 135.373201008 meters Centerline goodness : 0.837047 with order 1 Centerline is valid? [False, False] Translation: X:20.55, Y:-1.07, Z:-0.94 [[ 0.95569706 0.12055723 0.26853133 20.54863744] [-0.13860507 0.98912362 0.049225 -1.0684968 ] [-0.25967625 -0.08426399 0.96201238 -0.9400049 ] [ 0. 0. 0. 1. ]] SLAMing on 135.433201008 meters Centerline goodness : 0.834450 with order 1 Centerline is valid? [False, False] Translation: X:20.55, Y:-1.07, Z:-0.94 [[ 0.95607368 0.11919234 0.26779901 20.55201995] [-0.13681795 0.98942872 0.04807977 -1.06847873] [-0.25923729 -0.08260751 0.9622744 -0.94366021] [ 0. 0. 0. 1. ]] SLAMing on 135.493201008 meters Centerline goodness : 0.837148 with order 1 Centerline is valid? [False, False] Translation: X:20.56, Y:-1.07, Z:-0.94 [[ 0.9570264 0.11385958 0.26671421 20.56376646] [-0.13213955 0.98988906 0.05156337 -1.06898542] [-0.2581465 -0.084591 0.96239532 -0.94009432] [ 0. 0. 0. 1. ]] SLAMing on 135.553201008 meters Centerline goodness : 0.835945 with order 1 Centerline is valid? [False, False] Translation: X:20.59, Y:-1.07, Z:-0.94 [[ 0.95702531 0.1137658 0.26675813 20.59260338] [-0.13204241 0.98990283 0.051548 -1.07307897] [-0.25820023 -0.08455613 0.96238397 -0.94372021] [ 0. 0. 0. 1. ]] SLAMing on 135.613201008 meters Centerline goodness : 0.835111 with order 1 Centerline is valid? [False, False] Translation: X:20.62, Y:-1.08, Z:-0.94 [[ 0.95721655 0.10661127 0.26901768 20.61599149] [-0.12908857 0.98935049 0.0672439 -1.07584864] [-0.25898381 -0.09909408 0.96078496 -0.93715313] [ 0. 0. 0. 1. ]] SLAMing on 135.673201008 meters Centerline goodness : 0.833524 with order 1 Centerline is valid? [False, False] Translation: X:20.65, Y:-1.08, Z:-0.93 [[ 0.95759815 0.09900109 0.27056344 20.64705193] [-0.12694117 0.98802068 0.08775578 -1.08145611] [-0.25863436 -0.11838041 0.95869408 -0.93226733] [ 0. 0. 0. 1. ]] SLAMing on 135.733201008 meters Centerline goodness : 0.833805 with order 1 Centerline is valid? [False, False] Translation: X:20.67, Y:-1.08, Z:-0.94 [[ 0.95994968 0.1043336 0.26002137 20.6686608 ] [-0.13026731 0.98786811 0.0845401 -1.07981359] [-0.24804644 -0.11502652 0.96189493 -0.93884487] [ 0. 0. 0. 1. ]] SLAMing on 135.793201008 meters Centerline goodness : 0.834373 with order 1 Centerline is valid? [False, False] Translation: X:20.70, Y:-1.08, Z:-0.95 [[ 0.95984232 0.10395147 0.26057017 20.70318264] [-0.13056981 0.98761707 0.08697153 -1.08089051] [-0.24830273 -0.11750156 0.96152958 -0.94525844] [ 0. 0. 0. 1. ]] SLAMing on 135.853201008 meters Centerline goodness : 0.839892 with order 1 Centerline is valid? [False, False] Translation: X:20.74, Y:-1.09, Z:-0.93 [[ 0.95976199 0.09375084 0.26470303 20.73847399] [-0.12706748 0.98559001 0.11165206 -1.08511886] [-0.25042119 -0.14079455 0.95784452 -0.93317552] [ 0. 0. 0. 1. ]] SLAMing on 135.91320100800002 meters Centerline goodness : 0.836613 with order 1 Centerline is valid? [False, False] Translation: X:20.77, Y:-1.09, Z:-0.92 [[ 0.95945187 0.08404993 0.26904964 20.77054127] [-0.12378409 0.98318148 0.1342821 -1.08648876] [-0.25323823 -0.16214128 0.95371935 -0.92412848] [ 0. 0. 0. 1. ]] SLAMing on 135.97320100800002 meters Centerline goodness : 0.837603 with order 1 Centerline is valid? [False, False] Translation: X:20.78, Y:-1.09, Z:-0.91 [[ 0.95845417 0.08076171 0.27357477 20.77589249] [-0.12434007 0.98145681 0.14588381 -1.0860078 ] [-0.25672 -0.17383925 0.95072328 -0.9118136 ] [ 0. 0. 0. 1. ]] SLAMing on 136.033201008 meters Centerline goodness : 0.836949 with order 1 Centerline is valid? [False, False] Translation: X:20.77, Y:-1.08, Z:-0.90 [[ 0.95734421 0.0813408 0.27726473 20.77114568] [-0.12629515 0.98084095 0.14832591 -1.07913672] [-0.25988765 -0.17701614 0.94927535 -0.90493988] [ 0. 0. 0. 1. ]] SLAMing on 136.093201008 meters Centerline goodness : 0.841618 with order 1 Centerline is valid? [False, False] Translation: X:20.77, Y:-1.07, Z:-0.91 [[ 0.95699488 0.08285325 0.27802185 20.76960321] [-0.12767173 0.9808373 0.14716698 -1.07117122] [-0.26050094 -0.17633358 0.94923429 -0.90520132] [ 0. 0. 0. 1. ]] SLAMing on 136.153201008 meters Centerline goodness : 0.838698 with order 1 Centerline is valid? [False, False] Translation: X:20.78, Y:-1.06, Z:-0.91 [[ 0.95616917 0.09537511 0.27684671 20.77625762] [-0.13873171 0.98017259 0.14147511 -1.06430338] [-0.25786435 -0.17368155 0.95044237 -0.91086726] [ 0. 0. 0. 1. ]] SLAMing on 136.213201008 meters Centerline goodness : 0.842293 with order 1 Centerline is valid? [False, False] Translation: X:20.77, Y:-1.07, Z:-0.90 [[ 0.95460429 0.09869196 0.28105256 20.77363023] [-0.14614314 0.97733069 0.15318908 -1.06530614] [-0.25956277 -0.18730886 0.94738723 -0.90101955] [ 0. 0. 0. 1. ]] SLAMing on 136.273201008 meters Centerline goodness : 0.840368 with order 1 Centerline is valid? [False, False] Translation: X:20.76, Y:-1.05, Z:-0.91 [[ 0.95433798 0.11775613 0.27454054 20.75831059] [-0.15989545 0.97765349 0.13648114 -1.05449364] [-0.25233402 -0.17414692 0.95184053 -0.90702221] [ 0. 0. 0. 1. ]] SLAMing on 136.333201008 meters Centerline goodness : 0.840666 with order 1 Centerline is valid? [False, False] Translation: X:20.76, Y:-1.05, Z:-0.92 [[ 0.95280494 0.12837074 0.2751067 20.76005997] [-0.1668416 0.97850001 0.12125018 -1.04991669] [-0.25362693 -0.16142701 0.95373723 -0.91764521] [ 0. 0. 0. 1. ]] SLAMing on 136.393201008 meters Centerline goodness : 0.840433 with order 1 Centerline is valid? [False, False] Translation: X:20.77, Y:-1.05, Z:-0.93 [[ 0.95084186 0.13645265 0.27799359 20.76574127] [-0.17217261 0.97909448 0.10830783 -1.04889581] [-0.2574031 -0.1508465 0.95445743 -0.92972156] [ 0. 0. 0. 1. ]] SLAMing on 136.453201008 meters Centerline goodness : 0.839186 with order 1 Centerline is valid? [False, False] Translation: X:20.75, Y:-1.05, Z:-0.93 [[ 0.95072884 0.14023227 0.27649518 20.74602481] [-0.17184571 0.98067531 0.09351463 -1.04625849] [-0.25803823 -0.13642156 0.95645461 -0.93228965] [ 0. 0. 0. 1. ]] SLAMing on 136.513201008 meters Centerline goodness : 0.838458 with order 1 Centerline is valid? [False, False] Translation: X:20.75, Y:-1.05, Z:-0.93 [[ 0.9524267 0.14021512 0.27059768 20.75366904] [-0.16991064 0.98138554 0.08951421 -1.05466454] [-0.2530094 -0.13123315 0.95852183 -0.93273461] [ 0. 0. 0. 1. ]] SLAMing on 136.573201008 meters Centerline goodness : 0.839730 with order 1 Centerline is valid? [False, False] Translation: X:20.75, Y:-1.06, Z:-0.93 [[ 0.95298365 0.13743126 0.27006447 20.75387119] [-0.1659756 0.98239377 0.08575886 -1.05948644] [-0.25352371 -0.12655091 0.95901543 -0.9348167 ] [ 0. 0. 0. 1. ]] SLAMing on 136.63320100800001 meters Centerline goodness : 0.844293 with order 1 Centerline is valid? [False, False] Translation: X:20.75, Y:-1.06, Z:-0.94 [[ 0.95363692 0.1343935 0.2692861 20.75465748] [-0.16181011 0.98338878 0.08224351 -1.06339951] [-0.25375994 -0.12200366 0.95954208 -0.93548206] [ 0. 0. 0. 1. ]] SLAMing on 136.69320100800002 meters Centerline goodness : 0.842287 with order 1 Centerline is valid? [False, False] Translation: X:20.76, Y:-1.07, Z:-0.94 [[ 0.95481727 0.1274974 0.26845556 20.75794917] [-0.15282241 0.98536024 0.07556787 -1.06923162] [-0.25489073 -0.11317953 0.96032344 -0.93928878] [ 0. 0. 0. 1. ]] SLAMing on 136.75320100800002 meters Centerline goodness : 0.840728 with order 1 Centerline is valid? [False, False] Translation: X:20.76, Y:-1.07, Z:-0.94 [[ 0.95565074 0.12332898 0.26743527 20.76067531] [-0.14740622 0.98646451 0.07182745 -1.07422712] [-0.254957 -0.10806358 0.960895 -0.94129745] [ 0. 0. 0. 1. ]] SLAMing on 136.813201008 meters Centerline goodness : 0.839674 with order 1 Centerline is valid? [False, False] Translation: X:20.81, Y:-1.10, Z:-0.93 [[ 0.95604423 0.1138031 0.27023746 20.80789225] [-0.14306854 0.98550864 0.09112696 -1.09557924] [-0.25595082 -0.12578388 0.95847149 -0.93214513] [ 0. 0. 0. 1. ]] SLAMing on 136.873201008 meters Centerline goodness : 0.842398 with order 1 Centerline is valid? [False, False] Translation: X:20.82, Y:-1.10, Z:-0.94 [[ 0.95488256 0.11674821 0.27307353 20.82192289] [-0.14341939 0.98644182 0.07977102 -1.09695889] [-0.26005802 -0.11533599 0.95868005 -0.94307699] [ 0. 0. 0. 1. ]] SLAMing on 136.933201008 meters Centerline goodness : 0.838122 with order 1 Centerline is valid? [False, False] Translation: X:20.83, Y:-1.10, Z:-0.94 [[ 0.95612246 0.12092864 0.26684471 20.83047618] [-0.14702213 0.98589245 0.08000359 -1.10042774] [-0.25340546 -0.11572531 0.9604131 -0.94309086] [ 0. 0. 0. 1. ]] SLAMing on 136.993201008 meters Centerline goodness : 0.837965 with order 1 Centerline is valid? [False, False] Translation: X:20.83, Y:-1.10, Z:-0.94 [[ 0.95605811 0.12212552 0.26653001 20.83019846] [-0.14843657 0.98561246 0.08083727 -1.10177805] [-0.25282301 -0.11684793 0.96043068 -0.94274629] [ 0. 0. 0. 1. ]] SLAMing on 137.053201008 meters Centerline goodness : 0.835328 with order 1 Centerline is valid? [False, False] Translation: X:20.82, Y:-1.10, Z:-0.95 [[ 0.95558326 0.12478573 0.26700029 20.81905846] [-0.14908775 0.9861485 0.07269095 -1.09987861] [-0.25423114 -0.10926873 0.96095102 -0.94736943] [ 0. 0. 0. 1. ]] SLAMing on 137.113201008 meters Centerline goodness : 0.834762 with order 1 Centerline is valid? [False, False] Translation: X:20.83, Y:-1.10, Z:-0.96 [[ 0.95429856 0.12861113 0.26976552 20.82575103] [-0.1487095 0.98733067 0.05535012 -1.0991718 ] [-0.25922913 -0.09293723 0.96133393 -0.95877146] [ 0. 0. 0. 1. ]] SLAMing on 137.173201008 meters Centerline goodness : 0.834276 with order 1 Centerline is valid? [False, False] Translation: X:20.83, Y:-1.10, Z:-0.97 [[ 0.95277901 0.1325305 0.27321754 20.83491483] [-0.14935119 0.98790798 0.04161789 -1.09756333] [-0.26439815 -0.08045801 0.96105157 -0.96843248] [ 0. 0. 0. 1. ]] SLAMing on 137.233201008 meters Centerline goodness : 0.831662 with order 1 Centerline is valid? [False, False] Translation: X:20.83, Y:-1.09, Z:-0.97 [[ 0.95287026 0.13193698 0.27318658 20.83235092] [-0.14729828 0.98842173 0.03641017 -1.0934425 ] [-0.26521971 -0.07493409 0.96127176 -0.97099604] [ 0. 0. 0. 1. ]] SLAMing on 137.293201008 meters Centerline goodness : 0.826488 with order 1 Centerline is valid? [False, False] Translation: X:20.83, Y:-1.10, Z:-0.97 [[ 0.9530097 0.13166583 0.27283077 20.83354648] [-0.14689898 0.98849304 0.03608608 -1.09511008] [-0.26494001 -0.07446894 0.96138503 -0.97335675] [ 0. 0. 0. 1. ]] SLAMing on 137.353201008 meters Centerline goodness : 0.826373 with order 1 Centerline is valid? [False, False] Translation: X:20.83, Y:-1.10, Z:-0.97 [[ 0.95350931 0.12900742 0.2723547 20.8333221 ] [-0.14290194 0.98922825 0.03172534 -1.09576763] [-0.26532816 -0.06917043 0.96167376 -0.97427096] [ 0. 0. 0. 1. ]] SLAMing on 137.41320100800002 meters Centerline goodness : 0.825697 with order 1 Centerline is valid? [False, False] Translation: X:20.84, Y:-1.10, Z:-0.98 [[ 0.954022 0.12759127 0.27122406 20.8371185 ] [-0.14130494 0.98946276 0.03156507 -1.09916686] [-0.26433868 -0.06843907 0.96199852 -0.97670134] [ 0. 0. 0. 1. ]] SLAMing on 137.47320100800002 meters Centerline goodness : 0.826279 with order 1 Centerline is valid? [False, False] Translation: X:20.85, Y:-1.10, Z:-0.98 [[ 0.95510475 0.12383274 0.26914748 20.84658745] [-0.13741829 0.98999091 0.03215922 -1.10226392] [-0.26247119 -0.06770121 0.9625619 -0.97890971] [ 0. 0. 0. 1. ]] SLAMing on 137.533201008 meters Centerline goodness : 0.826273 with order 1 Centerline is valid? [False, False] Translation: X:20.85, Y:-1.10, Z:-0.98 [[ 0.95556097 0.12249733 0.26813733 20.85028615] [-0.13589535 0.99020892 0.03191777 -1.10445592] [-0.26160214 -0.06693799 0.96285182 -0.98130814] [ 0. 0. 0. 1. ]] SLAMing on 137.593201008 meters Centerline goodness : 0.828139 with order 1 Centerline is valid? [False, False] Translation: X:20.85, Y:-1.11, Z:-0.98 [[ 0.95598585 0.12156701 0.26704405 20.85332224] [-0.13486112 0.99034934 0.03194797 -1.10666893] [-0.26058308 -0.06655566 0.96315461 -0.98237842] [ 0. 0. 0. 1. ]] SLAMing on 137.653201008 meters Centerline goodness : 0.825456 with order 1 Centerline is valid? [False, False] Translation: X:20.86, Y:-1.11, Z:-0.98 [[ 0.95625076 0.12186408 0.26595796 20.8603271 ] [-0.13682142 0.98985184 0.03838277 -1.10891192] [-0.25858149 -0.07309229 0.96322019 -0.97931041] [ 0. 0. 0. 1. ]] SLAMing on 137.713201008 meters Centerline goodness : 0.823697 with order 1 Centerline is valid? [False, False] Translation: X:20.86, Y:-1.10, Z:-0.98 [[ 0.95611844 0.12321776 0.26580993 20.85943256] [-0.13794277 0.98973446 0.03738296 -1.10355601] [-0.258475 -0.0724091 0.96330037 -0.97993329] [ 0. 0. 0. 1. ]] SLAMing on 137.773201008 meters Centerline goodness : 0.825031 with order 1 Centerline is valid? [False, False] Translation: X:20.86, Y:-1.10, Z:-0.98 [[ 0.95592194 0.12411654 0.26609833 20.85798224] [-0.13859642 0.98968459 0.03626903 -1.09899535] [-0.25885183 -0.07155064 0.96326333 -0.98032762] [ 0. 0. 0. 1. ]] SLAMing on 137.833201008 meters Centerline goodness : 0.823079 with order 1 Centerline is valid? [False, False] Translation: X:20.86, Y:-1.10, Z:-0.98 [[ 0.95544907 0.12717372 0.26635301 20.85807985] [-0.14292331 0.98890385 0.04052277 -1.09795923] [-0.25824408 -0.0767855 0.96302335 -0.97862949] [ 0. 0. 0. 1. ]] SLAMing on 137.893201008 meters Centerline goodness : 0.821707 with order 1 Centerline is valid? [False, False] Translation: X:20.86, Y:-1.09, Z:-0.98 [[ 0.95567458 0.12687536 0.2656854 20.85589622] [-0.14066778 0.98949119 0.03346276 -1.09141997] [-0.25864777 -0.06935289 0.96347886 -0.98434228] [ 0. 0. 0. 1. ]] SLAMing on 137.953201008 meters Centerline goodness : 0.819163 with order 1 Centerline is valid? [False, False] Translation: X:20.88, Y:-1.10, Z:-0.98 [[ 0.95830372 0.12750344 0.2557281 20.88115763] [-0.14001847 0.9896551 0.03126677 -1.09561352] [-0.249096 -0.06576971 0.966243 -0.98454118] [ 0. 0. 0. 1. ]] SLAMing on 138.013201008 meters Centerline goodness : 0.819384 with order 1 Centerline is valid? [False, False] Translation: X:20.89, Y:-1.10, Z:-0.99 [[ 0.95945815 0.12233359 0.25391841 20.88713699] [-0.13354514 0.99066585 0.02732872 -1.09589175] [-0.24820508 -0.06013034 0.96683948 -0.98591464] [ 0. 0. 0. 1. ]] SLAMing on 138.073201008 meters Centerline goodness : 0.819176 with order 1 Centerline is valid? [False, False] Translation: X:20.93, Y:-1.11, Z:-0.98 [[ 0.95989585 0.10777605 0.25881322 20.92798107] [-0.12481927 0.99090376 0.05029809 -1.10865287] [-0.25103806 -0.0805858 0.96461693 -0.97739138] [ 0. 0. 0. 1. ]] SLAMing on 138.13320100800001 meters Centerline goodness : 0.818371 with order 1 Centerline is valid? [False, False] Translation: X:20.93, Y:-1.11, Z:-0.98 [[ 0.96012377 0.10702522 0.25827881 20.93033512] [-0.12405999 0.99098701 0.05053586 -1.10919082] [-0.25054234 -0.08056275 0.96474773 -0.97762262] [ 0. 0. 0. 1. ]] SLAMing on 138.19320100800002 meters Centerline goodness : 0.819976 with order 1 Centerline is valid? [False, False] Translation: X:20.93, Y:-1.11, Z:-0.98 [[ 0.96031528 0.10631911 0.25785811 20.93236179] [-0.12332885 0.9910716 0.05066636 -1.10949658] [-0.25016905 -0.08045702 0.96485342 -0.97800196] [ 0. 0. 0. 1. ]] SLAMing on 138.25320100800002 meters Centerline goodness : 0.820337 with order 1 Centerline is valid? [False, False] Translation: X:20.94, Y:-1.11, Z:-0.97 [[ 0.96066158 0.10489941 0.25714868 20.94195961] [-0.12370331 0.99062123 0.05802649 -1.11200581] [-0.24864999 -0.08755397 0.96462816 -0.97426996] [ 0. 0. 0. 1. ]] SLAMing on 138.313201008 meters Centerline goodness : 0.823491 with order 1 Centerline is valid? [False, False] Translation: X:20.94, Y:-1.11, Z:-0.97 [[ 0.96058107 0.10526174 0.25730134 20.94145199] [-0.12403013 0.99059422 0.05778952 -1.10974776] [-0.2487982 -0.08742463 0.96460167 -0.9736577 ] [ 0. 0. 0. 1. ]] SLAMing on 138.373201008 meters Centerline goodness : 0.825798 with order 1 Centerline is valid? [False, False] Translation: X:20.94, Y:-1.11, Z:-0.97 [[ 0.9607896 0.10341808 0.25727036 20.93973631] [-0.12081401 0.99127467 0.05271156 -1.10647096] [-0.24957426 -0.08172659 0.96490075 -0.97455526] [ 0. 0. 0. 1. ]] SLAMing on 138.433201008 meters Centerline goodness : 0.824051 with order 1 Centerline is valid? [False, False] Translation: X:20.94, Y:-1.11, Z:-0.98 [[ 0.96105648 0.10236489 0.25669413 20.94212524] [-0.11952187 0.99146311 0.05210971 -1.1062479 ] [-0.24916856 -0.08076093 0.96508689 -0.97600217] [ 0. 0. 0. 1. ]] SLAMing on 138.493201008 meters Centerline goodness : 0.821294 with order 1 Centerline is valid? [False, False] Translation: X:20.94, Y:-1.11, Z:-0.98 [[ 0.9613512 0.10158916 0.25589746 20.94468394] [-0.1184563 0.99163085 0.05134542 -1.10586815] [-0.24853967 -0.07967365 0.96533939 -0.97808488] [ 0. 0. 0. 1. ]] SLAMing on 138.553201008 meters Centerline goodness : 0.820207 with order 1 Centerline is valid? [False, False] Translation: X:20.98, Y:-1.11, Z:-0.98 [[ 0.96214307 0.10403526 0.25190747 20.97610086] [-0.1214656 0.99109179 0.05461846 -1.11159948] [-0.24398118 -0.08314886 0.9662088 -0.98134449] [ 0. 0. 0. 1. ]] SLAMing on 138.613201008 meters Centerline goodness : 0.817464 with order 1 Centerline is valid? [False, False] Translation: X:20.98, Y:-1.11, Z:-0.98 [[ 0.96222018 0.1042584 0.2515204 20.9771054 ] [-0.12127548 0.99119817 0.05308903 -1.10803246] [-0.24377158 -0.08158659 0.96639487 -0.98460882] [ 0. 0. 0. 1. ]] SLAMing on 138.673201008 meters Centerline goodness : 0.821894 with order 1 Centerline is valid? [False, False] Translation: X:20.98, Y:-1.11, Z:-0.99 [[ 0.96212262 0.10633781 0.25102258 20.98039354] [-0.12441405 0.99057865 0.05722837 -1.10791211] [-0.24257207 -0.08629144 0.96628804 -0.98523304] [ 0. 0. 0. 1. ]] SLAMing on 138.733201008 meters Centerline goodness : 0.818951 with order 1 Centerline is valid? [False, False] Translation: X:20.98, Y:-1.10, Z:-0.99 [[ 0.96101875 0.11354182 0.25209367 20.98237012] [-0.1274757 0.99105119 0.03959156 -1.10278497] [-0.24534244 -0.07018405 0.96689259 -0.99354281] [ 0. 0. 0. 1. ]] SLAMing on 138.793201008 meters Centerline goodness : 0.816472 with order 1 Centerline is valid? [False, False] Translation: X:21.02, Y:-1.11, Z:-1.00 [[ 0.96057981 0.11145728 0.25468354 21.01931254] [-0.12725341 0.99078629 0.04635837 -1.10816573] [-0.24716998 -0.07694026 0.96591262 -0.99516513] [ 0. 0. 0. 1. ]] SLAMing on 138.853201008 meters Centerline goodness : 0.814376 with order 1 Centerline is valid? [False, False] Translation: X:21.02, Y:-1.10, Z:-1.00 [[ 0.96068097 0.11023641 0.25483329 21.01696994] [-0.12475678 0.99131967 0.04148574 -1.10317697] [-0.24804801 -0.07164674 0.96609468 -0.99637235] [ 0. 0. 0. 1. ]] SLAMing on 138.91320100800002 meters Centerline goodness : 0.811833 with order 1 Centerline is valid? [False, False] Translation: X:21.02, Y:-1.10, Z:-1.00 [[ 0.96055255 0.11054453 0.25518367 21.01601783] [-0.12499226 0.9913077 0.04106058 -1.10089103] [-0.24842651 -0.07133683 0.96602035 -0.99606997] [ 0. 0. 0. 1. ]] SLAMing on 138.97320100800002 meters Centerline goodness : 0.811818 with order 1 Centerline is valid? [False, False] Translation: X:21.02, Y:-1.10, Z:-1.00 [[ 0.96048439 0.11135818 0.25508646 21.01554885] [-0.12563193 0.99125759 0.04031131 -1.09765847] [-0.24836739 -0.07076539 0.96607758 -0.9966173 ] [ 0. 0. 0. 1. ]] SLAMing on 139.033201008 meters Centerline goodness : 0.812061 with order 1 Centerline is valid? [False, False] Translation: X:21.02, Y:-1.10, Z:-1.00 [[ 0.96048904 0.1117336 0.25490472 21.01592864] [-0.12594048 0.99122872 0.04005771 -1.09556544] [-0.24819308 -0.07057781 0.9661361 -0.99670749] [ 0. 0. 0. 1. ]] SLAMing on 139.093201008 meters Centerline goodness : 0.811591 with order 1 Centerline is valid? [False, False] Translation: X:21.02, Y:-1.09, Z:-1.00 [[ 0.96031342 0.11407459 0.25452924 21.0187269 ] [-0.12900029 0.99072553 0.04268314 -1.09279314] [-0.24729955 -0.07382354 0.96612267 -0.99983469] [ 0. 0. 0. 1. ]] SLAMing on 139.153201008 meters Centerline goodness : 0.808572 with order 1 Centerline is valid? [False, False] Translation: X:21.02, Y:-1.09, Z:-1.00 [[ 0.96035386 0.11548918 0.25373749 21.0233136 ] [-0.13134317 0.99025062 0.04639709 -1.09287677] [-0.24590534 -0.07788431 0.96615972 -1.00169676] [ 0. 0. 0. 1. ]] SLAMing on 139.213201008 meters Centerline goodness : 0.814119 with order 1 Centerline is valid? [False, False] Translation: X:21.03, Y:-1.09, Z:-1.00 [[ 0.96111131 0.11270489 0.25211637 21.03104432] [-0.12884051 0.99048443 0.04838099 -1.0944959 ] [-0.24426457 -0.07898232 0.96648674 -1.00015007] [ 0. 0. 0. 1. ]] SLAMing on 139.273201008 meters Centerline goodness : 0.812173 with order 1 Centerline is valid? [False, False] Translation: X:21.03, Y:-1.10, Z:-1.00 [[ 0.96141705 0.1111847 0.25162514 21.03470125] [-0.12756626 0.99058388 0.04970334 -1.09588671] [-0.24372956 -0.07988451 0.96654765 -0.99900761] [ 0. 0. 0. 1. ]] SLAMing on 139.333201008 meters Centerline goodness : 0.814602 with order 1 Centerline is valid? [False, False] Translation: X:21.03, Y:-1.09, Z:-1.00 [[ 0.96174325 0.10885651 0.25139645 21.03381437] [-0.1240443 0.99124075 0.04532984 -1.0942248 ] [-0.24425995 -0.07477997 0.96682213 -0.99930233] [ 0. 0. 0. 1. ]] SLAMing on 139.393201008 meters Centerline goodness : 0.817743 with order 1 Centerline is valid? [False, False] Translation: X:21.04, Y:-1.09, Z:-1.00 [[ 0.96183381 0.10829888 0.25129084 21.03517042] [-0.12353633 0.99129053 0.04562749 -1.09489759] [-0.24416082 -0.07492961 0.96683558 -0.99942643] [ 0. 0. 0. 1. ]] SLAMing on 139.453201008 meters Centerline goodness : 0.822732 with order 1 Centerline is valid? [False, False] Translation: X:21.03, Y:-1.10, Z:-1.00 [[ 0.96167564 0.10910605 0.25154687 21.03383421] [-0.12452393 0.99114218 0.04616246 -1.09559553] [-0.24428211 -0.07571692 0.96674361 -0.99811384] [ 0. 0. 0. 1. ]] SLAMing on 139.513201008 meters Centerline goodness : 0.823240 with order 1 Centerline is valid? [False, False] Translation: X:21.03, Y:-1.10, Z:-1.00 [[ 0.96130779 0.11212294 0.25162626 21.03372974] [-0.12878524 0.99037542 0.05070399 -1.09785666] [-0.24351938 -0.08114789 0.96649539 -0.99605946] [ 0. 0. 0. 1. ]] SLAMing on 139.573201008 meters Centerline goodness : 0.824912 with order 1 Centerline is valid? [False, False] Translation: X:21.03, Y:-1.10, Z:-1.00 [[ 0.96175999 0.10908798 0.25123204 21.03409771] [-0.12450123 0.99114109 0.04624701 -1.09674764] [-0.2439614 -0.07575723 0.96682143 -0.99674214] [ 0. 0. 0. 1. ]] SLAMing on 139.63320100800001 meters Centerline goodness : 0.825994 with order 1 Centerline is valid? [False, False] Translation: X:21.04, Y:-1.09, Z:-1.00 [[ 0.96253945 0.10502164 0.24997651 21.0377704 ] [-0.11876665 0.99209555 0.04050814 -1.09496751] [-0.24374635 -0.06867955 0.96740417 -1.00177193] [ 0. 0. 0. 1. ]] SLAMing on 139.69320100800002 meters Centerline goodness : 0.827250 with order 1 Centerline is valid? [False, False] Translation: X:21.04, Y:-1.10, Z:-1.00 [[ 0.96291554 0.10379323 0.24903941 21.04155785] [-0.1175977 0.99220767 0.04116702 -1.09739431] [-0.24282595 -0.06892682 0.96761803 -1.0023655 ] [ 0. 0. 0. 1. ]] SLAMing on 139.753201008 meters Centerline goodness : 0.830970 with order 1 Centerline is valid? [False, False] Translation: X:21.05, Y:-1.10, Z:-1.00 [[ 0.9632615 0.10253374 0.24822191 21.04529481] [-0.116729 0.99222721 0.04312184 -1.09964407] [-0.24187109 -0.07051231 0.96774294 -0.99956159] [ 0. 0. 0. 1. ]] SLAMing on 139.813201008 meters Centerline goodness : 0.833218 with order 1 Centerline is valid? [False, False] Translation: X:21.05, Y:-1.10, Z:-1.00 [[ 0.96344869 0.10204627 0.24769575 21.04728393] [-0.11607129 0.9923245 0.04265605 -1.09934199] [-0.24144167 -0.06984728 0.96789838 -1.001071 ] [ 0. 0. 0. 1. ]] SLAMing on 139.873201008 meters Centerline goodness : 0.836033 with order 1 Centerline is valid? [False, False] Translation: X:21.07, Y:-1.10, Z:-1.00 [[ 0.96446 0.09607674 0.24614256 21.06737203] [-0.11215884 0.99232146 0.05213933 -1.10134621] [-0.23924317 -0.07789336 0.96783022 -0.99749505] [ 0. 0. 0. 1. ]] SLAMing on 139.933201008 meters Centerline goodness : 0.834224 with order 1 Centerline is valid? [False, False] Translation: X:21.08, Y:-1.10, Z:-0.99 [[ 0.96541003 0.09175728 0.24405752 21.07842421] [-0.10828792 0.99258742 0.05517193 -1.1039619 ] [-0.237186 -0.07969202 0.96819006 -0.99489264] [ 0. 0. 0. 1. ]] SLAMing on 139.993201008 meters Centerline goodness : 0.836959 with order 1 Centerline is valid? [False, False] Translation: X:21.12, Y:-1.12, Z:-0.99 [[ 0.96674073 0.0848013 0.2412905 21.12480513] [-0.10377014 0.99234192 0.06700198 -1.11621553] [-0.23376083 -0.08981229 0.9681372 -0.9905665 ] [ 0. 0. 0. 1. ]] SLAMing on 140.053201008 meters Centerline goodness : 0.839587 with order 1 Centerline is valid? [False, False] Translation: X:21.16, Y:-1.12, Z:-0.99 [[ 0.96730983 0.083493 0.23945901 21.15948349] [-0.10403593 0.991783 0.07445133 -1.124032 ] [-0.23127521 -0.09692984 0.96804772 -0.98766318] [ 0. 0. 0. 1. ]] SLAMing on 140.113201008 meters Centerline goodness : 0.840365 with order 1 Centerline is valid? [False, False] Translation: X:21.18, Y:-1.13, Z:-0.99 [[ 0.96894413 0.08742154 0.23131092 21.18079447] [-0.1063814 0.99180284 0.07078225 -1.12783965] [-0.22322693 -0.09319123 0.97030157 -0.98811004] [ 0. 0. 0. 1. ]] SLAMing on 140.173201008 meters Centerline goodness : 0.836503 with order 1 Centerline is valid? [False, False] Translation: X:21.19, Y:-1.13, Z:-0.98 [[ 0.96911909 0.08738617 0.23059021 21.18859467] [-0.108372 0.99089041 0.0799481 -1.12942043] [-0.22150327 -0.10246875 0.96976103 -0.97974465] [ 0. 0. 0. 1. ]] SLAMing on 140.233201008 meters Centerline goodness : 0.839144 with order 1 Centerline is valid? [False, False] Translation: X:21.20, Y:-1.13, Z:-0.99 [[ 0.96782624 0.09165955 0.23433075 21.20095827] [-0.11048866 0.99151386 0.06850194 -1.12620818] [-0.22606333 -0.09218887 0.96974047 -0.99051263] [ 0. 0. 0. 1. ]] SLAMing on 140.293201008 meters Centerline goodness : 0.838839 with order 1 Centerline is valid? [False, False] Translation: X:21.21, Y:-1.12, Z:-1.00 [[ 0.96664617 0.09827035 0.23651241 21.2060295 ] [-0.11363028 0.99215192 0.05217977 -1.12003256] [-0.22952852 -0.07731435 0.97022634 -1.00172595] [ 0. 0. 0. 1. ]] SLAMing on 140.353201008 meters Centerline goodness : 0.838230 with order 1 Centerline is valid? [False, False] Translation: X:21.21, Y:-1.12, Z:-1.00 [[ 0.9667804 0.09819847 0.23599304 21.20714304] [-0.11341717 0.99219781 0.05176925 -1.11834281] [-0.22906811 -0.07681516 0.97037479 -1.00189005] [ 0. 0. 0. 1. ]] SLAMing on 140.41320100800002 meters Centerline goodness : 0.840891 with order 1 Centerline is valid? [False, False] Translation: X:21.23, Y:-1.12, Z:-1.00 [[ 0.96898016 0.10041781 0.22581788 21.22655525] [-0.11437466 0.99220057 0.04956278 -1.12163279] [-0.21907964 -0.0738532 0.97290792 -0.99886454] [ 0. 0. 0. 1. ]] SLAMing on 140.47320100800002 meters Centerline goodness : 0.841212 with order 1 Centerline is valid? [False, False] Translation: X:21.24, Y:-1.12, Z:-0.99 [[ 0.97017362 0.09334377 0.22371878 21.2434299 ] [-0.10804897 0.99265664 0.05438947 -1.12286047] [-0.21699902 -0.07693981 0.97313498 -0.99474688] [ 0. 0. 0. 1. ]] SLAMing on 140.533201008 meters Centerline goodness : 0.835712 with order 1 Centerline is valid? [False, False] Translation: X:21.29, Y:-1.13, Z:-0.99 [[ 0.97142892 0.08797736 0.22042194 21.2922806 ] [-0.1054767 0.99203209 0.06889851 -1.13325796] [-0.21260413 -0.09017939 0.97296822 -0.99026535] [ 0. 0. 0. 1. ]] SLAMing on 140.593201008 meters Centerline goodness : 0.834522 with order 1 Centerline is valid? [False, False] Translation: X:21.34, Y:-1.14, Z:-0.98 [[ 0.97210209 0.08431835 0.21887881 21.33821934] [-0.10466352 0.99103258 0.08306604 -1.14203593] [-0.20991204 -0.1036573 0.9722099 -0.9836396 ] [ 0. 0. 0. 1. ]] SLAMing on 140.653201008 meters Centerline goodness : 0.836478 with order 1 Centerline is valid? [False, False] Translation: X:21.34, Y:-1.14, Z:-0.98 [[ 0.97240308 0.08336002 0.21790677 21.34206362] [-0.10371364 0.99108059 0.08368242 -1.13981993] [-0.20898741 -0.10397295 0.97237539 -0.98175513] [ 0. 0. 0. 1. ]] SLAMing on 140.713201008 meters Centerline goodness : 0.836833 with order 1 Centerline is valid? [False, False] Translation: X:21.38, Y:-1.14, Z:-0.98 [[ 0.97179737 0.08236902 0.22096428 21.38166317] [-0.10588702 0.9896579 0.0967739 -1.14433825] [-0.21070787 -0.11744187 0.97046875 -0.97687112] [ 0. 0. 0. 1. ]] SLAMing on 140.773201008 meters Centerline goodness : 0.836543 with order 1 Centerline is valid? [False, False] Translation: X:21.39, Y:-1.14, Z:-0.99 [[ 0.97045007 0.08754898 0.2248596 21.39330138] [-0.10940142 0.99021675 0.08661473 -1.1400942 ] [-0.21507671 -0.10865523 0.9705339 -0.98520875] [ 0. 0. 0. 1. ]] SLAMing on 140.833201008 meters Centerline goodness : 0.834863 with order 1 Centerline is valid? [False, False] Translation: X:21.42, Y:-1.14, Z:-0.99 [[ 0.96943526 0.08833018 0.2288953 21.41923551] [-0.11043252 0.99019052 0.08560014 -1.13968837] [-0.21908888 -0.10826127 0.96968013 -0.98947289] [ 0. 0. 0. 1. ]] SLAMing on 140.893201008 meters Centerline goodness : 0.830666 with order 1 Centerline is valid? [False, False] Translation: X:21.42, Y:-1.13, Z:-1.00 [[ 0.96818722 0.09800115 0.23023746 21.42456567] [-0.11732827 0.99049583 0.07177808 -1.13214796] [-0.22101491 -0.09650798 0.9704837 -1.00305945] [ 0. 0. 0. 1. ]] SLAMing on 140.953201008 meters Centerline goodness : 0.822450 with order 1 Centerline is valid? [False, False] Translation: X:21.43, Y:-1.13, Z:-1.01 [[ 0.96678192 0.10755925 0.23187008 21.43071593] [-0.12451945 0.99041637 0.05975208 -1.1283002 ] [-0.22322103 -0.08663956 0.97090986 -1.01422782] [ 0. 0. 0. 1. ]] SLAMing on 141.013201008 meters Centerline goodness : 0.823657 with order 1 Centerline is valid? [False, False] Translation: X:21.44, Y:-1.13, Z:-1.01 [[ 0.96787912 0.11530318 0.22341707 21.44142376] [-0.13149621 0.98956171 0.0589607 -1.12909469] [-0.21428662 -0.08644533 0.97293805 -1.01173834] [ 0. 0. 0. 1. ]] SLAMing on 141.073201008 meters Centerline goodness : 0.824386 with order 1 Centerline is valid? [False, False] Translation: X:21.44, Y:-1.13, Z:-1.01 [[ 0.9674343 0.11854263 0.22364822 21.44179784] [-0.1358051 0.98870505 0.06339787 -1.13006824] [-0.21360677 -0.09170585 0.97260587 -1.0110468 ] [ 0. 0. 0. 1. ]] SLAMing on 141.13320100800001 meters Centerline goodness : 0.823366 with order 1 Centerline is valid? [False, False] Translation: X:21.45, Y:-1.13, Z:-1.02 [[ 0.96597538 0.12601992 0.22585515 21.44509777] [-0.14016394 0.98898071 0.04765729 -1.12684011] [-0.21736062 -0.07769252 0.97299447 -1.02218272] [ 0. 0. 0. 1. ]] SLAMing on 141.19320100800002 meters Centerline goodness : 0.815502 with order 1 Centerline is valid? [False, False] Translation: X:21.45, Y:-1.13, Z:-1.02 [[ 0.96595628 0.12594296 0.22597972 21.44507598] [-0.14022558 0.98894372 0.04824007 -1.12932255] [-0.21740573 -0.07828594 0.97293682 -1.0217526 ] [ 0. 0. 0. 1. ]] SLAMing on 141.253201008 meters Centerline goodness : 0.817590 with order 1 Centerline is valid? [False, False] Translation: X:21.44, Y:-1.13, Z:-1.02 [[ 0.96637602 0.12309623 0.22575365 21.44484852] [-0.13646706 0.9896424 0.04454965 -1.13121565] [-0.21793149 -0.07385965 0.97316526 -1.02195881] [ 0. 0. 0. 1. ]] SLAMing on 141.313201008 meters Centerline goodness : 0.815275 with order 1 Centerline is valid? [False, False] Translation: X:21.45, Y:-1.13, Z:-1.02 [[ 0.96689056 0.1198351 0.22530466 21.44545591] [-0.13225377 0.99037571 0.04080318 -1.13349471] [-0.2182466 -0.0692496 0.97343357 -1.02275421] [ 0. 0. 0. 1. ]] SLAMing on 141.373201008 meters Centerline goodness : 0.812785 with order 1 Centerline is valid? [False, False] Translation: X:21.48, Y:-1.14, Z:-1.03 [[ 0.96840729 0.11482766 0.22136378 21.4830574 ] [-0.12706032 0.99101436 0.04178769 -1.14305313] [-0.21457631 -0.06859406 0.97429557 -1.02908994] [ 0. 0. 0. 1. ]] SLAMing on 141.433201008 meters Centerline goodness : 0.816339 with order 1 Centerline is valid? [False, False] Translation: X:21.53, Y:-1.16, Z:-1.03 [[ 0.96993623 0.10870571 0.21773096 21.52836967] [-0.12245396 0.99118153 0.05063789 -1.15534721] [-0.21030628 -0.07577754 0.97469433 -1.0273606 ] [ 0. 0. 0. 1. ]] SLAMing on 141.493201008 meters Centerline goodness : 0.818456 with order 1 Centerline is valid? [False, False] Translation: X:21.60, Y:-1.18, Z:-1.00 [[ 0.96941182 0.0858159 0.2299486 21.5956743 ] [-0.10961352 0.98963481 0.0927783 -1.17819488] [-0.21960329 -0.11514586 0.96877027 -1.00326877] [ 0. 0. 0. 1. ]] SLAMing on 141.553201008 meters Centerline goodness : 0.818996 with order 1 Centerline is valid? [False, False] Translation: X:21.62, Y:-1.19, Z:-0.99 [[ 0.96850885 0.07395273 0.23774271 21.62173581] [-0.10311952 0.98826676 0.11267283 -1.18581515] [-0.22662076 -0.13364055 0.96477108 -0.98923053] [ 0. 0. 0. 1. ]] SLAMing on 141.613201008 meters Centerline goodness : 0.823216 with order 1 Centerline is valid? [False, False] Translation: X:21.62, Y:-1.19, Z:-0.98 [[ 0.96891605 0.06000713 0.24000172 21.62148687] [-0.09292013 0.98737825 0.1282577 -1.1894178 ] [-0.2292761 -0.14657194 0.96226251 -0.97590737] [ 0. 0. 0. 1. ]] SLAMing on 141.673201008 meters Centerline goodness : 0.826699 with order 1 Centerline is valid? [False, False] Translation: X:21.61, Y:-1.18, Z:-0.97 [[ 0.96995625 0.05450501 0.23709507 21.6053274 ] [-0.08723885 0.98769005 0.12983742 -1.18413812] [-0.22709966 -0.14662052 0.96277109 -0.9717502 ] [ 0. 0. 0. 1. ]] SLAMing on 141.733201008 meters Centerline goodness : 0.829108 with order 1 Centerline is valid? [False, False] Translation: X:21.58, Y:-1.18, Z:-0.97 [[ 0.96959772 0.05198767 0.23911828 21.57987234] [-0.08485868 0.98796864 0.12929415 -1.17640647] [-0.22951966 -0.14565457 0.96234374 -0.97009279] [ 0. 0. 0. 1. ]] SLAMing on 141.793201008 meters Centerline goodness : 0.832680 with order 1 Centerline is valid? [False, False] Translation: X:21.58, Y:-1.17, Z:-0.97 [[ 0.96921909 0.05224969 0.24059163 21.57830197] [-0.08459614 0.98839856 0.12614188 -1.16936886] [-0.23120955 -0.14261224 0.96239487 -0.97448356] [ 0. 0. 0. 1. ]] SLAMing on 141.853201008 meters Centerline goodness : 0.835894 with order 1 Centerline is valid? [False, False] Translation: X:21.58, Y:-1.16, Z:-0.98 [[ 0.96883696 0.05498175 0.24152008 21.57835693] [-0.08765023 0.98806491 0.12666956 -1.16147133] [-0.231673 -0.14389144 0.96209296 -0.97884544] [ 0. 0. 0. 1. ]] SLAMing on 141.91320100800002 meters Centerline goodness : 0.834103 with order 1 Centerline is valid? [False, False] Translation: X:21.59, Y:-1.15, Z:-0.99 [[ 0.96728342 0.06180885 0.24605378 21.58759958] [-0.0924335 0.98906497 0.11491967 -1.15449183] [-0.23626012 -0.13390351 0.96241935 -0.9922716 ] [ 0. 0. 0. 1. ]] SLAMing on 141.97320100800002 meters Centerline goodness : 0.834196 with order 1 Centerline is valid? [False, False] Translation: X:21.61, Y:-1.15, Z:-1.00 [[ 0.96576058 0.06606966 0.25088106 21.6063481 ] [-0.09721838 0.98872901 0.11385751 -1.15253202] [-0.24053085 -0.13434935 0.96129868 -0.99568898] [ 0. 0. 0. 1. ]] SLAMing on 142.033201008 meters Centerline goodness : 0.832863 with order 1 Centerline is valid? [False, False] Translation: X:21.62, Y:-1.15, Z:-1.01 [[ 0.96358771 0.0746783 0.25675255 21.61618928] [-0.10539401 0.98854673 0.108016 -1.14591074] [-0.24574545 -0.13114307 0.96042213 -1.00559529] [ 0. 0. 0. 1. ]] SLAMing on 142.093201008 meters Centerline goodness : 0.832430 with order 1 Centerline is valid? [False, False] Translation: X:21.63, Y:-1.14, Z:-1.02 [[ 0.96193531 0.08057347 0.26112902 21.62988774] [-0.11001691 0.98887109 0.10015115 -1.14135014] [-0.25015341 -0.12506753 0.96009446 -1.0169591 ] [ 0. 0. 0. 1. ]] SLAMing on 142.153201008 meters Centerline goodness : 0.830086 with order 1 Centerline is valid? [False, False] Translation: X:21.64, Y:-1.14, Z:-1.03 [[ 0.96020165 0.08748904 0.2652517 21.64010908] [-0.11480859 0.98936789 0.08927574 -1.13588005] [-0.25462087 -0.11617588 0.96003717 -1.03062692] [ 0. 0. 0. 1. ]] SLAMing on 142.213201008 meters Centerline goodness : 0.828080 with order 1 Centerline is valid? [False, False] Translation: X:21.65, Y:-1.13, Z:-1.04 [[ 0.95865967 0.0923629 0.26914815 21.65276608] [-0.11758909 0.98990474 0.07912909 -1.13356067] [-0.25912244 -0.10750675 0.95984262 -1.04207125] [ 0. 0. 0. 1. ]] SLAMing on 142.273201008 meters Centerline goodness : 0.827711 with order 1 Centerline is valid? [False, False] Translation: X:21.66, Y:-1.13, Z:-1.05 [[ 0.95861245 0.09434789 0.26862734 21.65634358] [-0.12030624 0.98935807 0.08183534 -1.13251082] [-0.25804764 -0.11076592 0.9597616 -1.04705166] [ 0. 0. 0. 1. ]] SLAMing on 142.333201008 meters Centerline goodness : 0.828535 with order 1 Centerline is valid? [False, False] Translation: X:21.66, Y:-1.14, Z:-1.05 [[ 0.95984812 0.09703717 0.26320215 21.66483328] [-0.12234969 0.98913407 0.08151284 -1.1350995 ] [-0.25243244 -0.11044265 0.96129095 -1.04911017] [ 0. 0. 0. 1. ]] SLAMing on 142.393201008 meters Centerline goodness : 0.831660 with order 1 Centerline is valid? [False, False] Translation: X:21.68, Y:-1.14, Z:-1.06 [[ 0.95809275 0.10178085 0.26776658 21.67640446] [-0.12529048 0.98949059 0.07218493 -1.13560791] [-0.25760547 -0.10270846 0.96077593 -1.05870682] [ 0. 0. 0. 1. ]] SLAMing on 142.453201008 meters Centerline goodness : 0.834297 with order 1 Centerline is valid? [False, False] Translation: X:21.69, Y:-1.13, Z:-1.07 [[ 0.95638324 0.10669401 0.27193286 21.68753094] [-0.12788584 0.98988737 0.0613858 -1.13460535] [-0.2626334 -0.09348472 0.96035634 -1.07015457] [ 0. 0. 0. 1. ]] SLAMing on 142.513201008 meters Centerline goodness : 0.834250 with order 1 Centerline is valid? [False, False] Translation: X:21.69, Y:-1.14, Z:-1.07 [[ 0.95619523 0.10853357 0.27186605 21.68947828] [-0.13069478 0.98930758 0.06472541 -1.13829322] [-0.26193427 -0.0974216 0.96015596 -1.07252414] [ 0. 0. 0. 1. ]] SLAMing on 142.573201008 meters Centerline goodness : 0.834937 with order 1 Centerline is valid? [False, False] Translation: X:21.69, Y:-1.14, Z:-1.08 [[ 0.95660458 0.10736171 0.27088952 21.69295541] [-0.1291587 0.98956226 0.06391057 -1.13923012] [-0.2612005 -0.09612488 0.96048649 -1.0758263 ] [ 0. 0. 0. 1. ]] SLAMing on 142.63320100800001 meters Centerline goodness : 0.838656 with order 1 Centerline is valid? [False, False] Translation: X:21.74, Y:-1.15, Z:-1.08 [[ 0.9580805 0.10246679 0.26754871 21.73929148] [-0.12636648 0.98924592 0.07364792 -1.14880659] [-0.25712501 -0.10436983 0.9607256 -1.07963521] [ 0. 0. 0. 1. ]] SLAMing on 142.69320100800002 meters Centerline goodness : 0.838614 with order 1 Centerline is valid? [False, False] Translation: X:21.74, Y:-1.15, Z:-1.08 [[ 0.95866276 0.10088036 0.26606177 21.74428053] [-0.12450103 0.9894996 0.07341688 -1.1513484 ] [-0.25586169 -0.103507 0.96115612 -1.08190948] [ 0. 0. 0. 1. ]] SLAMing on 142.753201008 meters Centerline goodness : 0.840724 with order 1 Centerline is valid? [False, False] Translation: X:21.79, Y:-1.16, Z:-1.08 [[ 0.95957345 0.09869893 0.26358548 21.78720365] [-0.12575211 0.98817076 0.08777793 -1.16388958] [-0.25180388 -0.1173758 0.96063402 -1.07855592] [ 0. 0. 0. 1. ]] SLAMing on 142.813201008 meters Centerline goodness : 0.839705 with order 1 Centerline is valid? [False, False] Translation: X:21.79, Y:-1.16, Z:-1.08 [[ 0.95974255 0.09819819 0.26315652 21.78911176] [-0.12513863 0.98826352 0.08761013 -1.16435795] [-0.25146483 -0.11701421 0.96076694 -1.08010587] [ 0. 0. 0. 1. ]] SLAMing on 142.873201008 meters Centerline goodness : 0.839703 with order 1 Centerline is valid? [False, False] Translation: X:21.83, Y:-1.18, Z:-1.08 [[ 0.9604116 0.09428976 0.26214308 21.83276508] [-0.12464119 0.98698208 0.10164123 -1.17590176] [-0.2491468 -0.13029124 0.95966143 -1.07590461] [ 0. 0. 0. 1. ]] SLAMing on 142.933201008 meters Centerline goodness : 0.841470 with order 1 Centerline is valid? [False, False] Translation: X:21.88, Y:-1.19, Z:-1.07 [[ 0.96172073 0.08539969 0.26038459 21.87692123] [-0.11701607 0.98719426 0.10841923 -1.18791798] [-0.2477912 -0.13473821 0.95939832 -1.07491048] [ 0. 0. 0. 1. ]] SLAMing on 142.993201008 meters Centerline goodness : 0.842160 with order 1 Centerline is valid? [False, False] Translation: X:21.91, Y:-1.19, Z:-1.08 [[ 0.96189546 0.08249877 0.26067429 21.90625947] [-0.11355891 0.9878165 0.10640924 -1.19335533] [-0.24871973 -0.13195645 0.95954468 -1.07831583] [ 0. 0. 0. 1. ]] SLAMing on 143.053201008 meters Centerline goodness : 0.842853 with order 1 Centerline is valid? [False, False] Translation: X:21.95, Y:-1.21, Z:-1.07 [[ 0.96170898 0.07596784 0.26333387 21.94874238] [-0.11084219 0.98654257 0.12019882 -1.20526762] [-0.25065883 -0.14478479 0.95718729 -1.06876095] [ 0. 0. 0. 1. ]] SLAMing on 143.113201008 meters Centerline goodness : 0.841521 with order 1 Centerline is valid? [False, False] Translation: X:21.98, Y:-1.21, Z:-1.06 [[ 0.9619168 0.07764871 0.26208157 21.98085551] [-0.11509803 0.98471897 0.13069429 -1.21391862] [-0.24792845 -0.15588211 0.95615493 -1.06441083] [ 0. 0. 0. 1. ]] SLAMing on 143.173201008 meters Centerline goodness : 0.842704 with order 1 Centerline is valid? [False, False] Translation: X:22.01, Y:-1.22, Z:-1.07 [[ 0.96229349 0.08018458 0.25992627 22.01012778] [-0.11767834 0.98423433 0.13204009 -1.21795055] [-0.24524078 -0.15764901 0.95655828 -1.06958365] [ 0. 0. 0. 1. ]] SLAMing on 143.233201008 meters Centerline goodness : 0.846814 with order 1 Centerline is valid? [False, False] Translation: X:22.02, Y:-1.21, Z:-1.08 [[ 0.96119636 0.08411896 0.26272715 22.02457606] [-0.11886809 0.98571946 0.11927919 -1.21480549] [-0.24894163 -0.1458806 0.95746902 -1.08379142] [ 0. 0. 0. 1. ]] SLAMing on 143.293201008 meters Centerline goodness : 0.848462 with order 1 Centerline is valid? [False, False] Translation: X:22.04, Y:-1.21, Z:-1.10 [[ 0.96010877 0.08869557 0.26518718 22.03939509] [-0.12093177 0.98679155 0.1077866 -1.21073678] [-0.25212427 -0.13555642 0.95815333 -1.09671145] [ 0. 0. 0. 1. ]] SLAMing on 143.353201008 meters Centerline goodness : 0.847030 with order 1 Centerline is valid? [False, False] Translation: X:22.05, Y:-1.21, Z:-1.11 [[ 0.95916234 0.09247079 0.26731395 22.0534285 ] [-0.12138629 0.98817117 0.09371821 -1.20611229] [-0.25548575 -0.12233923 0.95904126 -1.11193988] [ 0. 0. 0. 1. ]] SLAMing on 143.41320100800002 meters Centerline goodness : 0.846460 with order 1 Centerline is valid? [False, False] Translation: X:22.06, Y:-1.20, Z:-1.11 [[ 0.96106969 0.09570635 0.25920136 22.06449531] [-0.12228841 0.98854859 0.08841507 -1.20418075] [-0.24777125 -0.11667037 0.96176787 -1.11411396] [ 0. 0. 0. 1. ]] SLAMing on 143.47320100800002 meters Centerline goodness : 0.847771 with order 1 Centerline is valid? [False, False] Translation: X:22.08, Y:-1.20, Z:-1.11 [[ 0.9629834 0.09985044 0.25038541 22.07732372] [-0.12405377 0.98881617 0.08278434 -1.20419636] [-0.23931909 -0.1107812 0.96460038 -1.11353886] [ 0. 0. 0. 1. ]] SLAMing on 143.533201008 meters Centerline goodness : 0.846391 with order 1 Centerline is valid? [False, False] Translation: X:22.09, Y:-1.20, Z:-1.12 [[ 0.96496251 0.10344349 0.24113648 22.0895339 ] [-0.12450974 0.98947092 0.07378772 -1.20300809] [-0.23096467 -0.10122622 0.96768206 -1.11623058] [ 0. 0. 0. 1. ]] SLAMing on 143.593201008 meters Centerline goodness : 0.838915 with order 1 Centerline is valid? [False, False] Translation: X:22.10, Y:-1.20, Z:-1.13 [[ 0.96584096 0.10087531 0.23869525 22.09819401] [-0.12075543 0.99020076 0.07014691 -1.1973346 ] [-0.22928013 -0.0965745 0.96855769 -1.12517626] [ 0. 0. 0. 1. ]] SLAMing on 143.653201008 meters Centerline goodness : 0.835688 with order 1 Centerline is valid? [False, False] Translation: X:22.15, Y:-1.20, Z:-1.12 [[ 0.96699876 0.0964373 0.23582461 22.14850549] [-0.11916066 0.98931079 0.08405289 -1.20477549] [-0.225198 -0.10938006 0.96815384 -1.12342922] [ 0. 0. 0. 1. ]] SLAMing on 143.713201008 meters Centerline goodness : 0.836468 with order 1 Centerline is valid? [False, False] Translation: X:22.15, Y:-1.20, Z:-1.12 [[ 0.96748281 0.0950032 0.23441716 22.15300066] [-0.11754739 0.98949792 0.08412187 -1.20412952] [-0.22396345 -0.10894158 0.9684896 -1.12282633] [ 0. 0. 0. 1. ]] SLAMing on 143.773201008 meters Centerline goodness : 0.837337 with order 1 Centerline is valid? [False, False] Translation: X:22.20, Y:-1.21, Z:-1.12 [[ 0.96818409 0.09343234 0.23214211 22.19594344] [-0.11810464 0.98847191 0.09473419 -1.20948924] [-0.22061472 -0.1191372 0.96805758 -1.12240238] [ 0. 0. 0. 1. ]] SLAMing on 143.833201008 meters Centerline goodness : 0.832356 with order 1 Centerline is valid? [False, False] Translation: X:22.20, Y:-1.21, Z:-1.12 [[ 0.96850572 0.09240942 0.23120808 22.19987621] [-0.11672703 0.98872631 0.09378207 -1.20604618] [-0.21993516 -0.11781671 0.96837376 -1.12467815] [ 0. 0. 0. 1. ]] SLAMing on 143.893201008 meters Centerline goodness : 0.832676 with order 1 Centerline is valid? [False, False] Translation: X:22.24, Y:-1.21, Z:-1.12 [[ 0.96891126 0.0920602 0.22964294 22.24057537] [-0.11869175 0.98736749 0.10496527 -1.21159547] [-0.21707885 -0.12895876 0.96759827 -1.12309253] [ 0. 0. 0. 1. ]] SLAMing on 143.953201008 meters Centerline goodness : 0.837111 with order 1 Centerline is valid? [False, False] Translation: X:22.26, Y:-1.21, Z:-1.13 [[ 0.96803021 0.09501152 0.23214288 22.25622649] [-0.11929585 0.98850433 0.09288541 -1.20793675] [-0.22064906 -0.11760957 0.96823653 -1.13433719] [ 0. 0. 0. 1. ]] SLAMing on 144.013201008 meters Centerline goodness : 0.836717 with order 1 Centerline is valid? [False, False] Translation: X:22.28, Y:-1.20, Z:-1.14 [[ 0.96710088 0.09762966 0.23491346 22.27559995] [-0.12034121 0.98914354 0.08433887 -1.203579 ] [-0.22412915 -0.10983397 0.96835046 -1.14383383] [ 0. 0. 0. 1. ]] SLAMing on 144.073201008 meters Centerline goodness : 0.834623 with order 1 Centerline is valid? [False, False] Translation: X:22.28, Y:-1.20, Z:-1.16 [[ 0.96566641 0.10586204 0.23723746 22.28349332] [-0.12607085 0.98942997 0.07165528 -1.19663674] [-0.22714428 -0.09910382 0.9688054 -1.15631155] [ 0. 0. 0. 1. ]] SLAMing on 144.13320100800001 meters Centerline goodness : 0.832250 with order 1 Centerline is valid? [False, False] Translation: X:22.30, Y:-1.19, Z:-1.17 [[ 0.96425405 0.11163925 0.24031398 22.29532634] [-0.12966066 0.98971199 0.06048383 -1.19242305] [-0.23108926 -0.08948104 0.96880901 -1.16792072] [ 0. 0. 0. 1. ]] SLAMing on 144.19320100800002 meters Centerline goodness : 0.834097 with order 1 Centerline is valid? [False, False] Translation: X:22.32, Y:-1.19, Z:-1.17 [[ 0.96312141 0.11284156 0.24426201 22.31530778] [-0.13018245 0.9899073 0.05600062 -1.19155833] [-0.23547755 -0.08573402 0.96809091 -1.16918618] [ 0. 0. 0. 1. ]] SLAMing on 144.253201008 meters Centerline goodness : 0.832307 with order 1 Centerline is valid? [False, False] Translation: X:22.32, Y:-1.19, Z:-1.17 [[ 0.96344286 0.11256767 0.24311803 22.31836043] [-0.12920954 0.990169 0.05357475 -1.1868174 ] [-0.23469715 -0.08302938 0.96851607 -1.17391357] [ 0. 0. 0. 1. ]] SLAMing on 144.313201008 meters Centerline goodness : 0.831835 with order 1 Centerline is valid? [False, False] Translation: X:22.32, Y:-1.18, Z:-1.18 [[ 0.96348741 0.11419904 0.24217883 22.32346773] [-0.13149442 0.98970872 0.05644355 -1.18481084] [-0.2332407 -0.08622781 0.96858843 -1.17758281] [ 0. 0. 0. 1. ]] SLAMing on 144.373201008 meters Centerline goodness : 0.829450 with order 1 Centerline is valid? [False, False] Translation: X:22.33, Y:-1.18, Z:-1.18 [[ 0.96334809 0.11580303 0.24197131 22.32714401] [-0.1343389 0.98902471 0.06150757 -1.18344602] [-0.23219285 -0.09175936 0.96833192 -1.17537176] [ 0. 0. 0. 1. ]] SLAMing on 144.433201008 meters Centerline goodness : 0.832218 with order 1 Centerline is valid? [False, False] Translation: X:22.34, Y:-1.18, Z:-1.18 [[ 0.96248334 0.1190632 0.24382323 22.34491732] [-0.13578001 0.98932674 0.05288086 -1.18247923] [-0.23492468 -0.08400326 0.96837691 -1.18362358] [ 0. 0. 0. 1. ]] SLAMing on 144.493201008 meters Centerline goodness : 0.833619 with order 1 Centerline is valid? [False, False] Translation: X:22.35, Y:-1.18, Z:-1.18 [[ 0.96269357 0.12013914 0.2424617 22.35116293] [-0.13788593 0.9887753 0.05754017 -1.18292681] [-0.23282731 -0.0888256 0.96845313 -1.18343934] [ 0. 0. 0. 1. ]] SLAMing on 144.553201008 meters Centerline goodness : 0.834905 with order 1 Centerline is valid? [False, False] Translation: X:22.38, Y:-1.19, Z:-1.18 [[ 0.96283557 0.11588442 0.24396407 22.37737426] [-0.13839278 0.98736551 0.07718025 -1.18752537] [-0.23193772 -0.10807476 0.9667082 -1.17738723] [ 0. 0. 0. 1. ]] SLAMing on 144.613201008 meters Centerline goodness : 0.838572 with order 1 Centerline is valid? [False, False] Translation: X:22.40, Y:-1.19, Z:-1.18 [[ 0.96337777 0.1185238 0.24053147 22.40468776] [-0.1409626 0.98691581 0.07827344 -1.19333347] [-0.22810705 -0.10931283 0.96748017 -1.17969578] [ 0. 0. 0. 1. ]] SLAMing on 144.673201008 meters Centerline goodness : 0.836110 with order 1 Centerline is valid? [False, False] Translation: X:22.41, Y:-1.19, Z:-1.18 [[ 0.96376111 0.11757164 0.23946071 22.40803948] [-0.13982942 0.98708854 0.0781278 -1.19354003] [-0.22718331 -0.10878019 0.96775752 -1.18023852] [ 0. 0. 0. 1. ]] SLAMing on 144.733201008 meters Centerline goodness : 0.839142 with order 1 Centerline is valid? [False, False] Translation: X:22.42, Y:-1.19, Z:-1.18 [[ 0.96463585 0.11399689 0.23766023 22.41812262] [-0.13612186 0.9875524 0.0788105 -1.1913025 ] [-0.22571778 -0.10837419 0.96814592 -1.18171601] [ 0. 0. 0. 1. ]] SLAMing on 144.793201008 meters Centerline goodness : 0.839341 with order 1 Centerline is valid? [False, False] Translation: X:22.45, Y:-1.20, Z:-1.16 [[ 0.96388406 0.10529404 0.24462355 22.44660182] [-0.1344993 0.9852403 0.10588434 -1.20139422] [-0.22986399 -0.13496193 0.96381939 -1.16354535] [ 0. 0. 0. 1. ]] SLAMing on 144.853201008 meters Centerline goodness : 0.841568 with order 1 Centerline is valid? [False, False] Translation: X:22.45, Y:-1.20, Z:-1.16 [[ 0.96396541 0.10527856 0.24430945 22.44767778] [-0.13429174 0.98533464 0.10526807 -1.19915909] [-0.2296441 -0.13428352 0.96396656 -1.16420141] [ 0. 0. 0. 1. ]] SLAMing on 144.91320100800002 meters Centerline goodness : 0.841379 with order 1 Centerline is valid? [False, False] Translation: X:22.46, Y:-1.20, Z:-1.17 [[ 0.96239899 0.10999178 0.24837469 22.45966409] [-0.1373536 0.98589638 0.0956155 -1.19558473] [-0.23435479 -0.12613542 0.96393345 -1.171414 ] [ 0. 0. 0. 1. ]] SLAMing on 144.97320100800002 meters Centerline goodness : 0.845827 with order 1 Centerline is valid? [False, False] Translation: X:22.47, Y:-1.19, Z:-1.18 [[ 0.96127404 0.11355705 0.25111156 22.47384447] [-0.13836581 0.98686358 0.08339777 -1.19174345] [-0.23834245 -0.11491336 0.96435875 -1.18301893] [ 0. 0. 0. 1. ]] SLAMing on 145.033201008 meters Centerline goodness : 0.844274 with order 1 Centerline is valid? [False, False] Translation: X:22.48, Y:-1.19, Z:-1.18 [[ 0.9615018 0.11424082 0.24992662 22.4803808 ] [-0.13998681 0.986259 0.08773188 -1.19170934] [-0.23646982 -0.1193408 0.96428201 -1.18385623] [ 0. 0. 0. 1. ]] SLAMing on 145.093201008 meters Centerline goodness : 0.844569 with order 1 Centerline is valid? [False, False] Translation: X:22.48, Y:-1.19, Z:-1.19 [[ 0.96176429 0.11388832 0.2490761 22.4831266 ] [-0.13918238 0.98649379 0.08636123 -1.18854849] [-0.23587649 -0.11772615 0.96462575 -1.18695376] [ 0. 0. 0. 1. ]] SLAMing on 145.153201008 meters Centerline goodness : 0.846301 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:-1.19, Z:-1.19 [[ 0.96229718 0.11288254 0.24747055 22.48743741] [-0.13770001 0.98679147 0.08533058 -1.18824418] [-0.23456949 -0.11619007 0.96513057 -1.18985158] [ 0. 0. 0. 1. ]] SLAMing on 145.213201008 meters Centerline goodness : 0.848389 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:-1.19, Z:-1.19 [[ 0.96263222 0.11220791 0.24647231 22.4905181 ] [-0.13668113 0.98700564 0.08448746 -1.18736698] [-0.2337894 -0.11501847 0.96546013 -1.19223659] [ 0. 0. 0. 1. ]] SLAMing on 145.273201008 meters Centerline goodness : 0.852228 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:-1.19, Z:-1.19 [[ 0.96281134 0.11172796 0.24599021 22.49237555] [-0.13599339 0.98714893 0.08392137 -1.18682248] [-0.23345261 -0.11425349 0.96563244 -1.19358405] [ 0. 0. 0. 1. ]] SLAMing on 145.333201008 meters Centerline goodness : 0.852943 with order 1 Centerline is valid? [False, False] Translation: X:22.52, Y:-1.19, Z:-1.20 [[ 0.96285574 0.11358417 0.24496421 22.5203759 ] [-0.13821629 0.98668104 0.08577172 -1.19249747] [-0.23195923 -0.11644384 0.96573068 -1.19744144] [ 0. 0. 0. 1. ]] SLAMing on 145.393201008 meters Centerline goodness : 0.849672 with order 1 Centerline is valid? [False, False] Translation: X:22.53, Y:-1.19, Z:-1.21 [[ 0.96149017 0.11696464 0.2487085 22.53017806] [-0.1385811 0.98778835 0.07120004 -1.1893104 ] [-0.23734347 -0.10292444 0.96595789 -1.20863272] [ 0. 0. 0. 1. ]] SLAMing on 145.453201008 meters Centerline goodness : 0.846494 with order 1 Centerline is valid? [False, False] Translation: X:22.54, Y:-1.19, Z:-1.21 [[ 0.96297456 0.1192315 0.24179298 22.54106142] [-0.13976478 0.98773805 0.06956546 -1.19144925] [-0.23053373 -0.10078391 0.96783098 -1.20799591] [ 0. 0. 0. 1. ]] SLAMing on 145.513201008 meters Centerline goodness : 0.845035 with order 1 Centerline is valid? [False, False] Translation: X:22.54, Y:-1.19, Z:-1.21 [[ 0.96307551 0.1189128 0.24154775 22.54215191] [-0.13936755 0.98780723 0.06937988 -1.19313931] [-0.23035245 -0.10048198 0.96790553 -1.20942475] [ 0. 0. 0. 1. ]] SLAMing on 145.573201008 meters Centerline goodness : 0.846099 with order 1 Centerline is valid? [False, False] Translation: X:22.54, Y:-1.19, Z:-1.21 [[ 0.96322984 0.11901397 0.2408816 22.54397523] [-0.13922463 0.98787913 0.0686391 -1.19194119] [-0.22979289 -0.09965188 0.96812434 -1.21192307] [ 0. 0. 0. 1. ]] SLAMing on 145.63320100800001 meters Centerline goodness : 0.841798 with order 1 Centerline is valid? [False, False] Translation: X:22.56, Y:-1.20, Z:-1.21 [[ 0.96417682 0.12619848 0.23331741 22.55547292] [-0.14603953 0.98681703 0.06974672 -1.19575013] [-0.22143966 -0.10132174 0.96989607 -1.21381396] [ 0. 0. 0. 1. ]] SLAMing on 145.69320100800002 meters Centerline goodness : 0.841919 with order 1 Centerline is valid? [False, False] Translation: X:22.56, Y:-1.19, Z:-1.22 [[ 0.96410785 0.12680172 0.23327531 22.55557578] [-0.14630472 0.98688422 0.06822372 -1.19319943] [-0.22156484 -0.0999043 0.97001451 -1.217265 ] [ 0. 0. 0. 1. ]] SLAMing on 145.753201008 meters Centerline goodness : 0.845953 with order 1 Centerline is valid? [False, False] Translation: X:22.56, Y:-1.19, Z:-1.23 [[ 0.96275561 0.13260052 0.23562415 22.56079727] [-0.14860078 0.98755962 0.05141795 -1.18979172] [-0.22587485 -0.08451686 0.9704831 -1.22890787] [ 0. 0. 0. 1. ]] SLAMing on 145.813201008 meters Centerline goodness : 0.843939 with order 1 Centerline is valid? [False, False] Translation: X:22.56, Y:-1.19, Z:-1.23 [[ 0.96328344 0.13202532 0.23378265 22.56202294] [-0.14736853 0.98784988 0.04934699 -1.19091044] [-0.22442711 -0.08198734 0.97103581 -1.22854094] [ 0. 0. 0. 1. ]] SLAMing on 145.873201008 meters Centerline goodness : 0.844631 with order 1 Centerline is valid? [False, False] Translation: X:22.56, Y:-1.19, Z:-1.23 [[ 0.96360843 0.12977121 0.23370541 22.56103208] [-0.14361677 0.9886918 0.04315947 -1.18734981] [-0.22546177 -0.07515285 0.97134908 -1.2330082 ] [ 0. 0. 0. 1. ]] SLAMing on 145.933201008 meters Centerline goodness : 0.843382 with order 1 Centerline is valid? [False, False] Translation: X:22.56, Y:-1.19, Z:-1.23 [[ 0.96429487 0.12607591 0.23289541 22.5627164 ] [-0.13866429 0.98959367 0.03842641 -1.18721874] [-0.22562718 -0.06934867 0.97174232 -1.2347607 ] [ 0. 0. 0. 1. ]] SLAMing on 145.993201008 meters Centerline goodness : 0.843128 with order 1 Centerline is valid? [False, False] Translation: X:22.57, Y:-1.19, Z:-1.24 [[ 0.96534318 0.12063206 0.23143131 22.56747514] [-0.13206952 0.99063911 0.03452242 -1.1900347 ] [-0.22510039 -0.06389101 0.97223853 -1.23533383] [ 0. 0. 0. 1. ]] SLAMing on 146.053201008 meters Centerline goodness : 0.843974 with order 1 Centerline is valid? [False, False] Translation: X:22.58, Y:-1.19, Z:-1.24 [[ 0.96659746 0.11498243 0.22905981 22.5805555 ] [-0.12651515 0.99130153 0.03626547 -1.19300786] [-0.22289745 -0.06403365 0.97273656 -1.2355145 ] [ 0. 0. 0. 1. ]] SLAMing on 146.113201008 meters Centerline goodness : 0.840846 with order 1 Centerline is valid? [False, False] Translation: X:22.59, Y:-1.20, Z:-1.24 [[ 0.96748148 0.11152113 0.22703 22.58935508] [-0.12301008 0.99171333 0.03705666 -1.19512649] [-0.22101607 -0.06377861 0.9731825 -1.23634233] [ 0. 0. 0. 1. ]] SLAMing on 146.173201008 meters Centerline goodness : 0.842433 with order 1 Centerline is valid? [False, False] Translation: X:22.60, Y:-1.20, Z:-1.23 [[ 0.96814841 0.10708734 0.22632048 22.60439771] [-0.12036322 0.99167945 0.04565714 -1.19969063] [-0.21954806 -0.07144355 0.97298225 -1.2315862 ] [ 0. 0. 0. 1. ]] SLAMing on 146.233201008 meters Centerline goodness : 0.837713 with order 1 Centerline is valid? [False, False] Translation: X:22.61, Y:-1.20, Z:-1.23 [[ 0.96823788 0.10707687 0.22594235 22.60542992] [-0.11999257 0.991791 0.04418592 -1.19626599] [-0.2193563 -0.06989389 0.97313805 -1.23389915] [ 0. 0. 0. 1. ]] SLAMing on 146.293201008 meters Centerline goodness : 0.840908 with order 1 Centerline is valid? [False, False] Translation: X:22.61, Y:-1.20, Z:-1.23 [[ 0.96799115 0.10973977 0.22572178 22.60710458] [-0.12368677 0.99113244 0.04855999 -1.19669313] [-0.21839122 -0.07492444 0.97298078 -1.23291306] [ 0. 0. 0. 1. ]] SLAMing on 146.353201008 meters Centerline goodness : 0.836633 with order 1 Centerline is valid? [False, False] Translation: X:22.62, Y:-1.19, Z:-1.23 [[ 0.96899366 0.11692695 0.21766803 22.61667983] [-0.12974532 0.99050242 0.04550951 -1.19375588] [-0.21027942 -0.07233983 0.97496129 -1.23116445] [ 0. 0. 0. 1. ]] SLAMing on 146.41320100800002 meters Centerline goodness : 0.836074 with order 1 Centerline is valid? [False, False] Translation: X:22.62, Y:-1.19, Z:-1.23 [[ 0.96855442 0.12019332 0.21784377 22.61705348] [-0.13402643 0.9897245 0.04982293 -1.19196369] [-0.20961693 -0.07745304 0.97471112 -1.22941161] [ 0. 0. 0. 1. ]] SLAMing on 146.47320100800002 meters Centerline goodness : 0.835108 with order 1 Centerline is valid? [False, False] Translation: X:22.62, Y:-1.19, Z:-1.23 [[ 0.96850673 0.12077041 0.21773659 22.61711355] [-0.13452171 0.9896773 0.04942415 -1.18835501] [-0.20951999 -0.07715792 0.97475537 -1.22978997] [ 0. 0. 0. 1. ]] SLAMing on 146.533201008 meters Centerline goodness : 0.833620 with order 1 Centerline is valid? [False, False] Translation: X:22.62, Y:-1.19, Z:-1.23 [[ 0.96857947 0.12095569 0.21730974 22.61818226] [-0.13454831 0.98970335 0.04882652 -1.18634648] [-0.20916634 -0.07653103 0.97488073 -1.23108757] [ 0. 0. 0. 1. ]] SLAMing on 146.593201008 meters Centerline goodness : 0.833643 with order 1 Centerline is valid? [False, False] Translation: X:22.62, Y:-1.19, Z:-1.23 [[ 0.96855499 0.12114496 0.21731343 22.61790938] [-0.1347194 0.98968527 0.04872117 -1.18522088] [-0.20916957 -0.07646547 0.97488518 -1.23034989] [ 0. 0. 0. 1. ]] SLAMing on 146.653201008 meters Centerline goodness : 0.834081 with order 1 Centerline is valid? [False, False] Translation: X:22.62, Y:-1.19, Z:-1.23 [[ 0.96877906 0.12053911 0.21665055 22.61990307] [-0.1339557 0.98980992 0.04829282 -1.18544027] [-0.20862169 -0.07580665 0.97505402 -1.23157752] [ 0. 0. 0. 1. ]] SLAMing on 146.713201008 meters Centerline goodness : 0.836757 with order 1 Centerline is valid? [False, False] Translation: X:22.63, Y:-1.19, Z:-1.23 [[ 0.96936602 0.11849339 0.21514843 22.6255759 ] [-0.13184548 0.99007053 0.04875573 -1.18721206] [-0.20723489 -0.07562849 0.97536354 -1.232306 ] [ 0. 0. 0. 1. ]] SLAMing on 146.773201008 meters Centerline goodness : 0.836130 with order 1 Centerline is valid? [False, False] Translation: X:22.63, Y:-1.19, Z:-1.23 [[ 0.96975901 0.11728318 0.21403766 22.62941638] [-0.13041327 0.99028535 0.04824215 -1.1877066 ] [-0.20630036 -0.07469661 0.97563342 -1.23452366] [ 0. 0. 0. 1. ]] SLAMing on 146.833201008 meters Centerline goodness : 0.834732 with order 1 Centerline is valid? [False, False] Translation: X:22.63, Y:-1.19, Z:-1.24 [[ 0.97012154 0.11607613 0.21305054 22.63309252] [-0.12900396 0.99049292 0.04776773 -1.18886384] [-0.20548036 -0.07382486 0.9758728 -1.23677734] [ 0. 0. 0. 1. ]] SLAMing on 146.893201008 meters Centerline goodness : 0.836723 with order 1 Centerline is valid? [False, False] Translation: X:22.64, Y:-1.19, Z:-1.24 [[ 0.97041692 0.11517048 0.21219512 22.63648317] [-0.12804714 0.99060931 0.04792834 -1.18954686] [-0.20468253 -0.07368145 0.97605128 -1.23772101] [ 0. 0. 0. 1. ]] SLAMing on 146.953201008 meters Centerline goodness : 0.836713 with order 1 Centerline is valid? [False, False] Translation: X:22.64, Y:-1.19, Z:-1.24 [[ 0.97061737 0.11500485 0.21136653 22.63892471] [-0.12716758 0.99086744 0.04483445 -1.18599525] [-0.20428003 -0.07039606 0.97637803 -1.24455895] [ 0. 0. 0. 1. ]] SLAMing on 147.013201008 meters Centerline goodness : 0.838385 with order 1 Centerline is valid? [False, False] Translation: X:22.64, Y:-1.19, Z:-1.25 [[ 0.97069492 0.11510059 0.2109579 22.63995637] [-0.12711548 0.99089991 0.0442609 -1.18514157] [-0.20394371 -0.06977985 0.97649257 -1.24605064] [ 0. 0. 0. 1. ]] SLAMing on 147.073201008 meters Centerline goodness : 0.838054 with order 1 Centerline is valid? [False, False] Translation: X:22.64, Y:-1.19, Z:-1.24 [[ 0.97032601 0.11809917 0.21099769 22.64065905] [-0.13117278 0.99014641 0.04902846 -1.18512306] [-0.20312838 -0.07525074 0.97625621 -1.24385419] [ 0. 0. 0. 1. ]] SLAMing on 147.13320100800001 meters Centerline goodness : 0.840608 with order 1 Centerline is valid? [False, False] Translation: X:22.64, Y:-1.18, Z:-1.24 [[ 0.97027666 0.11857985 0.21095501 22.64026373] [-0.13174442 0.99005031 0.04943479 -1.18480832] [-0.20299411 -0.07575757 0.97624494 -1.24270949] [ 0. 0. 0. 1. ]] SLAMing on 147.19320100800002 meters Centerline goodness : 0.840693 with order 1 Centerline is valid? [False, False] Translation: X:22.65, Y:-1.19, Z:-1.24 [[ 0.97116675 0.12521358 0.20287116 22.64972272] [-0.13741884 0.9893887 0.04718123 -1.1872082 ] [-0.1948107 -0.07369916 0.97806811 -1.23685619] [ 0. 0. 0. 1. ]] SLAMing on 147.253201008 meters Centerline goodness : 0.847729 with order 1 Centerline is valid? [False, False] Translation: X:22.65, Y:-1.19, Z:-1.23 [[ 0.97103212 0.12584947 0.20312197 22.64812084] [-0.13826356 0.98922811 0.04807222 -1.18704901] [-0.1948841 -0.07476404 0.97797266 -1.23383278] [ 0. 0. 0. 1. ]] SLAMing on 147.313201008 meters Centerline goodness : 0.845671 with order 1 Centerline is valid? [False, False] Translation: X:22.65, Y:-1.18, Z:-1.24 [[ 0.97144039 0.12348467 0.20262061 22.64763802] [-0.13485074 0.98992246 0.04322957 -1.18499451] [-0.1952405 -0.06931849 0.97830266 -1.2354439 ] [ 0. 0. 0. 1. ]] SLAMing on 147.373201008 meters Centerline goodness : 0.842742 with order 1 Centerline is valid? [False, False] Translation: X:22.65, Y:-1.18, Z:-1.24 [[ 0.97211387 0.12020807 0.201357 22.64976824] [-0.13041277 0.99072532 0.03815553 -1.18363636] [-0.19490288 -0.06335104 0.9787745 -1.23861611] [ 0. 0. 0. 1. ]] SLAMing on 147.433201008 meters Centerline goodness : 0.848607 with order 1 Centerline is valid? [False, False] Translation: X:22.65, Y:-1.19, Z:-1.24 [[ 0.97235307 0.11956482 0.20058354 22.65174599] [-0.12981876 0.99078134 0.03872242 -1.18676057] [-0.19410459 -0.06369137 0.97891104 -1.23820383] [ 0. 0. 0. 1. ]] SLAMing on 147.493201008 meters Centerline goodness : 0.848156 with order 1 Centerline is valid? [False, False] Translation: X:22.65, Y:-1.19, Z:-1.24 [[ 0.97286287 0.1166889 0.19980374 22.65207081] [-0.12610977 0.99139702 0.0350468 -1.18826677] [-0.19399526 -0.05929293 0.97920896 -1.23792749] [ 0. 0. 0. 1. ]] SLAMing on 147.553201008 meters Centerline goodness : 0.847431 with order 1 Centerline is valid? [False, False] Translation: X:22.65, Y:-1.18, Z:-1.24 [[ 0.97319607 0.11440333 0.19950261 22.65162086] [-0.12250686 0.99205212 0.02871706 -1.18374275] [-0.19463166 -0.05238777 0.97947641 -1.24288272] [ 0. 0. 0. 1. ]] SLAMing on 147.613201008 meters Centerline goodness : 0.850926 with order 1 Centerline is valid? [False, False] Translation: X:22.65, Y:-1.18, Z:-1.24 [[ 0.97371068 0.11101095 0.19890722 22.6522671 ] [-0.11817986 0.99268988 0.0245016 -1.18364759] [-0.19473324 -0.0473643 0.97971199 -1.2432027 ] [ 0. 0. 0. 1. ]] SLAMing on 147.673201008 meters Centerline goodness : 0.846401 with order 1 Centerline is valid? [False, False] Translation: X:22.65, Y:-1.18, Z:-1.24 [[ 9.74116676e-01 1.08277817e-01 1.98425339e-01 2.26519210e+01] [-1.14544127e-01 9.93209830e-01 2.03439346e-02 -1.18295829e+00] [-1.94875200e-01 -4.25458232e-02 9.79904847e-01 -1.24299462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.733201008 meters Centerline goodness : 0.849170 with order 1 Centerline is valid? [False, False] Translation: X:22.65, Y:-1.18, Z:-1.24 [[ 9.74557959e-01 1.05220737e-01 1.97902454e-01 2.26516666e+01] [-1.10732106e-01 9.93705570e-01 1.69599839e-02 -1.18329961e+00] [-1.94872229e-01 -3.84426427e-02 9.80074986e-01 -1.24085534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.793201008 meters Centerline goodness : 0.847997 with order 1 Centerline is valid? [False, False] Translation: X:22.65, Y:-1.18, Z:-1.24 [[ 9.74766833e-01 1.04470082e-01 1.97270432e-01 2.26537266e+01] [-1.09993500e-01 9.93783089e-01 1.72221206e-02 -1.18330599e+00] [-1.94244823e-01 -3.84860173e-02 9.80197824e-01 -1.24022542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.853201008 meters Centerline goodness : 0.848519 with order 1 Centerline is valid? [False, False] Translation: X:22.66, Y:-1.18, Z:-1.24 [[ 9.74973773e-01 1.04041726e-01 1.96472543e-01 2.26561297e+01] [-1.09367398e-01 9.93865699e-01 1.64238811e-02 -1.18216558e+00] [-1.93558553e-01 -3.75005441e-02 9.80371764e-01 -1.24245284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91320100800002 meters Centerline goodness : 0.848591 with order 1 Centerline is valid? [False, False] Translation: X:22.66, Y:-1.18, Z:-1.24 [[ 9.75209726e-01 1.03995218e-01 1.95322770e-01 2.26583974e+01] [-1.09096269e-01 9.93910148e-01 1.55119658e-02 -1.18046338e+00] [-1.92520113e-01 -3.64364055e-02 9.80616334e-01 -1.24409552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97320100800002 meters Centerline goodness : 0.846792 with order 1 Centerline is valid? [False, False] Translation: X:22.67, Y:-1.18, Z:-1.24 [[ 9.76395028e-01 1.09315474e-01 1.86287082e-01 2.26708880e+01] [-1.13670549e-01 9.93435695e-01 1.28267915e-02 -1.18392958e+00] [-1.83662070e-01 -3.36993704e-02 9.82411623e-01 -1.24184443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.033201008 meters Centerline goodness : 0.846610 with order 1 Centerline is valid? [False, False] Translation: X:22.67, Y:-1.18, Z:-1.24 [[ 9.76324957e-01 1.10159113e-01 1.86157322e-01 2.26705020e+01] [-1.14539933e-01 9.93334753e-01 1.29101523e-02 -1.18127990e+00] [-1.83494366e-01 -3.39269510e-02 9.82435127e-01 -1.24117563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.093201008 meters Centerline goodness : 0.847305 with order 1 Centerline is valid? [False, False] Translation: X:22.67, Y:-1.18, Z:-1.24 [[ 9.76108509e-01 1.11265852e-01 1.86633570e-01 2.26681427e+01] [-1.15824925e-01 9.93175581e-01 1.36693949e-02 -1.18029060e+00] [-1.83838968e-01 -3.49596319e-02 9.82334494e-01 -1.23814920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.153201008 meters Centerline goodness : 0.844236 with order 1 Centerline is valid? [False, False] Translation: X:22.67, Y:-1.18, Z:-1.24 [[ 9.76043023e-01 1.11814639e-01 1.86648074e-01 2.26672782e+01] [-1.16408311e-01 9.93105563e-01 1.38001927e-02 -1.17946120e+00] [-1.83818177e-01 -3.51969688e-02 9.82329910e-01 -1.23667739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.213201008 meters Centerline goodness : 0.843002 with order 1 Centerline is valid? [False, False] Translation: X:22.67, Y:-1.18, Z:-1.24 [[ 9.75941295e-01 1.12834785e-01 1.86566076e-01 2.26663041e+01] [-1.17360600e-01 9.92999522e-01 1.33581024e-02 -1.17636378e+00] [-1.83752765e-01 -3.49322303e-02 9.82351597e-01 -1.23599300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.273201008 meters Centerline goodness : 0.843414 with order 1 Centerline is valid? [False, False] Translation: X:22.67, Y:-1.18, Z:-1.24 [[ 9.76023982e-01 1.12936155e-01 1.86071522e-01 2.26673416e+01] [-1.17377137e-01 9.93002454e-01 1.29897426e-02 -1.17521785e+00] [-1.83302466e-01 -3.45188427e-02 9.82450332e-01 -1.23648789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.333201008 meters Centerline goodness : 0.842482 with order 1 Centerline is valid? [False, False] Translation: X:22.67, Y:-1.18, Z:-1.24 [[ 9.76038707e-01 1.14500469e-01 1.85035363e-01 2.26722457e+01] [-1.19678095e-01 9.92666818e-01 1.70218114e-02 -1.17558508e+00] [-1.81729459e-01 -3.87586265e-02 9.82584435e-01 -1.23718731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.393201008 meters Centerline goodness : 0.843705 with order 1 Centerline is valid? [False, False] Translation: X:22.67, Y:-1.18, Z:-1.24 [[ 9.76297705e-01 1.13796257e-01 1.84101065e-01 2.26748498e+01] [-1.18904009e-01 9.92761749e-01 1.69099513e-02 -1.17666359e+00] [-1.80844207e-01 -3.83995013e-02 9.82761849e-01 -1.23802948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.453201008 meters Centerline goodness : 0.846365 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:-1.18, Z:-1.23 [[ 9.77006962e-01 1.10308620e-01 1.82453842e-01 2.26837564e+01] [-1.16070276e-01 9.93015278e-01 2.11742469e-02 -1.18099130e+00] [-1.78843751e-01 -4.18648545e-02 9.82986392e-01 -1.23206184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.513201008 meters Centerline goodness : 0.846930 with order 1 Centerline is valid? [False, False] Translation: X:22.70, Y:-1.19, Z:-1.22 [[ 0.97717511 0.10478155 0.18479616 22.70432411] [-0.113158 0.99294795 0.03535006 -1.18833497] [-0.17978894 -0.05545437 0.9821409 -1.22489607] [ 0. 0. 0. 1. ]] SLAMing on 148.573201008 meters Centerline goodness : 0.848729 with order 1 Centerline is valid? [False, False] Translation: X:22.74, Y:-1.20, Z:-1.22 [[ 0.97777739 0.10353251 0.18229753 22.74275709] [-0.11319266 0.99262558 0.04338075 -1.19596087] [-0.17646187 -0.06305146 0.98228597 -1.22184082] [ 0. 0. 0. 1. ]] SLAMing on 148.63320100800001 meters Centerline goodness : 0.885027 with order 2 Centerline is valid? [False, False] Translation: X:22.79, Y:-1.21, Z:-1.21 [[ 0.97819256 0.10077072 0.18161657 22.79045804] [-0.11362673 0.99159933 0.06180405 -1.20763216] [-0.17386283 -0.08109276 0.98142533 -1.21322427] [ 0. 0. 0. 1. ]] SLAMing on 148.69320100800002 meters Centerline goodness : 0.877155 with order 1 Centerline is valid? [False, False] Translation: X:22.82, Y:-1.21, Z:-1.22 [[ 0.97883198 0.10250269 0.17714728 22.8229742 ] [-0.11549219 0.99120457 0.06461469 -1.2140352 ] [-0.16896601 -0.08370605 0.98206099 -1.21542304] [ 0. 0. 0. 1. ]] SLAMing on 148.753201008 meters Centerline goodness : 0.874408 with order 1 Centerline is valid? [False, False] Translation: X:22.85, Y:-1.22, Z:-1.22 [[ 0.97936922 0.10485056 0.1727492 22.85407422] [-0.11794998 0.99073171 0.06736823 -1.21972822] [-0.16408451 -0.08635414 0.98265927 -1.21775381] [ 0. 0. 0. 1. ]] SLAMing on 148.813201008 meters Centerline goodness : 0.874008 with order 1 Centerline is valid? [False, False] Translation: X:22.88, Y:-1.22, Z:-1.22 [[ 0.97870699 0.10581582 0.17588529 22.87539225] [-0.11806739 0.99114937 0.06068781 -1.22027284] [-0.16790687 -0.0801619 0.98253822 -1.22408623] [ 0. 0. 0. 1. ]] SLAMing on 148.873201008 meters Centerline goodness : 0.874576 with order 1 Centerline is valid? [False, False] Translation: X:22.90, Y:-1.22, Z:-1.23 [[ 0.97829426 0.10652002 0.17774655 22.90295535] [-0.11901599 0.99100703 0.06115769 -1.22467796] [-0.16963356 -0.08098489 0.98217407 -1.22615052] [ 0. 0. 0. 1. ]] SLAMing on 148.933201008 meters Centerline goodness : 0.875522 with order 1 Centerline is valid? [False, False] Translation: X:22.90, Y:-1.23, Z:-1.23 [[ 0.97840945 0.10611496 0.17735435 22.90408701] [-0.11865656 0.99102006 0.06164299 -1.22651096] [-0.16922048 -0.08135634 0.98221463 -1.22516651] [ 0. 0. 0. 1. ]] SLAMing on 148.993201008 meters Centerline goodness : 0.873376 with order 1 Centerline is valid? [False, False] Translation: X:22.94, Y:-1.23, Z:-1.22 [[ 0.97892283 0.10377855 0.175898 22.9413723 ] [-0.11719767 0.99080017 0.06767373 -1.23482452] [-0.16725669 -0.0868622 0.98207951 -1.22373713] [ 0. 0. 0. 1. ]] SLAMing on 149.053201008 meters Centerline goodness : 0.877127 with order 1 Centerline is valid? [False, False] Translation: X:22.98, Y:-1.25, Z:-1.22 [[ 0.97994643 0.09747675 0.1737909 22.9846543 ] [-0.11186766 0.99088818 0.07500824 -1.2453947 ] [-0.16489579 -0.09294564 0.98192183 -1.22135336] [ 0. 0. 0. 1. ]] SLAMing on 149.113201008 meters Centerline goodness : 0.877392 with order 1 Centerline is valid? [False, False] Translation: X:23.02, Y:-1.25, Z:-1.22 [[ 0.98073586 0.09390671 0.17128543 23.02360937] [-0.10922416 0.99060483 0.08229311 -1.25475164] [-0.1619483 -0.09941631 0.98177856 -1.21700906] [ 0. 0. 0. 1. ]] SLAMing on 149.173201008 meters Centerline goodness : 0.880369 with order 1 Centerline is valid? [False, False] Translation: X:23.06, Y:-1.27, Z:-1.20 [[ 0.98066133 0.08250476 0.17747201 23.05803176] [-0.10309435 0.98855924 0.11010074 -1.26932111] [-0.16635776 -0.12626791 0.9779476 -1.1968617 ] [ 0. 0. 0. 1. ]] SLAMing on 149.233201008 meters Centerline goodness : 0.877567 with order 3 Centerline is valid? [False, False] Translation: X:23.08, Y:-1.27, Z:-1.19 [[ 0.9807229 0.07403695 0.18083453 23.07758863] [-0.09670132 0.98806393 0.1199105 -1.27037337] [-0.16979827 -0.13508591 0.97617639 -1.19131773] [ 0. 0. 0. 1. ]] SLAMing on 149.293201008 meters Centerline goodness : 0.878223 with order 2 Centerline is valid? [False, False] Translation: X:23.08, Y:-1.27, Z:-1.18 [[ 0.9789224 0.06332046 0.19416865 23.07847593] [-0.09085286 0.9864872 0.13634063 -1.270267 ] [-0.18291173 -0.15110767 0.97144725 -1.18270131] [ 0. 0. 0. 1. ]] SLAMing on 149.353201008 meters Centerline goodness : 0.868254 with order 1 Centerline is valid? [False, False] Translation: X:23.08, Y:-1.27, Z:-1.18 [[ 0.97886386 0.0634042 0.19443621 23.07837857] [-0.09081029 0.98661449 0.13544494 -1.26799829] [-0.18324581 -0.15023897 0.97151903 -1.18294489] [ 0. 0. 0. 1. ]] SLAMing on 149.41320100800002 meters Centerline goodness : 0.868216 with order 1 Centerline is valid? [False, False] Translation: X:23.09, Y:-1.26, Z:-1.19 [[ 0.97784192 0.06881761 0.1977102 23.09239984] [-0.09482731 0.98758315 0.12524899 -1.26277082] [-0.18663593 -0.14122204 0.97222599 -1.19496152] [ 0. 0. 0. 1. ]] SLAMing on 149.47320100800002 meters Centerline goodness : 0.868865 with order 1 Centerline is valid? [False, False] Translation: X:23.10, Y:-1.26, Z:-1.21 [[ 0.97672957 0.07563788 0.20069446 23.10170168] [-0.09961406 0.98868214 0.11218135 -1.2577724 ] [-0.18993787 -0.12956284 0.97320968 -1.20848177] [ 0. 0. 0. 1. ]] SLAMing on 149.533201008 meters Centerline goodness : 0.867994 with order 1 Centerline is valid? [False, False] Translation: X:23.12, Y:-1.25, Z:-1.22 [[ 0.97572343 0.07939443 0.20410856 23.11534498] [-0.10158194 0.98972569 0.10061889 -1.25419042] [-0.19402291 -0.11890995 0.97376359 -1.22029333] [ 0. 0. 0. 1. ]] SLAMing on 149.593201008 meters Centerline goodness : 0.866758 with order 1 Centerline is valid? [False, False] Translation: X:23.13, Y:-1.25, Z:-1.23 [[ 0.97461252 0.08401523 0.20753764 23.12978423] [-0.10463427 0.99038981 0.09044163 -1.25031046] [-0.19794469 -0.10986109 0.97403719 -1.2323793 ] [ 0. 0. 0. 1. ]] SLAMing on 149.653201008 meters Centerline goodness : 0.865429 with order 1 Centerline is valid? [False, False] Translation: X:23.15, Y:-1.25, Z:-1.24 [[ 0.97430402 0.08697494 0.20776679 23.15431427] [-0.10695546 0.99045583 0.08693546 -1.25055319] [-0.19822262 -0.10692336 0.97430754 -1.24000026] [ 0. 0. 0. 1. ]] SLAMing on 149.713201008 meters Centerline goodness : 0.864681 with order 1 Centerline is valid? [False, False] Translation: X:23.18, Y:-1.25, Z:-1.25 [[ 0.97396473 0.08679777 0.20942504 23.17810234] [-0.1056623 0.99112869 0.08061882 -1.25050589] [-0.20056963 -0.10064822 0.97449564 -1.24608815] [ 0. 0. 0. 1. ]] SLAMing on 149.773201008 meters Centerline goodness : 0.863200 with order 1 Centerline is valid? [False, False] Translation: X:23.21, Y:-1.26, Z:-1.24 [[ 0.97477386 0.08539593 0.20621217 23.21353322] [-0.10511577 0.99067954 0.08662976 -1.25837683] [-0.19689235 -0.10612058 0.97466498 -1.24400808] [ 0. 0. 0. 1. ]] SLAMing on 149.833201008 meters Centerline goodness : 0.864529 with order 1 Centerline is valid? [False, False] Translation: X:23.23, Y:-1.26, Z:-1.24 [[ 0.97519114 0.08258674 0.20538175 23.22559901] [-0.10356706 0.9902105 0.09357903 -1.26096661] [-0.19564277 -0.11252823 0.97419777 -1.2403434 ] [ 0. 0. 0. 1. ]] SLAMing on 149.893201008 meters Centerline goodness : 0.862734 with order 1 Centerline is valid? [False, False] Translation: X:23.25, Y:-1.27, Z:-1.23 [[ 0.97465957 0.07358815 0.21124276 23.24617881] [-0.09827565 0.98918889 0.10884503 -1.26546278] [-0.20094929 -0.12684687 0.97135434 -1.23004142] [ 0. 0. 0. 1. ]] SLAMing on 149.953201008 meters Centerline goodness : 0.861311 with order 1 Centerline is valid? [False, False] Translation: X:23.25, Y:-1.27, Z:-1.21 [[ 0.9746605 0.06083651 0.2152576 23.24634146] [-0.09014571 0.98752939 0.12907148 -1.26981483] [-0.20472095 -0.14520542 0.96799004 -1.21411255] [ 0. 0. 0. 1. ]] SLAMing on 150.013201008 meters Centerline goodness : 0.858612 with order 1 Centerline is valid? [False, False] Translation: X:23.24, Y:-1.27, Z:-1.20 [[ 0.97222589 0.04949286 0.22875156 23.23963627] [-0.08532473 0.98507163 0.14951111 -1.27189911] [-0.21793694 -0.16487673 0.96193511 -1.19741448] [ 0. 0. 0. 1. ]] SLAMing on 150.073201008 meters Centerline goodness : 0.856088 with order 1 Centerline is valid? [False, False] Translation: X:23.21, Y:-1.26, Z:-1.20 [[ 0.97267318 0.04567968 0.22764063 23.21436724] [-0.08038067 0.98607538 0.1455826 -1.26432746] [-0.21782065 -0.1599022 0.96280084 -1.19637121] [ 0. 0. 0. 1. ]] SLAMing on 150.13320100800001 meters Centerline goodness : 0.854375 with order 1 Centerline is valid? [False, False] Translation: X:23.18, Y:-1.26, Z:-1.19 [[ 0.97242737 0.04670737 0.22848072 23.18317837] [-0.08151762 0.98601232 0.14537735 -1.2553526 ] [-0.21849461 -0.15999412 0.96263284 -1.1923541 ] [ 0. 0. 0. 1. ]] SLAMing on 150.19320100800002 meters Centerline goodness : 0.852809 with order 1 Centerline is valid? [False, False] Translation: X:23.18, Y:-1.24, Z:-1.20 [[ 0.9718399 0.04797853 0.23070601 23.17951048] [-0.08222232 0.98656231 0.14118889 -1.24368952] [-0.22083182 -0.15618218 0.96272552 -1.19829636] [ 0. 0. 0. 1. ]] SLAMing on 150.253201008 meters Centerline goodness : 0.851829 with order 1 Centerline is valid? [False, False] Translation: X:23.18, Y:-1.24, Z:-1.20 [[ 0.97146837 0.04925012 0.23199922 23.17666357] [-0.08292381 0.98699548 0.13770827 -1.23618412] [-0.22220003 -0.15301749 0.96291889 -1.20243824] [ 0. 0. 0. 1. ]] SLAMing on 150.313201008 meters Centerline goodness : 0.850316 with order 1 Centerline is valid? [False, False] Translation: X:23.19, Y:-1.23, Z:-1.21 [[ 0.96946966 0.05438442 0.23910441 23.185641 ] [-0.08715445 0.98784781 0.1286888 -1.22632413] [-0.2292001 -0.1455989 0.96242832 -1.21004461] [ 0. 0. 0. 1. ]] SLAMing on 150.373201008 meters Centerline goodness : 0.850181 with order 1 Centerline is valid? [False, False] Translation: X:23.19, Y:-1.22, Z:-1.22 [[ 0.96749189 0.0615342 0.24530182 23.19282953] [-0.092823 0.98865411 0.11809721 -1.21833068] [-0.23525164 -0.13702774 0.96222662 -1.2218695 ] [ 0. 0. 0. 1. ]] SLAMing on 150.433201008 meters Centerline goodness : 0.848491 with order 1 Centerline is valid? [False, False] Translation: X:23.20, Y:-1.21, Z:-1.23 [[ 0.96569672 0.0734214 0.24907659 23.19855632] [-0.10339591 0.98859851 0.10946352 -1.21075444] [-0.23819978 -0.13146206 0.96227781 -1.23374453] [ 0. 0. 0. 1. ]] SLAMing on 150.493201008 meters Centerline goodness : 0.847922 with order 1 Centerline is valid? [False, False] Translation: X:23.21, Y:-1.21, Z:-1.24 [[ 0.96420115 0.08138426 0.25237423 23.21117861] [-0.11013356 0.98867476 0.10194521 -1.20621584] [-0.24121929 -0.12609056 0.96224447 -1.24478647] [ 0. 0. 0. 1. ]] SLAMing on 150.553201008 meters Centerline goodness : 0.847470 with order 1 Centerline is valid? [False, False] Translation: X:23.22, Y:-1.20, Z:-1.26 [[ 0.96234073 0.09059551 0.25630601 23.21724091] [-0.11721294 0.98897229 0.0905259 -1.19968091] [-0.2452783 -0.11715914 0.96234728 -1.25669581] [ 0. 0. 0. 1. ]] SLAMing on 150.613201008 meters Centerline goodness : 0.847608 with order 1 Centerline is valid? [False, False] Translation: X:23.23, Y:-1.20, Z:-1.27 [[ 0.96115687 0.09497112 0.25914854 23.23096912] [-0.11912112 0.98972379 0.079101 -1.19599177] [-0.24897316 -0.10689853 0.96259289 -1.26878451] [ 0. 0. 0. 1. ]] SLAMing on 150.673201008 meters Centerline goodness : 0.847790 with order 1 Centerline is valid? [False, False] Translation: X:23.23, Y:-1.20, Z:-1.27 [[ 0.96140529 0.09405038 0.25856218 23.23392412] [-0.11794423 0.98991465 0.0784738 -1.19546184] [-0.248574 -0.10594105 0.96280188 -1.27128571] [ 0. 0. 0. 1. ]] SLAMing on 150.733201008 meters Centerline goodness : 0.852508 with order 1 Centerline is valid? [False, False] Translation: X:23.28, Y:-1.20, Z:-1.27 [[ 0.9622897 0.08944456 0.25690114 23.27565731] [-0.11492958 0.98964963 0.08593491 -1.20383467] [-0.24655571 -0.11221982 0.96260947 -1.27218442] [ 0. 0. 0. 1. ]] SLAMing on 150.793201008 meters Centerline goodness : 0.854124 with order 1 Centerline is valid? [False, False] Translation: X:23.28, Y:-1.20, Z:-1.27 [[ 0.96244957 0.08898608 0.2564611 23.27747808] [-0.11434758 0.98973664 0.08570889 -1.20332662] [-0.24620205 -0.11181619 0.96274695 -1.27314392] [ 0. 0. 0. 1. ]] SLAMing on 150.853201008 meters Centerline goodness : 0.855459 with order 1 Centerline is valid? [False, False] Translation: X:23.29, Y:-1.20, Z:-1.28 [[ 0.96115243 0.09341893 0.25972855 23.28560728] [-0.11539155 0.99080464 0.07064668 -1.20128054] [-0.25074051 -0.09787271 0.96309404 -1.28408718] [ 0. 0. 0. 1. ]] SLAMing on 150.91320100800002 meters Centerline goodness : 0.856957 with order 1 Centerline is valid? [False, False] Translation: X:23.29, Y:-1.20, Z:-1.28 [[ 0.9610103 0.09549579 0.25949907 23.28803304] [-0.11877064 0.99004642 0.07550911 -1.20387808] [-0.24970532 -0.10338591 0.9627869 -1.28376218] [ 0. 0. 0. 1. ]] SLAMing on 150.97320100800002 meters Centerline goodness : 0.858442 with order 1 Centerline is valid? [False, False] Translation: X:23.30, Y:-1.20, Z:-1.29 [[ 0.95934227 0.10178002 0.26325507 23.29768719] [-0.12294634 0.99027083 0.0651757 -1.2028347 ] [-0.25406024 -0.09489205 0.96252215 -1.29385506] [ 0. 0. 0. 1. ]] SLAMing on 151.033201008 meters Centerline goodness : 0.859193 with order 1 Centerline is valid? [False, False] Translation: X:23.31, Y:-1.20, Z:-1.29 [[ 0.9606119 0.10848724 0.25584233 23.30746454] [-0.12876366 0.98961882 0.06383185 -1.20447053] [-0.24626144 -0.09426083 0.96460883 -1.29398617] [ 0. 0. 0. 1. ]] SLAMing on 151.093201008 meters Centerline goodness : 0.859387 with order 1 Centerline is valid? [False, False] Translation: X:23.31, Y:-1.20, Z:-1.30 [[ 0.96158952 0.11801317 0.24782752 23.30749912] [-0.134685 0.98955597 0.05137062 -1.20476509] [-0.23917679 -0.0827761 0.96744125 -1.2979477 ] [ 0. 0. 0. 1. ]] SLAMing on 151.153201008 meters Centerline goodness : 0.861650 with order 1 Centerline is valid? [False, False] Translation: X:23.31, Y:-1.21, Z:-1.30 [[ 0.96168662 0.11801061 0.24745171 23.3084335 ] [-0.13474609 0.98952721 0.05176282 -1.20719607] [-0.23875164 -0.08312276 0.96751654 -1.2985955 ] [ 0. 0. 0. 1. ]] SLAMing on 151.213201008 meters Centerline goodness : 0.858313 with order 1 Centerline is valid? [False, False] Translation: X:23.31, Y:-1.21, Z:-1.30 [[ 0.96207321 0.1168116 0.2465161 23.31222382] [-0.13314809 0.98980279 0.05061643 -1.20951224] [-0.23808974 -0.08151986 0.96781599 -1.30432295] [ 0. 0. 0. 1. ]] SLAMing on 151.273201008 meters Centerline goodness : 0.855579 with order 1 Centerline is valid? [False, False] Translation: X:23.32, Y:-1.21, Z:-1.31 [[ 0.96242698 0.11561002 0.24570028 23.31534559] [-0.13176395 0.99000411 0.05030023 -1.21290504] [-0.23742908 -0.08078474 0.9680399 -1.30732465] [ 0. 0. 0. 1. ]] SLAMing on 151.333201008 meters Centerline goodness : 0.855279 with order 1 Centerline is valid? [False, False] Translation: X:23.32, Y:-1.22, Z:-1.31 [[ 0.96352733 0.11359284 0.24230507 23.31912911] [-0.1285522 0.99059807 0.04679519 -1.21920734] [-0.23471133 -0.0762373 0.96907093 -1.30681325] [ 0. 0. 0. 1. ]] SLAMing on 151.393201008 meters Centerline goodness : 0.854351 with order 1 Centerline is valid? [False, False] Translation: X:23.32, Y:-1.22, Z:-1.31 [[ 0.96355734 0.11330003 0.24232282 23.31971866] [-0.12827292 0.99063031 0.04687907 -1.22214864] [-0.23474093 -0.07625413 0.96906243 -1.30844829] [ 0. 0. 0. 1. ]] SLAMing on 151.453201008 meters Centerline goodness : 0.850200 with order 1 Centerline is valid? [False, False] Translation: X:23.32, Y:-1.22, Z:-1.31 [[ 0.96356142 0.11320935 0.24234899 23.32010578] [-0.12812783 0.9906596 0.0466563 -1.22329283] [-0.23480343 -0.07600786 0.96906664 -1.31011847] [ 0. 0. 0. 1. ]] SLAMing on 151.513201008 meters Centerline goodness : 0.847891 with order 1 Centerline is valid? [False, False] Translation: X:23.32, Y:-1.22, Z:-1.31 [[ 0.96409899 0.10999212 0.24169169 23.32094045] [-0.12355376 0.99146371 0.0416434 -1.22239556] [-0.2350481 -0.07001027 0.9694591 -1.31218855] [ 0. 0. 0. 1. ]] SLAMing on 151.573201008 meters Centerline goodness : 0.850264 with order 1 Centerline is valid? [False, False] Translation: X:23.34, Y:-1.23, Z:-1.32 [[ 0.9664841 0.10845536 0.23269277 23.33928767] [-0.1182245 0.99258032 0.02841275 -1.22762167] [-0.22788475 -0.05497045 0.97213517 -1.3159005 ] [ 0. 0. 0. 1. ]] SLAMing on 151.63320100800001 meters Centerline goodness : 0.844817 with order 1 Centerline is valid? [False, False] Translation: X:23.35, Y:-1.23, Z:-1.33 [[ 9.67642439e-01 1.02210684e-01 2.30696959e-01 2.33471377e+01] [-1.09987232e-01 9.93709668e-01 2.10690608e-02 -1.22592653e+00] [-2.27092315e-01 -4.57610373e-02 9.72797516e-01 -1.32557810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69320100800002 meters Centerline goodness : 0.841256 with order 1 Centerline is valid? [False, False] Translation: X:23.35, Y:-1.23, Z:-1.33 [[ 9.68373428e-01 9.78724556e-02 2.29507922e-01 2.33506069e+01] [-1.04448000e-01 9.94390975e-01 1.66494535e-02 -1.22728289e+00] [-2.26591084e-01 -4.00945319e-02 9.73164379e-01 -1.32822611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.753201008 meters Centerline goodness : 0.839763 with order 1 Centerline is valid? [False, False] Translation: X:23.39, Y:-1.24, Z:-1.33 [[ 9.69774355e-01 9.05662859e-02 2.26573275e-01 2.33917459e+01] [-9.77495647e-02 9.94996496e-01 2.06638846e-02 -1.23830644e+00] [-2.23568163e-01 -4.21867443e-02 9.73774900e-01 -1.32707087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.813201008 meters Centerline goodness : 0.836021 with order 1 Centerline is valid? [False, False] Translation: X:23.43, Y:-1.25, Z:-1.31 [[ 0.97001638 0.078604 0.22997746 23.42815562] [-0.09135504 0.99478677 0.04531603 -1.25110914] [-0.22521651 -0.0649669 0.97214033 -1.31229262] [ 0. 0. 0. 1. ]] SLAMing on 151.873201008 meters Centerline goodness : 0.831423 with order 1 Centerline is valid? [False, False] Translation: X:23.47, Y:-1.26, Z:-1.30 [[ 0.97002616 0.06588748 0.23389759 23.47498725] [-0.08538261 0.99358032 0.07421565 -1.25796379] [-0.22750616 -0.09196191 0.96942455 -1.30210419] [ 0. 0. 0. 1. ]] SLAMing on 151.933201008 meters Centerline goodness : 0.830419 with order 1 Centerline is valid? [False, False] Translation: X:23.49, Y:-1.26, Z:-1.30 [[ 0.9704575 0.06404503 0.23261659 23.48627066] [-0.08506622 0.993038 0.08148176 -1.25771256] [-0.22577861 -0.0988624 0.96914924 -1.29713458] [ 0. 0. 0. 1. ]] SLAMing on 151.993201008 meters Centerline goodness : 0.829804 with order 1 Centerline is valid? [False, False] Translation: X:23.51, Y:-1.26, Z:-1.29 [[ 0.97087367 0.05929161 0.23213965 23.50867283] [-0.08419996 0.99152888 0.09889815 -1.26163125] [-0.22430934 -0.11556376 0.96764164 -1.28556573] [ 0. 0. 0. 1. ]] SLAMing on 152.053201008 meters Centerline goodness : 0.829458 with order 1 Centerline is valid? [False, False] Translation: X:23.53, Y:-1.26, Z:-1.28 [[ 0.97093668 0.05464596 0.23301454 23.53046863] [-0.08360297 0.98969389 0.11626066 -1.26104913] [-0.22425989 -0.13236245 0.96549867 -1.27518569] [ 0. 0. 0. 1. ]] SLAMing on 152.113201008 meters Centerline goodness : 0.822229 with order 1 Centerline is valid? [False, False] Translation: X:23.53, Y:-1.25, Z:-1.28 [[ 0.97100537 0.05739392 0.23206574 23.53340097] [-0.08656399 0.98928922 0.11753094 -1.25194634] [-0.22283457 -0.13421171 0.96557339 -1.2787989 ] [ 0. 0. 0. 1. ]] SLAMing on 152.173201008 meters Centerline goodness : 0.823021 with order 1 Centerline is valid? [False, False] Translation: X:23.55, Y:-1.24, Z:-1.29 [[ 0.96993382 0.06323423 0.23501025 23.5494973 ] [-0.09131997 0.98965984 0.11060774 -1.24459581] [-0.22558601 -0.12874331 0.96567909 -1.28712311] [ 0. 0. 0. 1. ]] SLAMing on 152.233201008 meters Centerline goodness : 0.820101 with order 1 Centerline is valid? [False, False] Translation: X:23.56, Y:-1.24, Z:-1.30 [[ 0.96945282 0.07123296 0.23470641 23.55752393] [-0.09626067 0.99062318 0.09695156 -1.2368625 ] [-0.22559946 -0.11658296 0.96721936 -1.29708179] [ 0. 0. 0. 1. ]] SLAMing on 152.293201008 meters Centerline goodness : 0.818996 with order 1 Centerline is valid? [False, False] Translation: X:23.58, Y:-1.23, Z:-1.30 [[ 0.96842769 0.07531334 0.2376462 23.57909593] [-0.1001973 0.9904777 0.09441622 -1.23070137] [-0.22827246 -0.11524679 0.96675222 -1.30237139] [ 0. 0. 0. 1. ]] SLAMing on 152.353201008 meters Centerline goodness : 0.818167 with order 1 Centerline is valid? [False, False] Translation: X:23.60, Y:-1.24, Z:-1.28 [[ 0.96783665 0.06952985 0.24178052 23.6039441 ] [-0.10153373 0.98725808 0.12252501 -1.23692426] [-0.23018063 -0.14313307 0.96256418 -1.28194194] [ 0. 0. 0. 1. ]] SLAMing on 152.41320100800002 meters Centerline goodness : 0.818207 with order 1 Centerline is valid? [False, False] Translation: X:23.62, Y:-1.23, Z:-1.27 [[ 0.96844764 0.06587959 0.24035194 23.61873422] [-0.09979225 0.98624505 0.13176573 -1.23352139] [-0.22836524 -0.15159347 0.96170096 -1.27471587] [ 0. 0. 0. 1. ]] SLAMing on 152.47320100800002 meters Centerline goodness : 0.819592 with order 1 Centerline is valid? [False, False] Translation: X:23.65, Y:-1.24, Z:-1.26 [[ 0.96747668 0.05620744 0.24663656 23.64640229] [-0.09687986 0.98299316 0.1560088 -1.23659899] [-0.2336732 -0.17482899 0.95646833 -1.26061617] [ 0. 0. 0. 1. ]] SLAMing on 152.533201008 meters Centerline goodness : 0.820142 with order 1 Centerline is valid? [False, False] Translation: X:23.64, Y:-1.23, Z:-1.25 [[ 0.96769239 0.04679166 0.24775385 23.64129966] [-0.09141605 0.98088011 0.17180604 -1.23052737] [-0.23497774 -0.18890408 0.95346773 -1.24770755] [ 0. 0. 0. 1. ]] SLAMing on 152.593201008 meters Centerline goodness : 0.820473 with order 1 Centerline is valid? [False, False] Translation: X:23.61, Y:-1.22, Z:-1.25 [[ 0.96822858 0.04695753 0.24561841 23.60570458] [-0.08812358 0.98327296 0.15940051 -1.2169936 ] [-0.23402489 -0.1759809 0.95617105 -1.24734106] [ 0. 0. 0. 1. ]] SLAMing on 152.653201008 meters Centerline goodness : 0.818252 with order 1 Centerline is valid? [False, False] Translation: X:23.56, Y:-1.20, Z:-1.24 [[ 0.96970161 0.04977637 0.23916753 23.56439797] [-0.08642603 0.98560782 0.14528509 -1.19900121] [-0.22849362 -0.16155349 0.96004747 -1.24454811] [ 0. 0. 0. 1. ]] SLAMing on 152.713201008 meters Centerline goodness : 0.816521 with order 1 Centerline is valid? [False, False] Translation: X:23.53, Y:-1.18, Z:-1.24 [[ 0.97102683 0.05498047 0.23255975 23.5253961 ] [-0.08895725 0.98639666 0.13823255 -1.18448425] [-0.22179607 -0.15491539 0.96270854 -1.23874244] [ 0. 0. 0. 1. ]] SLAMing on 152.773201008 meters Centerline goodness : 0.814157 with order 1 Centerline is valid? [False, False] Translation: X:23.47, Y:-1.16, Z:-1.23 [[ 0.97242991 0.06347708 0.2243897 23.47265954] [-0.09349626 0.9876413 0.12578996 -1.16412699] [-0.21363175 -0.14330152 0.96634681 -1.2335431 ] [ 0. 0. 0. 1. ]] SLAMing on 152.833201008 meters Centerline goodness : 0.817588 with order 1 Centerline is valid? [False, False] Translation: X:23.43, Y:-1.15, Z:-1.23 [[ 0.97346945 0.06848433 0.21832803 23.42913688] [-0.09522884 0.98885768 0.11442005 -1.1497606 ] [-0.20805937 -0.13217555 0.96914443 -1.22798579] [ 0. 0. 0. 1. ]] SLAMing on 152.893201008 meters Centerline goodness : 0.820320 with order 1 Centerline is valid? [False, False] Translation: X:23.38, Y:-1.13, Z:-1.22 [[ 0.97471278 0.07345105 0.21104486 23.38382724] [-0.09765706 0.98948886 0.10665313 -1.13311022] [-0.20099275 -0.12456619 0.97164046 -1.21698674] [ 0. 0. 0. 1. ]] SLAMing on 152.953201008 meters Centerline goodness : 0.820520 with order 1 Centerline is valid? [False, False] Translation: X:23.34, Y:-1.12, Z:-1.20 [[ 0.97607593 0.07735675 0.20320362 23.3351726 ] [-0.09916521 0.99009188 0.09941994 -1.11802291] [-0.19349946 -0.11719214 0.97407595 -1.20354809] [ 0. 0. 0. 1. ]] SLAMing on 153.013201008 meters Centerline goodness : 0.823765 with order 1 Centerline is valid? [False, False] Translation: X:23.32, Y:-1.11, Z:-1.19 [[ 0.97845593 0.07425925 0.1926384 23.32367448] [-0.09380562 0.99110456 0.09440478 -1.10625976] [-0.18391436 -0.11044148 0.97671807 -1.19400476] [ 0. 0. 0. 1. ]] SLAMing on 153.073201008 meters Centerline goodness : 0.828366 with order 1 Centerline is valid? [False, False] Translation: X:23.31, Y:-1.09, Z:-1.19 [[ 0.98217108 0.0668829 0.17568907 23.31134788] [-0.08269471 0.99300564 0.08426967 -1.0936487 ] [-0.16882404 -0.09729579 0.98083229 -1.18941864] [ 0. 0. 0. 1. ]] SLAMing on 153.13320100800001 meters Centerline goodness : 0.827878 with order 1 Centerline is valid? [False, False] Translation: X:23.30, Y:-1.08, Z:-1.19 [[ 0.98395092 0.06029359 0.16794424 23.30296742] [-0.07449602 0.99404037 0.07958691 -1.08077007] [-0.16214478 -0.09082079 0.98257857 -1.18623881] [ 0. 0. 0. 1. ]] SLAMing on 153.19320100800002 meters Centerline goodness : 0.831064 with order 1 Centerline is valid? [False, False] Translation: X:23.29, Y:-1.07, Z:-1.18 [[ 0.98573254 0.05484403 0.15913356 23.29109249] [-0.06746858 0.99489522 0.07504332 -1.06671679] [-0.15420554 -0.08470916 0.98440084 -1.17755286] [ 0. 0. 0. 1. ]] SLAMing on 153.253201008 meters Centerline goodness : 0.832094 with order 1 Centerline is valid? [False, False] Translation: X:23.28, Y:-1.06, Z:-1.17 [[ 0.98729706 0.04958199 0.15095081 23.28089462] [-0.06131755 0.99536339 0.07410718 -1.05591638] [-0.14657653 -0.08242173 0.9857596 -1.17144396] [ 0. 0. 0. 1. ]] SLAMing on 153.313201008 meters Centerline goodness : 0.830988 with order 1 Centerline is valid? [False, False] Translation: X:23.27, Y:-1.04, Z:-1.16 [[ 0.98949611 0.04140237 0.13850378 23.2687324 ] [-0.05210077 0.99585682 0.07452989 -1.04242482] [-0.13484422 -0.08096319 0.98755354 -1.16335053] [ 0. 0. 0. 1. ]] SLAMing on 153.373201008 meters Centerline goodness : 0.831165 with order 1 Centerline is valid? [False, False] Translation: X:23.27, Y:-1.04, Z:-1.16 [[ 0.99127142 0.03561169 0.12693612 23.26652227] [-0.04543241 0.99612305 0.07533098 -1.03582948] [-0.12376133 -0.08044046 0.98904624 -1.15815969] [ 0. 0. 0. 1. ]] SLAMing on 153.433201008 meters Centerline goodness : 0.830223 with order 1 Centerline is valid? [False, False] Translation: X:23.25, Y:-1.02, Z:-1.15 [[ 0.99338155 0.02579481 0.11192734 23.25391158] [-0.03437107 0.99656208 0.07538339 -1.02379101] [-0.10959804 -0.07873153 0.99085297 -1.15021327] [ 0. 0. 0. 1. ]] SLAMing on 153.493201008 meters Centerline goodness : 0.832082 with order 1 Centerline is valid? [False, False] Translation: X:23.24, Y:-1.01, Z:-1.14 [[ 9.94269230e-01 1.57590127e-02 1.05737181e-01 2.32391105e+01] [-2.41164892e-02 9.96643340e-01 7.82332958e-02 -1.01181531e+00] [-1.04149377e-01 -8.03349684e-02 9.91311858e-01 -1.13990099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.553201008 meters Centerline goodness : 0.834822 with order 1 Centerline is valid? [False, False] Translation: X:23.24, Y:-1.00, Z:-1.14 [[ 9.94416730e-01 1.13324154e-02 1.04913979e-01 2.32433061e+01] [-1.90927880e-02 9.97129891e-01 7.32628559e-02 -9.99747620e-01] [-1.03782619e-01 -7.48569099e-02 9.91779013e-01 -1.14338683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.613201008 meters Centerline goodness : 0.839980 with order 1 Centerline is valid? [False, False] Translation: X:23.25, Y:-0.99, Z:-1.15 [[ 9.94235847e-01 1.22678428e-02 1.06510940e-01 2.32487144e+01] [-1.79331056e-02 9.98465367e-01 5.23957473e-02 -9.87451685e-01] [-1.05704702e-01 -5.40038022e-02 9.92930061e-01 -1.15173999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.673201008 meters Centerline goodness : 0.847503 with order 1 Centerline is valid? [False, False] Translation: X:23.25, Y:-0.97, Z:-1.15 [[ 9.94201815e-01 1.36959202e-02 1.06654458e-01 2.32482668e+01] [-1.93360591e-02 9.98458355e-01 5.20291331e-02 -9.73735091e-01] [-1.05777448e-01 -5.37897355e-02 9.92933933e-01 -1.15147953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.733201008 meters Centerline goodness : 0.850650 with order 1 Centerline is valid? [False, False] Translation: X:23.25, Y:-0.96, Z:-1.15 [[ 9.94164377e-01 1.60448816e-02 1.06675924e-01 2.32491759e+01] [-2.17519997e-02 9.98381199e-01 5.25531430e-02 -9.60886319e-01] [-1.05660028e-01 -5.45668774e-02 9.92904031e-01 -1.15341000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.793201008 meters Centerline goodness : 0.853483 with order 1 Centerline is valid? [False, False] Translation: X:23.25, Y:-0.94, Z:-1.15 [[ 9.94048888e-01 1.97365940e-02 1.07132044e-01 2.32475495e+01] [-2.54443409e-02 9.98313760e-01 5.21749166e-02 -9.42142152e-01] [-1.05921639e-01 -5.45903221e-02 9.92874868e-01 -1.15452306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.853201008 meters Centerline goodness : 0.858986 with order 1 Centerline is valid? [False, False] Translation: X:23.25, Y:-0.93, Z:-1.16 [[ 9.93953101e-01 2.29592905e-02 1.07378324e-01 2.32471072e+01] [-2.86949380e-02 9.98225410e-01 5.21788308e-02 -9.27716456e-01] [-1.05989782e-01 -5.49445250e-02 9.92848057e-01 -1.15630895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91320100800002 meters Centerline goodness : 0.861565 with order 1 Centerline is valid? [False, False] Translation: X:23.24, Y:-0.90, Z:-1.15 [[ 0.99438012 0.0319726 0.10092538 23.24153123] [-0.03728621 0.99799168 0.05120893 -0.90455939] [-0.0990854 -0.05468427 0.99357522 -1.15458897] [ 0. 0. 0. 1. ]] SLAMing on 153.97320100800002 meters Centerline goodness : 0.857423 with order 1 Centerline is valid? [False, False] Translation: X:23.25, Y:-0.89, Z:-1.16 [[ 0.99432686 0.03886642 0.09901264 23.24816459] [-0.04294295 0.99830119 0.03937822 -0.88768623] [-0.09731394 -0.04340672 0.99430672 -1.15763047] [ 0. 0. 0. 1. ]] SLAMing on 154.033201008 meters Centerline goodness : 0.851290 with order 1 Centerline is valid? [False, False] Translation: X:23.25, Y:-0.86, Z:-1.16 [[ 0.99406466 0.04361884 0.09966366 23.24762988] [-0.04758145 0.99815437 0.03773398 -0.86414871] [-0.09783381 -0.04225215 0.99430544 -1.16005212] [ 0. 0. 0. 1. ]] SLAMing on 154.093201008 meters Centerline goodness : 0.846130 with order 1 Centerline is valid? [False, False] Translation: X:23.26, Y:-0.85, Z:-1.16 [[ 0.99427407 0.04967458 0.09461237 23.25814659] [-0.05239543 0.99827494 0.02649261 -0.8488111 ] [-0.09313315 -0.03129817 0.99516162 -1.16279093] [ 0. 0. 0. 1. ]] SLAMing on 154.153201008 meters Centerline goodness : 0.845814 with order 1 Centerline is valid? [False, False] Translation: X:23.27, Y:-0.83, Z:-1.17 [[ 9.93278181e-01 5.71003659e-02 1.00687653e-01 2.32690740e+01] [-5.93793367e-02 9.98039466e-01 1.97817792e-02 -8.28169941e-01] [-9.93607050e-02 -2.56275758e-02 9.94721407e-01 -1.16844642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.213201008 meters Centerline goodness : 0.843571 with order 1 Centerline is valid? [False, False] Translation: X:23.29, Y:-0.81, Z:-1.17 [[ 9.92560898e-01 6.30773877e-02 1.04135044e-01 2.32878792e+01] [-6.50986551e-02 9.97748567e-01 1.61233560e-02 -8.13084391e-01] [-1.02883572e-01 -2.27824640e-02 9.94432466e-01 -1.17489525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.273201008 meters Centerline goodness : 0.841298 with order 1 Centerline is valid? [False, False] Translation: X:23.34, Y:-0.79, Z:-1.18 [[ 9.92078334e-01 7.82706195e-02 9.82562479e-02 2.33440996e+01] [-7.86852289e-02 9.96899451e-01 3.45761181e-04 -7.94022900e-01] [-9.79245366e-02 -8.07433754e-03 9.95161088e-01 -1.18174159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.333201008 meters Centerline goodness : 0.837661 with order 1 Centerline is valid? [False, False] Translation: X:23.37, Y:-0.78, Z:-1.19 [[ 9.91816645e-01 8.69600822e-02 9.34755963e-02 2.33734761e+01] [-8.62104389e-02 9.96204246e-01 -1.20358140e-02 -7.83662856e-01] [-9.41674213e-02 3.87874846e-03 9.95548820e-01 -1.18601649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.393201008 meters Centerline goodness : 0.834893 with order 1 Centerline is valid? [False, False] Translation: X:23.44, Y:-0.77, Z:-1.19 [[ 9.91073215e-01 1.01031039e-01 8.69862747e-02 2.34410530e+01] [-9.96292027e-02 9.94817126e-01 -2.03201425e-02 -7.71001547e-01] [-8.85884009e-02 1.14723758e-02 9.96002249e-01 -1.19246478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.453201008 meters Centerline goodness : 0.834250 with order 1 Centerline is valid? [False, False] Translation: X:23.45, Y:-0.76, Z:-1.19 [[ 9.90852694e-01 1.07500981e-01 8.15749802e-02 2.34520940e+01] [-1.05840025e-01 9.94082983e-01 -2.44317793e-02 -7.58173099e-01] [-8.37187399e-02 1.55743964e-02 9.96367709e-01 -1.19040672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.513201008 meters Centerline goodness : 0.839223 with order 1 Centerline is valid? [False, False] Translation: X:23.46, Y:-0.75, Z:-1.18 [[ 9.92323113e-01 1.05207746e-01 6.50089960e-02 2.34605505e+01] [-1.03743286e-01 9.94276760e-01 -2.55157977e-02 -7.50851782e-01] [-6.73213935e-02 1.85756689e-02 9.97558407e-01 -1.17925765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5958.63 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%| | 0/5152 [00:00