+ python -m lidar_slam --result /working/result.json --no-model /working/f469127b-5551-49af-ad62-21dba0c8af42 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/f469127b-5551-49af-ad62-21dba0c8af42 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 0.018241008 Adjusted end_distance from 9.223372036854776e+18 to 181.988241008 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.018241008 meters Centerline goodness : 0.853419 with order 1 Centerline is valid? [0, False] SLAMing on 0.078241008 meters Centerline goodness : 0.860568 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 9.99974815e-01 -6.11683813e-03 -3.59917956e-03 1.08254197e-02] [ 6.11914543e-03 9.99981079e-01 6.30398064e-04 -1.13612812e-03] [ 3.59525542e-03 -6.52406091e-04 9.99993324e-01 2.71855718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.138241008 meters Centerline goodness : 0.868910 with order 2 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:0.00 [[ 9.99892349e-01 -1.25574689e-02 -7.58953605e-03 2.20553103e-02] [ 1.25503869e-02 9.99920761e-01 -9.80030595e-04 -1.51609806e-03] [ 7.60124136e-03 8.84673479e-04 9.99970719e-01 3.37274670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.198241008 meters Centerline goodness : 0.867682 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:0.00 [[ 9.99915129e-01 -1.15444868e-02 -6.03820699e-03 4.31358622e-02] [ 1.15177284e-02 9.99923777e-01 -4.44767579e-03 -8.50990954e-05] [ 6.08909288e-03 4.37775188e-03 9.99971879e-01 1.49627667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.258241008 meters Centerline goodness : 0.862133 with order 1 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.00, Z:-0.00 [[ 9.99929547e-01 -1.00883550e-02 -6.25502654e-03 6.80697790e-02] [ 1.00484954e-02 9.99929214e-01 -6.37142220e-03 -3.06396977e-04] [ 6.31886094e-03 6.30811971e-03 9.99960139e-01 -7.93443147e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.318241008 meters Centerline goodness : 0.857873 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.00, Z:-0.00 [[ 0.99994092 -0.00793172 -0.00743312 0.09314926] [ 0.00788188 0.99994642 -0.00671024 -0.00175322] [ 0.00748594 0.00665126 0.99994986 -0.00304621] [ 0. 0. 0. 1. ]] SLAMing on 0.378241008 meters Centerline goodness : 0.240452 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:-0.00 [[ 0.99994199 -0.00637406 -0.00868312 0.14289264] [ 0.00629913 0.99994292 -0.00862996 -0.00153977] [ 0.00873763 0.00857476 0.99992506 -0.0043132 ] [ 0. 0. 0. 1. ]] SLAMing on 0.438241008 meters Centerline goodness : 0.174687 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:-0.00 [[ 0.99992557 -0.0063873 -0.01039458 0.18894496] [ 0.00626328 0.99990933 -0.01192055 -0.00679893] [ 0.01046978 0.01185455 0.99987492 -0.00417167] [ 0. 0. 0. 1. ]] SLAMing on 0.498241008 meters Centerline goodness : 0.170646 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.01, Z:-0.01 [[ 0.99985656 -0.01316018 -0.01066131 0.24930026] [ 0.01305295 0.99986414 -0.01006585 -0.01494943] [ 0.01079233 0.00992524 0.9998925 -0.00561595] [ 0. 0. 0. 1. ]] SLAMing on 0.558241008 meters Centerline goodness : 0.174163 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:-0.00 [[ 0.99977075 -0.0190018 -0.00986789 0.29582628] [ 0.01885872 0.99971852 -0.01439565 -0.02264711] [ 0.01013865 0.01420625 0.99984768 -0.0038748 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6182410079999999 meters Centerline goodness : 0.170875 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.04, Z:-0.00 [[ 0.99939012 -0.03326543 -0.01062114 0.35319081] [ 0.03306318 0.99927865 -0.01868194 -0.03835662] [ 0.01123494 0.01831938 0.99976906 -0.00389623] [ 0. 0. 0. 1. ]] SLAMing on 0.6782410079999999 meters Centerline goodness : 0.167693 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.05, Z:-0.00 [[ 0.9992955 -0.03569134 -0.011603 0.38099053] [ 0.03548478 0.99921619 -0.01754515 -0.04575937] [ 0.01222012 0.01712106 0.99977874 -0.00373523] [ 0. 0. 0. 1. ]] SLAMing on 0.7382410079999999 meters Centerline goodness : 0.220740 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.06, Z:-0.01 [[ 0.99898464 -0.04375043 -0.01075105 0.43410363] [ 0.04366316 0.99901247 -0.00822244 -0.06091439] [ 0.01110016 0.00774467 0.9999084 -0.00951575] [ 0. 0. 0. 1. ]] SLAMing on 0.798241008 meters Centerline goodness : 0.210203 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.01 [[ 0.9991077 -0.04037932 -0.01238188 0.47637049] [ 0.04023899 0.99912527 -0.01138052 -0.07049814] [ 0.01283059 0.01087213 0.99985858 -0.01071174] [ 0. 0. 0. 1. ]] SLAMing on 0.8582410079999999 meters Centerline goodness : 0.171898 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.01 [[ 0.9993552 -0.03202356 -0.01623796 0.53270367] [ 0.03173695 0.99934109 -0.01761127 -0.08392474] [ 0.01679123 0.01708457 0.99971304 -0.0114174 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9182410079999999 meters Centerline goodness : 0.730673 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.09, Z:-0.01 [[ 0.9995396 -0.02549716 -0.01644635 0.57110798] [ 0.02511829 0.9994234 -0.02284591 -0.08787864] [ 0.01701937 0.02242229 0.99960371 -0.01289093] [ 0. 0. 0. 1. ]] SLAMing on 0.9782410079999999 meters Centerline goodness : 0.716393 with order 1 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.10, Z:-0.02 [[ 0.99974311 -0.01884122 -0.01259889 0.61878215] [ 0.01859537 0.99963975 -0.01935403 -0.09833283] [ 0.01295901 0.01911478 0.99973331 -0.01565862] [ 0. 0. 0. 1. ]] SLAMing on 1.038241008 meters Centerline goodness : 0.751015 with order 3 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.01 [[ 0.99990066 -0.01237873 -0.00674029 0.67622532] [ 0.01212062 0.99923899 -0.03707476 -0.10700327] [ 0.0071941 0.03698938 0.99928976 -0.00938314] [ 0. 0. 0. 1. ]] SLAMing on 1.098241008 meters Centerline goodness : 0.129162 with order 1 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.11, Z:-0.00 [[ 0.99994558 -0.00961082 -0.00405903 0.71544891] [ 0.00944155 0.99916143 -0.03984096 -0.11199411] [ 0.00443853 0.03980047 0.99919779 -0.00424029] [ 0. 0. 0. 1. ]] SLAMing on 1.1582410079999998 meters Centerline goodness : 0.747318 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:-0.01 [[ 0.99989263 -0.01415659 0.00378444 0.76424423] [ 0.01427314 0.99936047 -0.03278622 -0.12033637] [-0.00331788 0.03283671 0.99945522 -0.00778363] [ 0. 0. 0. 1. ]] SLAMing on 1.218241008 meters Centerline goodness : 0.760232 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.13, Z:-0.00 [[ 0.99978495 -0.02039513 0.00375348 0.80127626] [ 0.02049539 0.99937045 -0.02895927 -0.12683094] [-0.00316049 0.02902998 0.99957354 -0.00441397] [ 0. 0. 0. 1. ]] SLAMing on 1.278241008 meters Centerline goodness : 0.769402 with order 1 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.13, Z:-0.01 [[ 0.99929714 -0.035855 0.01093851 0.84729645] [ 0.0360579 0.99916995 -0.01895381 -0.1319676 ] [-0.01024984 0.0193349 0.99976052 -0.0076278 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3382410079999998 meters Centerline goodness : 0.778103 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.13, Z:-0.00 [[ 0.99904601 -0.04270074 0.00915004 0.88815469] [ 0.04282445 0.99898757 -0.01378027 -0.13414349] [-0.00855235 0.01415897 0.99986318 -0.00359805] [ 0. 0. 0. 1. ]] SLAMing on 1.3982410079999998 meters Centerline goodness : 0.786624 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.13, Z:-0.01 [[ 0.99858676 -0.05103218 0.014839 0.93595932] [ 0.0511814 0.99864074 -0.00985605 -0.12978107] [-0.01431586 0.01060161 0.99984132 -0.00798661] [ 0. 0. 0. 1. ]] SLAMing on 1.458241008 meters Centerline goodness : 0.791327 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.13, Z:-0.01 [[ 0.99863032 -0.05059365 0.0133326 0.97042917] [ 0.05068522 0.99869273 -0.00662186 -0.1254745 ] [-0.01298015 0.00728856 0.99988919 -0.00935994] [ 0. 0. 0. 1. ]] SLAMing on 1.518241008 meters Centerline goodness : 0.831924 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.12, Z:-0.02 [[ 0.9984132 -0.05221782 0.02108054 1.01293457] [ 0.0522725 0.99863075 -0.00205052 -0.11769961] [-0.02094461 0.0031492 0.99977568 -0.01553914] [ 0. 0. 0. 1. ]] SLAMing on 1.578241008 meters Centerline goodness : 0.203589 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.11, Z:-0.02 [[ 9.98429311e-01 -5.21078314e-02 2.05836176e-02 1.04914902e+00] [ 5.21106245e-02 9.98641238e-01 4.01015208e-04 -1.12405660e-01] [-2.05765454e-02 6.72239827e-04 9.99788054e-01 -1.93660821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6382410079999998 meters Centerline goodness : 0.189528 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.11, Z:-0.03 [[ 0.99823507 -0.05353292 0.02570939 1.09810799] [ 0.0533167 0.99853688 0.0090236 -0.10617382] [-0.02615484 -0.00763693 0.99962873 -0.02701161] [ 0. 0. 0. 1. ]] SLAMing on 1.6982410079999999 meters Centerline goodness : 0.185214 with order 3 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.10, Z:-0.03 [[ 0.9981649 -0.05512911 0.02505226 1.1320289 ] [ 0.05491688 0.99844962 0.00908248 -0.10436447] [-0.02551413 -0.00769002 0.99964488 -0.02955245] [ 0. 0. 0. 1. ]] SLAMing on 1.758241008 meters Centerline goodness : 0.588888 with order 3 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.10, Z:-0.03 [[ 0.99787883 -0.05821562 0.02913402 1.17387654] [ 0.05784648 0.99823612 0.01335758 -0.10014926] [-0.02986025 -0.01164394 0.99948626 -0.03479766] [ 0. 0. 0. 1. ]] SLAMing on 1.8182410079999998 meters Centerline goodness : 0.569492 with order 2 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.10, Z:-0.04 [[ 0.99806591 -0.05477182 0.02940214 1.21569689] [ 0.05459526 0.99848558 0.00677543 -0.09589682] [-0.02972872 -0.00515711 0.9995447 -0.03853344] [ 0. 0. 0. 1. ]] SLAMing on 1.8782410079999998 meters Centerline goodness : 0.826494 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.09, Z:-0.04 [[ 0.99783379 -0.05625707 0.03410077 1.26544564] [ 0.05613907 0.99841323 0.00440863 -0.0916703 ] [-0.03429468 -0.00248469 0.99940868 -0.04156855] [ 0. 0. 0. 1. ]] SLAMing on 1.9382410079999999 meters Centerline goodness : 0.236956 with order 3 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.09, Z:-0.04 [[ 0.99793305 -0.05418233 0.03455296 1.30733824] [ 0.05429407 0.99852233 -0.00230312 -0.0875863 ] [-0.03437712 0.00417438 0.99940021 -0.04302525] [ 0. 0. 0. 1. ]] SLAMing on 1.998241008 meters Centerline goodness : 0.253643 with order 3 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.08, Z:-0.05 [[ 0.99744208 -0.06106531 0.03715267 1.35261185] [ 0.06096773 0.99813267 0.00375498 -0.08148405] [-0.03731259 -0.00148027 0.99930255 -0.04563862] [ 0. 0. 0. 1. ]] SLAMing on 2.058241008 meters Centerline goodness : 0.708247 with order 3 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.08, Z:-0.05 [[ 9.97213691e-01 -6.52049798e-02 3.62376266e-02 1.38810559e+00] [ 6.51310822e-02 9.97871530e-01 3.21726591e-03 -7.64674529e-02] [-3.63702777e-02 -8.48105766e-04 9.99338023e-01 -4.83570384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.118241008 meters Centerline goodness : 0.147859 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.07, Z:-0.05 [[ 0.99644106 -0.07559686 0.03728717 1.43623505] [ 0.07543129 0.99713396 0.00582937 -0.06740975] [-0.03762099 -0.00299601 0.99928759 -0.05200992] [ 0. 0. 0. 1. ]] SLAMing on 2.178241008 meters Centerline goodness : 0.844286 with order 3 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.06, Z:-0.05 [[ 0.99602711 -0.08078911 0.0374581 1.47414835] [ 0.08059614 0.99672475 0.00663565 -0.05850575] [-0.0378715 -0.00359031 0.99927617 -0.05330867] [ 0. 0. 0. 1. ]] SLAMing on 2.2382410079999997 meters Centerline goodness : 0.880085 with order 3 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.06 [[ 0.99538518 -0.08619378 0.04217797 1.51609609] [ 0.08576929 0.99624543 0.01177571 -0.0441901 ] [-0.0430346 -0.00810379 0.99904072 -0.05665146] [ 0. 0. 0. 1. ]] SLAMing on 2.2982410079999998 meters Centerline goodness : 0.883807 with order 3 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.03, Z:-0.06 [[ 0.99512628 -0.08773117 0.04502147 1.5489809 ] [ 0.08729407 0.99611518 0.01158839 -0.02838395] [-0.04586323 -0.00760181 0.9989188 -0.06049261] [ 0. 0. 0. 1. ]] SLAMing on 2.358241008 meters Centerline goodness : 0.871210 with order 2 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.02, Z:-0.07 [[ 0.99517806 -0.08599249 0.04717958 1.57544882] [ 0.08562261 0.99627935 0.00980934 -0.01622535] [-0.04784757 -0.0057224 0.99883826 -0.06533338] [ 0. 0. 0. 1. ]] SLAMing on 2.418241008 meters Centerline goodness : 0.874502 with order 1 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.00, Z:-0.07 [[ 0.99530157 -0.08353714 0.04895229 1.60238843] [ 0.08320448 0.99649366 0.00879796 -0.00313294] [-0.0495156 -0.00468357 0.99876237 -0.07006922] [ 0. 0. 0. 1. ]] SLAMing on 2.478241008 meters Centerline goodness : 0.891795 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:0.02, Z:-0.08 [[ 0.99522998 -0.0845296 0.04870361 1.63911673] [ 0.08423721 0.99641338 0.00802876 0.01532149] [-0.0492076 -0.00388781 0.99878101 -0.07670012] [ 0. 0. 0. 1. ]] SLAMing on 2.538241008 meters Centerline goodness : 0.893910 with order 1 Centerline is valid? [False, False] Translation: X:1.67, Y:0.03, Z:-0.08 [[ 0.99594055 -0.08135575 0.03851846 1.66656244] [ 0.08119935 0.99668209 0.00561009 0.02598827] [-0.03884707 -0.00245964 0.99924214 -0.07708574] [ 0. 0. 0. 1. ]] SLAMing on 2.598241008 meters Centerline goodness : 0.892094 with order 1 Centerline is valid? [False, False] Translation: X:1.70, Y:0.04, Z:-0.08 [[ 9.96114438e-01 -8.09983861e-02 3.45729292e-02 1.69795527e+00] [ 8.09528491e-02 9.96714228e-01 2.71721401e-03 3.53384673e-02] [-3.46794204e-02 9.21210127e-05 9.99398484e-01 -8.04410064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6582410079999996 meters Centerline goodness : 0.891853 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:0.05, Z:-0.08 [[ 9.96031894e-01 -8.34243199e-02 3.09975693e-02 1.71031173e+00] [ 8.33535306e-02 9.96513640e-01 3.57117361e-03 4.56682906e-02] [-3.11874233e-02 -9.73245971e-04 9.99513080e-01 -8.19725184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7182410079999997 meters Centerline goodness : 0.891790 with order 1 Centerline is valid? [False, False] Translation: X:1.74, Y:0.07, Z:-0.08 [[ 9.95877280e-01 -8.52699187e-02 3.09432513e-02 1.74322258e+00] [ 8.52201873e-02 9.96357850e-01 2.92485794e-03 6.54140621e-02] [-3.10799537e-02 -2.75809897e-04 9.99516863e-01 -8.33992285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7782410079999997 meters Centerline goodness : 0.893660 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.08, Z:-0.08 [[ 9.95797740e-01 -8.74189037e-02 2.72909719e-02 1.75436643e+00] [ 8.73602318e-02 9.96171197e-01 3.33709482e-03 7.73962525e-02] [-2.74782054e-02 -9.38925838e-04 9.99621962e-01 -8.42548617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.838241008 meters Centerline goodness : 0.890784 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:0.09, Z:-0.08 [[ 0.99598635 -0.08584582 0.02533141 1.78877604] [ 0.08602042 0.996276 -0.00588342 0.09483691] [-0.024732 0.00803882 0.9996618 -0.08439458] [ 0. 0. 0. 1. ]] SLAMing on 2.898241008 meters Centerline goodness : 0.891651 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:0.11, Z:-0.09 [[ 0.99614959 -0.08352927 0.02662436 1.81437968] [ 0.08374176 0.99646314 -0.00696668 0.10796748] [-0.02594827 0.00916943 0.99962123 -0.0870461 ] [ 0. 0. 0. 1. ]] SLAMing on 2.958241008 meters Centerline goodness : 0.888843 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:0.13, Z:-0.09 [[ 0.99738244 -0.06894244 0.02179935 1.87868114] [ 0.06942989 0.99733407 -0.02245517 0.1307446 ] [-0.02019312 0.02390992 0.99951016 -0.08880052] [ 0. 0. 0. 1. ]] SLAMing on 3.018241008 meters Centerline goodness : 0.887882 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.14, Z:-0.09 [[ 0.99829642 -0.05580034 0.01704611 1.93661814] [ 0.05633651 0.9978734 -0.03278518 0.14252838] [-0.01518044 0.03368965 0.99931705 -0.08756739] [ 0. 0. 0. 1. ]] SLAMing on 3.078241008 meters Centerline goodness : 0.886492 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:0.21, Z:-0.09 [[ 0.99828456 -0.02580333 0.05255592 1.992615 ] [ 0.03531473 0.98134516 -0.18898294 0.20656966] [-0.0466991 0.19051475 0.98057296 -0.08612388] [ 0. 0. 0. 1. ]] SLAMing on 3.138241008 meters Centerline goodness : 0.886518 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.22, Z:-0.09 [[ 0.9986956 -0.01318143 0.04932903 2.07071271] [ 0.02302508 0.97855997 -0.20467103 0.21532561] [-0.04557356 0.20553986 0.97758704 -0.08556649] [ 0. 0. 0. 1. ]] SLAMing on 3.1982410079999997 meters Centerline goodness : 0.886694 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:0.21, Z:-0.08 [[ 0.99866871 -0.01977533 0.04764182 2.10236575] [ 0.02830009 0.98223322 -0.18551819 0.20672573] [-0.0431267 0.18661948 0.98148523 -0.08445479] [ 0. 0. 0. 1. ]] SLAMing on 3.2582410079999997 meters Centerline goodness : 0.889830 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:0.19, Z:-0.08 [[ 0.998555 -0.03189072 0.04325379 2.11843424] [ 0.0383898 0.98654983 -0.15888882 0.18747854] [-0.03760494 0.16031973 0.98634854 -0.07574514] [ 0. 0. 0. 1. ]] SLAMing on 3.3182410079999998 meters Centerline goodness : 0.890446 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:0.17, Z:-0.07 [[ 0.9982466 -0.04279476 0.04089424 2.1376835 ] [ 0.04787335 0.99001482 -0.13258504 0.17248342] [-0.03481196 0.13431031 0.99032766 -0.06877611] [ 0. 0. 0. 1. ]] SLAMing on 3.378241008 meters Centerline goodness : 0.893583 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:0.15, Z:-0.06 [[ 0.99790569 -0.05166362 0.03892425 2.14495142] [ 0.05562672 0.99250995 -0.10876428 0.15446073] [-0.03301355 0.11070173 0.99330521 -0.05986598] [ 0. 0. 0. 1. ]] SLAMing on 3.438241008 meters Centerline goodness : 0.892886 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:0.15, Z:-0.06 [[ 0.9978405 -0.05425063 0.03702968 2.16510526] [ 0.05747639 0.99405517 -0.09247041 0.14756467] [-0.03179297 0.09439905 0.99502665 -0.05534118] [ 0. 0. 0. 1. ]] SLAMing on 3.498241008 meters Centerline goodness : 0.890979 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.14, Z:-0.05 [[ 0.99831129 -0.0482481 0.03235259 2.19884636] [ 0.05072339 0.99545138 -0.0806455 0.14111194] [-0.02831444 0.08215034 0.99621765 -0.05287035] [ 0. 0. 0. 1. ]] SLAMing on 3.558241008 meters Centerline goodness : 0.893210 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:0.14, Z:-0.05 [[ 0.99872126 -0.04083844 0.02980031 2.2520405 ] [ 0.04293429 0.9963738 -0.0734568 0.13861649] [-0.02669239 0.07464233 0.99685307 -0.0517891 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6182410079999996 meters Centerline goodness : 0.889492 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:0.13, Z:-0.05 [[ 0.99910893 -0.03189328 0.02764362 2.304435 ] [ 0.03356336 0.99749799 -0.06221953 0.1346338 ] [-0.02559007 0.0630919 0.99767959 -0.04867644] [ 0. 0. 0. 1. ]] SLAMing on 3.6782410079999996 meters Centerline goodness : 0.890816 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:0.12, Z:-0.04 [[ 0.9992025 -0.03097028 0.02520324 2.31125861] [ 0.03227163 0.99807399 -0.05297965 0.12458082] [-0.0235139 0.05375075 0.99827749 -0.04351614] [ 0. 0. 0. 1. ]] SLAMing on 3.7382410079999997 meters Centerline goodness : 0.893185 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:0.11, Z:-0.04 [[ 0.99910527 -0.03668742 0.02104022 2.30807951] [ 0.03749894 0.99851299 -0.03956809 0.1088134 ] [-0.01955729 0.04032168 0.99899533 -0.0397693 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7982410079999998 meters Centerline goodness : 0.885369 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:-0.04 [[ 0.99910281 -0.03806795 0.01855834 2.31489346] [ 0.03874838 0.99853383 -0.03779881 0.10105049] [-0.0170922 0.038484 0.99911303 -0.04169637] [ 0. 0. 0. 1. ]] SLAMing on 3.858241008 meters Centerline goodness : 0.886964 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.09, Z:-0.04 [[ 0.99901834 -0.04098509 0.01681014 2.31923639] [ 0.04156872 0.99848764 -0.03597869 0.08689231] [-0.01531013 0.03664215 0.99921117 -0.04047411] [ 0. 0. 0. 1. ]] SLAMing on 3.918241008 meters Centerline goodness : 0.889193 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.08, Z:-0.04 [[ 0.99890903 -0.04358349 0.01676978 2.31899469] [ 0.0441788 0.99834054 -0.03693772 0.07804645] [-0.01513208 0.0376383 0.99917685 -0.03925205] [ 0. 0. 0. 1. ]] SLAMing on 3.978241008 meters Centerline goodness : 0.893342 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.07, Z:-0.04 [[ 0.99879993 -0.04615751 0.01637606 2.31921075] [ 0.0467311 0.99823793 -0.03656831 0.0669604 ] [-0.0146593 0.0372897 0.99919697 -0.03691563] [ 0. 0. 0. 1. ]] SLAMing on 4.038241008 meters Centerline goodness : 0.895870 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:-0.04 [[ 0.99858285 -0.05069973 0.01618128 2.32075844] [ 0.05129752 0.9979233 -0.03895699 0.05831779] [-0.01417256 0.03973184 0.99910986 -0.03708036] [ 0. 0. 0. 1. ]] SLAMing on 4.0982410080000005 meters Centerline goodness : 0.896878 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:-0.04 [[ 0.99837346 -0.05467811 0.01614756 2.32168548] [ 0.05531214 0.99759175 -0.04184818 0.05363988] [-0.01382049 0.04267327 0.99899349 -0.03739525] [ 0. 0. 0. 1. ]] SLAMing on 4.158241008 meters Centerline goodness : 0.899281 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:-0.04 [[ 0.9980248 -0.06123225 0.0140395 2.32796889] [ 0.06181047 0.99705855 -0.04531796 0.04989492] [-0.01122329 0.04609623 0.99887395 -0.03776685] [ 0. 0. 0. 1. ]] SLAMing on 4.218241008000001 meters Centerline goodness : 0.900830 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:-0.03 [[ 0.99779866 -0.06530174 0.01155501 2.33453253] [ 0.06575405 0.9968456 -0.04444378 0.04553607] [-0.00861631 0.04510573 0.99894506 -0.03496063] [ 0. 0. 0. 1. ]] SLAMing on 4.278241008 meters Centerline goodness : 0.905344 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.03 [[ 0.99720488 -0.07429206 0.00794461 2.33027646] [ 0.07452552 0.99660909 -0.03487494 0.03971945] [-0.00532674 0.03536954 0.99936011 -0.03009606] [ 0. 0. 0. 1. ]] SLAMing on 4.338241008000001 meters Centerline goodness : 0.904904 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.03 [[ 0.99705711 -0.07629993 0.0074464 2.33375324] [ 0.07652095 0.99640951 -0.03623015 0.03995454] [-0.00465531 0.03669334 0.99931573 -0.03294783] [ 0. 0. 0. 1. ]] SLAMing on 4.398241008 meters Centerline goodness : 0.902909 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:-0.03 [[ 9.96293232e-01 -8.58901409e-02 4.76234072e-03 2.34298944e+00] [ 8.60113006e-02 9.95516678e-01 -3.93522611e-02 3.92529703e-02] [-1.36101836e-03 3.96160065e-02 9.99214051e-01 -2.96194909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.458241008 meters Centerline goodness : 0.906655 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.04, Z:-0.03 [[ 9.95697767e-01 -9.25843754e-02 3.75381216e-03 2.34668436e+00] [ 9.26594801e-02 9.94685354e-01 -4.48917188e-02 4.15632273e-02] [ 4.22409773e-04 4.50464105e-02 9.98984806e-01 -2.97825834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.518241008 meters Centerline goodness : 0.908140 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.04, Z:-0.03 [[ 9.95576769e-01 -9.38876799e-02 3.46430404e-03 2.34788435e+00] [ 9.39476731e-02 9.94522525e-01 -4.58124736e-02 4.24814896e-02] [ 8.55898457e-04 4.59352977e-02 9.98944050e-01 -3.00896617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.578241008 meters Centerline goodness : 0.908265 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.05, Z:-0.02 [[ 9.94883935e-01 -1.01020594e-01 8.92386611e-04 2.36300212e+00] [ 1.00980533e-01 9.94151107e-01 -3.82950182e-02 5.13267544e-02] [ 2.98141836e-03 3.81892120e-02 9.99266078e-01 -2.01600658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6382410080000005 meters Centerline goodness : 0.909868 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.06, Z:-0.02 [[ 9.94811267e-01 -1.01729548e-01 1.28163277e-03 2.36084756e+00] [ 1.01698896e-01 9.94006153e-01 -4.01136257e-02 5.97430517e-02] [ 2.80679015e-03 4.00358274e-02 9.99194303e-01 -1.83945497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.698241008 meters Centerline goodness : 0.910813 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.08, Z:-0.02 [[ 9.94871787e-01 -1.01143378e-01 -3.79065846e-04 2.36409459e+00] [ 1.01049660e-01 9.94097901e-01 -3.94756776e-02 7.68444386e-02] [ 4.36953193e-03 3.92349334e-02 9.99220460e-01 -1.73916178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.758241008000001 meters Centerline goodness : 0.904159 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.09, Z:-0.02 [[ 0.99510119 -0.09878938 -0.00377885 2.371411 ] [ 0.09859014 0.99447408 -0.03607342 0.0893315 ] [ 0.00732164 0.03552414 0.999342 -0.01741752] [ 0. 0. 0. 1. ]] SLAMing on 4.818241008 meters Centerline goodness : 0.900671 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.11, Z:-0.02 [[ 0.99543522 -0.09508782 -0.00818683 2.38159058] [ 0.09479347 0.99501646 -0.03092634 0.11173518] [ 0.01108675 0.03000911 0.99948814 -0.01744121] [ 0. 0. 0. 1. ]] SLAMing on 4.878241008 meters Centerline goodness : 0.913685 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.13, Z:-0.02 [[ 0.99592868 -0.08967683 -0.00917283 2.38194155] [ 0.08939913 0.99562493 -0.02718073 0.12519439] [ 0.01157018 0.02625003 0.99958845 -0.01711597] [ 0. 0. 0. 1. ]] SLAMing on 4.938241008 meters Centerline goodness : 0.911561 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.15, Z:-0.02 [[ 0.99638491 -0.0845259 -0.00851363 2.42369817] [ 0.08417044 0.99580611 -0.03585422 0.15035227] [ 0.01150853 0.03500801 0.99932077 -0.02238516] [ 0. 0. 0. 1. ]] SLAMing on 4.998241008 meters Centerline goodness : 0.910712 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.17, Z:-0.03 [[ 0.99714704 -0.07519128 -0.00663732 2.4621852 ] [ 0.07485495 0.99633679 -0.04134903 0.17496801] [ 0.0097221 0.04073423 0.99912272 -0.02662235] [ 0. 0. 0. 1. ]] SLAMing on 5.058241008 meters Centerline goodness : 0.913218 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.19, Z:-0.03 [[ 0.99796124 -0.06362135 -0.00506744 2.50051527] [ 0.0633677 0.99718166 -0.04016554 0.18929705] [ 0.00760854 0.03976254 0.99918019 -0.02861485] [ 0. 0. 0. 1. ]] SLAMing on 5.118241008 meters Centerline goodness : 0.913197 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.21, Z:-0.03 [[ 0.99877105 -0.0489148 -0.00798269 2.54498471] [ 0.04849926 0.99776999 -0.04585701 0.2110124 ] [ 0.01020798 0.0454135 0.99891612 -0.02981433] [ 0. 0. 0. 1. ]] SLAMing on 5.1782410080000005 meters Centerline goodness : 0.912964 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.22, Z:-0.03 [[ 0.99915359 -0.04018744 -0.008779 2.58699206] [ 0.03974508 0.99815983 -0.04579599 0.2203233 ] [ 0.01060327 0.0454083 0.99891224 -0.03193833] [ 0. 0. 0. 1. ]] SLAMing on 5.238241008 meters Centerline goodness : 0.911646 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.23, Z:-0.03 [[ 0.99940286 -0.03352113 -0.00838156 2.62938277] [ 0.03308883 0.99833388 -0.04727144 0.22807633] [ 0.00995219 0.04696588 0.99884692 -0.03493608] [ 0. 0. 0. 1. ]] SLAMing on 5.298241008 meters Centerline goodness : 0.909002 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.24, Z:-0.04 [[ 0.99956892 -0.02827379 -0.00791013 2.67066242] [ 0.02784554 0.99836949 -0.04982967 0.23811617] [ 0.00930611 0.04958793 0.99872641 -0.03691986] [ 0. 0. 0. 1. ]] SLAMing on 5.358241008 meters Centerline goodness : 0.909535 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.24, Z:-0.03 [[ 0.99954724 -0.02964618 -0.00513941 2.69645799] [ 0.0293661 0.99841763 -0.04795687 0.24296284] [ 0.00655301 0.04778424 0.99883619 -0.03444756] [ 0. 0. 0. 1. ]] SLAMing on 5.418241008 meters Centerline goodness : 0.914861 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:0.25, Z:-0.03 [[ 0.99963221 -0.02696369 -0.00289792 2.73385821] [ 0.02678252 0.99835796 -0.05063684 0.24683891] [ 0.00425852 0.0505406 0.99871293 -0.03184851] [ 0. 0. 0. 1. ]] SLAMing on 5.478241008 meters Centerline goodness : 0.912332 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.25, Z:-0.03 [[ 0.99958395 -0.02854167 -0.00415986 2.765166 ] [ 0.02830914 0.99844367 -0.04805022 0.25062723] [ 0.00552482 0.04791246 0.99883626 -0.03196499] [ 0. 0. 0. 1. ]] SLAMing on 5.538241008 meters Centerline goodness : 0.912322 with order 1 Centerline is valid? [False, False] Translation: X:2.80, Y:0.25, Z:-0.03 [[ 0.9993547 -0.03508909 -0.00767764 2.804116 ] [ 0.03474334 0.99854277 -0.04129446 0.25148534] [ 0.00911544 0.04100107 0.99911752 -0.02912298] [ 0. 0. 0. 1. ]] SLAMing on 5.5982410080000005 meters Centerline goodness : 0.912466 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:0.26, Z:-0.03 [[ 0.99907605 -0.04229958 -0.00760217 2.83459902] [ 0.04194378 0.99823375 -0.04207259 0.25575976] [ 0.0093684 0.04171486 0.99908563 -0.02791983] [ 0. 0. 0. 1. ]] SLAMing on 5.658241008 meters Centerline goodness : 0.911953 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.26, Z:-0.03 [[ 0.99898488 -0.04428665 -0.00823981 2.83772198] [ 0.04388445 0.99807327 -0.04386225 0.25731693] [ 0.01016644 0.04345612 0.99900361 -0.03002362] [ 0. 0. 0. 1. ]] SLAMing on 5.718241008000001 meters Centerline goodness : 0.910750 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.26, Z:-0.03 [[ 0.99887708 -0.04511284 -0.01447137 2.87295047] [ 0.04450316 0.99820823 -0.03999739 0.25943173] [ 0.01624984 0.03930845 0.99909498 -0.03119047] [ 0. 0. 0. 1. ]] SLAMing on 5.778241008 meters Centerline goodness : 0.909855 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:0.26, Z:-0.03 [[ 0.99882787 -0.04491084 -0.01805251 2.90598988] [ 0.04426041 0.99840867 -0.03494478 0.2622114 ] [ 0.01959318 0.03410481 0.99922619 -0.03125277] [ 0. 0. 0. 1. ]] SLAMing on 5.838241008 meters Centerline goodness : 0.906697 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:0.27, Z:-0.03 [[ 0.99867251 -0.04778019 -0.01924247 2.93644827] [ 0.04711559 0.99832331 -0.03362564 0.26586565] [ 0.02081685 0.03267438 0.99924924 -0.03003799] [ 0. 0. 0. 1. ]] SLAMing on 5.898241008 meters Centerline goodness : 0.907863 with order 1 Centerline is valid? [False, False] Translation: X:2.97, Y:0.27, Z:-0.03 [[ 0.99853613 -0.05027273 -0.0199561 2.96668518] [ 0.04962872 0.99826923 -0.03155202 0.2695724 ] [ 0.02150777 0.03051544 0.99930287 -0.02845925] [ 0. 0. 0. 1. ]] SLAMing on 5.958241008 meters Centerline goodness : 0.906800 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.28, Z:-0.03 [[ 0.99870647 -0.04695716 -0.0195043 3.00856417] [ 0.04628418 0.99836206 -0.03362992 0.27598376] [ 0.02105152 0.03268367 0.99924402 -0.02977813] [ 0. 0. 0. 1. ]] SLAMing on 6.018241008 meters Centerline goodness : 0.906652 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:0.29, Z:-0.03 [[ 0.99896849 -0.04144115 -0.01856306 3.04893928] [ 0.04071386 0.9984488 -0.0379787 0.28869586] [ 0.02010815 0.03718375 0.99910612 -0.0304222 ] [ 0. 0. 0. 1. ]] SLAMing on 6.078241008 meters Centerline goodness : 0.908194 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:0.30, Z:-0.03 [[ 0.99923579 -0.03526679 -0.016855 3.08841479] [ 0.03459281 0.99865066 -0.03873229 0.29650767] [ 0.01819822 0.03811963 0.99910746 -0.03057968] [ 0. 0. 0. 1. ]] SLAMing on 6.1382410080000005 meters Centerline goodness : 0.908040 with order 1 Centerline is valid? [False, False] Translation: X:3.15, Y:0.32, Z:-0.03 [[ 0.99969902 -0.02226458 -0.01030358 3.15242431] [ 0.02153954 0.99759965 -0.06581019 0.3152802 ] [ 0.01174409 0.06556844 0.99777896 -0.03212471] [ 0. 0. 0. 1. ]] SLAMing on 6.198241008 meters Centerline goodness : 0.905494 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:0.32, Z:-0.04 [[ 0.99980392 -0.01567678 -0.01209793 3.21527774] [ 0.01480229 0.99748817 -0.0692694 0.32370896] [ 0.01315346 0.06907674 0.99752463 -0.03517551] [ 0. 0. 0. 1. ]] SLAMing on 6.258241008000001 meters Centerline goodness : 0.908793 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:0.34, Z:-0.04 [[ 9.99931207e-01 -1.16252984e-02 -1.56030526e-03 3.27253693e+00] [ 1.14171161e-02 9.95145036e-01 -9.77548283e-02 3.37517045e-01] [ 2.68915909e-03 9.77302892e-02 9.95209304e-01 -3.92634783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.318241008 meters Centerline goodness : 0.907432 with order 1 Centerline is valid? [False, False] Translation: X:3.30, Y:0.34, Z:-0.04 [[ 9.99926328e-01 -1.21109829e-02 -8.13686081e-04 3.30189074e+00] [ 1.19868872e-02 9.95787795e-01 -9.09009484e-02 3.38549055e-01] [ 1.91115850e-03 9.08844980e-02 9.95859606e-01 -3.74851261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.378241008 meters Centerline goodness : 0.910453 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:0.34, Z:-0.04 [[ 9.99897111e-01 -1.43177593e-02 8.77315268e-04 3.32950746e+00] [ 1.43398419e-02 9.96116119e-01 -8.68737422e-02 3.38149099e-01] [ 3.69929451e-04 8.68773844e-02 9.96218943e-01 -3.55705427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.438241008 meters Centerline goodness : 0.911835 with order 1 Centerline is valid? [False, False] Translation: X:3.39, Y:0.34, Z:-0.03 [[ 9.99910079e-01 -1.33961593e-02 6.13511842e-04 3.38678581e+00] [ 1.33975624e-02 9.95935989e-01 -8.90618382e-02 3.36887831e-01] [ 5.82068052e-04 8.90620492e-02 9.96025910e-01 -3.48936787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.498241008 meters Centerline goodness : 0.912602 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:-0.03 [[ 9.99873031e-01 -1.59348746e-02 2.72261091e-05 3.41757002e+00] [ 1.58834553e-02 9.96506509e-01 -8.19908068e-02 3.33980073e-01] [ 1.27938223e-03 8.19808290e-02 9.96633085e-01 -3.42253397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.558241008 meters Centerline goodness : 0.910917 with order 1 Centerline is valid? [False, False] Translation: X:3.45, Y:0.33, Z:-0.04 [[ 9.99615837e-01 -2.76931357e-02 -1.12631281e-03 3.44528313e+00] [ 2.75382870e-02 9.96979754e-01 -7.26155087e-02 3.26984653e-01] [ 3.13386220e-03 7.25565958e-02 9.97359373e-01 -3.76481262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.618241008 meters Centerline goodness : 0.903086 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.32, Z:-0.04 [[ 0.9990669 -0.04292805 -0.00474539 3.47944636] [ 0.04255253 0.99717309 -0.06192822 0.32048361] [ 0.00739044 0.06166851 0.99806932 -0.03988544] [ 0. 0. 0. 1. ]] SLAMing on 6.6782410080000005 meters Centerline goodness : 0.903789 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.32, Z:-0.04 [[ 0.99867059 -0.05126829 -0.00535022 3.4998607 ] [ 0.0509154 0.99730641 -0.05279715 0.31761771] [ 0.00804262 0.05245455 0.99859093 -0.03912512] [ 0. 0. 0. 1. ]] SLAMing on 6.738241008 meters Centerline goodness : 0.904100 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.32, Z:-0.04 [[ 0.99855467 -0.05325125 -0.00727196 3.5309905 ] [ 0.0528695 0.99757563 -0.0452512 0.31710218] [ 0.00966401 0.04480133 0.99894917 -0.03757849] [ 0. 0. 0. 1. ]] SLAMing on 6.798241008 meters Centerline goodness : 0.906094 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.32, Z:-0.04 [[ 0.99882384 -0.0479355 -0.00728803 3.57323305] [ 0.04757036 0.99789986 -0.04396514 0.32253671] [ 0.00938021 0.04356673 0.99900648 -0.03917555] [ 0. 0. 0. 1. ]] SLAMing on 6.858241008 meters Centerline goodness : 0.902881 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:0.33, Z:-0.04 [[ 0.99908741 -0.04220931 -0.00653596 3.61466255] [ 0.04188984 0.99819381 -0.04306233 0.32727862] [ 0.00834178 0.04274924 0.99905101 -0.04078585] [ 0. 0. 0. 1. ]] SLAMing on 6.918241008 meters Centerline goodness : 0.906842 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:0.33, Z:-0.04 [[ 9.99241056e-01 -3.88635553e-02 -2.63358505e-03 3.65150021e+00] [ 3.87110059e-02 9.98288802e-01 -4.38283645e-02 3.34344260e-01] [ 4.33240453e-03 4.36931525e-02 9.99035604e-01 -3.97676490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.978241008 meters Centerline goodness : 0.906439 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:0.34, Z:-0.04 [[ 9.99185348e-01 -4.03530779e-02 5.19593318e-04 3.69029287e+00] [ 4.03345739e-02 9.98138001e-01 -4.57564442e-02 3.38759568e-01] [ 1.32778752e-03 4.57401262e-02 9.98952490e-01 -3.98855831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.038241008 meters Centerline goodness : 0.905488 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:0.34, Z:-0.04 [[ 9.98810761e-01 -4.87337280e-02 1.44488386e-03 3.72003327e+00] [ 4.87498188e-02 9.97825092e-01 -4.43682395e-02 3.43460962e-01] [ 7.20488348e-04 4.43859129e-02 9.99014200e-01 -3.96229534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0982410080000005 meters Centerline goodness : 0.908816 with order 1 Centerline is valid? [False, False] Translation: X:3.76, Y:0.35, Z:-0.04 [[ 9.98689439e-01 -5.10993648e-02 2.87383326e-03 3.76124344e+00] [ 5.11782855e-02 9.97552722e-01 -4.76376877e-02 3.48257721e-01] [-4.32544610e-04 4.77223335e-02 9.98860547e-01 -4.12210833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.158241008 meters Centerline goodness : 0.905229 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:0.36, Z:-0.04 [[ 9.98711363e-01 -5.06287186e-02 3.51385095e-03 3.80269453e+00] [ 5.07426192e-02 9.97380651e-01 -5.15463274e-02 3.59572822e-01] [-8.94922445e-04 5.16582049e-02 9.98664423e-01 -4.33156340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.218241008 meters Centerline goodness : 0.898951 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:0.37, Z:-0.04 [[ 9.98887888e-01 -4.69125929e-02 4.71127449e-03 3.84249546e+00] [ 4.70920478e-02 9.97588364e-01 -5.09881844e-02 3.66381210e-01] [-2.30792467e-03 5.11533434e-02 9.98688144e-01 -4.38675108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.278241008 meters Centerline goodness : 0.902479 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:0.38, Z:-0.05 [[ 9.99229622e-01 -3.89697877e-02 4.63883656e-03 3.88461097e+00] [ 3.91545782e-02 9.97956055e-01 -5.05037696e-02 3.79716409e-01] [-2.66123385e-03 5.06464943e-02 9.98713097e-01 -4.66767913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.338241008 meters Centerline goodness : 0.900274 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:0.39, Z:-0.05 [[ 9.99413837e-01 -3.39300865e-02 4.55322692e-03 3.92623534e+00] [ 3.41238302e-02 9.98013288e-01 -5.29626320e-02 3.91043064e-01] [-2.74715429e-03 5.30869608e-02 9.98586114e-01 -4.88927835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.398241008 meters Centerline goodness : 0.895383 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:0.40, Z:-0.05 [[ 0.99966053 -0.0240639 0.00998764 3.98551614] [ 0.02468606 0.99739888 -0.0677206 0.40385373] [-0.00833204 0.06794417 0.99765433 -0.05123535] [ 0. 0. 0. 1. ]] SLAMing on 7.458241008 meters Centerline goodness : 0.893969 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:0.42, Z:-0.05 [[ 0.99972026 -0.01750826 0.01590149 4.04304197] [ 0.01888297 0.99568354 -0.09087201 0.41806876] [-0.01424185 0.09114685 0.99573562 -0.05326459] [ 0. 0. 0. 1. ]] SLAMing on 7.518241008 meters Centerline goodness : 0.893366 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:0.44, Z:-0.05 [[ 0.9996093 -0.00729916 0.02698096 4.09911491] [ 0.0109677 0.99031149 -0.13842996 0.44381228] [-0.02570914 0.13867179 0.99000463 -0.05354168] [ 0. 0. 0. 1. ]] SLAMing on 7.578241008 meters Centerline goodness : 0.894870 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:0.45, Z:-0.06 [[ 9.99405398e-01 -2.59873487e-04 3.44787209e-02 4.15055879e+00] [ 5.84666726e-03 9.86767707e-01 -1.62034899e-01 4.54034931e-01] [-3.39803798e-02 1.62140138e-01 9.86182493e-01 -5.62157343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6382410080000005 meters Centerline goodness : 0.894024 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:0.50, Z:-0.04 [[ 9.98622259e-01 1.13874509e-02 5.12241166e-02 4.19731443e+00] [ 2.95037595e-03 9.62441004e-01 -2.71474878e-01 5.00330360e-01] [-5.23915971e-02 2.71251986e-01 9.61081412e-01 -4.05364475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.698241008 meters Centerline goodness : 0.894470 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:0.49, Z:-0.04 [[ 9.98441485e-01 1.00680773e-02 5.48929368e-02 4.18972107e+00] [ 3.23132182e-03 9.71513464e-01 -2.36962333e-01 4.90615551e-01] [-5.57149823e-02 2.36770401e-01 9.69966813e-01 -4.01307194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.758241008 meters Centerline goodness : 0.893605 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.48, Z:-0.04 [[ 0.99831366 0.00774592 0.05753113 4.16759366] [ 0.0042675 0.97858321 -0.2058074 0.48035954] [-0.05789317 0.20570585 0.97689994 -0.04039016] [ 0. 0. 0. 1. ]] SLAMing on 7.818241008 meters Centerline goodness : 0.882363 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.47, Z:-0.04 [[ 0.99839965 0.00452757 0.05637048 4.17046552] [ 0.00599627 0.98269564 -0.18513056 0.47155896] [-0.05623322 0.1851723 0.98109584 -0.04485448] [ 0. 0. 0. 1. ]] SLAMing on 7.878241008 meters Centerline goodness : 0.881997 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.46, Z:-0.05 [[ 9.98435071e-01 1.35121974e-03 5.59069083e-02 4.17408672e+00] [ 7.73008674e-03 9.86776853e-01 -1.61900244e-01 4.63767993e-01] [-5.53864058e-02 1.62079047e-01 9.85222172e-01 -4.73637740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.938241008 meters Centerline goodness : 0.883105 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:0.46, Z:-0.05 [[ 9.98489055e-01 -2.28257932e-03 5.49035161e-02 4.20580825e+00] [ 1.06820108e-02 9.88139883e-01 -1.53184419e-01 4.60126727e-01] [-5.39026984e-02 1.53539446e-01 9.86671241e-01 -5.01017661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.998241008 meters Centerline goodness : 0.880755 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:0.46, Z:-0.05 [[ 9.98524715e-01 -3.30678295e-03 5.41983207e-02 4.23723238e+00] [ 1.09415921e-02 9.89922762e-01 -1.41185009e-01 4.56454761e-01] [-5.31852831e-02 1.41569737e-01 9.88498526e-01 -5.31095929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.058241008 meters Centerline goodness : 0.879304 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:0.46, Z:-0.06 [[ 9.98120112e-01 -1.61236639e-03 6.12669786e-02 4.27843778e+00] [ 1.13197909e-02 9.87305096e-01 -1.58431404e-01 4.61840041e-01] [-6.02337507e-02 1.58827100e-01 9.85467324e-01 -5.59716849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.118241008 meters Centerline goodness : 0.882407 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:0.46, Z:-0.06 [[ 0.99803319 -0.00710191 0.06228411 4.29923144] [ 0.01605702 0.98937706 -0.14448258 0.45769233] [-0.06059636 0.1451985 0.98754518 -0.05841797] [ 0. 0. 0. 1. ]] SLAMing on 8.178241008 meters Centerline goodness : 0.878107 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:0.45, Z:-0.06 [[ 0.99798141 -0.00573525 0.0632472 4.33944828] [ 0.01459081 0.9899791 -0.14045817 0.45362381] [-0.06180784 0.14109747 0.98806442 -0.06204025] [ 0. 0. 0. 1. ]] SLAMing on 8.238241008 meters Centerline goodness : 0.882243 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:0.44, Z:-0.06 [[ 0.99806946 -0.00662274 0.06175351 4.35138152] [ 0.01323644 0.99413714 -0.10731328 0.44180653] [-0.06068075 0.10792351 0.99230558 -0.0619581 ] [ 0. 0. 0. 1. ]] SLAMing on 8.298241008 meters Centerline goodness : 0.882880 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:0.44, Z:-0.06 [[ 0.99788627 -0.00566942 0.06473681 4.38901577] [ 0.01252035 0.99429603 -0.10591812 0.4418041 ] [-0.06376706 0.10650476 0.99226534 -0.06394487] [ 0. 0. 0. 1. ]] SLAMing on 8.358241008 meters Centerline goodness : 0.885156 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:0.44, Z:-0.06 [[ 9.97718300e-01 -3.10495184e-03 6.74429552e-02 4.39440191e+00] [ 9.30640096e-03 9.95730959e-01 -9.18327178e-02 4.36124011e-01] [-6.68699023e-02 9.22508343e-02 9.93487896e-01 -6.01086716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.418241008 meters Centerline goodness : 0.888253 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:0.43, Z:-0.06 [[ 9.97743618e-01 2.18985290e-03 6.71034888e-02 4.39658648e+00] [ 3.58709463e-03 9.96301718e-01 -8.58488147e-02 4.33797766e-01] [-6.70433175e-02 8.58958135e-02 9.94045825e-01 -6.28131511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.478241008 meters Centerline goodness : 0.883031 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:0.37, Z:-0.04 [[ 0.99854162 -0.01021421 0.05301229 4.36536924] [ 0.00608494 0.99697554 0.07747738 0.37198885] [-0.05364333 -0.07704181 0.99558372 -0.03876816] [ 0. 0. 0. 1. ]] SLAMing on 8.538241008 meters Centerline goodness : 0.883695 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:0.37, Z:-0.04 [[ 9.98474481e-01 -5.12076547e-03 5.49771621e-02 4.36985844e+00] [ 1.52593508e-03 9.97868987e-01 6.52315559e-02 3.74757623e-01] [-5.51940406e-02 -6.50481523e-02 9.96354533e-01 -4.16200649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.598241008 meters Centerline goodness : 0.878126 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:0.37, Z:-0.04 [[ 9.98282875e-01 -1.48407557e-03 5.85585066e-02 4.37625093e+00] [-1.82821048e-03 9.98402644e-01 5.64696128e-02 3.72735210e-01] [-5.85487730e-02 -5.64797047e-02 9.96685549e-01 -4.17673003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.658241008000001 meters Centerline goodness : 0.883214 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:0.29, Z:-0.00 [[ 9.98631857e-01 -1.60035550e-02 4.97825396e-02 4.36137927e+00] [ 2.40840435e-03 9.65083253e-01 2.61932270e-01 2.88268843e-01] [-5.22361427e-02 -2.61454012e-01 9.63801424e-01 -1.88555677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.718241008 meters Centerline goodness : 0.883187 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:0.31, Z:-0.00 [[ 9.98605113e-01 1.75609219e-03 5.27706838e-02 4.33494836e+00] [-1.10121599e-02 9.84394667e-01 1.75629929e-01 3.06501644e-01] [-5.16387574e-02 -1.75966064e-01 9.83040886e-01 -4.11329028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.778241008 meters Centerline goodness : 0.889480 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:0.30, Z:-0.00 [[ 9.98371084e-01 7.03156416e-03 5.66192166e-02 4.32997207e+00] [-1.52494458e-02 9.89159591e-01 1.46050529e-01 2.99056017e-01] [-5.49784775e-02 -1.46676037e-01 9.87655561e-01 -9.00954571e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.838241008 meters Centerline goodness : 0.889118 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:0.31, Z:-0.00 [[ 9.98499722e-01 1.03111433e-02 5.37771848e-02 4.30969907e+00] [-1.46315633e-02 9.96641144e-01 8.05751024e-02 3.09992123e-01] [-5.27657336e-02 -8.12410616e-02 9.95296773e-01 -1.24808630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.898241008 meters Centerline goodness : 0.890535 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:0.29, Z:-0.00 [[ 9.98877264e-01 3.47515686e-03 4.72454819e-02 4.29703846e+00] [-6.95478600e-03 9.97257207e-01 7.36864614e-02 2.92452041e-01] [-4.68598253e-02 -7.39323131e-02 9.96161719e-01 -3.69540894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.958241008 meters Centerline goodness : 0.889389 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:0.29, Z:-0.01 [[ 9.99096734e-01 1.51283317e-03 4.24667716e-02 4.32836676e+00] [-3.52588532e-03 9.98871273e-01 4.73682089e-02 2.86982573e-01] [-4.23471781e-02 -4.74751558e-02 9.97974361e-01 -6.20778849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.018241008 meters Centerline goodness : 0.890175 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:0.28, Z:-0.01 [[ 9.99114970e-01 1.71254335e-03 4.20278988e-02 4.35127105e+00] [-2.99180812e-03 9.99533504e-01 3.03944728e-02 2.80774637e-01] [-4.19562411e-02 -3.04933122e-02 9.98654010e-01 -9.02671126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.078241008000001 meters Centerline goodness : 0.889313 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:0.27, Z:-0.01 [[ 0.99927953 0.00657218 0.03737955 4.38249614] [-0.00702317 0.99990397 0.01194655 0.26851317] [-0.03729745 -0.01220047 0.99922973 -0.01035415] [ 0. 0. 0. 1. ]] SLAMing on 9.138241008 meters Centerline goodness : 0.893087 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.27, Z:-0.01 [[ 9.99300757e-01 1.18379503e-02 3.54663169e-02 4.41409306e+00] [-1.17097692e-02 9.99924143e-01 -3.81970866e-03 2.65094672e-01] [-3.55088441e-02 3.40173537e-03 9.99363573e-01 -1.22539489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.198241008 meters Centerline goodness : 0.899291 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:0.25, Z:-0.01 [[ 0.99930013 0.0189111 0.03227428 4.44979933] [-0.01843547 0.99971795 -0.01497154 0.25195601] [-0.0325483 0.01436607 0.99936691 -0.01031202] [ 0. 0. 0. 1. ]] SLAMing on 9.258241008 meters Centerline goodness : 0.901257 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:0.24, Z:-0.01 [[ 0.9993169 0.01929408 0.03151943 4.47946087] [-0.01847258 0.99948735 -0.02614957 0.2420584 ] [-0.03200781 0.02554946 0.99916101 -0.01156046] [ 0. 0. 0. 1. ]] SLAMing on 9.318241008 meters Centerline goodness : 0.903884 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:0.22, Z:-0.01 [[ 0.99922499 0.02268497 0.03216862 4.50621481] [-0.02168851 0.99928424 -0.03099385 0.22402981] [-0.03284869 0.03027214 0.99900178 -0.01136354] [ 0. 0. 0. 1. ]] SLAMing on 9.378241008 meters Centerline goodness : 0.889429 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:0.22, Z:-0.01 [[ 0.99915728 0.02668257 0.03118927 4.53529163] [-0.02545957 0.99891588 -0.03897272 0.215181 ] [-0.03219535 0.03814581 0.9987534 -0.01327462] [ 0. 0. 0. 1. ]] SLAMing on 9.438241008 meters Centerline goodness : 0.889748 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:0.20, Z:-0.01 [[ 0.99879817 0.03550283 0.03379015 4.5753967 ] [-0.03384006 0.99824637 -0.04856995 0.19904955] [-0.03545526 0.04736811 0.99824806 -0.0109776 ] [ 0. 0. 0. 1. ]] SLAMing on 9.498241008 meters Centerline goodness : 0.891505 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:0.19, Z:-0.01 [[ 0.99862692 0.03977181 0.03409521 4.61527737] [-0.03804007 0.99802364 -0.0500177 0.18892232] [-0.03601712 0.04865203 0.99816619 -0.01358786] [ 0. 0. 0. 1. ]] SLAMing on 9.558241008 meters Centerline goodness : 0.890176 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:0.18, Z:-0.01 [[ 0.99842438 0.04692707 0.03076692 4.6580121 ] [-0.04502337 0.99718892 -0.05989286 0.17794104] [-0.03349103 0.05841326 0.99773055 -0.01150064] [ 0. 0. 0. 1. ]] SLAMing on 9.618241008 meters Centerline goodness : 0.893022 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:0.16, Z:-0.01 [[ 0.99844836 0.04605366 0.03130389 4.65656395] [-0.04433416 0.99757966 -0.05356586 0.15524658] [-0.03369502 0.05209491 0.99807353 -0.00906346] [ 0. 0. 0. 1. ]] SLAMing on 9.678241008 meters Centerline goodness : 0.891034 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:0.14, Z:-0.01 [[ 0.99864638 0.04308994 0.0291318 4.66184975] [-0.04154768 0.99780214 -0.05162046 0.1403252 ] [-0.0312921 0.05034023 0.99824179 -0.01181059] [ 0. 0. 0. 1. ]] SLAMing on 9.738241008 meters Centerline goodness : 0.889899 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:0.11, Z:-0.02 [[ 0.99894253 0.03785731 0.02608914 4.6663115 ] [-0.03674878 0.99845269 -0.04173427 0.11496915] [-0.02762872 0.0407314 0.99878807 -0.01540321] [ 0. 0. 0. 1. ]] SLAMing on 9.798241008 meters Centerline goodness : 0.892295 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:0.10, Z:-0.02 [[ 0.99909309 0.03420654 0.02535585 4.66844899] [-0.03311084 0.99855015 -0.04244141 0.09964666] [-0.02677086 0.04156337 0.99877716 -0.01719953] [ 0. 0. 0. 1. ]] SLAMing on 9.858241008 meters Centerline goodness : 0.892424 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:0.08, Z:-0.01 [[ 0.99920849 0.03021108 0.02587816 4.66664676] [-0.02915554 0.99876465 -0.04023838 0.07830215] [-0.02706184 0.03945204 0.99885494 -0.01401353] [ 0. 0. 0. 1. ]] SLAMing on 9.918241008 meters Centerline goodness : 0.898766 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:0.07, Z:-0.01 [[ 0.99918012 0.03101844 0.02601813 4.66559931] [-0.03004015 0.99885681 -0.03718418 0.06746181] [-0.02714178 0.03637211 0.99896967 -0.01276026] [ 0. 0. 0. 1. ]] SLAMing on 9.978241008 meters Centerline goodness : 0.901962 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:0.05, Z:-0.01 [[ 0.99921703 0.02922566 0.02666794 4.66244081] [-0.02829555 0.99900017 -0.0346125 0.05343445] [-0.02765285 0.03383082 0.99904494 -0.00795339] [ 0. 0. 0. 1. ]] SLAMing on 10.038241008 meters Centerline goodness : 0.904107 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:0.04, Z:-0.01 [[ 0.99930101 0.02613417 0.02672991 4.66142079] [-0.02517145 0.99904407 -0.03574005 0.0444117 ] [-0.02763839 0.03504224 0.99900358 -0.00675685] [ 0. 0. 0. 1. ]] SLAMing on 10.098241008 meters Centerline goodness : 0.907756 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:0.03, Z:-0.01 [[ 0.9994457 0.02100557 0.02582746 4.66317664] [-0.02003952 0.99911021 -0.03711069 0.03077417] [-0.02658401 0.03657255 0.99897735 -0.00609096] [ 0. 0. 0. 1. ]] SLAMing on 10.158241008 meters Centerline goodness : 0.913700 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:0.02, Z:-0.00 [[ 9.99551822e-01 1.61858997e-02 2.51827600e-02 4.65762231e+00] [-1.56234585e-02 9.99627607e-01 -2.23730780e-02 1.91798534e-02] [-2.55355105e-02 2.19696090e-02 9.99432476e-01 -3.10159575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.218241008 meters Centerline goodness : 0.915550 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:0.01, Z:-0.00 [[ 0.99956302 0.01590135 0.02491816 4.6594173 ] [-0.01537424 0.99965694 -0.02120456 0.01399901] [-0.02524679 0.02081219 0.99946458 -0.00471714] [ 0. 0. 0. 1. ]] SLAMing on 10.278241008 meters Centerline goodness : 0.914181 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:0.01, Z:-0.01 [[ 0.9996124 0.01274245 0.02475229 4.65989635] [-0.01216167 0.99965047 -0.02347421 0.00822865] [-0.02504276 0.02316409 0.99941797 -0.00517095] [ 0. 0. 0. 1. ]] SLAMing on 10.338241008 meters Centerline goodness : 0.916830 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.00, Z:-0.01 [[ 9.99646775e-01 1.00180334e-02 2.46163306e-02 4.66042021e+00] [-9.40390410e-03 9.99644758e-01 -2.49384099e-02 -3.95487538e-04] [-2.48574197e-02 2.46981114e-02 9.99385867e-01 -5.75815346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.398241008 meters Centerline goodness : 0.917310 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.01, Z:-0.01 [[ 0.99963337 0.01118536 0.02465809 4.66004974] [-0.01062289 0.99968304 -0.02282503 -0.00618158] [-0.02490558 0.02255472 0.99943534 -0.00537396] [ 0. 0. 0. 1. ]] SLAMing on 10.458241008 meters Centerline goodness : 0.919132 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.01, Z:-0.00 [[ 9.99562879e-01 1.59240775e-02 2.49093302e-02 4.65862247e+00] [-1.55021800e-02 9.99734630e-01 -1.70397224e-02 -1.01651415e-02] [-2.51740618e-02 1.66461250e-02 9.99544483e-01 -3.24194119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.518241008 meters Centerline goodness : 0.925315 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.02, Z:-0.00 [[ 9.99492872e-01 1.99690476e-02 2.48039355e-02 4.65845968e+00] [-1.96871325e-02 9.99739376e-01 -1.15584326e-02 -1.58070927e-02] [-2.50282818e-02 1.10642527e-02 9.99625514e-01 -1.92987463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.578241008 meters Centerline goodness : 0.926845 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.02, Z:-0.00 [[ 9.99505705e-01 1.95854654e-02 2.45917846e-02 4.65953452e+00] [-1.93310663e-02 9.99757576e-01 -1.05403677e-02 -2.17480139e-02] [-2.47922610e-02 1.00597722e-02 9.99642008e-01 -2.54362830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.638241008 meters Centerline goodness : 0.922701 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.02, Z:-0.00 [[ 9.99590699e-01 1.52425706e-02 2.42094845e-02 4.66141867e+00] [-1.48994150e-02 9.99786849e-01 -1.42921244e-02 -2.46212696e-02] [-2.44221730e-02 1.39255675e-02 9.99604740e-01 -4.37955781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.698241008 meters Centerline goodness : 0.921320 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.03, Z:-0.00 [[ 9.99803544e-01 6.27627292e-03 1.88011203e-02 4.66252373e+00] [-6.18367513e-03 9.99968484e-01 -4.97921467e-03 -3.14688293e-02] [-1.88317786e-02 4.86197646e-03 9.99810845e-01 -4.53867145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.758241008 meters Centerline goodness : 0.921734 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.03, Z:-0.01 [[ 0.99982399 0.00506896 0.0180639 4.66574506] [-0.00497037 0.99997253 -0.00549864 -0.0338339 ] [-0.01809128 0.00540789 0.99982171 -0.00681028] [ 0. 0. 0. 1. ]] SLAMing on 10.818241008 meters Centerline goodness : 0.920853 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.04, Z:-0.01 [[ 9.99825977e-01 5.59830760e-03 1.77953523e-02 4.66582287e+00] [-5.52471514e-03 9.99975994e-01 -4.18196240e-03 -3.88490030e-02] [-1.78183370e-02 4.08292039e-03 9.99832904e-01 -5.93013251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.878241008 meters Centerline goodness : 0.923136 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.04, Z:-0.00 [[ 9.99826984e-01 5.71757614e-03 1.77006011e-02 4.66554653e+00] [-5.65888682e-03 9.99978330e-01 -3.36398175e-03 -4.15352731e-02] [-1.77194514e-02 3.26323403e-03 9.99837673e-01 -4.90802981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.938241008 meters Centerline goodness : 0.924843 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.05, Z:-0.00 [[ 9.99830940e-01 5.01354440e-03 1.76905725e-02 4.66575637e+00] [-4.96965952e-03 9.99984466e-01 -2.52378354e-03 -4.52668037e-02] [-1.77029508e-02 2.43544075e-03 9.99840324e-01 -4.22508872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.998241008 meters Centerline goodness : 0.927306 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.05, Z:-0.00 [[ 9.99836073e-01 4.75454882e-03 1.74705869e-02 4.66646518e+00] [-4.71682965e-03 9.99986457e-01 -2.19958270e-03 -4.76079966e-02] [-1.74808083e-02 2.11681634e-03 9.99844958e-01 -4.39516026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.058241008 meters Centerline goodness : 0.926263 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.05, Z:-0.01 [[ 9.99844800e-01 4.19894159e-03 1.71098150e-02 4.66804885e+00] [-4.15679358e-03 9.99988240e-01 -2.49820100e-03 -4.87576114e-02] [-1.71201036e-02 2.42669131e-03 9.99850495e-01 -5.52507311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.118241008 meters Centerline goodness : 0.921565 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.05, Z:-0.01 [[ 9.99854416e-01 3.80304283e-03 1.66338253e-02 4.66971445e+00] [-3.74854980e-03 9.99987509e-01 -3.30599014e-03 -4.75999109e-02] [-1.66461904e-02 3.24315611e-03 9.99856183e-01 -6.80860866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.178241008 meters Centerline goodness : 0.921198 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.05, Z:-0.01 [[ 9.99835964e-01 7.86623727e-03 1.63146605e-02 4.67097863e+00] [-7.86915803e-03 9.99969031e-01 1.14838239e-04 -4.61873820e-02] [-1.63132519e-02 -2.43202043e-04 9.99866900e-01 -7.99897597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.238241008 meters Centerline goodness : 0.922528 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.05, Z:-0.01 [[ 9.99796985e-01 1.21158058e-02 1.60995919e-02 4.67125783e+00] [-1.21835681e-02 9.99917300e-01 4.11754568e-03 -4.56387022e-02] [-1.60483731e-02 -4.31286023e-03 9.99861915e-01 -7.75877333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.298241008 meters Centerline goodness : 0.925843 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.05, Z:-0.01 [[ 0.99975302 0.01569723 0.0157319 4.6732716 ] [-0.01581635 0.99984696 0.0074762 -0.04502053] [-0.01561214 -0.00772317 0.9998483 -0.00957988] [ 0. 0. 0. 1. ]] SLAMing on 11.358241008 meters Centerline goodness : 0.922317 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.05, Z:-0.01 [[ 0.99975161 0.01591907 0.01559842 4.67403356] [-0.01603699 0.99984354 0.00746396 -0.04535973] [-0.01547716 -0.00771226 0.99985048 -0.01058311] [ 0. 0. 0. 1. ]] SLAMing on 11.418241008 meters Centerline goodness : 0.919003 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.05, Z:-0.01 [[ 9.99807785e-01 1.19856685e-02 1.55156884e-02 4.67426599e+00] [-1.20439791e-02 9.99920733e-01 3.67020143e-03 -4.71390141e-02] [-1.54704687e-02 -3.85636660e-03 9.99872888e-01 -1.09253573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.478241008 meters Centerline goodness : 0.922777 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.05, Z:-0.01 [[ 9.99846397e-01 8.21966270e-03 1.54796526e-02 4.67411078e+00] [-8.21390297e-03 9.99966170e-01 -4.35626190e-04 -4.66858976e-02] [-1.54827097e-02 3.08410911e-04 9.99880088e-01 -1.09477797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.538241008 meters Centerline goodness : 0.927590 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.05, Z:-0.01 [[ 9.99868029e-01 4.38697864e-03 1.56421905e-02 4.67300699e+00] [-4.33492544e-03 9.99984959e-01 -3.36009807e-03 -5.02842403e-02] [-1.56566959e-02 3.29184691e-03 9.99872008e-01 -9.42980747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.598241008 meters Centerline goodness : 0.929689 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.05, Z:-0.01 [[ 9.99875900e-01 4.90345965e-04 1.57462205e-02 4.67266366e+00] [-3.85185134e-04 9.99977609e-01 -6.68081922e-03 -5.28022764e-02] [-1.57491438e-02 6.67392492e-03 9.99853701e-01 -9.09466802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.658241008 meters Centerline goodness : 0.930109 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.06, Z:-0.01 [[ 9.99884198e-01 -2.59190667e-03 1.49957720e-02 4.67682180e+00] [ 2.72549114e-03 9.99956728e-01 -8.89457397e-03 -5.91047091e-02] [-1.49720692e-02 8.93441481e-03 9.99847995e-01 -1.26144606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.718241008 meters Centerline goodness : 0.930391 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.06, Z:-0.02 [[ 9.99899253e-01 -8.40939159e-04 1.41695683e-02 4.68192546e+00] [ 9.31598834e-04 9.99979132e-01 -6.39281076e-03 -6.18534565e-02] [-1.41638966e-02 6.40536706e-03 9.99879170e-01 -1.71725005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.778241008 meters Centerline goodness : 0.931916 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.06, Z:-0.02 [[ 9.99902677e-01 5.72829484e-05 1.39510985e-02 4.68203009e+00] [ 1.67202537e-05 9.99985932e-01 -5.30429693e-03 -6.45149702e-02] [-1.39512061e-02 5.30401396e-03 9.99888609e-01 -1.68655683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.838241008 meters Centerline goodness : 0.926654 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.07, Z:-0.02 [[ 9.99903839e-01 7.20880557e-04 1.38489623e-02 4.68165343e+00] [-6.55427887e-04 9.99988598e-01 -4.73013621e-03 -6.54840200e-02] [-1.38522143e-02 4.72060435e-03 9.99892910e-01 -1.61603834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.898241008 meters Centerline goodness : 0.928153 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.07, Z:-0.02 [[ 0.99983069 0.00542496 0.01758291 4.6973443 ] [-0.00527753 0.99995062 -0.00842004 -0.06767947] [-0.01762772 0.00832582 0.99980995 -0.0183222 ] [ 0. 0. 0. 1. ]] SLAMing on 11.958241008 meters Centerline goodness : 0.929311 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.07, Z:-0.02 [[ 9.99811303e-01 9.00947049e-03 1.72100914e-02 4.69909502e+00] [-8.93928274e-03 9.99951429e-01 -4.15087646e-03 -7.14783748e-02] [-1.72466527e-02 3.99624733e-03 9.99843279e-01 -1.94498758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.018241008 meters Centerline goodness : 0.928766 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.08, Z:-0.02 [[ 9.99822323e-01 8.76759589e-03 1.66868891e-02 4.70169252e+00] [-8.71343010e-03 9.99956539e-01 -3.31595217e-03 -7.73420208e-02] [-1.67152368e-02 3.16996296e-03 9.99855266e-01 -2.15814235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.078241008 meters Centerline goodness : 0.930697 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.08, Z:-0.02 [[ 0.9998452 0.00542931 0.01673615 4.7013083 ] [-0.00532977 0.99996788 -0.00598613 -0.08184561] [-0.01676811 0.005896 0.99984202 -0.0211979 ] [ 0. 0. 0. 1. ]] SLAMing on 12.138241008 meters Centerline goodness : 0.932606 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.08, Z:-0.02 [[ 0.99984666 0.00555264 0.01660776 4.70128955] [-0.00546858 0.99997203 -0.00510308 -0.08484759] [-0.01663563 0.00501148 0.99984906 -0.02045075] [ 0. 0. 0. 1. ]] SLAMing on 12.198241008 meters Centerline goodness : 0.937555 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.09, Z:-0.02 [[ 9.99827726e-01 7.30578644e-03 1.70629518e-02 4.69810399e+00] [-7.27709118e-03 9.99972002e-01 -1.74321359e-03 -9.33897781e-02] [-1.70752096e-02 1.61874462e-03 9.99852898e-01 -1.63240138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.258241008 meters Centerline goodness : 0.937497 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.10, Z:-0.02 [[ 0.9996899 0.01363967 0.02083407 4.71342448] [-0.01350869 0.99988818 -0.00641465 -0.09509662] [-0.02091924 0.00613122 0.99976237 -0.02311521] [ 0. 0. 0. 1. ]] SLAMing on 12.318241008 meters Centerline goodness : 0.935769 with order 1 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.10, Z:-0.03 [[ 0.99962852 0.01933258 0.01921131 4.73449317] [-0.01917084 0.99977951 -0.00856749 -0.09883148] [-0.01937271 0.00819601 0.99977874 -0.02633733] [ 0. 0. 0. 1. ]] SLAMing on 12.378241008 meters Centerline goodness : 0.930319 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.10, Z:-0.03 [[ 0.99959088 0.02186557 0.0184382 4.73796857] [-0.0217686 0.99974822 -0.00544368 -0.10295941] [-0.01855258 0.00504008 0.99981518 -0.02896458] [ 0. 0. 0. 1. ]] SLAMing on 12.438241008 meters Centerline goodness : 0.929020 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.11, Z:-0.03 [[ 9.99593982e-01 2.23189856e-02 1.77125192e-02 4.74078864e+00] [-2.22562092e-02 9.99745329e-01 -3.73345020e-03 -1.10179045e-01] [-1.77913352e-02 3.33772082e-03 9.99836151e-01 -3.09242472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.498241008 meters Centerline goodness : 0.929182 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.12, Z:-0.03 [[ 0.99951303 0.02303448 0.02105026 4.75843448] [-0.02282562 0.99968835 -0.01010922 -0.1159677 ] [-0.02127656 0.00962381 0.99972731 -0.03478468] [ 0. 0. 0. 1. ]] SLAMing on 12.558241008 meters Centerline goodness : 0.929146 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-0.04 [[ 0.9995903 0.02205932 0.01823772 4.78649387] [-0.02187454 0.99970797 -0.01026999 -0.12696687] [-0.01845894 0.00986684 0.99978093 -0.03582097] [ 0. 0. 0. 1. ]] SLAMing on 12.618241008 meters Centerline goodness : 0.924346 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.14, Z:-0.04 [[ 0.99970731 0.01641082 0.01777581 4.81806729] [-0.0162033 0.99979961 -0.01175576 -0.13746931] [-0.01796517 0.01146429 0.99977289 -0.03542654] [ 0. 0. 0. 1. ]] SLAMing on 12.678241008 meters Centerline goodness : 0.925078 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.15, Z:-0.03 [[ 0.99980801 0.01024131 0.01670512 4.84980887] [-0.0100051 0.99984964 -0.01416285 -0.14548828] [-0.01684766 0.013993 0.99976015 -0.03359148] [ 0. 0. 0. 1. ]] SLAMing on 12.738241008 meters Centerline goodness : 0.928438 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.15, Z:-0.03 [[ 0.99984744 0.00601672 0.01639803 4.85045182] [-0.00574889 0.9998501 -0.01633188 -0.15284725] [-0.01649384 0.01623512 0.99973215 -0.03244145] [ 0. 0. 0. 1. ]] SLAMing on 12.798241008 meters Centerline goodness : 0.923374 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.16, Z:-0.04 [[ 9.99868368e-01 -1.03218076e-03 1.61919901e-02 4.85440083e+00] [ 1.38950091e-03 9.99755418e-01 -2.20720059e-02 -1.59022627e-01] [-1.61652475e-02 2.20915993e-02 9.99625253e-01 -3.66760717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.858241008 meters Centerline goodness : 0.921671 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.17, Z:-0.03 [[ 9.99934462e-01 -3.17243712e-03 1.10003642e-02 4.88755463e+00] [ 3.37339196e-03 9.99826890e-01 -1.82978435e-02 -1.70343284e-01] [-1.09404112e-02 1.83337528e-02 9.99772064e-01 -3.32606763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.918241008 meters Centerline goodness : 0.920168 with order 1 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.18, Z:-0.03 [[ 9.99980407e-01 -1.59252924e-03 6.05391789e-03 4.91766319e+00] [ 1.68208966e-03 9.99888798e-01 -1.48176042e-02 -1.77329108e-01] [-6.02964721e-03 1.48274971e-02 9.99871886e-01 -3.07202116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.978241008 meters Centerline goodness : 0.917467 with order 1 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.18, Z:-0.03 [[ 9.99980855e-01 1.86284425e-03 5.90084030e-03 4.94420700e+00] [-1.78390146e-03 9.99909222e-01 -1.33553577e-02 -1.81689800e-01] [-5.92518359e-03 1.33445755e-02 9.99893402e-01 -3.11352458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.038241008 meters Centerline goodness : 0.916436 with order 1 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.18, Z:-0.03 [[ 9.99949827e-01 9.21715286e-03 3.92278702e-03 4.98595299e+00] [-9.14258773e-03 9.99784839e-01 -1.86195868e-02 -1.83664185e-01] [-4.09356256e-03 1.85827882e-02 9.99818945e-01 -3.33753919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.098241008 meters Centerline goodness : 0.914022 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.18, Z:-0.05 [[ 0.99970993 0.02314017 0.00667696 5.04772744] [-0.02278633 0.99854218 -0.04893159 -0.18100093] [-0.00779951 0.04876525 0.99877981 -0.04540869] [ 0. 0. 0. 1. ]] SLAMing on 13.158241008 meters Centerline goodness : 0.914080 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.17, Z:-0.07 [[ 0.99904838 0.03903907 0.01944937 5.08790548] [-0.03646325 0.99226173 -0.11868902 -0.1650251 ] [-0.02393238 0.11786689 0.99274097 -0.07276854] [ 0. 0. 0. 1. ]] SLAMing on 13.218241008 meters Centerline goodness : 0.912762 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.17, Z:-0.07 [[ 0.99895873 0.04235986 0.01694382 5.09089409] [-0.0400011 0.99181963 -0.1212177 -0.16870011] [-0.02193998 0.12041371 0.99248132 -0.0694998 ] [ 0. 0. 0. 1. ]] SLAMing on 13.278241008 meters Centerline goodness : 0.913397 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.18, Z:-0.07 [[ 0.99879171 0.04694658 0.01453038 5.09275972] [-0.04485177 0.99164898 -0.12091572 -0.17585098] [-0.02008562 0.12011791 0.99255642 -0.06555966] [ 0. 0. 0. 1. ]] SLAMing on 13.338241008 meters Centerline goodness : 0.907941 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.18, Z:-0.07 [[ 0.99875644 0.04791431 0.01377684 5.09400683] [-0.04596519 0.99198056 -0.11773605 -0.18340603] [-0.0193076 0.11695639 0.99294935 -0.06689668] [ 0. 0. 0. 1. ]] SLAMing on 13.398241008 meters Centerline goodness : 0.907018 with order 1 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.20, Z:-0.05 [[ 0.99889338 0.04421005 0.01604641 5.12636433] [-0.04266342 0.99533917 -0.08648569 -0.20473938] [-0.01979515 0.08570539 0.99612386 -0.04891313] [ 0. 0. 0. 1. ]] SLAMing on 13.458241008 meters Centerline goodness : 0.904085 with order 1 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-0.01 [[ 0.9991096 0.03059004 0.02905619 5.15155521] [-0.0301059 0.99940288 -0.01695616 -0.2432834 ] [-0.02955753 0.0160663 0.99943395 -0.01004937] [ 0. 0. 0. 1. ]] SLAMing on 13.518241008 meters Centerline goodness : 0.905058 with order 1 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.25, Z:-0.01 [[ 0.9997874 0.01455546 0.01460436 5.15686699] [-0.01417866 0.99957222 -0.0255803 -0.24583047] [-0.01497045 0.02536779 0.99956609 -0.01065891] [ 0. 0. 0. 1. ]] SLAMing on 13.578241008 meters Centerline goodness : 0.904856 with order 1 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.29, Z:0.05 [[ 9.99474524e-01 -1.70853380e-03 3.23690629e-02 5.12511112e+00] [-5.02358553e-04 9.97673478e-01 6.81716810e-02 -2.90521116e-01] [-3.24102292e-02 -6.81521193e-02 9.97148367e-01 5.35071502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.638241008 meters Centerline goodness : 0.902598 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.33, Z:0.11 [[ 9.98918535e-01 -1.18058464e-02 4.49709070e-02 5.10690406e+00] [ 5.04024424e-03 9.89021876e-01 1.47683189e-01 -3.26048911e-01] [-4.62207358e-02 -1.47296810e-01 9.88011788e-01 1.06329659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.698241008 meters Centerline goodness : 0.905068 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.33, Z:0.10 [[ 0.99941995 -0.01543586 0.03035631 5.11683903] [ 0.01097963 0.98982932 0.14183568 -0.32588086] [-0.03223692 -0.1414201 0.98942465 0.10306583] [ 0. 0. 0. 1. ]] SLAMing on 13.758241008 meters Centerline goodness : 0.901089 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.33, Z:0.10 [[ 0.9995602 -0.01084609 0.02760006 5.12322387] [ 0.00685127 0.98999755 0.14091811 -0.32908103] [-0.0288524 -0.14066704 0.98963646 0.10237569] [ 0. 0. 0. 1. ]] SLAMing on 13.818241008 meters Centerline goodness : 0.905646 with order 1 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.33, Z:0.10 [[ 9.99678121e-01 1.97123346e-03 2.52936508e-02 5.14534662e+00] [-5.25252654e-03 9.91457169e-01 1.30326869e-01 -3.31683567e-01] [-2.48206667e-02 -1.30417775e-01 9.91148394e-01 1.01733547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.878241008 meters Centerline goodness : 0.908306 with order 1 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.33, Z:0.09 [[ 0.99968807 0.01380573 0.02081259 5.16272103] [-0.0160692 0.99348363 0.11283638 -0.33277705] [-0.01911918 -0.11313562 0.99339558 0.0935487 ] [ 0. 0. 0. 1. ]] SLAMing on 13.938241008 meters Centerline goodness : 0.908480 with order 1 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.33, Z:0.09 [[ 0.99955144 0.01805609 0.02389349 5.18101462] [-0.02049102 0.99416193 0.10593476 -0.33214698] [-0.02184123 -0.10637684 0.99408598 0.08556146] [ 0. 0. 0. 1. ]] SLAMing on 13.998241007999999 meters Centerline goodness : 0.910141 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.33, Z:0.08 [[ 0.99941849 0.01917695 0.02819461 5.19441163] [-0.02171954 0.99544505 0.09282998 -0.32933004] [-0.02628599 -0.09338837 0.9952827 0.07600293] [ 0. 0. 0. 1. ]] SLAMing on 14.058241008 meters Centerline goodness : 0.909706 with order 1 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.33, Z:0.07 [[ 0.99938149 0.02227487 0.02721142 5.23047794] [-0.02433137 0.99667654 0.07774224 -0.33301035] [-0.02538929 -0.07835625 0.99660207 0.06815116] [ 0. 0. 0. 1. ]] SLAMing on 14.118241008 meters Centerline goodness : 0.910296 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.34, Z:0.07 [[ 0.99939945 0.02216281 0.02663732 5.27285145] [-0.02390725 0.99746243 0.06706074 -0.33745158] [-0.02508347 -0.06765729 0.99739326 0.06587436] [ 0. 0. 0. 1. ]] SLAMing on 14.178241008 meters Centerline goodness : 0.911190 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:0.09 [[ 0.99936243 0.01140639 0.03383246 5.32570551] [-0.01471787 0.99494823 0.09930459 -0.35485247] [-0.03252884 -0.09973922 0.99448176 0.08709287] [ 0. 0. 0. 1. ]] SLAMing on 14.238241008 meters Centerline goodness : 0.910013 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:0.08 [[ 0.99940999 0.00844344 0.03329224 5.368281 ] [-0.01131179 0.99614996 0.08693268 -0.35925787] [-0.03243005 -0.08725799 0.99565774 0.08401934] [ 0. 0. 0. 1. ]] SLAMing on 14.298241008 meters Centerline goodness : 0.910461 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.38, Z:0.12 [[ 9.99221780e-01 -1.99597516e-03 3.93935344e-02 5.41485772e+00] [-3.17330821e-03 9.91413736e-01 1.30723885e-01 -3.80098964e-01] [-3.93162128e-02 -1.30747161e-01 9.90635864e-01 1.18474782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.358241008 meters Centerline goodness : 0.908461 with order 1 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.39, Z:0.15 [[ 9.98818257e-01 -4.53478489e-03 4.83893072e-02 5.43895604e+00] [-3.81266687e-03 9.85258186e-01 1.71031488e-01 -3.93757795e-01] [-4.84515521e-02 -1.71013865e-01 9.84076575e-01 1.49501276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.418241007999999 meters Centerline goodness : 0.911988 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.40, Z:0.14 [[ 9.98542160e-01 -3.63936446e-03 5.38545293e-02 5.45712808e+00] [-5.30968006e-03 9.86262769e-01 1.65098631e-01 -3.96071905e-01] [-5.37155713e-02 -1.65143894e-01 9.84805631e-01 1.43751798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.478241008 meters Centerline goodness : 0.910923 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.40, Z:0.15 [[ 9.98198605e-01 -3.37339512e-03 5.99013000e-02 5.49266260e+00] [-7.26027757e-03 9.84288785e-01 1.76416771e-01 -3.99298064e-01] [-5.95553013e-02 -1.76533875e-01 9.82491200e-01 1.50177186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.538241008 meters Centerline goodness : 0.911718 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.40, Z:0.16 [[ 9.98107709e-01 5.50300180e-03 6.12431030e-02 5.53831511e+00] [-1.67640679e-02 9.82610700e-01 1.84919385e-01 -4.04516179e-01] [-5.91605166e-02 -1.85596147e-01 9.80843567e-01 1.58327213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.598241008 meters Centerline goodness : 0.911784 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.40, Z:0.14 [[ 0.99785905 0.01021725 0.06459811 5.54481514] [-0.0209741 0.98554496 0.16811076 -0.40055305] [-0.06194672 -0.16910573 0.98364925 0.14490557] [ 0. 0. 0. 1. ]] SLAMing on 14.658241008 meters Centerline goodness : 0.914615 with order 1 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.40, Z:0.14 [[ 0.99788963 0.0151147 0.06314926 5.58622696] [-0.0250293 0.98691313 0.15929846 -0.40183118] [-0.05991508 -0.16054286 0.9852087 0.14099035] [ 0. 0. 0. 1. ]] SLAMing on 14.718241008 meters Centerline goodness : 0.913295 with order 1 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.41, Z:0.15 [[ 0.99791135 0.01482672 0.0628738 5.63711197] [-0.02487652 0.98644239 0.16221151 -0.40672675] [-0.05961632 -0.16343679 0.98475089 0.14749438] [ 0. 0. 0. 1. ]] SLAMing on 14.778241008 meters Centerline goodness : 0.914983 with order 1 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.42, Z:0.17 [[ 9.97538877e-01 4.22874639e-03 6.99879044e-02 5.69186382e+00] [-1.80383269e-02 9.80059391e-01 1.97884332e-01 -4.16219598e-01] [-6.77555003e-02 -1.98659779e-01 9.77723624e-01 1.71600521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.838241008 meters Centerline goodness : 0.914026 with order 1 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.41, Z:0.17 [[ 0.99758693 0.0106377 0.06860868 5.72360404] [-0.02329553 0.98219106 0.18643506 -0.41202945] [-0.06540359 -0.18758346 0.98006878 0.1658428 ] [ 0. 0. 0. 1. ]] SLAMing on 14.898241008 meters Centerline goodness : 0.919667 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.41, Z:0.17 [[ 0.99754561 0.01565778 0.06824649 5.76919189] [-0.02805432 0.98239959 0.18467268 -0.41137777] [-0.06415376 -0.18613403 0.98042767 0.1665566 ] [ 0. 0. 0. 1. ]] SLAMing on 14.958241008 meters Centerline goodness : 0.917681 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.41, Z:0.16 [[ 0.99723814 0.01636437 0.07244517 5.78981048] [-0.02893299 0.98396292 0.17601097 -0.40552531] [-0.06840306 -0.1776209 0.98171882 0.15782758] [ 0. 0. 0. 1. ]] SLAMing on 15.018241008 meters Centerline goodness : 0.916169 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.40, Z:0.14 [[ 0.99701702 0.01817915 0.07501055 5.803113 ] [-0.02994333 0.98685188 0.15882935 -0.39961171] [-0.07113692 -0.16060163 0.98445246 0.14230426] [ 0. 0. 0. 1. ]] SLAMing on 15.078241008 meters Centerline goodness : 0.917697 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.40, Z:0.13 [[ 0.99676115 0.01821854 0.0783281 5.82353323] [-0.02970441 0.98852953 0.14807772 -0.3950581 ] [-0.07473188 -0.14992481 0.98586901 0.13282902] [ 0. 0. 0. 1. ]] SLAMing on 15.138241008 meters Centerline goodness : 0.915916 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.39, Z:0.12 [[ 0.99641922 0.01914182 0.08235492 5.83020003] [-0.02951458 0.9915093 0.12664203 -0.38813582] [-0.07923151 -0.12861922 0.98852388 0.11647824] [ 0. 0. 0. 1. ]] SLAMing on 15.198241008 meters Centerline goodness : 0.915784 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.38, Z:0.10 [[ 0.99608007 0.01965776 0.08624418 5.8442813 ] [-0.02918134 0.99343701 0.11059542 -0.3825684 ] [-0.0835041 -0.11267862 0.99011646 0.1023555 ] [ 0. 0. 0. 1. ]] SLAMing on 15.258241008 meters Centerline goodness : 0.914905 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.38, Z:0.09 [[ 0.99583366 0.01932748 0.08911663 5.85774069] [-0.02756314 0.99536535 0.09213086 -0.37780916] [-0.08692295 -0.09420335 0.99175104 0.08836059] [ 0. 0. 0. 1. ]] SLAMing on 15.318241008 meters Centerline goodness : 0.911467 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.37, Z:0.07 [[ 0.99556453 0.02056498 0.09180609 5.86969557] [-0.02737296 0.99691772 0.07352404 -0.37183789] [-0.0900111 -0.07571093 0.99305884 0.07233284] [ 0. 0. 0. 1. ]] SLAMing on 15.378241008 meters Centerline goodness : 0.905596 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.37, Z:0.07 [[ 0.9956588 0.01917868 0.09108087 5.87362181] [-0.02577223 0.99708768 0.07177712 -0.37008467] [-0.08943902 -0.07381288 0.9932534 0.0680379 ] [ 0. 0. 0. 1. ]] SLAMing on 15.438241008 meters Centerline goodness : 0.905501 with order 1 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.37, Z:0.06 [[ 0.99596989 0.02308297 0.08666697 5.89962971] [-0.02774079 0.99821284 0.05292991 -0.36677588] [-0.08529031 -0.05512081 0.99483027 0.06025051] [ 0. 0. 0. 1. ]] SLAMing on 15.498241007999999 meters Centerline goodness : 0.906638 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.36, Z:0.05 [[ 0.99556481 0.0248915 0.09072557 5.91493126] [-0.02875504 0.99872341 0.04152938 -0.36318196] [-0.08957602 -0.04395401 0.99500964 0.05131266] [ 0. 0. 0. 1. ]] SLAMing on 15.558241008 meters Centerline goodness : 0.906270 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.36, Z:0.05 [[ 0.99562035 0.02416251 0.09031218 5.91688238] [-0.02790351 0.9987942 0.04039236 -0.36188685] [-0.0892273 -0.04273548 0.99509405 0.0491268 ] [ 0. 0. 0. 1. ]] SLAMing on 15.618241008 meters Centerline goodness : 0.904365 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.36, Z:0.05 [[ 0.99570176 0.02323267 0.08965625 5.91954 ] [-0.02687099 0.99885466 0.03958935 -0.36094262] [-0.08863379 -0.04182833 0.99518563 0.04754736] [ 0. 0. 0. 1. ]] SLAMing on 15.678241008 meters Centerline goodness : 0.901029 with order 1 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.37, Z:0.05 [[ 0.99612607 0.02064606 0.08547858 5.96113606] [-0.02452249 0.9987061 0.04455085 -0.36611788] [-0.08444818 -0.04647441 0.99534348 0.05067205] [ 0. 0. 0. 1. ]] SLAMing on 15.738241008 meters Centerline goodness : 0.900770 with order 1 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.37, Z:0.05 [[ 0.99629809 0.01578641 0.08450386 5.96414608] [-0.0192487 0.99900159 0.04031519 -0.36724686] [-0.08378306 -0.04179253 0.99560724 0.05042101] [ 0. 0. 0. 1. ]] SLAMing on 15.798241008 meters Centerline goodness : 0.894789 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.37, Z:0.06 [[ 0.99655143 0.01116689 0.08222255 6.01605815] [-0.01586491 0.99826474 0.05670813 -0.37377683] [-0.08144662 -0.05781702 0.99499932 0.06057385] [ 0. 0. 0. 1. ]] SLAMing on 15.858241008 meters Centerline goodness : 0.895031 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.38, Z:0.07 [[ 0.99632149 0.00853609 0.0852679 6.05296021] [-0.01412867 0.99777207 0.06520185 -0.37675927] [-0.08452136 -0.06616672 0.99422236 0.06994807] [ 0. 0. 0. 1. ]] SLAMing on 15.918241007999999 meters Centerline goodness : 0.895511 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.37, Z:0.06 [[ 0.99595625 0.00877673 0.08940982 6.0714542 ] [-0.01386807 0.99830725 0.0564828 -0.37470108] [-0.08876274 -0.05749434 0.99439206 0.06436227] [ 0. 0. 0. 1. ]] SLAMing on 15.978241008 meters Centerline goodness : 0.894384 with order 1 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.38, Z:0.08 [[ 9.96017477e-01 7.35716122e-04 8.91551665e-02 6.12170875e+00] [-7.08941986e-03 9.97453255e-01 7.09700166e-02 -3.80061901e-01] [-8.88758972e-02 -7.13194353e-02 9.93486091e-01 7.93407267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.038241008 meters Centerline goodness : 0.891210 with order 1 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.38, Z:0.09 [[ 9.95683492e-01 -5.81812698e-03 9.26311705e-02 6.14612541e+00] [-2.68867419e-03 9.95806361e-01 9.14465003e-02 -3.83298458e-01] [-9.27747562e-02 -9.13008258e-02 9.91492312e-01 9.47444434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.098241008 meters Centerline goodness : 0.883948 with order 1 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.39, Z:0.11 [[ 9.95134912e-01 -1.70955971e-02 9.70270491e-02 6.13293072e+00] [ 5.25892561e-03 9.92643328e-01 1.20961011e-01 -3.85837683e-01] [-9.83811536e-02 -1.19862267e-01 9.87903935e-01 1.10654958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.158241008 meters Centerline goodness : 0.878038 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.38, Z:0.11 [[ 9.95642670e-01 -1.61916763e-02 9.18341062e-02 6.09389202e+00] [ 5.84099558e-03 9.93704800e-01 1.11877847e-01 -3.76625696e-01] [-9.30674820e-02 -1.10853956e-01 9.89469476e-01 1.09197441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.218241008 meters Centerline goodness : 0.880284 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.37, Z:0.12 [[ 9.96249358e-01 -8.24048525e-03 8.61354197e-02 6.04006617e+00] [-1.52130134e-03 9.93632963e-01 1.12655320e-01 -3.72524014e-01] [-8.65153267e-02 -1.12363828e-01 9.89893665e-01 1.24291985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.278241008 meters Centerline goodness : 0.876325 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.36, Z:0.12 [[ 9.95956971e-01 2.69249346e-03 8.97912209e-02 6.01382259e+00] [-1.21161580e-02 9.94443520e-01 1.04571908e-01 -3.59219543e-01] [-8.90107386e-02 -1.05237045e-01 9.90455578e-01 1.19967112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.338241008 meters Centerline goodness : 0.870496 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.35, Z:0.13 [[ 0.99575382 0.01057954 0.09144612 6.00999481] [-0.02100715 0.99327786 0.11383232 -0.35325897] [-0.08962712 -0.11526999 0.98928247 0.12546381] [ 0. 0. 0. 1. ]] SLAMing on 16.398241008 meters Centerline goodness : 0.867674 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.34, Z:0.12 [[ 0.99528706 0.02056271 0.09476733 6.00976567] [-0.03010825 0.99448902 0.10042448 -0.34202777] [-0.09218007 -0.10280446 0.99042116 0.11756719] [ 0. 0. 0. 1. ]] SLAMing on 16.458241007999998 meters Centerline goodness : 0.866425 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.34, Z:0.12 [[ 0.99513682 0.02654407 0.09485838 6.05614889] [-0.03649528 0.99382743 0.10476225 -0.34341677] [-0.09149205 -0.10771466 0.98996301 0.12259867] [ 0. 0. 0. 1. ]] SLAMing on 16.518241008 meters Centerline goodness : 0.866670 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.35, Z:0.13 [[ 0.99524311 0.02968363 0.09279025 6.093854 ] [-0.04067918 0.9920664 0.11895153 -0.34500816] [-0.08852317 -0.12216032 0.98855475 0.13197042] [ 0. 0. 0. 1. ]] SLAMing on 16.578241008 meters Centerline goodness : 0.860228 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.34, Z:0.13 [[ 0.99522625 0.03197332 0.09220858 6.09735601] [-0.04333405 0.99133975 0.12396635 -0.34477001] [-0.08744642 -0.12737034 0.98799288 0.13367303] [ 0. 0. 0. 1. ]] SLAMing on 16.638241008 meters Centerline goodness : 0.862448 with order 1 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.35, Z:0.16 [[ 0.99478123 0.02998681 0.09752483 6.13931076] [-0.04458188 0.98751124 0.15110927 -0.35441193] [-0.09177558 -0.15466851 0.98369451 0.1566286 ] [ 0. 0. 0. 1. ]] SLAMing on 16.698241008 meters Centerline goodness : 0.859530 with order 1 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.36, Z:0.18 [[ 0.99384249 0.02166668 0.10866308 6.16758532] [-0.04203091 0.98111752 0.18879039 -0.36344621] [-0.10252079 -0.19219512 0.97598695 0.18102605] [ 0. 0. 0. 1. ]] SLAMing on 16.758241008 meters Centerline goodness : 0.863990 with order 1 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.37, Z:0.20 [[ 0.99367189 0.01997 0.11053223 6.17541138] [-0.04222402 0.97830151 0.20283807 -0.36571431] [-0.10408317 -0.20622161 0.97295393 0.1962954 ] [ 0. 0. 0. 1. ]] SLAMing on 16.818241008 meters Centerline goodness : 0.865789 with order 1 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.36, Z:0.19 [[ 0.99299014 0.02347766 0.11584206 6.19313645] [-0.04649858 0.97864253 0.20024157 -0.36306903] [-0.10866676 -0.2042244 0.97287406 0.19345707] [ 0. 0. 0. 1. ]] SLAMing on 16.878241008 meters Centerline goodness : 0.858624 with order 1 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.36, Z:0.19 [[ 0.99238708 0.02565923 0.1204553 6.20981062] [-0.04872613 0.98005367 0.19266701 -0.35983546] [-0.11310897 -0.19706958 0.97384287 0.18667743] [ 0. 0. 0. 1. ]] SLAMing on 16.938241008 meters Centerline goodness : 0.859889 with order 1 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.36, Z:0.19 [[ 0.99234865 0.02607585 0.12068229 6.26348235] [-0.04975096 0.97902869 0.19755419 -0.36377581] [-0.11300003 -0.20204669 0.9728351 0.19278102] [ 0. 0. 0. 1. ]] SLAMing on 16.998241008 meters Centerline goodness : 0.860632 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.37, Z:0.20 [[ 0.99273918 0.02319177 0.11802988 6.30438555] [-0.04778815 0.97651876 0.21006522 -0.36915831] [-0.11038661 -0.2141804 0.97053673 0.20494324] [ 0. 0. 0. 1. ]] SLAMing on 17.058241008 meters Centerline goodness : 0.863455 with order 1 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.37, Z:0.22 [[ 0.99268562 0.02349397 0.11841998 6.3442202 ] [-0.0503783 0.97201195 0.22946633 -0.3735457 ] [-0.10971456 -0.23375372 0.96608587 0.21929443] [ 0. 0. 0. 1. ]] SLAMing on 17.118241008 meters Centerline goodness : 0.860897 with order 1 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.37, Z:0.21 [[ 0.99212695 0.02532229 0.12264952 6.3618118 ] [-0.05217955 0.97387228 0.22102055 -0.36980239] [-0.11384822 -0.22568024 0.96752623 0.21079155] [ 0. 0. 0. 1. ]] SLAMing on 17.178241008 meters Centerline goodness : 0.864381 with order 1 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.36, Z:0.20 [[ 0.99166368 0.03111823 0.12503922 6.35906903] [-0.05584106 0.9783276 0.19939128 -0.36430583] [-0.11612462 -0.20471142 0.97190962 0.19905919] [ 0. 0. 0. 1. ]] SLAMing on 17.238241008 meters Centerline goodness : 0.856849 with order 1 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.36, Z:0.19 [[ 0.99157301 0.04312446 0.12216071 6.34928023] [-0.06460219 0.9819568 0.17772846 -0.35593015] [-0.1122921 -0.1841226 0.97646779 0.18529002] [ 0. 0. 0. 1. ]] SLAMing on 17.298241008 meters Centerline goodness : 0.863162 with order 1 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.35, Z:0.17 [[ 0.99107224 0.05204249 0.12274935 6.34980421] [-0.07153906 0.98448778 0.16020604 -0.35021691] [-0.11250771 -0.16755713 0.97942158 0.17383506] [ 0. 0. 0. 1. ]] SLAMing on 17.358241008 meters Centerline goodness : 0.863293 with order 1 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.34, Z:0.16 [[ 0.99034254 0.0604613 0.12476413 6.35068289] [-0.07820359 0.98668528 0.14260563 -0.34400586] [-0.11448081 -0.15098542 0.98188469 0.16046469] [ 0. 0. 0. 1. ]] SLAMing on 17.418241008 meters Centerline goodness : 0.853789 with order 1 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.34, Z:0.15 [[ 0.98947747 0.0691893 0.12707157 6.35096964] [-0.08516282 0.98850621 0.12491103 -0.33735475] [-0.11696853 -0.13441842 0.98399698 0.14565725] [ 0. 0. 0. 1. ]] SLAMing on 17.478241008 meters Centerline goodness : 0.857980 with order 1 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.33, Z:0.14 [[ 0.98887105 0.07192836 0.13023195 6.35347704] [-0.08584493 0.99080201 0.10460413 -0.33423493] [-0.12151008 -0.11461974 0.98595011 0.13525965] [ 0. 0. 0. 1. ]] SLAMing on 17.538241008 meters Centerline goodness : 0.858310 with order 1 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.33, Z:0.12 [[ 0.98841425 0.07080315 0.13425414 6.36399982] [-0.08288751 0.99278347 0.08666399 -0.33363333] [-0.12714921 -0.09678791 0.98715003 0.12480861] [ 0. 0. 0. 1. ]] SLAMing on 17.598241008 meters Centerline goodness : 0.850283 with order 1 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.34, Z:0.12 [[ 0.98875306 0.0667404 0.13383983 6.3658265 ] [-0.0781569 0.99356804 0.08193933 -0.33570998] [-0.12751031 -0.09147827 0.98760966 0.12132306] [ 0. 0. 0. 1. ]] SLAMing on 17.658241008 meters Centerline goodness : 0.854454 with order 1 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.34, Z:0.12 [[ 0.98898483 0.06519587 0.13288529 6.37034883] [-0.07654181 0.9936773 0.08213875 -0.34006532] [-0.12668999 -0.09140526 0.98772199 0.11935279] [ 0. 0. 0. 1. ]] SLAMing on 17.718241008 meters Centerline goodness : 0.854305 with order 1 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.35, Z:0.12 [[ 0.98967603 0.062924 0.12877085 6.41024368] [-0.07490999 0.99307914 0.09045612 -0.35127897] [-0.12218778 -0.09916848 0.98754026 0.12399294] [ 0. 0. 0. 1. ]] SLAMing on 17.778241008 meters Centerline goodness : 0.860125 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.35, Z:0.11 [[ 0.98935165 0.06305832 0.13117528 6.42513089] [-0.07326123 0.99452901 0.0744637 -0.34952847] [-0.12576206 -0.08328084 0.98855865 0.1116726 ] [ 0. 0. 0. 1. ]] SLAMing on 17.838241008 meters Centerline goodness : 0.863048 with order 1 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.35, Z:0.11 [[ 0.98987301 0.06464932 0.12637995 6.45074126] [-0.07387464 0.99482723 0.06972322 -0.35468084] [-0.12121865 -0.0783534 0.98952857 0.10753403] [ 0. 0. 0. 1. ]] SLAMing on 17.898241008 meters Centerline goodness : 0.864924 with order 1 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.36, Z:0.10 [[ 0.98999325 0.06440928 0.12555802 6.47467032] [-0.07255758 0.99547014 0.06143773 -0.3569927 ] [-0.1210321 -0.06993312 0.9901821 0.10048753] [ 0. 0. 0. 1. ]] SLAMing on 17.958241007999998 meters Centerline goodness : 0.863843 with order 1 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.36, Z:0.10 [[ 0.99030104 0.06017783 0.12522971 6.4761771 ] [-0.06787004 0.99600163 0.05808967 -0.36016302] [-0.12123329 -0.0660256 0.99042572 0.10045269] [ 0. 0. 0. 1. ]] SLAMing on 18.018241008 meters Centerline goodness : 0.867805 with order 1 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.37, Z:0.11 [[ 0.99067366 0.05726296 0.1236392 6.51647542] [-0.06590761 0.99557402 0.06699672 -0.3718893 ] [-0.11925554 -0.07452065 0.99006302 0.10575816] [ 0. 0. 0. 1. ]] SLAMing on 18.078241008 meters Centerline goodness : 0.865404 with order 1 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.37, Z:0.10 [[ 0.99011768 0.05934611 0.12706303 6.53210597] [-0.06683094 0.99622101 0.05547365 -0.3704285 ] [-0.12329071 -0.06341719 0.99034219 0.0952787 ] [ 0. 0. 0. 1. ]] SLAMing on 18.138241008 meters Centerline goodness : 0.866846 with order 1 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.37, Z:0.10 [[ 0.99000982 0.06075395 0.12723802 6.53083287] [-0.06839737 0.99605209 0.05658656 -0.37301355] [-0.12329784 -0.064724 0.99025676 0.09594093] [ 0. 0. 0. 1. ]] SLAMing on 18.198241008 meters Centerline goodness : 0.869933 with order 1 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.37, Z:0.09 [[ 0.98938447 0.06396032 0.13048929 6.5493434 ] [-0.07093078 0.99625305 0.04948414 -0.37366759] [-0.12683533 -0.05821455 0.99021405 0.08776706] [ 0. 0. 0. 1. ]] SLAMing on 18.258241008 meters Centerline goodness : 0.878464 with order 1 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.38, Z:0.09 [[ 0.98996518 0.06226461 0.12685445 6.59317801] [-0.07052188 0.99560191 0.06167258 -0.38467759] [-0.12245652 -0.06999972 0.99000224 0.09496457] [ 0. 0. 0. 1. ]] SLAMing on 18.318241008 meters Centerline goodness : 0.875781 with order 1 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.39, Z:0.09 [[ 0.99018079 0.06404836 0.124257 6.62070107] [-0.07171134 0.99572559 0.05820684 -0.38610435] [-0.11999782 -0.06654593 0.99054135 0.09019908] [ 0. 0. 0. 1. ]] SLAMing on 18.378241008 meters Centerline goodness : 0.876949 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.39, Z:0.10 [[ 0.99053787 0.06340309 0.12171598 6.66595666] [-0.07239208 0.99485263 0.07090581 -0.39182837] [-0.11659381 -0.07904617 0.99002908 0.09558042] [ 0. 0. 0. 1. ]] SLAMing on 18.438241008 meters Centerline goodness : 0.876188 with order 1 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.39, Z:0.09 [[ 0.99048417 0.06487795 0.12137527 6.69236132] [-0.07327795 0.99512065 0.06606996 -0.39173364] [-0.11649655 -0.07433538 0.99040537 0.08953949] [ 0. 0. 0. 1. ]] SLAMing on 18.498241008 meters Centerline goodness : 0.879482 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.40, Z:0.09 [[ 0.99083215 0.06348257 0.11925437 6.72741473] [-0.07218468 0.99492309 0.07012433 -0.39872776] [-0.11419725 -0.07808978 0.99038426 0.09420785] [ 0. 0. 0. 1. ]] SLAMing on 18.558241008 meters Centerline goodness : 0.885450 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.41, Z:0.10 [[ 0.99109184 0.05877481 0.11950938 6.7689889 ] [-0.06862897 0.99442288 0.08008242 -0.40614175] [-0.11413603 -0.08757084 0.98959806 0.10453598] [ 0. 0. 0. 1. ]] SLAMing on 18.618241008 meters Centerline goodness : 0.882986 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.40, Z:0.10 [[ 0.9913165 0.05906486 0.11748594 6.77899757] [-0.06905788 0.99416332 0.08288732 -0.40340047] [-0.11190449 -0.0902809 0.98960939 0.10079651] [ 0. 0. 0. 1. ]] SLAMing on 18.678241008 meters Centerline goodness : 0.885412 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.41, Z:0.10 [[ 0.99140808 0.05992405 0.11627174 6.80861848] [-0.06992136 0.99401815 0.08389833 -0.40675597] [-0.11054869 -0.09130736 0.9896676 0.10205307] [ 0. 0. 0. 1. ]] SLAMing on 18.738241008 meters Centerline goodness : 0.887231 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.41, Z:0.10 [[ 0.99126298 0.05968033 0.11762635 6.83882335] [-0.06965949 0.99414229 0.08263569 -0.40765097] [-0.11200561 -0.09010749 0.98961375 0.10025299] [ 0. 0. 0. 1. ]] SLAMing on 18.798241007999998 meters Centerline goodness : 0.895154 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.41, Z:0.11 [[ 0.99156393 0.06117117 0.11427624 6.87717073] [-0.07179525 0.99323283 0.09129073 -0.41338414] [-0.10791855 -0.09872509 0.98924564 0.10597238] [ 0. 0. 0. 1. ]] SLAMing on 18.858241008 meters Centerline goodness : 0.891727 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.41, Z:0.09 [[ 0.99106068 0.0636496 0.11724954 6.89319748] [-0.07303371 0.99430935 0.07755635 -0.40644794] [-0.11164589 -0.08542622 0.99006947 0.09157769] [ 0. 0. 0. 1. ]] SLAMing on 18.918241008 meters Centerline goodness : 0.890559 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.41, Z:0.09 [[ 0.99116104 0.06566943 0.11527067 6.92653071] [-0.07513828 0.99397366 0.07981609 -0.40801422] [-0.10933454 -0.08777184 0.99012225 0.09028297] [ 0. 0. 0. 1. ]] SLAMing on 18.978241008 meters Centerline goodness : 0.891687 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.40, Z:0.08 [[ 0.99080724 0.06557203 0.11832719 6.94754919] [-0.07414577 0.99481783 0.06956933 -0.40400128] [-0.11315219 -0.07770326 0.9905346 0.08178076] [ 0. 0. 0. 1. ]] SLAMing on 19.038241008 meters Centerline goodness : 0.894212 with order 1 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.40, Z:0.08 [[ 0.99051383 0.06371148 0.12175057 6.97205264] [-0.07173773 0.99544989 0.06271528 -0.40252253] [-0.11720091 -0.07085446 0.9905774 0.07824388] [ 0. 0. 0. 1. ]] SLAMing on 19.098241008 meters Centerline goodness : 0.899634 with order 1 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.41, Z:0.10 [[ 0.99024166 0.05631494 0.12747578 7.00414205] [-0.0680257 0.99366483 0.08945786 -0.41080719] [-0.12163038 -0.09725653 0.98779918 0.09748641] [ 0. 0. 0. 1. ]] SLAMing on 19.158241008 meters Centerline goodness : 0.902571 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.42, Z:0.11 [[ 0.99041549 0.05661109 0.12598544 7.04261687] [-0.06953913 0.9924834 0.10070258 -0.41607092] [-0.11933758 -0.10849831 0.98690762 0.10661415] [ 0. 0. 0. 1. ]] SLAMing on 19.218241008 meters Centerline goodness : 0.904607 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.42, Z:0.12 [[ 0.99049521 0.0535984 0.12667462 7.0556987 ] [-0.06789812 0.9914526 0.11140734 -0.4172585 ] [-0.11962063 -0.1189494 0.98566827 0.11611457] [ 0. 0. 0. 1. ]] SLAMing on 19.278241008 meters Centerline goodness : 0.897879 with order 1 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.41, Z:0.12 [[ 0.99087643 0.05098989 0.12475549 7.07031892] [-0.06558492 0.99110146 0.11582971 -0.41389197] [-0.1177392 -0.12295501 0.98540324 0.115039 ] [ 0. 0. 0. 1. ]] SLAMing on 19.338241008 meters Centerline goodness : 0.900895 with order 1 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.41, Z:0.11 [[ 0.99021659 0.05293005 0.12911045 7.0883549 ] [-0.06729046 0.99170338 0.1095281 -0.41175326] [-0.12224194 -0.11714444 0.98556283 0.11075485] [ 0. 0. 0. 1. ]] SLAMing on 19.398241008 meters Centerline goodness : 0.903198 with order 1 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.41, Z:0.11 [[ 0.98943989 0.05630861 0.13355912 7.10081414] [-0.06996736 0.99253621 0.0998821 -0.40931421] [-0.12693805 -0.10817212 0.98599469 0.1058752 ] [ 0. 0. 0. 1. ]] SLAMing on 19.458241007999998 meters Centerline goodness : 0.907614 with order 1 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.40, Z:0.09 [[ 0.98847836 0.06170498 0.13821369 7.11249353] [-0.07449141 0.99321231 0.08933272 -0.40320152] [-0.13176327 -0.09859919 0.98636537 0.09463234] [ 0. 0. 0. 1. ]] SLAMing on 19.518241008 meters Centerline goodness : 0.903700 with order 1 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.39, Z:0.08 [[ 0.98769579 0.06827568 0.14069635 7.11729864] [-0.07886907 0.99434337 0.07114028 -0.39315582] [-0.13504333 -0.08136155 0.98749359 0.07876077] [ 0. 0. 0. 1. ]] SLAMing on 19.578241008 meters Centerline goodness : 0.903620 with order 1 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.38, Z:0.07 [[ 0.98686439 0.07516653 0.14299881 7.1195511 ] [-0.08348246 0.99509545 0.05306335 -0.3842161 ] [-0.13830888 -0.06430422 0.98829936 0.06694377] [ 0. 0. 0. 1. ]] SLAMing on 19.638241008 meters Centerline goodness : 0.906125 with order 1 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.38, Z:0.07 [[ 0.9869465 0.07588391 0.14205016 7.12011106] [-0.08420578 0.99501051 0.05351142 -0.38367315] [-0.13728074 -0.06477435 0.988412 0.06866502] [ 0. 0. 0. 1. ]] SLAMing on 19.698241008 meters Centerline goodness : 0.904641 with order 1 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.38, Z:0.07 [[ 0.98710271 0.07547771 0.14117847 7.12236252] [-0.08361621 0.99510756 0.05262379 -0.38255606] [-0.13651584 -0.0637499 0.98858453 0.06693597] [ 0. 0. 0. 1. ]] SLAMing on 19.758241008 meters Centerline goodness : 0.903861 with order 1 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.38, Z:0.06 [[ 0.98727132 0.07459819 0.14046515 7.12554805] [-0.08242584 0.99530412 0.0507512 -0.38032671] [-0.1360196 -0.06168316 0.98878403 0.06237196] [ 0. 0. 0. 1. ]] SLAMing on 19.818241008 meters Centerline goodness : 0.899172 with order 1 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.38, Z:0.06 [[ 0.98799124 0.07651015 0.13423672 7.15760938] [-0.08387029 0.99521887 0.05005163 -0.38298905] [-0.12976546 -0.06070905 0.98968446 0.0557221 ] [ 0. 0. 0. 1. ]] SLAMing on 19.878241008 meters Centerline goodness : 0.898510 with order 1 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.39, Z:0.06 [[ 0.98914583 0.07780561 0.12464677 7.17046503] [-0.08365886 0.9955909 0.04242595 -0.38910168] [-0.12079622 -0.05239326 0.99129371 0.05855791] [ 0. 0. 0. 1. ]] SLAMing on 19.938241008 meters Centerline goodness : 0.900115 with order 1 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.40, Z:0.06 [[ 0.9893518 0.07730942 0.12331369 7.19960341] [-0.08300748 0.9956739 0.04175227 -0.3954139 ] [-0.11955237 -0.05154364 0.99148902 0.05856764] [ 0. 0. 0. 1. ]] SLAMing on 19.998241008 meters Centerline goodness : 0.899085 with order 1 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.40, Z:0.06 [[ 0.9893511 0.07973774 0.12176327 7.22994221] [-0.08582929 0.99526475 0.04562246 -0.40084076] [-0.11754886 -0.05558749 0.99151011 0.05998925] [ 0. 0. 0. 1. ]] SLAMing on 20.058241008 meters Centerline goodness : 0.901523 with order 1 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.40, Z:0.06 [[ 0.98923702 0.08227727 0.12099824 7.26040302] [-0.08872022 0.99485783 0.04885306 -0.40452469] [-0.11635655 -0.05906224 0.99144985 0.06119929] [ 0. 0. 0. 1. ]] SLAMing on 20.118241008 meters Centerline goodness : 0.904140 with order 1 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.40, Z:0.06 [[ 0.98921494 0.08259904 0.12095954 7.25989854] [-0.08905612 0.99482168 0.04897778 -0.40379614] [-0.11628766 -0.05922174 0.99144842 0.06232361] [ 0. 0. 0. 1. ]] SLAMing on 20.178241008 meters Centerline goodness : 0.903118 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.41, Z:0.06 [[ 0.98970559 0.08234274 0.11705774 7.29423047] [-0.08853911 0.99487901 0.04875022 -0.40675068] [-0.11244406 -0.05861255 0.99192787 0.05915565] [ 0. 0. 0. 1. ]] SLAMing on 20.238241008 meters Centerline goodness : 0.903853 with order 1 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.41, Z:0.06 [[ 0.99027795 0.07890736 0.11455656 7.33610138] [-0.08576735 0.99472681 0.05623637 -0.41360314] [-0.10951502 -0.06551485 0.99182371 0.06460527] [ 0. 0. 0. 1. ]] SLAMing on 20.298241007999998 meters Centerline goodness : 0.903572 with order 1 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.41, Z:0.06 [[ 0.99045068 0.07800348 0.113679 7.33940007] [-0.08468578 0.99487848 0.05518262 -0.41295491] [-0.10879236 -0.06428266 0.99198385 0.06190557] [ 0. 0. 0. 1. ]] SLAMing on 20.358241008 meters Centerline goodness : 0.900559 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.42, Z:0.07 [[ 0.99083045 0.07820068 0.11018019 7.37939373] [-0.08550958 0.99432799 0.06324519 -0.41843088] [-0.10460943 -0.07208673 0.99189736 0.0677468 ] [ 0. 0. 0. 1. ]] SLAMing on 20.418241008 meters Centerline goodness : 0.897821 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.43, Z:0.08 [[ 0.99132006 0.07707202 0.10651032 7.42611825] [-0.08547898 0.99337902 0.07675592 -0.42713239] [-0.09988938 -0.08519407 0.99134458 0.07655024] [ 0. 0. 0. 1. ]] SLAMing on 20.478241008 meters Centerline goodness : 0.898148 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.43, Z:0.08 [[ 0.99144255 0.07665439 0.10566828 7.46239504] [-0.08545472 0.99300857 0.08143388 -0.43071907] [-0.09868724 -0.08976687 0.99106142 0.07932226] [ 0. 0. 0. 1. ]] SLAMing on 20.538241008 meters Centerline goodness : 0.900291 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.43, Z:0.08 [[ 0.99146497 0.07361916 0.10759846 7.5014242 ] [-0.08303911 0.99284077 0.08585863 -0.4317961 ] [-0.1005073 -0.0940607 0.99048012 0.08115699] [ 0. 0. 0. 1. ]] SLAMing on 20.598241008 meters Centerline goodness : 0.902614 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.43, Z:0.07 [[ 0.99108058 0.07276013 0.11164783 7.51689068] [-0.08106399 0.99412458 0.07172833 -0.42729848] [-0.10577289 -0.08013917 0.99115579 0.07209627] [ 0. 0. 0. 1. ]] SLAMing on 20.658241008 meters Centerline goodness : 0.908256 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.42, Z:0.07 [[ 0.99092809 0.06912706 0.11525175 7.53656132] [-0.07625589 0.99536283 0.05863338 -0.42356886] [-0.11066416 -0.06689009 0.99160434 0.06631913] [ 0. 0. 0. 1. ]] SLAMing on 20.718241008 meters Centerline goodness : 0.905830 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.43, Z:0.08 [[ 0.99125163 0.06615763 0.11420762 7.58483491] [-0.07497044 0.99438584 0.07467416 -0.4300062 ] [-0.10862617 -0.08258308 0.99064645 0.07705342] [ 0. 0. 0. 1. ]] SLAMing on 20.778241008 meters Centerline goodness : 0.904383 with order 1 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.43, Z:0.08 [[ 0.99156667 0.06782386 0.1104331 7.62150461] [-0.07707492 0.9936661 0.0817749 -0.43303446] [-0.10418734 -0.08959689 0.9905137 0.07969831] [ 0. 0. 0. 1. ]] SLAMing on 20.838241008 meters Centerline goodness : 0.903759 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.44, Z:0.09 [[ 0.99160426 0.06971045 0.10891029 7.65289547] [-0.0793993 0.99301158 0.08731413 -0.43629574] [-0.10206247 -0.09522847 0.99020947 0.08521704] [ 0. 0. 0. 1. ]] SLAMing on 20.898241008 meters Centerline goodness : 0.901795 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.44, Z:0.09 [[ 0.99137696 0.07256105 0.10911745 7.65494763] [-0.08294622 0.99212443 0.09385651 -0.43564867] [-0.10144776 -0.10209806 0.98958796 0.09059181] [ 0. 0. 0. 1. ]] SLAMing on 20.958241007999998 meters Centerline goodness : 0.900118 with order 1 Centerline is valid? [False, False] Translation: X:7.68, Y:-0.44, Z:0.09 [[ 0.99119357 0.07920585 0.10612131 7.68294591] [-0.0897134 0.99111449 0.09820165 -0.43719012] [-0.09740023 -0.10685735 0.98949214 0.09105395] [ 0. 0. 0. 1. ]] SLAMing on 21.018241008 meters Centerline goodness : 0.900115 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.43, Z:0.08 [[ 0.99042159 0.08372896 0.10979317 7.7024193 ] [-0.09411406 0.99119983 0.09308837 -0.43346562] [-0.10103278 -0.10252982 0.98958578 0.08460089] [ 0. 0. 0. 1. ]] SLAMing on 21.078241008 meters Centerline goodness : 0.900684 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.43, Z:0.07 [[ 0.98953405 0.08885038 0.11370122 7.71455473] [-0.09850243 0.99172894 0.082286 -0.42836322] [-0.10544965 -0.09262464 0.99010153 0.07457227] [ 0. 0. 0. 1. ]] SLAMing on 21.138241007999998 meters Centerline goodness : 0.898526 with order 1 Centerline is valid? [False, False] Translation: X:7.73, Y:-0.42, Z:0.06 [[ 0.98880704 0.09264371 0.11695206 7.72787666] [-0.10120552 0.9924339 0.06951544 -0.42279758] [-0.10962702 -0.08057355 0.99070168 0.06289738] [ 0. 0. 0. 1. ]] SLAMing on 21.198241008 meters Centerline goodness : 0.897869 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.42, Z:0.05 [[ 0.98792769 0.09758879 0.12031339 7.73942832] [-0.10497308 0.9928612 0.05663285 -0.41670768] [-0.11392776 -0.06857883 0.99111927 0.05038286] [ 0. 0. 0. 1. ]] SLAMing on 21.258241008 meters Centerline goodness : 0.897238 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.41, Z:0.05 [[ 0.98790659 0.09802424 0.12013249 7.73988964] [-0.10524048 0.99291027 0.05525968 -0.41332841] [-0.11386399 -0.06723421 0.99121872 0.04758577] [ 0. 0. 0. 1. ]] SLAMing on 21.318241008 meters Centerline goodness : 0.897663 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.41, Z:0.04 [[ 0.98734643 0.10048216 0.12267993 7.75384514] [-0.1062055 0.99349757 0.04102412 -0.40904373] [-0.11776002 -0.0535343 0.99159803 0.03514366] [ 0. 0. 0. 1. ]] SLAMing on 21.378241008 meters Centerline goodness : 0.898547 with order 1 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.41, Z:0.03 [[ 0.98744457 0.09997464 0.12230413 7.75521917] [-0.10559467 0.99359025 0.04035075 -0.40784832] [-0.11748614 -0.05275879 0.99167208 0.03416847] [ 0. 0. 0. 1. ]] SLAMing on 21.438241008 meters Centerline goodness : 0.898171 with order 1 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.41, Z:0.04 [[ 0.98797425 0.09541872 0.12166412 7.76951036] [-0.10167664 0.99373968 0.04629583 -0.41132954] [-0.11648498 -0.05810949 0.99149107 0.03721753] [ 0. 0. 0. 1. ]] SLAMing on 21.498241008 meters Centerline goodness : 0.901000 with order 1 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.41, Z:0.03 [[ 0.98855612 0.09081966 0.12045163 7.77268123] [-0.09632569 0.99451768 0.04069341 -0.40987402] [-0.11609552 -0.05183031 0.9918848 0.03391082] [ 0. 0. 0. 1. ]] SLAMing on 21.558241008 meters Centerline goodness : 0.899166 with order 1 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.41, Z:0.03 [[ 0.98901381 0.08665551 0.11976021 7.77423744] [-0.09153896 0.99515469 0.03588551 -0.40979595] [-0.11607026 -0.04645399 0.99215408 0.03222454] [ 0. 0. 0. 1. ]] SLAMing on 21.618241008 meters Centerline goodness : 0.899166 with order 1 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.41, Z:0.03 [[ 0.98900739 0.08669419 0.11978527 7.77417937] [-0.09157594 0.99515224 0.03585887 -0.40973098] [-0.11609582 -0.04643414 0.99215202 0.03221378] [ 0. 0. 0. 1. ]] SLAMing on 21.678241008 meters Centerline goodness : 0.900911 with order 1 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.41, Z:0.04 [[ 0.98940903 0.08096642 0.12047494 7.79287058] [-0.08707794 0.99512259 0.04635147 -0.41365447] [-0.11613442 -0.05635127 0.99163367 0.03971118] [ 0. 0. 0. 1. ]] SLAMing on 21.738241008 meters Centerline goodness : 0.895550 with order 1 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.42, Z:0.04 [[ 0.98949293 0.08068955 0.11997058 7.79444126] [-0.08679168 0.99513919 0.0465316 -0.41506738] [-0.11563281 -0.05645513 0.99168638 0.03941744] [ 0. 0. 0. 1. ]] SLAMing on 21.798241007999998 meters Centerline goodness : 0.897905 with order 1 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.41, Z:0.04 [[ 0.98945374 0.08103541 0.12006062 7.79405883] [-0.08711472 0.99512294 0.04627485 -0.41423428] [-0.11572517 -0.05624587 0.99168749 0.03896632] [ 0. 0. 0. 1. ]] SLAMing on 21.858241008 meters Centerline goodness : 0.896505 with order 1 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.42, Z:0.04 [[ 0.98941699 0.08173371 0.11989004 7.79372245] [-0.08792444 0.99500442 0.04728113 -0.41505457] [-0.11542665 -0.05732202 0.99166066 0.0410488 ] [ 0. 0. 0. 1. ]] SLAMing on 21.918241008 meters Centerline goodness : 0.895246 with order 1 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.41, Z:0.04 [[ 0.98943693 0.08181845 0.11966746 7.79437129] [-0.08792791 0.99503208 0.04668885 -0.41409593] [-0.11525295 -0.05671778 0.99171561 0.03972197] [ 0. 0. 0. 1. ]] SLAMing on 21.978241008 meters Centerline goodness : 0.898113 with order 1 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.41, Z:0.04 [[ 0.98948133 0.08157128 0.11946896 7.79534531] [-0.08759197 0.9950922 0.04603433 -0.41278467] [-0.11512755 -0.05601463 0.99177014 0.03843899] [ 0. 0. 0. 1. ]] SLAMing on 22.038241008 meters Centerline goodness : 0.895449 with order 1 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.41, Z:0.04 [[ 0.98961912 0.08073192 0.11889642 7.79759117] [-0.08670506 0.99517401 0.04594483 -0.41436215] [-0.11461341 -0.05577681 0.99184309 0.0376059 ] [ 0. 0. 0. 1. ]] SLAMing on 22.098241008 meters Centerline goodness : 0.895848 with order 1 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.42, Z:0.04 [[ 0.98974265 0.08011598 0.11828321 7.79950788] [-0.08603307 0.99523953 0.04578854 -0.41526523] [-0.11405173 -0.05549514 0.99192363 0.03704603] [ 0. 0. 0. 1. ]] SLAMing on 22.158241008 meters Centerline goodness : 0.894831 with order 1 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.42, Z:0.04 [[ 0.99021845 0.07927618 0.11481599 7.84034312] [-0.086095 0.99472904 0.05569377 -0.42480981] [-0.10979561 -0.06503408 0.99182433 0.04226875] [ 0. 0. 0. 1. ]] SLAMing on 22.218241008 meters Centerline goodness : 0.897450 with order 1 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.43, Z:0.04 [[ 0.99018106 0.08108824 0.11386905 7.86618437] [-0.08757661 0.99473743 0.05317683 -0.42865215] [-0.10895779 -0.06262695 0.9920716 0.04021381] [ 0. 0. 0. 1. ]] SLAMing on 22.278241008 meters Centerline goodness : 0.897684 with order 1 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.43, Z:0.03 [[ 0.98947966 0.0848182 0.11720017 7.87848009] [-0.09013704 0.9950915 0.04084383 -0.42511039] [-0.11316059 -0.05097822 0.99226806 0.03029866] [ 0. 0. 0. 1. ]] SLAMing on 22.338241008 meters Centerline goodness : 0.896279 with order 1 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.42, Z:0.03 [[ 0.98918206 0.08811353 0.11728114 7.87947274] [-0.09386431 0.99459273 0.04443862 -0.42361521] [-0.11273132 -0.0549664 0.992104 0.02965023] [ 0. 0. 0. 1. ]] SLAMing on 22.398241008 meters Centerline goodness : 0.894540 with order 1 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.42, Z:0.03 [[ 0.98944566 0.0930179 0.11110784 7.90117275] [-0.09800998 0.9943677 0.04033519 -0.42336259] [-0.10673015 -0.05079916 0.99298949 0.02675924] [ 0. 0. 0. 1. ]] SLAMing on 22.458241007999998 meters Centerline goodness : 0.891203 with order 1 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.42, Z:0.03 [[ 0.989514 0.0927375 0.11073297 7.90246811] [-0.09763732 0.99443124 0.03966688 -0.4227104 ] [-0.10643772 -0.0500626 0.99305828 0.02543202] [ 0. 0. 0. 1. ]] SLAMing on 22.518241008 meters Centerline goodness : 0.891152 with order 1 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.43, Z:0.02 [[ 0.98989771 0.09508061 0.10517704 7.92588965] [-0.09915024 0.99448616 0.03415428 -0.42730672] [-0.1013497 -0.04423757 0.99386683 0.02166105] [ 0. 0. 0. 1. ]] SLAMing on 22.578241008 meters Centerline goodness : 0.892391 with order 1 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.43, Z:0.02 [[ 0.9903274 0.09592105 0.10025361 7.95663287] [-0.0996204 0.99449272 0.03255761 -0.43258982] [-0.09657853 -0.04223 0.99442909 0.01839283] [ 0. 0. 0. 1. ]] SLAMing on 22.638241007999998 meters Centerline goodness : 0.893777 with order 1 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.44, Z:0.02 [[ 0.99069296 0.09336637 0.09904636 7.96844307] [-0.097474 0.9945326 0.03746641 -0.43692405] [-0.09500673 -0.04677215 0.99437724 0.01917204] [ 0. 0. 0. 1. ]] SLAMing on 22.698241008 meters Centerline goodness : 0.892986 with order 1 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.44, Z:0.02 [[ 0.99075457 0.0930731 0.09870557 7.96962506] [-0.09713052 0.9945792 0.03711986 -0.43697658] [-0.09471564 -0.04636399 0.99442412 0.01828353] [ 0. 0. 0. 1. ]] SLAMing on 22.758241008 meters Centerline goodness : 0.893244 with order 1 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.44, Z:0.02 [[ 0.99076959 0.0929252 0.09869407 7.96966213] [-0.09701176 0.99457888 0.03743749 -0.437976 ] [-0.09468015 -0.04666641 0.99441335 0.01897036] [ 0. 0. 0. 1. ]] SLAMing on 22.818241008 meters Centerline goodness : 0.892202 with order 1 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.44, Z:0.02 [[ 0.99086095 0.09236278 0.09830408 7.97183686] [-0.09633863 0.99467963 0.03648693 -0.43641472] [-0.09441104 -0.04562395 0.99448731 0.01670735] [ 0. 0. 0. 1. ]] SLAMing on 22.878241008 meters Centerline goodness : 0.891660 with order 1 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.43, Z:0.02 [[ 0.99113904 0.08932383 0.09830899 7.97063384] [-0.09280989 0.99518644 0.03146863 -0.43437523] [-0.09502487 -0.04031383 0.99465827 0.01531143] [ 0. 0. 0. 1. ]] SLAMing on 22.938241008 meters Centerline goodness : 0.891097 with order 1 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.44, Z:0.01 [[ 0.99103639 0.09151125 0.09732714 7.97511265] [-0.09532865 0.99481927 0.03531393 -0.43531981] [-0.09359129 -0.04427545 0.99462574 0.01421847] [ 0. 0. 0. 1. ]] SLAMing on 22.998241008 meters Centerline goodness : 0.894760 with order 1 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.44, Z:0.01 [[ 0.99131879 0.08983934 0.09599969 7.97984898] [-0.09354464 0.99500633 0.03481107 -0.43640368] [-0.0923929 -0.04348913 0.99477246 0.01262038] [ 0. 0. 0. 1. ]] SLAMing on 23.058241008 meters Centerline goodness : 0.892679 with order 1 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.44, Z:0.02 [[ 0.99168695 0.08272836 0.09855461 8.00767429] [-0.08804496 0.99481673 0.05087004 -0.44297967] [-0.09383538 -0.0591244 0.99383058 0.0218857 ] [ 0. 0. 0. 1. ]] SLAMing on 23.118241008 meters Centerline goodness : 0.894398 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.45, Z:0.02 [[ 0.99190266 0.08280789 0.09629108 8.04152324] [-0.08831946 0.9946027 0.05445314 -0.44908382] [-0.09126222 -0.0625166 0.99386261 0.02405913] [ 0. 0. 0. 1. ]] SLAMing on 23.178241008 meters Centerline goodness : 0.891569 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.45, Z:0.02 [[ 0.9918866 0.08273903 0.09651543 8.04166691] [-0.08827394 0.99460116 0.054555 -0.44865679] [-0.09148053 -0.06263218 0.99383526 0.02418872] [ 0. 0. 0. 1. ]] SLAMing on 23.238241008 meters Centerline goodness : 0.895825 with order 1 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.45, Z:0.03 [[ 0.99147265 0.08259788 0.10079471 8.06455989] [-0.08821708 0.99471043 0.05262035 -0.44994806] [-0.09591522 -0.06106346 0.99351473 0.02727423] [ 0. 0. 0. 1. ]] SLAMing on 23.298241007999998 meters Centerline goodness : 0.892770 with order 1 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.46, Z:0.04 [[ 0.99116459 0.08603064 0.1009529 8.09922922] [-0.09318515 0.99329455 0.06842852 -0.45878342] [-0.09438902 -0.07723123 0.99253516 0.04165061] [ 0. 0. 0. 1. ]] SLAMing on 23.358241008 meters Centerline goodness : 0.894670 with order 1 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.47, Z:0.05 [[ 0.99124213 0.08871115 0.09782313 8.1345821 ] [-0.09635748 0.9924086 0.07642252 -0.46608073] [-0.09030099 -0.08517921 0.9922652 0.04662819] [ 0. 0. 0. 1. ]] SLAMing on 23.418241008 meters Centerline goodness : 0.895264 with order 1 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.47, Z:0.05 [[ 0.99142782 0.09087785 0.09387272 8.16639354] [-0.09840008 0.99201615 0.07887578 -0.47022204] [-0.08595519 -0.08743673 0.9924548 0.04709048] [ 0. 0. 0. 1. ]] SLAMing on 23.478241008 meters Centerline goodness : 0.897870 with order 1 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.47, Z:0.05 [[ 0.99174575 0.08588532 0.09520545 8.19438967] [-0.09490631 0.99097483 0.09466619 -0.47480582] [-0.08621577 -0.10292039 0.99094613 0.05302051] [ 0. 0. 0. 1. ]] SLAMing on 23.538241008 meters Centerline goodness : 0.894070 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.48, Z:0.05 [[ 0.99164508 0.08820182 0.09413013 8.22181982] [-0.09718112 0.99067378 0.09550547 -0.47709542] [-0.0848285 -0.1038552 0.99096833 0.05404347] [ 0. 0. 0. 1. ]] SLAMing on 23.598241008 meters Centerline goodness : 0.892327 with order 1 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.47, Z:0.04 [[ 0.99130131 0.08970179 0.0963084 8.24269465] [-0.09804218 0.99148762 0.085674 -0.47301944] [-0.08780348 -0.09437103 0.99165753 0.04430717] [ 0. 0. 0. 1. ]] SLAMing on 23.658241008 meters Centerline goodness : 0.894741 with order 1 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.47, Z:0.03 [[ 0.9906143 0.09324308 0.0999452 8.25620611] [-0.10086086 0.99213856 0.07408214 -0.46851546] [-0.09225184 -0.08346739 0.99223122 0.03473004] [ 0. 0. 0. 1. ]] SLAMing on 23.718241008 meters Centerline goodness : 0.892097 with order 1 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.47, Z:0.03 [[ 0.99019476 0.09461854 0.10276997 8.28025041] [-0.10180966 0.99253625 0.06713108 -0.46524903] [-0.09565108 -0.07693582 0.99243728 0.0263118 ] [ 0. 0. 0. 1. ]] SLAMing on 23.778241008 meters Centerline goodness : 0.894553 with order 1 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.46, Z:0.02 [[ 0.9898342 0.09558445 0.10531798 8.29827223] [-0.10176601 0.9932889 0.05496215 -0.46217165] [-0.09935765 -0.0651212 0.99291857 0.0160086 ] [ 0. 0. 0. 1. ]] SLAMing on 23.838241008 meters Centerline goodness : 0.898195 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.46, Z:0.01 [[ 9.89753516e-01 9.39726845e-02 1.07504012e-01 8.31835220e+00] [-9.90136914e-02 9.94176152e-01 4.25448986e-02 -4.61886739e-01] [-1.02879867e-01 -5.27533320e-02 9.93293924e-01 7.55678736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.898241008 meters Centerline goodness : 0.899888 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.48, Z:0.03 [[ 0.99014638 0.08196472 0.11354261 8.36288586] [-0.0906637 0.99315149 0.07368994 -0.47975416] [-0.10672504 -0.08325802 0.99079658 0.03244447] [ 0. 0. 0. 1. ]] SLAMing on 23.958241007999998 meters Centerline goodness : 0.897494 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.48, Z:0.03 [[ 0.99046657 0.08218897 0.11054843 8.39779623] [-0.09077358 0.99304349 0.07499859 -0.48181002] [-0.10361534 -0.08431847 0.99103696 0.02971653] [ 0. 0. 0. 1. ]] SLAMing on 24.018241008 meters Centerline goodness : 0.894546 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.49, Z:0.05 [[ 0.99072143 0.07377674 0.11414047 8.43291244] [-0.08514569 0.99152109 0.09816379 -0.4862459 ] [-0.10593048 -0.10697154 0.98860297 0.04560975] [ 0. 0. 0. 1. ]] SLAMing on 24.078241008 meters Centerline goodness : 0.896812 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.48, Z:0.05 [[ 0.99140485 0.06643348 0.11270764 8.45041579] [-0.077983 0.99178801 0.1013666 -0.48227198] [-0.10504795 -0.10928462 0.98844413 0.04866251] [ 0. 0. 0. 1. ]] SLAMing on 24.138241007999998 meters Centerline goodness : 0.893903 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.48, Z:0.05 [[ 0.99220135 0.05984296 0.10934026 8.4329857 ] [-0.07080147 0.99253977 0.09925707 -0.47504513] [-0.10258472 -0.10622445 0.98903627 0.04777632] [ 0. 0. 0. 1. ]] SLAMing on 24.198241008 meters Centerline goodness : 0.891184 with order 1 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.46, Z:0.04 [[ 0.99295896 0.058012 0.10328167 8.39382421] [-0.06701389 0.9940444 0.08593526 -0.46308838] [-0.09768129 -0.0922515 0.99093291 0.04462723] [ 0. 0. 0. 1. ]] SLAMing on 24.258241008 meters Centerline goodness : 0.885733 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.45, Z:0.04 [[ 0.99296987 0.05648462 0.10402083 8.35665822] [-0.06438927 0.99515735 0.0742689 -0.45041209] [-0.09932204 -0.08044461 0.99179826 0.03855149] [ 0. 0. 0. 1. ]] SLAMing on 24.318241008 meters Centerline goodness : 0.886204 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.44, Z:0.04 [[ 0.99274856 0.05980677 0.10427585 8.35689023] [-0.06802985 0.99469419 0.07717123 -0.44441083] [-0.09910722 -0.08370549 0.99154987 0.03955392] [ 0. 0. 0. 1. ]] SLAMing on 24.378241008 meters Centerline goodness : 0.889522 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.44, Z:0.05 [[ 0.99239063 0.06541359 0.10431633 8.3601327 ] [-0.07474709 0.99329193 0.08822701 -0.44261689] [-0.09784532 -0.095353 0.99062309 0.04794554] [ 0. 0. 0. 1. ]] SLAMing on 24.438241008 meters Centerline goodness : 0.885872 with order 1 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.44, Z:0.04 [[ 0.99173471 0.07019434 0.10740123 8.38085669] [-0.07943109 0.9932705 0.08428774 -0.44009169] [-0.10076195 -0.09212207 0.99063644 0.04217434] [ 0. 0. 0. 1. ]] SLAMing on 24.498241008 meters Centerline goodness : 0.888422 with order 1 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.43, Z:0.03 [[ 0.99095041 0.07619033 0.11050935 8.39095927] [-0.08437795 0.99387207 0.07140501 -0.43368676] [-0.10439178 -0.08008337 0.99130672 0.03007621] [ 0. 0. 0. 1. ]] SLAMing on 24.558241008 meters Centerline goodness : 0.882498 with order 1 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.43, Z:0.02 [[ 0.99041606 0.07851994 0.11362505 8.40651442] [-0.0855306 0.99463463 0.05819341 -0.42878111] [-0.10844606 -0.0673541 0.99181797 0.01727758] [ 0. 0. 0. 1. ]] SLAMing on 24.618241008 meters Centerline goodness : 0.875918 with order 1 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.42, Z:0.01 [[ 9.89760784e-01 8.08939121e-02 1.17600023e-01 8.41971986e+00] [-8.66872696e-02 9.95218521e-01 4.50045862e-02 -4.24130686e-01] [-1.13397124e-01 -5.47381994e-02 9.92040736e-01 5.95971126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.678241008 meters Centerline goodness : 0.875446 with order 1 Centerline is valid? [False, False] Translation: X:8.42, Y:-0.43, Z:0.01 [[ 9.89823027e-01 8.07186944e-02 1.17195851e-01 8.42043410e+00] [-8.65309385e-02 9.95215277e-01 4.53756482e-02 -4.26249390e-01] [-1.12972438e-01 -5.50549284e-02 9.92071662e-01 6.62391409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.738241008 meters Centerline goodness : 0.872621 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.43, Z:0.01 [[ 0.99022469 0.08015842 0.11414767 8.45857354] [-0.08642855 0.9949479 0.05107625 -0.43244493] [-0.1094768 -0.06044258 0.99214995 0.00888986] [ 0. 0. 0. 1. ]] SLAMing on 24.798241007999998 meters Centerline goodness : 0.870636 with order 1 Centerline is valid? [False, False] Translation: X:8.50, Y:-0.44, Z:0.02 [[ 0.99083601 0.07727171 0.11078392 8.49911277] [-0.08419512 0.99468703 0.05923599 -0.44256413] [-0.10561806 -0.06802062 0.99207763 0.01508954] [ 0. 0. 0. 1. ]] SLAMing on 24.858241008 meters Centerline goodness : 0.871080 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.46, Z:0.04 [[ 0.99061812 0.06703369 0.11908918 8.54341857] [-0.0786319 0.99231686 0.09552102 -0.46000778] [-0.11177107 -0.10398906 0.98827805 0.03949325] [ 0. 0. 0. 1. ]] SLAMing on 24.918241008 meters Centerline goodness : 0.873973 with order 1 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.48, Z:0.07 [[ 0.99001993 0.04697031 0.13286961 8.58258009] [-0.06635868 0.98713259 0.14548466 -0.4787751 ] [-0.12432647 -0.15284976 0.98039782 0.06841411] [ 0. 0. 0. 1. ]] SLAMing on 24.978241008 meters Centerline goodness : 0.876931 with order 1 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.47, Z:0.07 [[ 0.98951061 0.04172052 0.13830459 8.55069926] [-0.06089899 0.98863075 0.13747926 -0.46938049] [-0.13099646 -0.14445979 0.98080135 0.06542544] [ 0. 0. 0. 1. ]] SLAMing on 25.038241008 meters Centerline goodness : 0.874909 with order 1 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.46, Z:0.06 [[ 0.98921477 0.04321373 0.13995251 8.54742195] [-0.06196565 0.98923947 0.13253504 -0.46087347] [-0.13271921 -0.13977787 0.98124806 0.05764103] [ 0. 0. 0. 1. ]] SLAMing on 25.098241008 meters Centerline goodness : 0.877633 with order 1 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.46, Z:0.06 [[ 0.9885286 0.04772316 0.14329586 8.55208743] [-0.06903793 0.98662351 0.14767472 -0.45935793] [-0.13433156 -0.15587353 0.97860026 0.06423325] [ 0. 0. 0. 1. ]] SLAMing on 25.158241008 meters Centerline goodness : 0.876154 with order 1 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.45, Z:0.05 [[ 0.98755149 0.05224259 0.14836703 8.56610599] [-0.07310841 0.98760899 0.13886554 -0.45401906] [-0.13927392 -0.14798375 0.9791341 0.05456159] [ 0. 0. 0. 1. ]] SLAMing on 25.218241008 meters Centerline goodness : 0.879426 with order 1 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.45, Z:0.04 [[ 0.98712023 0.06186205 0.14753553 8.58094398] [-0.08097313 0.98855814 0.1272641 -0.45173523] [-0.13797463 -0.13757138 0.98083491 0.04469719] [ 0. 0. 0. 1. ]] SLAMing on 25.278241008 meters Centerline goodness : 0.878557 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.45, Z:0.04 [[ 0.98635438 0.06409298 0.15164805 8.61181325] [-0.08446596 0.98764933 0.13196329 -0.45254037] [-0.14131717 -0.14297166 0.97958591 0.04275866] [ 0. 0. 0. 1. ]] SLAMing on 25.338241008 meters Centerline goodness : 0.879358 with order 1 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.46, Z:0.03 [[ 0.98644481 0.0668278 0.1498689 8.65003726] [-0.08494603 0.98938003 0.11794626 -0.45649306] [-0.14039521 -0.12907825 0.98164555 0.03496269] [ 0. 0. 0. 1. ]] SLAMing on 25.398241008 meters Centerline goodness : 0.878280 with order 1 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.47, Z:0.05 [[ 0.98682722 0.06513593 0.14808562 8.6858895 ] [-0.08451127 0.9880945 0.12855782 -0.46707209] [-0.13794885 -0.13937926 0.98058326 0.0461024 ] [ 0. 0. 0. 1. ]] SLAMing on 25.458241007999998 meters Centerline goodness : 0.879213 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.47, Z:0.04 [[ 0.98771904 0.066837 0.14122295 8.70841977] [-0.08443403 0.98886652 0.12253124 -0.46852962] [-0.13146103 -0.13295046 0.9823656 0.04157875] [ 0. 0. 0. 1. ]] SLAMing on 25.518241008 meters Centerline goodness : 0.877494 with order 1 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.47, Z:0.05 [[ 0.98796281 0.06250119 0.14150298 8.72147765] [-0.08116535 0.98815654 0.13022612 -0.471518 ] [-0.1316878 -0.14014371 0.98133484 0.0463699 ] [ 0. 0. 0. 1. ]] SLAMing on 25.578241008 meters Centerline goodness : 0.878943 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.48, Z:0.06 [[ 0.98756934 0.05510443 0.14720838 8.74138708] [-0.07673581 0.98636802 0.14556699 -0.47584648] [-0.13718025 -0.15505365 0.97833529 0.05847818] [ 0. 0. 0. 1. ]] SLAMing on 25.638241007999998 meters Centerline goodness : 0.883161 with order 1 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.47, Z:0.05 [[ 0.98666651 0.05540666 0.15303365 8.75354391] [-0.07602681 0.98828155 0.13236126 -0.47148009] [-0.14390664 -0.14223108 0.9793167 0.05127314] [ 0. 0. 0. 1. ]] SLAMing on 25.698241008 meters Centerline goodness : 0.880824 with order 1 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.47, Z:0.04 [[ 0.98603538 0.05349509 0.15771018 8.77955633] [-0.07389489 0.9892149 0.12646514 -0.46612299] [-0.149244 -0.13635308 0.9793539 0.04411387] [ 0. 0. 0. 1. ]] SLAMing on 25.758241008 meters Centerline goodness : 0.874945 with order 1 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.46, Z:0.03 [[ 0.98684364 0.04680475 0.15475447 8.79766922] [-0.06631266 0.99013864 0.12340217 -0.45725506] [-0.14745257 -0.13204083 0.98021577 0.03484703] [ 0. 0. 0. 1. ]] SLAMing on 25.818241008 meters Centerline goodness : 0.878255 with order 1 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.45, Z:0.04 [[ 0.98739595 0.03692384 0.15390216 8.79416775] [-0.05800971 0.98916556 0.13485685 -0.45276014] [-0.14725528 -0.14208493 0.97884001 0.04386995] [ 0. 0. 0. 1. ]] SLAMing on 25.878241008 meters Centerline goodness : 0.880489 with order 1 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.45, Z:0.05 [[ 0.98794259 0.03162171 0.15155696 8.78027716] [-0.05362698 0.98821258 0.14338771 -0.44947827] [-0.14523633 -0.14978637 0.97799307 0.05395009] [ 0. 0. 0. 1. ]] SLAMing on 25.938241008 meters Centerline goodness : 0.880291 with order 1 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.44, Z:0.04 [[ 0.98774704 0.03108572 0.15293615 8.77474983] [-0.05148642 0.99000475 0.13130018 -0.43625265] [-0.14732595 -0.1375655 0.97947476 0.04183646] [ 0. 0. 0. 1. ]] SLAMing on 25.998241008 meters Centerline goodness : 0.873901 with order 1 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.43, Z:0.05 [[ 0.98743623 0.02861368 0.15540577 8.75415321] [-0.0502463 0.98928029 0.1371124 -0.42819939] [-0.14981658 -0.14319831 0.97828893 0.04712455] [ 0. 0. 0. 1. ]] SLAMing on 26.058241008 meters Centerline goodness : 0.883276 with order 1 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.42, Z:0.04 [[ 0.98836919 0.03569926 0.14782389 8.76492797] [-0.05470252 0.99045005 0.12655565 -0.42030306] [-0.14189424 -0.13317004 0.98088316 0.04363228] [ 0. 0. 0. 1. ]] SLAMing on 26.118241008 meters Centerline goodness : 0.879403 with order 1 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.42, Z:0.05 [[ 0.98846327 0.03436874 0.14750985 8.76777888] [-0.05343949 0.9904188 0.12733747 -0.41599017] [-0.1417201 -0.13375126 0.98082925 0.04617009] [ 0. 0. 0. 1. ]] SLAMing on 26.178241008 meters Centerline goodness : 0.878613 with order 1 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.41, Z:0.04 [[ 0.98805811 0.03432569 0.15020957 8.79137533] [-0.05262475 0.99142661 0.11959898 -0.41199538] [-0.14481645 -0.12607548 0.98139348 0.03793737] [ 0. 0. 0. 1. ]] SLAMing on 26.238241008 meters Centerline goodness : 0.880440 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.41, Z:0.03 [[ 0.98756466 0.03206121 0.15390943 8.81856178] [-0.05001177 0.99219637 0.1142155 -0.40822479] [-0.1490465 -0.12049248 0.98146151 0.03325164] [ 0. 0. 0. 1. ]] SLAMing on 26.298241007999998 meters Centerline goodness : 0.875510 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.41, Z:0.03 [[ 0.98771324 0.03212531 0.1529396 8.85214847] [-0.05055548 0.99170353 0.11818737 -0.40860379] [-0.14787393 -0.12446716 0.98114282 0.03457458] [ 0. 0. 0. 1. ]] SLAMing on 26.358241008 meters Centerline goodness : 0.876177 with order 1 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.40, Z:0.03 [[ 0.98689398 0.03101647 0.15836112 8.88224256] [-0.05020577 0.99166586 0.11865161 -0.40457763] [-0.15336116 -0.1250472 0.98022628 0.02966722] [ 0. 0. 0. 1. ]] SLAMing on 26.418241008 meters Centerline goodness : 0.872513 with order 1 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.40, Z:0.03 [[ 0.98691064 0.03415569 0.15760955 8.88965153] [-0.05470758 0.99026894 0.12796288 -0.40297229] [-0.15170519 -0.13491037 0.97917554 0.03218737] [ 0. 0. 0. 1. ]] SLAMing on 26.478241007999998 meters Centerline goodness : 0.874705 with order 1 Centerline is valid? [False, False] Translation: X:8.90, Y:-0.40, Z:0.02 [[ 0.98622932 0.03943553 0.16061309 8.90189486] [-0.0584255 0.99161283 0.11528427 -0.3965243 ] [-0.1547197 -0.12308062 0.98026169 0.01908785] [ 0. 0. 0. 1. ]] SLAMing on 26.538241008 meters Centerline goodness : 0.874303 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-0.40, Z:0.03 [[ 0.98585173 0.04656773 0.16102118 8.95170354] [-0.06702332 0.99001156 0.12403627 -0.40330847] [-0.15363674 -0.13307354 0.97912572 0.02527145] [ 0. 0. 0. 1. ]] SLAMing on 26.598241008 meters Centerline goodness : 0.871779 with order 1 Centerline is valid? [False, False] Translation: X:8.97, Y:-0.40, Z:0.01 [[ 0.98506401 0.05139511 0.16433943 8.96833713] [-0.07086834 0.99084402 0.11491649 -0.39839082] [-0.15692859 -0.12484655 0.97968707 0.01264242] [ 0. 0. 0. 1. ]] SLAMing on 26.658241008 meters Centerline goodness : 0.870836 with order 1 Centerline is valid? [False, False] Translation: X:8.98, Y:-0.40, Z:0.00 [[ 9.84194411e-01 5.64586399e-02 1.67850479e-01 8.98023093e+00] [-7.45338315e-02 9.91842074e-01 1.03411835e-01 -3.95336391e-01] [-1.60642675e-01 -1.14287889e-01 9.80373505e-01 1.53671881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.718241008 meters Centerline goodness : 0.873699 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.39, Z:-0.01 [[ 0.9834925 0.05961891 0.17084519 8.99389797] [-0.07598492 0.99295597 0.09091063 -0.39317066] [-0.16422176 -0.10239158 0.98109489 -0.00907341] [ 0. 0. 0. 1. ]] SLAMing on 26.778241008 meters Centerline goodness : 0.874356 with order 1 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.40, Z:-0.01 [[ 0.98451133 0.06726758 0.16190277 9.00797968] [-0.08272519 0.99243612 0.09070329 -0.39661396] [-0.15457677 -0.10269186 0.98262933 -0.00903572] [ 0. 0. 0. 1. ]] SLAMing on 26.838241008 meters Centerline goodness : 0.876848 with order 1 Centerline is valid? [False, False] Translation: X:9.03, Y:-0.40, Z:-0.02 [[ 0.98433972 0.07227431 0.16078476 9.0285905 ] [-0.08663861 0.99267587 0.08419248 -0.39778967] [-0.1535222 -0.09680417 0.98339203 -0.01818739] [ 0. 0. 0. 1. ]] SLAMing on 26.898241008 meters Centerline goodness : 0.876088 with order 1 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.40, Z:-0.02 [[ 0.98527012 0.07692311 0.15272727 9.04024734] [-0.0900498 0.99264033 0.08097044 -0.40010832] [-0.14537475 -0.09353082 0.98494577 -0.01828128] [ 0. 0. 0. 1. ]] SLAMing on 26.958241007999998 meters Centerline goodness : 0.875915 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.40, Z:-0.03 [[ 0.98467852 0.07708033 0.15641881 9.05359596] [-0.08815817 0.99397324 0.0651563 -0.39872506] [-0.15045384 -0.0779476 0.98553935 -0.03056591] [ 0. 0. 0. 1. ]] SLAMing on 27.018241008 meters Centerline goodness : 0.873107 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.40, Z:-0.03 [[ 0.98512087 0.07285653 0.15565602 9.05622408] [-0.08321898 0.99465522 0.06111954 -0.40031804] [-0.15037112 -0.07316367 0.98591866 -0.03188871] [ 0. 0. 0. 1. ]] SLAMing on 27.078241008 meters Centerline goodness : 0.879548 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.41, Z:-0.02 [[ 0.98587976 0.06588307 0.15394973 9.10441332] [-0.07810752 0.99413866 0.07474985 -0.41361001] [-0.14812263 -0.085719 0.98524715 -0.02299096] [ 0. 0. 0. 1. ]] SLAMing on 27.138241007999998 meters Centerline goodness : 0.874853 with order 1 Centerline is valid? [False, False] Translation: X:9.16, Y:-0.42, Z:-0.02 [[ 0.98577033 0.04596134 0.16169235 9.16056627] [-0.06203355 0.99346594 0.09579802 -0.42489685] [-0.15623283 -0.10446519 0.98218039 -0.01552884] [ 0. 0. 0. 1. ]] SLAMing on 27.198241008 meters Centerline goodness : 0.878137 with order 1 Centerline is valid? [False, False] Translation: X:9.13, Y:-0.43, Z:-0.00 [[ 9.85589634e-01 3.30084448e-02 1.65902130e-01 9.13249115e+00] [-5.21126105e-02 9.92323407e-01 1.12154053e-01 -4.27019204e-01] [-1.60926536e-01 -1.19183465e-01 9.79743819e-01 -1.91838005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.258241008 meters Centerline goodness : 0.884314 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.42, Z:0.01 [[ 9.84474464e-01 3.43379163e-02 1.72136394e-01 9.09124727e+00] [-5.38576726e-02 9.92466658e-01 1.10042193e-01 -4.21516371e-01] [-1.67061012e-01 -1.17604595e-01 9.78907441e-01 5.73595265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.318241008 meters Centerline goodness : 0.886621 with order 1 Centerline is valid? [False, False] Translation: X:9.07, Y:-0.42, Z:0.01 [[ 0.98356561 0.03357059 0.17740267 9.067316 ] [-0.05513403 0.99147512 0.11805644 -0.4155586 ] [-0.17192711 -0.12589718 0.97703171 0.01330727] [ 0. 0. 0. 1. ]] SLAMing on 27.378241008 meters Centerline goodness : 0.883271 with order 1 Centerline is valid? [False, False] Translation: X:9.07, Y:-0.41, Z:0.01 [[ 0.9834043 0.03682147 0.1776518 9.06757495] [-0.05880957 0.99101358 0.12013958 -0.41152442] [-0.17163163 -0.1285934 0.97673247 0.0107191 ] [ 0. 0. 0. 1. ]] SLAMing on 27.438241008 meters Centerline goodness : 0.886245 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.41, Z:0.01 [[ 0.98428344 0.04220513 0.17147836 9.0852444 ] [-0.06248455 0.99143979 0.11464219 -0.4076629 ] [-0.16517198 -0.12355516 0.97849494 0.01041889] [ 0. 0. 0. 1. ]] SLAMing on 27.498241008 meters Centerline goodness : 0.889527 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.40, Z:-0.00 [[ 9.83452641e-01 4.63737789e-02 1.75129598e-01 9.09376807e+00] [-6.43328689e-02 9.93074965e-01 9.83025781e-02 -4.00234909e-01] [-1.69358157e-01 -1.07942519e-01 9.79625554e-01 -2.44273075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.558241008 meters Centerline goodness : 0.892602 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.40, Z:0.01 [[ 0.98348465 0.04362512 0.17565533 9.09994555] [-0.06300168 0.99233728 0.10628972 -0.40049601] [-0.16967243 -0.11560089 0.97869694 0.00950995] [ 0. 0. 0. 1. ]] SLAMing on 27.618241008 meters Centerline goodness : 0.892554 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.40, Z:0.01 [[ 9.84758658e-01 4.69530242e-02 1.67468798e-01 9.11090682e+00] [-6.40840515e-02 9.93081270e-01 9.84013491e-02 -3.95482686e-01] [-1.61689886e-01 -1.07633660e-01 9.80954319e-01 5.39525959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.678241008 meters Centerline goodness : 0.891541 with order 1 Centerline is valid? [False, False] Translation: X:9.12, Y:-0.39, Z:0.01 [[ 0.98504075 0.04476637 0.16640518 9.11724047] [-0.06229444 0.99286766 0.10165242 -0.39392518] [-0.16066771 -0.1104979 0.9808038 0.01068817] [ 0. 0. 0. 1. ]] SLAMing on 27.738241008 meters Centerline goodness : 0.889443 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.40, Z:0.03 [[ 0.98496453 0.04650062 0.16638081 9.15165896] [-0.06732602 0.99026829 0.12180278 -0.40216506] [-0.15909774 -0.13117318 0.97850984 0.02871316] [ 0. 0. 0. 1. ]] SLAMing on 27.798241007999998 meters Centerline goodness : 0.888343 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.41, Z:0.03 [[ 0.98546689 0.04881674 0.16270198 9.17897698] [-0.06913177 0.99016433 0.12163635 -0.40500291] [-0.15516381 -0.13111648 0.97914895 0.02776751] [ 0. 0. 0. 1. ]] SLAMing on 27.858241008 meters Centerline goodness : 0.883852 with order 1 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.41, Z:0.04 [[ 0.98550656 0.04846959 0.16256542 9.20871096] [-0.06997547 0.98913454 0.12929155 -0.40801799] [-0.15453236 -0.13879326 0.97819026 0.03660617] [ 0. 0. 0. 1. ]] SLAMing on 27.918241008 meters Centerline goodness : 0.885064 with order 1 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.40, Z:0.04 [[ 0.98541623 0.04523481 0.16403861 9.20694252] [-0.06614134 0.99003575 0.12431625 -0.40273789] [-0.15678066 -0.13335298 0.97858919 0.03517267] [ 0. 0. 0. 1. ]] SLAMing on 27.978241007999998 meters Centerline goodness : 0.884111 with order 1 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.41, Z:0.07 [[ 0.98295406 0.03425723 0.18063156 9.21587829] [-0.06371946 0.98507045 0.1599251 -0.40890157] [-0.17245622 -0.16870877 0.97046185 0.06538872] [ 0. 0. 0. 1. ]] SLAMing on 28.038241008 meters Centerline goodness : 0.884376 with order 1 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.40, Z:0.06 [[ 0.98331134 0.03776593 0.17796779 9.22133227] [-0.0634543 0.98798214 0.14094271 -0.39840974] [-0.17050617 -0.14988339 0.97389045 0.05562895] [ 0. 0. 0. 1. ]] SLAMing on 28.098241008 meters Centerline goodness : 0.885026 with order 1 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.40, Z:0.06 [[ 0.98299539 0.0304822 0.18108259 9.2437197 ] [-0.05930245 0.98598383 0.15594586 -0.39583681] [-0.17379094 -0.16403271 0.97102522 0.06464123] [ 0. 0. 0. 1. ]] SLAMing on 28.158241008 meters Centerline goodness : 0.884304 with order 1 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.39, Z:0.06 [[ 0.98309956 0.028278 0.18087456 9.24774072] [-0.05665624 0.98648994 0.15371296 -0.38932909] [-0.17408424 -0.16136281 0.97141995 0.06242845] [ 0. 0. 0. 1. ]] SLAMing on 28.218241008 meters Centerline goodness : 0.885769 with order 1 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.39, Z:0.07 [[ 0.98385423 0.02314129 0.17746924 9.232861 ] [-0.05229578 0.98550054 0.16141202 -0.38563491] [-0.17116074 -0.1680868 0.97079907 0.07418954] [ 0. 0. 0. 1. ]] SLAMing on 28.278241008 meters Centerline goodness : 0.888537 with order 1 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.38, Z:0.08 [[ 0.98446624 0.01684576 0.17476399 9.211662 ] [-0.04503428 0.98631353 0.15861126 -0.37920557] [-0.16970016 -0.1640178 0.97175101 0.07887305] [ 0. 0. 0. 1. ]] SLAMing on 28.338241008 meters Centerline goodness : 0.882707 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.37, Z:0.08 [[ 0.98498862 0.01582301 0.17189253 9.17800723] [-0.04227201 0.98758038 0.15132107 -0.37245633] [-0.16736333 -0.15631577 0.97342431 0.08012497] [ 0. 0. 0. 1. ]] SLAMing on 28.398241008 meters Centerline goodness : 0.884907 with order 1 Centerline is valid? [False, False] Translation: X:9.17, Y:-0.37, Z:0.08 [[ 9.88221571e-01 6.96099581e-03 1.52871420e-01 9.17128930e+00] [-2.87353288e-02 9.89636101e-01 1.40693525e-01 -3.66113093e-01] [-1.50307709e-01 -1.43429187e-01 9.78179769e-01 7.84605222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.458241007999998 meters Centerline goodness : 0.880141 with order 1 Centerline is valid? [False, False] Translation: X:9.14, Y:-0.36, Z:0.07 [[ 0.98861844 0.01089626 0.15004953 9.13900572] [-0.02865941 0.99274956 0.11673454 -0.3561552 ] [-0.14768963 -0.11970624 0.9817628 0.0703445 ] [ 0. 0. 0. 1. ]] SLAMing on 28.518241008 meters Centerline goodness : 0.882120 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.34, Z:0.07 [[ 0.98913441 0.02096085 0.14551206 9.09447698] [-0.03515064 0.99479505 0.09564124 -0.34292677] [-0.14274995 -0.09971688 0.9847228 0.0673393 ] [ 0. 0. 0. 1. ]] SLAMing on 28.578241008 meters Centerline goodness : 0.881912 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.33, Z:0.06 [[ 0.98962047 0.03200622 0.14009611 9.08311703] [-0.04317982 0.99606014 0.07745768 -0.33456314] [-0.13706502 -0.08270303 0.98710354 0.06319557] [ 0. 0. 0. 1. ]] SLAMing on 28.638241007999998 meters Centerline goodness : 0.882576 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.33, Z:0.07 [[ 0.98933729 0.03744494 0.14074657 9.07948064] [-0.04918691 0.99550823 0.08089507 -0.32813089] [-0.13708526 -0.08695539 0.98673522 0.06548441] [ 0. 0. 0. 1. ]] SLAMing on 28.698241008 meters Centerline goodness : 0.879743 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.33, Z:0.07 [[ 0.98910065 0.04304217 0.14080933 9.08169794] [-0.05596476 0.99444561 0.08913958 -0.32656809] [-0.13619046 -0.09604838 0.98601565 0.06761912] [ 0. 0. 0. 1. ]] SLAMing on 28.758241008 meters Centerline goodness : 0.874727 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.32, Z:0.06 [[ 0.98824939 0.04916453 0.14472733 9.09226414] [-0.06084157 0.99514249 0.0773933 -0.31815373] [-0.14021931 -0.08528932 0.9864402 0.05640092] [ 0. 0. 0. 1. ]] SLAMing on 28.818241007999998 meters Centerline goodness : 0.884225 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.32, Z:0.05 [[ 0.98763566 0.05253403 0.14770233 9.11219569] [-0.06373387 0.99535586 0.07214362 -0.3171367 ] [-0.14322638 -0.08066526 0.98639714 0.05080493] [ 0. 0. 0. 1. ]] SLAMing on 28.878241008 meters Centerline goodness : 0.877150 with order 1 Centerline is valid? [False, False] Translation: X:9.16, Y:-0.33, Z:0.07 [[ 0.98714083 0.0501928 0.15176849 9.15650915] [-0.06512956 0.99333445 0.09510416 -0.32733257] [-0.14598332 -0.10376581 0.98383003 0.06560744] [ 0. 0. 0. 1. ]] SLAMing on 28.938241008 meters Centerline goodness : 0.875720 with order 1 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.33, Z:0.06 [[ 0.98732466 0.04933943 0.15084971 9.18833456] [-0.06416251 0.99340451 0.09502976 -0.33030199] [-0.14516607 -0.10350412 0.98397851 0.06348897] [ 0. 0. 0. 1. ]] SLAMing on 28.998241008 meters Centerline goodness : 0.879206 with order 1 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.35, Z:0.10 [[ 0.98462722 0.03336382 0.17145288 9.18764532] [-0.05917 0.98726245 0.14768806 -0.34889114] [-0.16434155 -0.15556255 0.97405962 0.10421145] [ 0. 0. 0. 1. ]] SLAMing on 29.058241008 meters Centerline goodness : 0.884887 with order 1 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.36, Z:0.12 [[ 0.9833413 0.02181479 0.18045498 9.21762946] [-0.0529184 0.98412635 0.16939589 -0.35708421] [-0.17389517 -0.17612336 0.96888649 0.11746044] [ 0. 0. 0. 1. ]] SLAMing on 29.118241008 meters Centerline goodness : 0.885628 with order 1 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.36, Z:0.12 [[ 0.984025 0.01296575 0.17755759 9.20494428] [-0.04401753 0.98409838 0.17208378 -0.35657134] [-0.17250294 -0.17715039 0.96894813 0.12066631] [ 0. 0. 0. 1. ]] SLAMing on 29.178241008 meters Centerline goodness : 0.885334 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.35, Z:0.11 [[ 0.98407494 0.01873086 0.17676445 9.17864958] [-0.04602334 0.98737109 0.15159216 -0.34939272] [-0.17169265 -0.15731334 0.9725092 0.10828261] [ 0. 0. 0. 1. ]] SLAMing on 29.238241008 meters Centerline goodness : 0.885188 with order 1 Centerline is valid? [False, False] Translation: X:9.17, Y:-0.34, Z:0.10 [[ 0.98350928 0.0204462 0.17969821 9.16716281] [-0.04678552 0.98853121 0.14358675 -0.34433175] [-0.17470149 -0.14962617 0.97318621 0.10239882] [ 0. 0. 0. 1. ]] SLAMing on 29.298241007999998 meters Centerline goodness : 0.886014 with order 1 Centerline is valid? [False, False] Translation: X:9.16, Y:-0.34, Z:0.10 [[ 0.9824957 0.0274667 0.18424921 9.15980486] [-0.05086666 0.99103941 0.12350497 -0.33839784] [-0.17920596 -0.13071524 0.9750891 0.09553557] [ 0. 0. 0. 1. ]] SLAMing on 29.358241008 meters Centerline goodness : 0.881563 with order 1 Centerline is valid? [False, False] Translation: X:9.14, Y:-0.34, Z:0.11 [[ 0.98028327 0.02082068 0.19649734 9.14081856] [-0.04787466 0.98983034 0.1339549 -0.33761416] [-0.19171 -0.14072099 0.97131091 0.10656031] [ 0. 0. 0. 1. ]] SLAMing on 29.418241008 meters Centerline goodness : 0.877087 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.33, Z:0.11 [[ 0.97953402 0.0189794 0.20038185 9.10620976] [-0.04570385 0.99051272 0.12959826 -0.33271731] [-0.19602107 -0.13610413 0.97110834 0.10912068] [ 0. 0. 0. 1. ]] SLAMing on 29.478241007999998 meters Centerline goodness : 0.881559 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.33, Z:0.12 [[ 0.97978931 0.02004217 0.19902568 9.07504469] [-0.04702181 0.99016389 0.13177413 -0.33066473] [-0.194427 -0.13846943 0.97109441 0.11725196] [ 0. 0. 0. 1. ]] SLAMing on 29.538241008 meters Centerline goodness : 0.881227 with order 1 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.33, Z:0.12 [[ 0.98011223 0.0227765 0.19713256 9.03996875] [-0.04895226 0.99044233 0.12894828 -0.3264377 ] [-0.19231144 -0.13603387 0.97185961 0.11924156] [ 0. 0. 0. 1. ]] SLAMing on 29.598241008 meters Centerline goodness : 0.885197 with order 1 Centerline is valid? [False, False] Translation: X:9.03, Y:-0.32, Z:0.12 [[ 0.98406058 0.01650468 0.17706599 9.03416889] [-0.03835378 0.99194867 0.1206931 -0.32225054] [-0.17364837 -0.12556047 0.9767706 0.11977809] [ 0. 0. 0. 1. ]] SLAMing on 29.658241008 meters Centerline goodness : 0.888324 with order 1 Centerline is valid? [False, False] Translation: X:9.03, Y:-0.32, Z:0.12 [[ 0.98602292 0.01063093 0.16627021 9.03371045] [-0.03038389 0.99270082 0.11671289 -0.32038179] [-0.16381581 -0.12013352 0.97914877 0.11735513] [ 0. 0. 0. 1. ]] SLAMing on 29.718241008 meters Centerline goodness : 0.890871 with order 1 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.32, Z:0.12 [[ 0.98551944 0.01603676 0.1688024 9.01402508] [-0.03477021 0.99347555 0.10861568 -0.31610778] [-0.16595922 -0.11291216 0.97964707 0.11601125] [ 0. 0. 0. 1. ]] SLAMing on 29.778241008 meters Centerline goodness : 0.893726 with order 1 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.31, Z:0.12 [[ 0.98512627 0.02264377 0.17033345 9.01234507] [-0.04297066 0.99224727 0.11661425 -0.31217483] [-0.16637231 -0.1221991 0.97846187 0.11823316] [ 0. 0. 0. 1. ]] SLAMing on 29.838241008 meters Centerline goodness : 0.893317 with order 1 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.31, Z:0.11 [[ 0.98420379 0.03498305 0.1735485 9.01308849] [-0.05363882 0.99312998 0.10399862 -0.30530767] [-0.16871803 -0.11166478 0.97931875 0.10665049] [ 0. 0. 0. 1. ]] SLAMing on 29.898241008 meters Centerline goodness : 0.890278 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.30, Z:0.09 [[ 0.98320192 0.04251197 0.1775013 9.02128641] [-0.05965933 0.99393203 0.0924115 -0.3005053 ] [-0.17249563 -0.10144878 0.97977212 0.09471191] [ 0. 0. 0. 1. ]] SLAMing on 29.958241007999998 meters Centerline goodness : 0.891739 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.30, Z:0.09 [[ 0.98270177 0.04230861 0.18029758 9.04598882] [-0.05841024 0.99467148 0.08495223 -0.29808604] [-0.17574265 -0.09401393 0.97993668 0.08569677] [ 0. 0. 0. 1. ]] SLAMing on 30.018241008 meters Centerline goodness : 0.893652 with order 1 Centerline is valid? [False, False] Translation: X:9.07, Y:-0.30, Z:0.08 [[ 0.9829507 0.04188631 0.17903482 9.07133722] [-0.05667784 0.9953161 0.07831661 -0.30110438] [-0.17491585 -0.08712867 0.98072067 0.07993007] [ 0. 0. 0. 1. ]] SLAMing on 30.078241008 meters Centerline goodness : 0.892690 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.30, Z:0.08 [[ 0.9832771 0.03793579 0.1781208 9.07738754] [-0.05222828 0.99572003 0.0762485 -0.30462675] [-0.1744659 -0.08427635 0.98105002 0.07635704] [ 0. 0. 0. 1. ]] SLAMing on 30.138241007999998 meters Centerline goodness : 0.893230 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.30, Z:0.07 [[ 0.98351397 0.03681264 0.17704547 9.08175288] [-0.0507871 0.99588503 0.07505789 -0.30191579] [-0.17355385 -0.08281211 0.98133644 0.07315767] [ 0. 0. 0. 1. ]] SLAMing on 30.198241008 meters Centerline goodness : 0.889975 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.30, Z:0.07 [[ 0.9833903 0.0357487 0.17794819 9.10617027] [-0.04823488 0.99663038 0.06634219 -0.30136113] [-0.17497692 -0.07382357 0.98180098 0.06568462] [ 0. 0. 0. 1. ]] SLAMing on 30.258241008 meters Centerline goodness : 0.888643 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.31, Z:0.07 [[ 0.98356306 0.03181616 0.17773981 9.14534619] [-0.04537079 0.99631957 0.07272411 -0.30641881] [-0.17477185 -0.07959294 0.98138665 0.06876516] [ 0. 0. 0. 1. ]] SLAMing on 30.318241007999998 meters Centerline goodness : 0.877994 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.30, Z:0.06 [[ 0.98400376 0.02891914 0.17578475 9.15309079] [-0.04185664 0.9966444 0.07034168 -0.30245304] [-0.17316067 -0.07657423 0.9819123 0.06356585] [ 0. 0. 0. 1. ]] SLAMing on 30.378241008 meters Centerline goodness : 0.883088 with order 1 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.31, Z:0.06 [[ 0.98478399 0.02789557 0.17152937 9.18847011] [-0.0407612 0.99657525 0.07194654 -0.30547382] [-0.16893494 -0.07784354 0.98254841 0.06208859] [ 0. 0. 0. 1. ]] SLAMing on 30.438241008 meters Centerline goodness : 0.874772 with order 1 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.31, Z:0.06 [[ 0.98539871 0.02682318 0.16813655 9.22510644] [-0.04013387 0.99627883 0.07627428 -0.30895574] [-0.16546497 -0.08190855 0.98280839 0.06318094] [ 0. 0. 0. 1. ]] SLAMing on 30.498241008 meters Centerline goodness : 0.871207 with order 1 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.32, Z:0.07 [[ 0.98621881 0.02499075 0.16354792 9.2703701 ] [-0.04058315 0.99486639 0.09270314 -0.31735437] [-0.16039161 -0.09806287 0.98217015 0.0741758 ] [ 0. 0. 0. 1. ]] SLAMing on 30.558241008 meters Centerline goodness : 0.864775 with order 1 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.32, Z:0.07 [[ 0.98678052 0.02742598 0.15972484 9.30429776] [-0.0435104 0.99422581 0.09809118 -0.32007934] [-0.15611231 -0.10374416 0.98227598 0.07419594] [ 0. 0. 0. 1. ]] SLAMing on 30.618241008 meters Centerline goodness : 0.856137 with order 1 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.32, Z:0.07 [[ 0.98594587 0.02983101 0.1643802 9.32089345] [-0.04509406 0.99492785 0.08991717 -0.31640863] [-0.16086412 -0.09606604 0.98229021 0.06696684] [ 0. 0. 0. 1. ]] SLAMing on 30.678241008 meters Centerline goodness : 0.851945 with order 1 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.31, Z:0.06 [[ 0.98501578 0.03420746 0.16903774 9.3331031 ] [-0.04831938 0.99561598 0.0800878 -0.31215578] [-0.16555707 -0.08705554 0.98235034 0.05848744] [ 0. 0. 0. 1. ]] SLAMing on 30.738241008 meters Centerline goodness : 0.849532 with order 1 Centerline is valid? [False, False] Translation: X:9.35, Y:-0.31, Z:0.05 [[ 0.98427637 0.03852392 0.17238308 9.34705056] [-0.05114855 0.99627662 0.06940256 -0.30825928] [-0.16906757 -0.07712844 0.98258199 0.04793192] [ 0. 0. 0. 1. ]] SLAMing on 30.798241007999998 meters Centerline goodness : 0.845368 with order 1 Centerline is valid? [False, False] Translation: X:9.35, Y:-0.31, Z:0.05 [[ 0.98419894 0.04168844 0.17208872 9.34841151] [-0.0549755 0.99580241 0.0731796 -0.30809017] [-0.16831562 -0.08148395 0.98235952 0.04697764] [ 0. 0. 0. 1. ]] SLAMing on 30.858241008 meters Centerline goodness : 0.837310 with order 1 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.30, Z:0.03 [[ 0.98333231 0.04541862 0.17605317 9.35696958] [-0.05630649 0.99676516 0.05734798 -0.30342199] [-0.172879 -0.06630506 0.98270875 0.03425759] [ 0. 0. 0. 1. ]] SLAMing on 30.918241008 meters Centerline goodness : 0.834871 with order 1 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.31, Z:0.04 [[ 0.98331844 0.04544529 0.17612375 9.35681054] [-0.05644411 0.99672262 0.057949 -0.30547651] [-0.17291301 -0.06692347 0.98266085 0.0350887 ] [ 0. 0. 0. 1. ]] SLAMing on 30.978241007999998 meters Centerline goodness : 0.830944 with order 1 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.31, Z:0.03 [[ 0.9834007 0.04524732 0.17571496 9.35785305] [-0.05619696 0.99674264 0.05784478 -0.30593534] [-0.17252528 -0.06675924 0.98274017 0.03473164] [ 0. 0. 0. 1. ]] SLAMing on 31.038241008 meters Centerline goodness : 0.828672 with order 1 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.30, Z:0.02 [[ 0.98277174 0.04942112 0.17809343 9.37858134] [-0.05948767 0.99689287 0.05163154 -0.30285806] [-0.17498838 -0.06133638 0.98265809 0.02464584] [ 0. 0. 0. 1. ]] SLAMing on 31.098241008 meters Centerline goodness : 0.827370 with order 1 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.30, Z:0.02 [[ 0.9828598 0.04899492 0.17772483 9.38036168] [-0.05884705 0.99698425 0.05059081 -0.3023476 ] [-0.17471016 -0.06018226 0.98277895 0.02146722] [ 0. 0. 0. 1. ]] SLAMing on 31.158241008 meters Centerline goodness : 0.825622 with order 1 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.30, Z:0.02 [[ 0.98292145 0.04887479 0.17741666 9.38131385] [-0.05859388 0.99703104 0.04995865 -0.30157861] [-0.1744482 -0.05950096 0.98286696 0.02007067] [ 0. 0. 0. 1. ]] SLAMing on 31.218241008 meters Centerline goodness : 0.828322 with order 1 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.30, Z:0.02 [[ 0.98299551 0.04879908 0.17702678 9.38220663] [-0.05848973 0.99703812 0.04993932 -0.30214447] [-0.17406545 -0.05944437 0.98293824 0.01983399] [ 0. 0. 0. 1. ]] SLAMing on 31.278241008 meters Centerline goodness : 0.824480 with order 1 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.30, Z:0.02 [[ 0.98318013 0.04792494 0.17623859 9.38528461] [-0.0573418 0.99716459 0.04873087 -0.30030527] [-0.17340346 -0.05801706 0.98314051 0.01680754] [ 0. 0. 0. 1. ]] SLAMing on 31.338241008 meters Centerline goodness : 0.825276 with order 1 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.30, Z:0.01 [[ 0.98341316 0.04659143 0.17529346 9.38930263] [-0.05583481 0.99727729 0.04817128 -0.2994278 ] [-0.17257181 -0.05715975 0.98333704 0.01491121] [ 0. 0. 0. 1. ]] SLAMing on 31.398241008 meters Centerline goodness : 0.821780 with order 1 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.30, Z:0.01 [[ 0.98378412 0.04407362 0.17385718 9.3956883 ] [-0.05310903 0.99745058 0.04766305 -0.29975755] [-0.17131326 -0.05612353 0.98361675 0.01271857] [ 0. 0. 0. 1. ]] SLAMing on 31.458241007999998 meters Centerline goodness : 0.823529 with order 1 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.30, Z:0.01 [[ 0.98445384 0.04283261 0.17034084 9.42920263] [-0.05160133 0.99754292 0.04738597 -0.30390424] [-0.16789263 -0.05543911 0.98424518 0.0107238 ] [ 0. 0. 0. 1. ]] SLAMing on 31.518241008 meters Centerline goodness : 0.824967 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.31, Z:0.01 [[ 9.85115866e-01 4.12746037e-02 1.66862633e-01 9.46759498e+00] [-5.05569869e-02 9.97378616e-01 5.17676288e-02 -3.06812599e-01] [-1.64288533e-01 -5.94331844e-02 9.84620218e-01 9.37778327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.578241008 meters Centerline goodness : 0.821263 with order 1 Centerline is valid? [False, False] Translation: X:9.51, Y:-0.31, Z:0.01 [[ 0.98551284 0.03909133 0.1650343 9.5077861 ] [-0.04955987 0.99697948 0.0597975 -0.31069927] [-0.16219824 -0.06711028 0.98447343 0.01187235] [ 0. 0. 0. 1. ]] SLAMing on 31.638241007999998 meters Centerline goodness : 0.826175 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.31, Z:0.02 [[ 0.98547125 0.03153 0.16689002 9.52428175] [-0.043519 0.99668947 0.06867464 -0.31372134] [-0.16417221 -0.07493977 0.98358096 0.01832664] [ 0. 0. 0. 1. ]] SLAMing on 31.698241008 meters Centerline goodness : 0.827089 with order 1 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.31, Z:0.02 [[ 0.98544489 0.03077449 0.16718642 9.52535544] [-0.04252803 0.99683394 0.0671823 -0.31065812] [-0.1645896 -0.07331456 0.98363369 0.01696515] [ 0. 0. 0. 1. ]] SLAMing on 31.758241008 meters Centerline goodness : 0.821716 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.31, Z:0.01 [[ 0.98525449 0.03067657 0.16832271 9.52415922] [-0.04219497 0.99697411 0.06528555 -0.3064767 ] [-0.16581065 -0.07142525 0.98356762 0.01494338] [ 0. 0. 0. 1. ]] SLAMing on 31.818241007999998 meters Centerline goodness : 0.821859 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.30, Z:0.01 [[ 0.9849841 0.03258505 0.16954216 9.52018853] [-0.04377551 0.99707258 0.06268958 -0.30067696] [-0.1670031 -0.06917003 0.98352706 0.01099333] [ 0. 0. 0. 1. ]] SLAMing on 31.878241008 meters Centerline goodness : 0.824199 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.30, Z:0.00 [[ 9.83641651e-01 4.30096488e-02 1.74926479e-01 9.52132106e+00] [-5.28950116e-02 9.97232433e-01 5.22454910e-02 -2.95833329e-01] [-1.72195298e-01 -6.06435792e-02 9.83194353e-01 3.49840505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.938241008 meters Centerline goodness : 0.826007 with order 1 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.29, Z:0.00 [[ 9.84313001e-01 5.35420284e-02 1.68110578e-01 9.52702085e+00] [-6.19157481e-02 9.97067903e-01 4.49670563e-02 -2.94021011e-01] [-1.65210034e-01 -5.46703503e-02 9.84741995e-01 1.61678869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.998241008 meters Centerline goodness : 0.827954 with order 1 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.29, Z:0.00 [[ 9.84120157e-01 5.71900226e-02 1.68038144e-01 9.52761576e+00] [-6.62641431e-02 9.96603438e-01 4.88942904e-02 -2.94179689e-01] [-1.64671126e-01 -5.92527604e-02 9.84567179e-01 7.15451124e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.058241007999996 meters Centerline goodness : 0.830045 with order 1 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.30, Z:-0.00 [[ 9.84248720e-01 5.66351208e-02 1.67472147e-01 9.52985345e+00] [-6.55846801e-02 9.96672710e-01 4.83958574e-02 -2.95224717e-01] [-1.64174013e-01 -5.86171679e-02 9.84688235e-01 -1.51041247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.118241008 meters Centerline goodness : 0.828113 with order 1 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.30, Z:-0.00 [[ 9.84583385e-01 5.25917603e-02 1.66822256e-01 9.53179442e+00] [-6.07508889e-02 9.97174486e-01 4.41856769e-02 -2.98366640e-01] [-1.64027095e-01 -5.36390837e-02 9.84996427e-01 -3.23423209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.17824100799999 meters Centerline goodness : 0.826578 with order 1 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.30, Z:-0.00 [[ 9.84935869e-01 4.82902636e-02 1.66040312e-01 9.53451020e+00] [-5.57004274e-02 9.97635383e-01 4.02629523e-02 -2.99587891e-01] [-1.63703381e-01 -4.89049422e-02 9.85296661e-01 -4.06837196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.238241007999996 meters Centerline goodness : 0.823349 with order 1 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.30, Z:0.01 [[ 9.85268107e-01 4.16407143e-02 1.65869855e-01 9.55484636e+00] [-5.11860193e-02 9.97244757e-01 5.36925065e-02 -3.04070156e-01] [-1.63177049e-01 -6.13917318e-02 9.84684876e-01 8.03025737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.298241008 meters Centerline goodness : 0.824731 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.31, Z:0.01 [[ 0.98548374 0.04193637 0.16450877 9.56142407] [-0.0523085 0.99687289 0.05923056 -0.30658722] [-0.16151041 -0.06697596 0.98459566 0.00988462] [ 0. 0. 0. 1. ]] SLAMing on 32.35824100799999 meters Centerline goodness : 0.821517 with order 1 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.30, Z:0.01 [[ 9.85648987e-01 3.93383705e-02 1.64160186e-01 9.56637559e+00] [-4.94052462e-02 9.97110929e-01 5.76967648e-02 -3.02702417e-01] [-1.61416219e-01 -6.49791322e-02 9.84744899e-01 7.01356509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.418241007999995 meters Centerline goodness : 0.816869 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.30, Z:0.02 [[ 0.98598308 0.03114436 0.16391279 9.56096065] [-0.04317128 0.99658913 0.07033022 -0.30136068] [-0.16116332 -0.07642073 0.98396456 0.01515216] [ 0. 0. 0. 1. ]] SLAMing on 32.478241008 meters Centerline goodness : 0.822584 with order 1 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.30, Z:0.02 [[ 0.98679862 0.02657677 0.15975659 9.54278165] [-0.03828739 0.99676416 0.07067734 -0.2971883 ] [-0.15736127 -0.07586096 0.98462305 0.01632533] [ 0. 0. 0. 1. ]] SLAMing on 32.53824100799999 meters Centerline goodness : 0.818040 with order 1 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.29, Z:0.01 [[ 0.9865048 0.02372229 0.16200475 9.50464231] [-0.03369954 0.99768199 0.05911837 -0.28877546] [-0.1602268 -0.06378004 0.9850175 0.01473617] [ 0. 0. 0. 1. ]] SLAMing on 32.598241007999995 meters Centerline goodness : 0.814543 with order 1 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.28, Z:0.01 [[ 0.98618804 0.02341687 0.16396585 9.49557183] [-0.03203222 0.9982305 0.05009802 -0.28091894] [-0.16250257 -0.05465826 0.98519307 0.00969866] [ 0. 0. 0. 1. ]] SLAMing on 32.658241008 meters Centerline goodness : 0.816583 with order 1 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.28, Z:0.02 [[ 0.98633042 0.02545911 0.1628009 9.46406954] [-0.03453419 0.99798877 0.05315832 -0.27811284] [-0.1611201 -0.05805386 0.98522589 0.01784403] [ 0. 0. 0. 1. ]] SLAMing on 32.71824100799999 meters Centerline goodness : 0.812869 with order 1 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.27, Z:0.01 [[ 0.98593625 0.0306248 0.16429192 9.45431203] [-0.03928394 0.99799045 0.04971763 -0.27120252] [-0.16243917 -0.05547245 0.98515802 0.01377417] [ 0. 0. 0. 1. ]] SLAMing on 32.778241007999995 meters Centerline goodness : 0.811023 with order 1 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.27, Z:0.03 [[ 0.98622084 0.03214663 0.16228078 9.44351086] [-0.04439443 0.99638576 0.07241931 -0.27436132] [-0.15936622 -0.0786258 0.98408353 0.02985169] [ 0. 0. 0. 1. ]] SLAMing on 32.838241008 meters Centerline goodness : 0.815104 with order 1 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.27, Z:0.03 [[ 0.98599364 0.03658451 0.16272098 9.44197431] [-0.04948016 0.99588578 0.07591598 -0.27095108] [-0.15927416 -0.08290414 0.98374725 0.03043499] [ 0. 0. 0. 1. ]] SLAMing on 32.89824100799999 meters Centerline goodness : 0.817944 with order 1 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.27, Z:0.03 [[ 0.98592178 0.037577 0.1629301 9.44062644] [-0.05046403 0.9958535 0.07569139 -0.26908645] [-0.15941025 -0.0828479 0.98372994 0.03069037] [ 0. 0. 0. 1. ]] SLAMing on 32.958241007999995 meters Centerline goodness : 0.817743 with order 1 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.27, Z:0.02 [[ 0.98498694 0.04267889 0.16726998 9.45352209] [-0.05431907 0.9963637 0.06564163 -0.26523844] [-0.16386022 -0.0737421 0.9837235 0.01913694] [ 0. 0. 0. 1. ]] SLAMing on 33.018241008 meters Centerline goodness : 0.817938 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.26, Z:0.01 [[ 9.83808753e-01 4.98628262e-02 1.72145393e-01 9.46500031e+00] [-6.05219168e-02 9.96524683e-01 5.72333323e-02 -2.62088038e-01] [-1.68693317e-01 -6.67252224e-02 9.83407499e-01 6.73304042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.078241008 meters Centerline goodness : 0.822837 with order 1 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.26, Z:0.01 [[ 9.83763749e-01 5.03499323e-02 1.72260763e-01 9.46463798e+00] [-6.10054769e-02 9.96501142e-01 5.71297345e-02 -2.61115939e-01] [-1.68781569e-01 -6.67110118e-02 9.83393321e-01 6.49133759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.138241007999994 meters Centerline goodness : 0.822406 with order 1 Centerline is valid? [False, False] Translation: X:9.48, Y:-0.26, Z:-0.00 [[ 9.82850387e-01 5.51832155e-02 1.75954338e-01 9.47797529e+00] [-6.45634964e-02 9.96756826e-01 4.80352506e-02 -2.60565622e-01] [-1.72732948e-01 -5.85716919e-02 9.83225653e-01 -2.66729545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.198241008 meters Centerline goodness : 0.824739 with order 1 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.27, Z:-0.00 [[ 9.83778342e-01 6.29268297e-02 1.67989247e-01 9.49019624e+00] [-7.18380145e-02 9.96284576e-01 4.75009749e-02 -2.66482727e-01] [-1.64376010e-01 -5.87984443e-02 9.84643728e-01 -2.85148122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.258241008 meters Centerline goodness : 0.824315 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.28, Z:-0.01 [[ 9.84448826e-01 6.47173391e-02 1.63316179e-01 9.51862104e+00] [-7.32520281e-02 9.96215576e-01 4.67831901e-02 -2.75152401e-01] [-1.59670438e-01 -5.80188980e-02 9.85463931e-01 -6.40475207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.318241007999994 meters Centerline goodness : 0.829117 with order 1 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.28, Z:-0.01 [[ 9.85097729e-01 6.35618504e-02 1.59819758e-01 9.54893152e+00] [-7.16379436e-02 9.96402231e-01 4.52835505e-02 -2.82419113e-01] [-1.56366457e-01 -5.60578816e-02 9.86107015e-01 -9.16212219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.378241007999996 meters Centerline goodness : 0.831392 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.29, Z:-0.01 [[ 9.85724122e-01 5.96036657e-02 1.57465419e-01 9.59177162e+00] [-6.87974917e-02 9.96190187e-01 5.35911966e-02 -2.91343079e-01] [-1.53671273e-01 -6.36593610e-02 9.86069280e-01 -6.52764476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.438241008 meters Centerline goodness : 0.831573 with order 1 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.30, Z:-0.00 [[ 9.85964906e-01 5.85075545e-02 1.56365180e-01 9.63027419e+00] [-6.90498920e-02 9.95630933e-01 6.28582351e-02 -2.98267722e-01] [-1.52004328e-01 -7.27730127e-02 9.85697100e-01 -1.21464850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.498241007999994 meters Centerline goodness : 0.828897 with order 1 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.30, Z:-0.00 [[ 9.85968410e-01 5.87233918e-02 1.56262142e-01 9.63052039e+00] [-6.91863559e-02 9.95651581e-01 6.23793028e-02 -2.96920968e-01] [-1.51919525e-01 -7.23152303e-02 9.85743864e-01 -2.06879267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.558241007999996 meters Centerline goodness : 0.829094 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.30, Z:-0.00 [[ 9.86755111e-01 6.20801202e-02 1.49867976e-01 9.64028213e+00] [-7.20064914e-02 9.95491585e-01 6.17379143e-02 -2.96455334e-01] [-1.45359611e-01 -7.17116695e-02 9.86776581e-01 -2.20179318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.618241008 meters Centerline goodness : 0.832779 with order 1 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.30, Z:-0.00 [[ 9.87391906e-01 6.41392140e-02 1.44718295e-01 9.65187689e+00] [-7.40421880e-02 9.95192312e-01 6.41094100e-02 -2.97214213e-01] [-1.39910607e-01 -7.40163717e-02 9.87393842e-01 -4.22546454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.67824100799999 meters Centerline goodness : 0.835999 with order 1 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.30, Z:-0.01 [[ 9.88397208e-01 6.45398777e-02 1.37497506e-01 9.68421244e+00] [-7.35724646e-02 9.95382417e-01 6.16517297e-02 -3.01226056e-01] [-1.32883605e-01 -7.10524279e-02 9.88581560e-01 -8.38434923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.738241007999996 meters Centerline goodness : 0.836901 with order 1 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.31, Z:-0.01 [[ 9.88839042e-01 6.47716741e-02 1.34171452e-01 9.72020347e+00] [-7.41107536e-02 9.95075673e-01 6.58179463e-02 -3.05668050e-01] [-1.29247609e-01 -7.50269024e-02 9.88769953e-01 -8.09537245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.798241008 meters Centerline goodness : 0.840106 with order 1 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.31, Z:-0.01 [[ 0.98894476 0.06389558 0.1338119 9.75106383] [-0.07291558 0.99530657 0.06362506 -0.30712556] [-0.12911851 -0.07267864 0.9889622 -0.01101428] [ 0. 0. 0. 1. ]] SLAMing on 33.85824100799999 meters Centerline goodness : 0.842013 with order 1 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.31, Z:-0.01 [[ 0.98835402 0.06440667 0.1378699 9.7734551 ] [-0.07323896 0.99550952 0.05997368 -0.30794338] [-0.1333881 -0.06937268 0.98863292 -0.01271075] [ 0. 0. 0. 1. ]] SLAMing on 33.918241007999995 meters Centerline goodness : 0.843766 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.31, Z:-0.02 [[ 0.98765509 0.06709684 0.14154658 9.79450267] [-0.07563237 0.99557302 0.05580417 -0.30827975] [-0.13717567 -0.06582077 0.98835746 -0.01794571] [ 0. 0. 0. 1. ]] SLAMing on 33.978241008 meters Centerline goodness : 0.845599 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.31, Z:-0.02 [[ 0.98703765 0.06907337 0.14486388 9.82373701] [-0.0781308 0.99526677 0.05778951 -0.30806937] [-0.14018649 -0.06835875 0.98776254 -0.01994613] [ 0. 0. 0. 1. ]] SLAMing on 34.03824100799999 meters Centerline goodness : 0.846623 with order 1 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.31, Z:-0.02 [[ 0.98709023 0.06880546 0.14463294 9.8252867 ] [-0.07783603 0.99529336 0.05772932 -0.30705011] [-0.13998011 -0.0682417 0.9877999 -0.0201414 ] [ 0. 0. 0. 1. ]] SLAMing on 34.098241007999995 meters Centerline goodness : 0.848002 with order 1 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.31, Z:-0.02 [[ 0.98832553 0.07118788 0.13470314 9.84331046] [-0.07893841 0.99546463 0.05309326 -0.31011174] [-0.13031261 -0.06310667 0.98946257 -0.01850548] [ 0. 0. 0. 1. ]] SLAMing on 34.158241008 meters Centerline goodness : 0.847918 with order 1 Centerline is valid? [False, False] Translation: X:9.87, Y:-0.31, Z:-0.02 [[ 0.98873438 0.07450945 0.12981784 9.87296188] [-0.08204044 0.99518355 0.0536569 -0.31387992] [-0.12519463 -0.06370274 0.99008498 -0.0206431 ] [ 0. 0. 0. 1. ]] SLAMing on 34.21824100799999 meters Centerline goodness : 0.849483 with order 1 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.31, Z:-0.03 [[ 0.98926229 0.08079203 0.12178989 9.89434868] [-0.08728402 0.99498064 0.04893907 -0.31352428] [-0.1172247 -0.05904389 0.99134867 -0.02609581] [ 0. 0. 0. 1. ]] SLAMing on 34.278241007999995 meters Centerline goodness : 0.851174 with order 1 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.31, Z:-0.02 [[ 0.98929424 0.08098091 0.1214043 9.89460377] [-0.08751852 0.99493164 0.0495131 -0.31422486] [-0.11677936 -0.05960815 0.99136746 -0.02417708] [ 0. 0. 0. 1. ]] SLAMing on 34.338241008 meters Centerline goodness : 0.854746 with order 1 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.32, Z:-0.03 [[ 0.98905829 0.08156522 0.12292605 9.92079033] [-0.08789806 0.99502016 0.04699793 -0.31679964] [-0.1184805 -0.05728866 0.99130237 -0.02623199] [ 0. 0. 0. 1. ]] SLAMing on 34.39824100799999 meters Centerline goodness : 0.853163 with order 1 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.32, Z:-0.02 [[ 0.98933866 0.0807842 0.1211731 9.95859685] [-0.08772584 0.99472933 0.0530823 -0.32256255] [-0.11624623 -0.06314638 0.99121105 -0.02405744] [ 0. 0. 0. 1. ]] SLAMing on 34.458241007999995 meters Centerline goodness : 0.852327 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.33, Z:-0.02 [[ 0.98910622 0.07946159 0.12391421 9.98705905] [-0.08647189 0.99488302 0.05225308 -0.3256922 ] [-0.11912803 -0.06239894 0.99091618 -0.02354591] [ 0. 0. 0. 1. ]] SLAMing on 34.518241008 meters Centerline goodness : 0.855083 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.33, Z:-0.02 [[ 0.9891247 0.07949528 0.12374505 9.98706185] [-0.08653664 0.99485914 0.05259946 -0.32645903] [-0.11892748 -0.0627359 0.990919 -0.02215675] [ 0. 0. 0. 1. ]] SLAMing on 34.578241008 meters Centerline goodness : 0.853808 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.32, Z:-0.02 [[ 0.98922469 0.07924148 0.12310684 9.9891886 ] [-0.08609725 0.99496007 0.05139776 -0.32417925] [-0.11841355 -0.0614431 0.99106154 -0.02494805] [ 0. 0. 0. 1. ]] SLAMing on 34.638241007999994 meters Centerline goodness : 0.857076 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.32, Z:-0.03 [[ 0.98936252 0.07872393 0.12232888 9.9920462 ] [-0.08538709 0.99508195 0.05020914 -0.32255431] [-0.1177746 -0.06012034 0.99121879 -0.02799505] [ 0. 0. 0. 1. ]] SLAMing on 34.698241008 meters Centerline goodness : 0.850883 with order 1 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.32, Z:-0.03 [[ 0.98962305 0.08069113 0.11889138 9.99740451] [-0.08727254 0.99486667 0.05122325 -0.32302658] [-0.11414781 -0.06106767 0.9915851 -0.02853876] [ 0. 0. 0. 1. ]] SLAMing on 34.758241008 meters Centerline goodness : 0.854636 with order 1 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.32, Z:-0.03 [[ 0.98945988 0.08352217 0.11829287 10.00017534] [-0.09047446 0.99439729 0.05466627 -0.32269259] [-0.11306426 -0.06479257 0.99147284 -0.02965735] [ 0. 0. 0. 1. ]] SLAMing on 34.818241007999994 meters Centerline goodness : 0.847255 with order 1 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.32, Z:-0.03 [[ 0.98947774 0.08338807 0.11823804 10.00049311] [-0.0903223 0.99441777 0.05454525 -0.3223673 ] [-0.11302959 -0.06465084 0.99148605 -0.02964111] [ 0. 0. 0. 1. ]] SLAMing on 34.878241007999996 meters Centerline goodness : 0.851231 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.32, Z:-0.04 [[ 0.98906021 0.08243787 0.12232702 10.01289784] [-0.08772019 0.9954034 0.0384348 -0.32013227] [-0.11859624 -0.04874488 0.99174536 -0.03919672] [ 0. 0. 0. 1. ]] SLAMing on 34.938241008 meters Centerline goodness : 0.851264 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.32, Z:-0.04 [[ 0.98915913 0.08173154 0.12200073 10.01470066] [-0.08697322 0.99547541 0.03826714 -0.32008691] [-0.1183211 -0.04846308 0.99179204 -0.03957485] [ 0. 0. 0. 1. ]] SLAMing on 34.998241007999994 meters Centerline goodness : 0.848697 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.32, Z:-0.04 [[ 0.98924409 0.08126263 0.12162446 10.01594878] [-0.08648042 0.99551912 0.03824676 -0.32049402] [-0.11797145 -0.04835352 0.99183904 -0.0395642 ] [ 0. 0. 0. 1. ]] SLAMing on 35.058241007999996 meters Centerline goodness : 0.849964 with order 1 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.32, Z:-0.05 [[ 0.98935915 0.08393453 0.11884221 10.04075681] [-0.08843555 0.9955314 0.03311157 -0.32144134] [-0.11553195 -0.04326911 0.9923609 -0.0452987 ] [ 0. 0. 0. 1. ]] SLAMing on 35.118241008 meters Centerline goodness : 0.846967 with order 1 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.32, Z:-0.05 [[ 0.98947298 0.08332023 0.11832567 10.04290921] [-0.08767582 0.99563219 0.03208558 -0.3198709 ] [-0.11513547 -0.04212212 0.99245632 -0.04746133] [ 0. 0. 0. 1. ]] SLAMing on 35.17824100799999 meters Centerline goodness : 0.846381 with order 1 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.32, Z:-0.05 [[ 0.98983578 0.07942942 0.1179665 10.04400136] [-0.08300536 0.99621745 0.02570817 -0.31592486] [-0.1154783 -0.03523871 0.99268474 -0.05173085] [ 0. 0. 0. 1. ]] SLAMing on 35.238241007999996 meters Centerline goodness : 0.845821 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.32, Z:-0.05 [[ 0.98995948 0.07880184 0.11734779 10.04667493] [-0.0822857 0.9962917 0.02513802 -0.31516693] [-0.11493171 -0.03454167 0.99277267 -0.05366501] [ 0. 0. 0. 1. ]] SLAMing on 35.298241008 meters Centerline goodness : 0.847698 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.31, Z:-0.06 [[ 0.99011967 0.0778325 0.11664106 10.04959215] [-0.08114924 0.99641406 0.02395438 -0.31452798] [-0.11435836 -0.03318304 0.99288522 -0.05649858] [ 0. 0. 0. 1. ]] SLAMing on 35.35824100799999 meters Centerline goodness : 0.845777 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.32, Z:-0.05 [[ 0.99072274 0.06940958 0.11683645 10.07585101] [-0.0740228 0.99662041 0.03561451 -0.31827364] [-0.1139696 -0.04393266 0.99251239 -0.04889146] [ 0. 0. 0. 1. ]] SLAMing on 35.418241007999995 meters Centerline goodness : 0.850865 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.33, Z:-0.04 [[ 0.99121463 0.06764634 0.11365528 10.11569414] [-0.07295477 0.99639874 0.04321052 -0.3260162 ] [-0.11032294 -0.0511226 0.99258014 -0.04393913] [ 0. 0. 0. 1. ]] SLAMing on 35.478241008 meters Centerline goodness : 0.844661 with order 1 Centerline is valid? [False, False] Translation: X:10.17, Y:-0.34, Z:-0.03 [[ 0.99151017 0.06261455 0.11396055 10.16725513] [-0.07035403 0.9953886 0.06520613 -0.33850179] [-0.10935218 -0.07267012 0.99134311 -0.02502367] [ 0. 0. 0. 1. ]] SLAMing on 35.53824100799999 meters Centerline goodness : 0.844961 with order 1 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.34, Z:-0.02 [[ 0.99158397 0.06276258 0.11323464 10.20351087] [-0.07151832 0.99461614 0.07499248 -0.34413178] [-0.10791828 -0.08245969 0.99073409 -0.01502345] [ 0. 0. 0. 1. ]] SLAMing on 35.598241007999995 meters Centerline goodness : 0.845521 with order 1 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.35, Z:-0.00 [[ 9.91442963e-01 5.97283081e-02 1.16074888e-01 1.02227034e+01] [-7.05033311e-02 9.93347088e-01 9.10540661e-02 -3.47413995e-01] [-1.09864147e-01 -9.84585794e-02 9.89058025e-01 -4.86619132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.658241008 meters Centerline goodness : 0.840254 with order 1 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.34, Z:-0.01 [[ 0.99073502 0.06241886 0.1206151 10.23727233] [-0.07243209 0.99411959 0.08049736 -0.34229716] [-0.11488128 -0.08848796 0.98943023 -0.01382263] [ 0. 0. 0. 1. ]] SLAMing on 35.71824100799999 meters Centerline goodness : 0.841218 with order 1 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.34, Z:-0.01 [[ 0.99052838 0.0666404 0.12005239 10.26425427] [-0.07680962 0.99365413 0.08216905 -0.34432874] [-0.11381477 -0.09061196 0.98936124 -0.01357652] [ 0. 0. 0. 1. ]] SLAMing on 35.778241007999995 meters Centerline goodness : 0.842522 with order 1 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.34, Z:-0.02 [[ 0.98996593 0.06919565 0.12320479 10.28179464] [-0.078431 0.99433392 0.07175404 -0.34028708] [-0.11754164 -0.08069713 0.98978378 -0.02329201] [ 0. 0. 0. 1. ]] SLAMing on 35.838241008 meters Centerline goodness : 0.845048 with order 1 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.34, Z:-0.03 [[ 0.98931614 0.07249946 0.12648083 10.29625341] [-0.08061891 0.9949195 0.06029739 -0.33601228] [-0.12146672 -0.06984992 0.99013475 -0.03287042] [ 0. 0. 0. 1. ]] SLAMing on 35.89824100799999 meters Centerline goodness : 0.841694 with order 1 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.33, Z:-0.04 [[ 0.98932493 0.07430069 0.1253618 10.30186351] [-0.08270873 0.99456466 0.06324866 -0.33474739] [-0.119981 -0.072942 0.99009294 -0.0359148 ] [ 0. 0. 0. 1. ]] SLAMing on 35.958241007999995 meters Centerline goodness : 0.842031 with order 1 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.34, Z:-0.04 [[ 0.99020093 0.0788882 0.11523358 10.31878058] [-0.0860345 0.99457839 0.05841135 -0.33617592] [-0.11000086 -0.06775303 0.99161955 -0.03745717] [ 0. 0. 0. 1. ]] SLAMing on 36.018241008 meters Centerline goodness : 0.844280 with order 1 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.34, Z:-0.04 [[ 0.99033651 0.07847883 0.1143445 10.32053995] [-0.08560258 0.99459415 0.0587765 -0.33874884] [-0.10911366 -0.0679967 0.99170089 -0.03625087] [ 0. 0. 0. 1. ]] SLAMing on 36.07824100799999 meters Centerline goodness : 0.845420 with order 1 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.35, Z:-0.03 [[ 0.99092152 0.07456504 0.11186865 10.36507785] [-0.08232107 0.99439216 0.06638883 -0.34653577] [-0.10629102 -0.07499527 0.99150286 -0.03170552] [ 0. 0. 0. 1. ]] SLAMing on 36.138241007999994 meters Centerline goodness : 0.844395 with order 1 Centerline is valid? [False, False] Translation: X:10.37, Y:-0.35, Z:-0.03 [[ 0.99115558 0.07299698 0.11082442 10.36970086] [-0.08059729 0.99457784 0.06571903 -0.3473405 ] [-0.10542622 -0.07406993 0.99166474 -0.03406885] [ 0. 0. 0. 1. ]] SLAMing on 36.198241008 meters Centerline goodness : 0.845882 with order 1 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.35, Z:-0.04 [[ 0.99079287 0.07339652 0.11376487 10.39955605] [-0.08111191 0.99460035 0.06473796 -0.34848216] [-0.10839904 -0.0733696 0.99139626 -0.03790022] [ 0. 0. 0. 1. ]] SLAMing on 36.258241008 meters Centerline goodness : 0.845811 with order 1 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.35, Z:-0.04 [[ 0.99032239 0.07422561 0.11726947 10.42274175] [-0.08158629 0.99490295 0.05926048 -0.34849466] [-0.1122731 -0.06825456 0.99133045 -0.04329776] [ 0. 0. 0. 1. ]] SLAMing on 36.318241007999994 meters Centerline goodness : 0.843715 with order 1 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.35, Z:-0.05 [[ 0.99042394 0.07378183 0.11669044 10.42485596] [-0.08100235 0.99500211 0.05839032 -0.34665084] [-0.11179909 -0.06728337 0.99145041 -0.04509162] [ 0. 0. 0. 1. ]] SLAMing on 36.378241007999996 meters Centerline goodness : 0.844570 with order 1 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.35, Z:-0.05 [[ 0.99043769 0.07513901 0.11570355 10.45317655] [-0.08187709 0.99514449 0.0546222 -0.34746966] [-0.1110375 -0.06357335 0.99178077 -0.05082536] [ 0. 0. 0. 1. ]] SLAMing on 36.438241008 meters Centerline goodness : 0.846320 with order 1 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.34, Z:-0.06 [[ 0.99018362 0.07472646 0.11812011 10.47309883] [-0.08019764 0.9958828 0.04225861 -0.34474527] [-0.11447595 -0.05131674 0.99209972 -0.06114457] [ 0. 0. 0. 1. ]] SLAMing on 36.498241007999994 meters Centerline goodness : 0.845788 with order 1 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.35, Z:-0.05 [[ 0.99019437 0.06855424 0.12171862 10.50536835] [-0.07650769 0.99514483 0.06191399 -0.35230552] [-0.11688319 -0.0706193 0.99063174 -0.0529528 ] [ 0. 0. 0. 1. ]] SLAMing on 36.558241007999996 meters Centerline goodness : 0.841589 with order 1 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.35, Z:-0.05 [[ 0.9906227 0.06864937 0.11812675 10.54491135] [-0.07695307 0.99476561 0.06722802 -0.35422816] [-0.11289326 -0.07568782 0.99072017 -0.05248593] [ 0. 0. 0. 1. ]] SLAMing on 36.618241008 meters Centerline goodness : 0.841811 with order 1 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.36, Z:-0.04 [[ 0.99039964 0.06207126 0.12351405 10.57763013] [-0.07358557 0.99313266 0.09095431 -0.36330155] [-0.11702019 -0.09916996 0.98816577 -0.03892992] [ 0. 0. 0. 1. ]] SLAMing on 36.67824100799999 meters Centerline goodness : 0.843744 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.37, Z:-0.03 [[ 0.99054796 0.05332295 0.12637798 10.60085323] [-0.06668547 0.99234144 0.10397842 -0.36723635] [-0.11986567 -0.11142319 0.98651766 -0.02782354] [ 0. 0. 0. 1. ]] SLAMing on 36.738241007999996 meters Centerline goodness : 0.840841 with order 1 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.37, Z:-0.02 [[ 0.99053529 0.05080571 0.12750929 10.61323953] [-0.06561254 0.99122528 0.11474948 -0.36675408] [-0.1205605 -0.12202962 0.98517711 -0.01939055] [ 0. 0. 0. 1. ]] SLAMing on 36.798241008 meters Centerline goodness : 0.837602 with order 1 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.36, Z:-0.03 [[ 0.98979527 0.05660201 0.13077285 10.63145728] [-0.0708698 0.99171273 0.1071603 -0.36052456] [-0.12362361 -0.1153346 0.98560394 -0.03161908] [ 0. 0. 0. 1. ]] SLAMing on 36.85824100799999 meters Centerline goodness : 0.838846 with order 1 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.36, Z:-0.04 [[ 0.98919293 0.05980147 0.13386985 10.64516635] [-0.07266283 0.99297885 0.09334411 -0.35540876] [-0.12734782 -0.1020627 0.986593 -0.04481822] [ 0. 0. 0. 1. ]] SLAMing on 36.918241007999995 meters Centerline goodness : 0.840377 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.35, Z:-0.05 [[ 0.98929314 0.07111978 0.12744042 10.66710307] [-0.08120646 0.99381241 0.07577872 -0.35319715] [-0.1212625 -0.08531635 0.98894718 -0.05379015] [ 0. 0. 0. 1. ]] SLAMing on 36.978241008 meters Centerline goodness : 0.842482 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.35, Z:-0.07 [[ 0.98887315 0.07198968 0.13018209 10.68485051] [-0.08067247 0.99476689 0.06269592 -0.35078511] [-0.12498738 -0.07250042 0.98950586 -0.06618444] [ 0. 0. 0. 1. ]] SLAMing on 37.03824100799999 meters Centerline goodness : 0.846102 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.36, Z:-0.07 [[ 0.98952637 0.07067075 0.12586977 10.72195796] [-0.07944136 0.99464725 0.06607504 -0.35795047] [-0.12052645 -0.07538226 0.98984387 -0.0670604 ] [ 0. 0. 0. 1. ]] SLAMing on 37.098241007999995 meters Centerline goodness : 0.849462 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.36, Z:-0.07 [[ 0.98981435 0.0690981 0.12447088 10.72734315] [-0.07769839 0.99481539 0.06561479 -0.35748904] [-0.11929169 -0.07461765 0.99005136 -0.06877307] [ 0. 0. 0. 1. ]] SLAMing on 37.158241008 meters Centerline goodness : 0.850781 with order 1 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.36, Z:-0.07 [[ 0.99006719 0.07074717 0.12149811 10.76100925] [-0.0794383 0.99450127 0.06824062 -0.36098879] [-0.1160022 -0.07721441 0.99024311 -0.0693754 ] [ 0. 0. 0. 1. ]] SLAMing on 37.21824100799999 meters Centerline goodness : 0.851418 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.37, Z:-0.05 [[ 0.98993521 0.06377733 0.12633579 10.78263028] [-0.07515926 0.99332748 0.08747342 -0.36869897] [-0.11991399 -0.09608832 0.98812331 -0.05252854] [ 0. 0. 0. 1. ]] SLAMing on 37.278241007999995 meters Centerline goodness : 0.851378 with order 1 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.37, Z:-0.04 [[ 0.98965506 0.05678049 0.13175295 10.80504372] [-0.07096183 0.99187727 0.10556468 -0.37112614] [-0.12468874 -0.11382205 0.98564561 -0.03975645] [ 0. 0. 0. 1. ]] SLAMing on 37.338241008 meters Centerline goodness : 0.853024 with order 1 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.37, Z:-0.03 [[ 0.98944075 0.04194002 0.13873729 10.78937436] [-0.05921874 0.99065558 0.12286035 -0.37051252] [-0.1322881 -0.12977889 0.98267863 -0.03081902] [ 0. 0. 0. 1. ]] SLAMing on 37.39824100799999 meters Centerline goodness : 0.853710 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.36, Z:-0.04 [[ 0.98931477 0.03747312 0.14089733 10.78361695] [-0.05357758 0.99222854 0.11230301 -0.36345992] [-0.13559401 -0.11865196 0.98363407 -0.03523924] [ 0. 0. 0. 1. ]] SLAMing on 37.458241007999995 meters Centerline goodness : 0.857731 with order 1 Centerline is valid? [False, False] Translation: X:10.77, Y:-0.35, Z:-0.04 [[ 0.98905921 0.03841318 0.14242999 10.77056001] [-0.05296715 0.99359242 0.09984275 -0.35290026] [-0.13768208 -0.1062945 0.98475638 -0.04307527] [ 0. 0. 0. 1. ]] SLAMing on 37.518241008 meters Centerline goodness : 0.857519 with order 1 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.35, Z:-0.04 [[ 0.98923054 0.03832682 0.14125861 10.74356636] [-0.05307294 0.99335239 0.10214836 -0.34670391] [-0.13640455 -0.10854528 0.98468864 -0.03840478] [ 0. 0. 0. 1. ]] SLAMing on 37.57824100799999 meters Centerline goodness : 0.862425 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.34, Z:-0.04 [[ 0.98907871 0.04225149 0.14120242 10.72717612] [-0.05525201 0.99445713 0.0894552 -0.33620722] [-0.13664014 -0.09627995 0.98593085 -0.04484657] [ 0. 0. 0. 1. ]] SLAMing on 37.638241007999994 meters Centerline goodness : 0.862692 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.33, Z:-0.03 [[ 0.98813689 0.03699591 0.149053 10.7008829 ] [-0.05406669 0.99221858 0.11215648 -0.33461076] [-0.14374383 -0.11888476 0.98244803 -0.03025474] [ 0. 0. 0. 1. ]] SLAMing on 37.698241008 meters Centerline goodness : 0.863429 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.32, Z:-0.04 [[ 0.98736045 0.04845999 0.15090053 10.70305731] [-0.06370695 0.99315489 0.09790191 -0.32375622] [-0.14512328 -0.10627789 0.9836891 -0.04379734] [ 0. 0. 0. 1. ]] SLAMing on 37.758241008 meters Centerline goodness : 0.865672 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.32, Z:-0.05 [[ 0.98624162 0.05492782 0.15591792 10.71570549] [-0.06959851 0.9934846 0.09024626 -0.31914387] [-0.14994502 -0.09985628 0.98363876 -0.05381449] [ 0. 0. 0. 1. ]] SLAMing on 37.818241007999994 meters Centerline goodness : 0.863670 with order 1 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.32, Z:-0.05 [[ 0.98516214 0.05602533 0.1622243 10.74583695] [-0.07263589 0.99249854 0.09833957 -0.32155582] [-0.15549787 -0.10866373 0.98184144 -0.04921471] [ 0. 0. 0. 1. ]] SLAMing on 37.878241007999996 meters Centerline goodness : 0.864757 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.32, Z:-0.06 [[ 0.98512352 0.06183125 0.16033888 10.78031084] [-0.07623176 0.99343727 0.08527084 -0.32489726] [-0.15401421 -0.09622522 0.98337192 -0.05641006] [ 0. 0. 0. 1. ]] SLAMing on 37.938241008 meters Centerline goodness : 0.871793 with order 1 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.34, Z:-0.05 [[ 0.98526293 0.0578797 0.16095619 10.82068439] [-0.0742647 0.99243949 0.09771702 -0.33763858] [-0.15408344 -0.10823032 0.98211226 -0.04620442] [ 0. 0. 0. 1. ]] SLAMing on 37.998241007999994 meters Centerline goodness : 0.868158 with order 1 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.35, Z:-0.04 [[ 0.98562119 0.05460248 0.15990446 10.86232047] [-0.07247618 0.99148731 0.10816705 -0.34592754] [-0.15263705 -0.11820101 0.98118829 -0.04137435] [ 0. 0. 0. 1. ]] SLAMing on 38.058241007999996 meters Centerline goodness : 0.869883 with order 1 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.36, Z:-0.03 [[ 0.98490028 0.04440011 0.1673322 10.90445326] [-0.06787503 0.98820195 0.1372949 -0.35911485] [-0.1592621 -0.14657947 0.97629404 -0.02734377] [ 0. 0. 0. 1. ]] SLAMing on 38.118241008 meters Centerline goodness : 0.867017 with order 1 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.37, Z:-0.02 [[ 0.98428287 0.03947888 0.17212975 10.95054077] [-0.06658793 0.98571687 0.15468776 -0.36785903] [-0.1635643 -0.16371827 0.97285304 -0.01543892] [ 0. 0. 0. 1. ]] SLAMing on 38.17824100799999 meters Centerline goodness : 0.866620 with order 1 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.36, Z:-0.02 [[ 0.98340296 0.04044253 0.17687007 10.96898916] [-0.0668623 0.98701223 0.14606945 -0.36469083] [-0.1686655 -0.15547107 0.97333483 -0.02372993] [ 0. 0. 0. 1. ]] SLAMing on 38.238241007999996 meters Centerline goodness : 0.863500 with order 1 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.36, Z:-0.03 [[ 0.98244331 0.03925707 0.1823843 10.99008514] [-0.0654413 0.9880081 0.13984792 -0.36323007] [-0.17470714 -0.14932812 0.97323097 -0.02891948] [ 0. 0. 0. 1. ]] SLAMing on 38.298241008 meters Centerline goodness : 0.865746 with order 1 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.36, Z:-0.03 [[ 0.98114085 0.03551347 0.19000377 11.02458714] [-0.06422539 0.98702494 0.14716274 -0.36212571] [-0.1823122 -0.15659044 0.97069135 -0.02548672] [ 0. 0. 0. 1. ]] SLAMing on 38.35824100799999 meters Centerline goodness : 0.863668 with order 1 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.36, Z:-0.02 [[ 0.9807341 0.02713074 0.19345425 11.04503093] [-0.05826514 0.98585928 0.15711988 -0.35822876] [-0.18645589 -0.16536446 0.96844659 -0.02266685] [ 0. 0. 0. 1. ]] SLAMing on 38.418241007999995 meters Centerline goodness : 0.862036 with order 1 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.35, Z:-0.04 [[ 0.98071697 0.02403646 0.19394967 11.03981522] [-0.05181977 0.98886839 0.13947763 -0.3454121 ] [-0.18843815 -0.14683851 0.97104558 -0.0383839 ] [ 0. 0. 0. 1. ]] SLAMing on 38.478241008 meters Centerline goodness : 0.862360 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.33, Z:-0.04 [[ 0.98125337 0.02343154 0.19129241 11.00537797] [-0.04863657 0.99056128 0.12815157 -0.33237399] [-0.18648406 -0.13505297 0.97313123 -0.04252455] [ 0. 0. 0. 1. ]] SLAMing on 38.53824100799999 meters Centerline goodness : 0.862548 with order 1 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.32, Z:-0.04 [[ 0.98148241 0.02506253 0.18990565 10.96973499] [-0.04921888 0.99111384 0.12357527 -0.32450789] [-0.18512101 -0.1306339 0.97399435 -0.03952949] [ 0. 0. 0. 1. ]] SLAMing on 38.598241007999995 meters Centerline goodness : 0.866119 with order 1 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.31, Z:-0.04 [[ 0.98155731 0.03344409 0.1882199 10.93756037] [-0.05415682 0.99289001 0.10600217 -0.31126737] [-0.18333651 -0.1142406 0.97638968 -0.04350265] [ 0. 0. 0. 1. ]] SLAMing on 38.658241008 meters Centerline goodness : 0.863122 with order 1 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.31, Z:-0.04 [[ 0.98094725 0.03932112 0.19025339 10.93372192] [-0.06185411 0.99155476 0.11398786 -0.30653 ] [-0.18416452 -0.12358403 0.97509508 -0.0376511 ] [ 0. 0. 0. 1. ]] SLAMing on 38.71824100799999 meters Centerline goodness : 0.861544 with order 1 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.30, Z:-0.04 [[ 0.97910434 0.04665952 0.19793329 10.94546862] [-0.07001508 0.99116042 0.11268946 -0.30128436] [-0.19092561 -0.12419306 0.97371633 -0.04195032] [ 0. 0. 0. 1. ]] SLAMing on 38.778241007999995 meters Centerline goodness : 0.861350 with order 1 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.30, Z:-0.05 [[ 0.97787417 0.05189651 0.20265453 10.95637115] [-0.07367463 0.99210976 0.10144099 -0.2953705 ] [-0.19579111 -0.11412702 0.97398196 -0.05333123] [ 0. 0. 0. 1. ]] SLAMing on 38.838241008 meters Centerline goodness : 0.859868 with order 1 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.29, Z:-0.07 [[ 0.97692363 0.05837788 0.2054562 10.97123888] [-0.07860921 0.99267704 0.09172177 -0.28860026] [-0.19859713 -0.10575591 0.97435869 -0.06686054] [ 0. 0. 0. 1. ]] SLAMing on 38.89824100799999 meters Centerline goodness : 0.857808 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.29, Z:-0.06 [[ 0.97734571 0.0571915 0.20377561 11.01455978] [-0.07990412 0.99125371 0.10503052 -0.29328131] [-0.19598648 -0.11893364 0.9733674 -0.0638147 ] [ 0. 0. 0. 1. ]] SLAMing on 38.958241007999995 meters Centerline goodness : 0.858072 with order 1 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.30, Z:-0.05 [[ 0.97778096 0.05519872 0.2022313 11.05450459] [-0.08083251 0.98938383 0.12077146 -0.30237394] [-0.19341795 -0.1344349 0.97186252 -0.05384553] [ 0. 0. 0. 1. ]] SLAMing on 39.018241008 meters Centerline goodness : 0.862617 with order 1 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.31, Z:-0.05 [[ 0.97798612 0.04933056 0.20275514 11.07644587] [-0.0777214 0.98785522 0.13454161 -0.30674702] [-0.19365571 -0.14733824 0.96994274 -0.04798922] [ 0. 0. 0. 1. ]] SLAMing on 39.07824100799999 meters Centerline goodness : 0.857933 with order 1 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.30, Z:-0.06 [[ 0.97723144 0.05245239 0.20559051 11.09131028] [-0.07855821 0.98954559 0.12094683 -0.30223035] [-0.19709724 -0.13434386 0.97113563 -0.06246391] [ 0. 0. 0. 1. ]] SLAMing on 39.138241007999994 meters Centerline goodness : 0.860238 with order 1 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.31, Z:-0.07 [[ 0.97688744 0.06097578 0.20487283 11.12881322] [-0.08565136 0.98980293 0.11381564 -0.30562384] [-0.19584373 -0.1287327 0.97214872 -0.07196722] [ 0. 0. 0. 1. ]] SLAMing on 39.198241008 meters Centerline goodness : 0.858506 with order 1 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.30, Z:-0.08 [[ 0.97576085 0.06467524 0.2090643 11.14213653] [-0.08767531 0.9908428 0.10268196 -0.30432542] [-0.20050888 -0.11852281 0.97249603 -0.08342721] [ 0. 0. 0. 1. ]] SLAMing on 39.258241008 meters Centerline goodness : 0.857842 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.30, Z:-0.10 [[ 0.97471661 0.0692753 0.21243462 11.15517256] [-0.09034609 0.99173222 0.09113058 -0.30164193] [-0.20436516 -0.10801913 0.97291662 -0.09653689] [ 0. 0. 0. 1. ]] SLAMing on 39.318241007999994 meters Centerline goodness : 0.861678 with order 1 Centerline is valid? [False, False] Translation: X:11.17, Y:-0.31, Z:-0.10 [[ 0.97629234 0.072956 0.20379082 11.16862767] [-0.09236373 0.99188262 0.08739458 -0.3056519 ] [-0.19576061 -0.10414554 0.97510589 -0.09654105] [ 0. 0. 0. 1. ]] SLAMing on 39.378241007999996 meters Centerline goodness : 0.863979 with order 1 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.32, Z:-0.10 [[ 0.97736404 0.06921311 0.19992267 11.2110468 ] [-0.08927216 0.99164477 0.09311893 -0.31509457] [-0.19180722 -0.10885862 0.97537674 -0.09809438] [ 0. 0. 0. 1. ]] SLAMing on 39.438241008 meters Centerline goodness : 0.864793 with order 1 Centerline is valid? [False, False] Translation: X:11.25, Y:-0.32, Z:-0.10 [[ 0.97814641 0.06649525 0.19699741 11.24762685] [-0.08695996 0.99146674 0.09711672 -0.32399612] [-0.18885858 -0.11212526 0.97558206 -0.0977727 ] [ 0. 0. 0. 1. ]] SLAMing on 39.498241007999994 meters Centerline goodness : 0.869717 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.34, Z:-0.09 [[ 0.97882033 0.05508643 0.19717062 11.283854 ] [-0.07947148 0.98983088 0.1179793 -0.33608073] [-0.18866651 -0.13114998 0.97324438 -0.08875439] [ 0. 0. 0. 1. ]] SLAMing on 39.558241007999996 meters Centerline goodness : 0.869897 with order 1 Centerline is valid? [False, False] Translation: X:11.27, Y:-0.34, Z:-0.06 [[ 0.97684862 0.03849547 0.21043971 11.27290231] [-0.07219827 0.98528808 0.15490258 -0.34327979] [-0.20138069 -0.16650975 0.96525661 -0.06170232] [ 0. 0. 0. 1. ]] SLAMing on 39.618241008 meters Centerline goodness : 0.863138 with order 1 Centerline is valid? [False, False] Translation: X:11.25, Y:-0.34, Z:-0.05 [[ 0.97580308 0.03526035 0.2157894 11.24569058] [-0.07099334 0.98453504 0.16015835 -0.33995929] [-0.20680498 -0.17160262 0.96321557 -0.05218635] [ 0. 0. 0. 1. ]] SLAMing on 39.67824100799999 meters Centerline goodness : 0.866241 with order 1 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.33, Z:-0.04 [[ 0.97444574 0.0327607 0.22222113 11.21583432] [-0.07033559 0.98405778 0.16334988 -0.33428373] [-0.21332698 -0.17480565 0.96121516 -0.04327122] [ 0. 0. 0. 1. ]] SLAMing on 39.738241007999996 meters Centerline goodness : 0.864779 with order 1 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.32, Z:-0.06 [[ 0.97337202 0.04183226 0.22538185 11.21640068] [-0.07606685 0.98644068 0.14542564 -0.32480306] [-0.21624234 -0.15869733 0.9633558 -0.05689009] [ 0. 0. 0. 1. ]] SLAMing on 39.798241008 meters Centerline goodness : 0.861122 with order 1 Centerline is valid? [False, False] Translation: X:11.23, Y:-0.32, Z:-0.07 [[ 0.97220702 0.04892648 0.22895349 11.2311533 ] [-0.08186975 0.98722671 0.13667758 -0.31760477] [-0.21934185 -0.15162327 0.96379434 -0.07208424] [ 0. 0. 0. 1. ]] SLAMing on 39.85824100799999 meters Centerline goodness : 0.860719 with order 1 Centerline is valid? [False, False] Translation: X:11.24, Y:-0.31, Z:-0.09 [[ 0.97101655 0.05834214 0.23178234 11.24150309] [-0.08953233 0.98792947 0.12640933 -0.30969935] [-0.22160962 -0.14349756 0.96451938 -0.08669405] [ 0. 0. 0. 1. ]] SLAMing on 39.918241007999995 meters Centerline goodness : 0.860262 with order 1 Centerline is valid? [False, False] Translation: X:11.25, Y:-0.30, Z:-0.10 [[ 0.9700993 0.06295623 0.23440105 11.25483305] [-0.09119215 0.9895566 0.11163214 -0.30203405] [-0.22492517 -0.1296698 0.96570928 -0.1029402 ] [ 0. 0. 0. 1. ]] SLAMing on 39.978241008 meters Centerline goodness : 0.859024 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.30, Z:-0.11 [[ 0.97084777 0.06519592 0.23066015 11.28240998] [-0.09200596 0.98994461 0.10744565 -0.3024851 ] [-0.22133576 -0.12553548 0.96708393 -0.11025626] [ 0. 0. 0. 1. ]] SLAMing on 40.03824100799999 meters Centerline goodness : 0.859632 with order 1 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.31, Z:-0.11 [[ 0.97175075 0.05895289 0.22852799 11.32732899] [-0.08642161 0.98993026 0.11211324 -0.30672619] [-0.21961737 -0.12869588 0.96706028 -0.11374683] [ 0. 0. 0. 1. ]] SLAMing on 40.098241007999995 meters Centerline goodness : 0.856441 with order 1 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.30, Z:-0.12 [[ 0.97218279 0.05374525 0.22797383 11.33227485] [-0.07993612 0.99101342 0.1072503 -0.30405234] [-0.22016093 -0.12249024 0.96774238 -0.11541516] [ 0. 0. 0. 1. ]] SLAMing on 40.158241008 meters Centerline goodness : 0.853937 with order 1 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.32, Z:-0.09 [[ 0.96811311 0.02882344 0.2488498 11.35175769] [-0.06889549 0.98568804 0.15385869 -0.31837001] [-0.24085354 -0.16609724 0.95624332 -0.08641569] [ 0. 0. 0. 1. ]] SLAMing on 40.21824100799999 meters Centerline goodness : 0.854782 with order 1 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.31, Z:-0.09 [[ 0.96777757 0.02985184 0.25003089 11.3491165 ] [-0.068897 0.98644915 0.1489002 -0.31061443] [-0.24219782 -0.16132865 0.95672007 -0.09303722] [ 0. 0. 0. 1. ]] SLAMing on 40.278241007999995 meters Centerline goodness : 0.855106 with order 1 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.30, Z:-0.11 [[ 0.96671086 0.03629839 0.25328353 11.36232743] [-0.07284558 0.98796585 0.13644409 -0.30213992] [-0.24528278 -0.15035257 0.95772149 -0.11011079] [ 0. 0. 0. 1. ]] SLAMing on 40.338241008 meters Centerline goodness : 0.856654 with order 1 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.30, Z:-0.13 [[ 0.96562888 0.04362674 0.25623733 11.37574723] [-0.07814876 0.98893091 0.12612865 -0.29636445] [-0.24789843 -0.14181809 0.95834962 -0.12568858] [ 0. 0. 0. 1. ]] SLAMing on 40.39824100799999 meters Centerline goodness : 0.864086 with order 1 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.30, Z:-0.12 [[ 0.96743225 0.05207894 0.24771481 11.38791761] [-0.08545377 0.98834985 0.12594533 -0.29885824] [-0.2382698 -0.14301174 0.96061186 -0.12434341] [ 0. 0. 0. 1. ]] SLAMing on 40.458241007999995 meters Centerline goodness : 0.865593 with order 1 Centerline is valid? [False, False] Translation: X:11.41, Y:-0.30, Z:-0.14 [[ 0.96744288 0.0565918 0.24668126 11.40819986] [-0.08748051 0.98937656 0.11610852 -0.2985724 ] [-0.23748986 -0.13390816 0.96211598 -0.13788124] [ 0. 0. 0. 1. ]] SLAMing on 40.518241008 meters Centerline goodness : 0.865918 with order 1 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.29, Z:-0.15 [[ 0.96651007 0.05948398 0.24963964 11.4230745 ] [-0.08743122 0.9908945 0.10239082 -0.29485297] [-0.24127593 -0.12078805 0.96291026 -0.15215246] [ 0. 0. 0. 1. ]] SLAMing on 40.57824100799999 meters Centerline goodness : 0.866081 with order 1 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.29, Z:-0.17 [[ 0.965471 0.06058787 0.25336704 11.43865347] [-0.08551048 0.99239625 0.0885305 -0.29050203] [-0.24607662 -0.10713917 0.96331069 -0.16529852] [ 0. 0. 0. 1. ]] SLAMing on 40.638241007999994 meters Centerline goodness : 0.866567 with order 1 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.29, Z:-0.16 [[ 0.96599481 0.05788094 0.25199966 11.44520492] [-0.08284599 0.9925258 0.08960517 -0.29156735] [-0.24492973 -0.10743529 0.96356997 -0.16448067] [ 0. 0. 0. 1. ]] SLAMing on 40.698241008 meters Centerline goodness : 0.862220 with order 1 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.29, Z:-0.16 [[ 0.96646245 0.05700928 0.25040022 11.45467451] [-0.08329925 0.99192119 0.09567436 -0.2905285 ] [-0.24292296 -0.11332383 0.96340342 -0.16193516] [ 0. 0. 0. 1. ]] SLAMing on 40.758241008 meters Centerline goodness : 0.865903 with order 1 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.29, Z:-0.16 [[ 0.96691115 0.05474934 0.24916931 11.46024021] [-0.08089554 0.99209566 0.0959276 -0.28733514] [-0.24194782 -0.11291015 0.96369733 -0.16020998] [ 0. 0. 0. 1. ]] SLAMing on 40.818241007999994 meters Centerline goodness : 0.863667 with order 1 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.28, Z:-0.17 [[ 0.96803301 0.04820104 0.24614783 11.4770642 ] [-0.07372938 0.99268864 0.09556797 -0.282477 ] [-0.23974168 -0.11066128 0.96450921 -0.16505235] [ 0. 0. 0. 1. ]] SLAMing on 40.878241007999996 meters Centerline goodness : 0.862879 with order 1 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.28, Z:-0.17 [[ 0.9679336 0.04545016 0.24706039 11.47661758] [-0.06965492 0.99349141 0.09012775 -0.2787316 ] [-0.24135605 -0.10444665 0.96479954 -0.16835144] [ 0. 0. 0. 1. ]] SLAMing on 40.938241008 meters Centerline goodness : 0.865302 with order 1 Centerline is valid? [False, False] Translation: X:11.47, Y:-0.28, Z:-0.16 [[ 0.96915873 0.03414278 0.2440607 11.47457146] [-0.06027318 0.99311868 0.10041128 -0.27755069] [-0.23895292 -0.11202479 0.96454754 -0.15933043] [ 0. 0. 0. 1. ]] SLAMing on 40.998241007999994 meters Centerline goodness : 0.861908 with order 1 Centerline is valid? [False, False] Translation: X:11.43, Y:-0.27, Z:-0.14 [[ 0.96890842 0.02433039 0.24622044 11.43145834] [-0.05188548 0.99300603 0.10605154 -0.27367049] [-0.24191811 -0.11552949 0.96339429 -0.14312386] [ 0. 0. 0. 1. ]] SLAMing on 41.058241007999996 meters Centerline goodness : 0.866632 with order 1 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.26, Z:-0.14 [[ 0.96805595 0.02578414 0.249405 11.37703481] [-0.04881918 0.9950446 0.08661948 -0.26275413] [-0.24593568 -0.09602825 0.96451761 -0.13609025] [ 0. 0. 0. 1. ]] SLAMing on 41.118241008 meters Centerline goodness : 0.866550 with order 1 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.25, Z:-0.13 [[ 0.96922445 0.03862928 0.24312908 11.33410565] [-0.05682013 0.99604854 0.06825518 -0.24955031] [-0.23953172 -0.07996922 0.96758952 -0.13305192] [ 0. 0. 0. 1. ]] SLAMing on 41.17824100799999 meters Centerline goodness : 0.868067 with order 1 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.24, Z:-0.13 [[ 0.96886894 0.05088333 0.24228879 11.30966166] [-0.06764616 0.99582003 0.06137151 -0.24059625] [-0.23815324 -0.07585086 0.96826116 -0.13290307] [ 0. 0. 0. 1. ]] SLAMing on 41.238241007999996 meters Centerline goodness : 0.871650 with order 1 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.24, Z:-0.12 [[ 0.96787375 0.05670204 0.24495976 11.30693112] [-0.07678021 0.99435724 0.07320167 -0.2396008 ] [-0.23942683 -0.08965804 0.96676586 -0.12397701] [ 0. 0. 0. 1. ]] SLAMing on 41.298241008 meters Centerline goodness : 0.871648 with order 1 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.24, Z:-0.12 [[ 0.96741445 0.05964783 0.24607198 11.30591364] [-0.08121005 0.99360708 0.07842126 -0.2383349 ] [-0.2398212 -0.09584938 0.96607385 -0.1202195 ] [ 0. 0. 0. 1. ]] SLAMing on 41.35824100799999 meters Centerline goodness : 0.878138 with order 1 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.24, Z:-0.12 [[ 0.96704937 0.06281372 0.24671836 11.30500449] [-0.0858418 0.99278593 0.08370953 -0.23998579] [-0.23968041 -0.10212999 0.96546505 -0.11621971] [ 0. 0. 0. 1. ]] SLAMing on 41.418241007999995 meters Centerline goodness : 0.879652 with order 1 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.24, Z:-0.12 [[ 0.96687601 0.06588675 0.24659625 11.30585131] [-0.0900519 0.99203939 0.08802555 -0.23990096] [-0.23883348 -0.10731626 0.96511232 -0.11564328] [ 0. 0. 0. 1. ]] SLAMing on 41.478241008 meters Centerline goodness : 0.877394 with order 1 Centerline is valid? [False, False] Translation: X:11.32, Y:-0.24, Z:-0.12 [[ 0.96820794 0.07620539 0.23825642 11.31920133] [-0.0989314 0.9914647 0.0849136 -0.23965395] [-0.22975196 -0.10578506 0.9674831 -0.11984025] [ 0. 0. 0. 1. ]] SLAMing on 41.53824100799999 meters Centerline goodness : 0.875732 with order 1 Centerline is valid? [False, False] Translation: X:11.34, Y:-0.24, Z:-0.13 [[ 0.96947177 0.08200669 0.23108308 11.34095138] [-0.1030788 0.9914004 0.08062263 -0.242289 ] [-0.22248426 -0.10198113 0.96958785 -0.12656188] [ 0. 0. 0. 1. ]] SLAMing on 41.598241007999995 meters Centerline goodness : 0.875976 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.26, Z:-0.11 [[ 0.96989179 0.07453115 0.23185128 11.39631181] [-0.10179426 0.98893359 0.10792721 -0.25756491] [-0.22124158 -0.12827884 0.96674542 -0.1128218 ] [ 0. 0. 0. 1. ]] SLAMing on 41.658241008 meters Centerline goodness : 0.879004 with order 1 Centerline is valid? [False, False] Translation: X:11.43, Y:-0.27, Z:-0.10 [[ 0.96932218 0.05968565 0.23843688 11.43321785] [-0.09350801 0.98667419 0.13315517 -0.27107609] [-0.22731206 -0.15136601 0.96198626 -0.09740362] [ 0. 0. 0. 1. ]] SLAMing on 41.71824100799999 meters Centerline goodness : 0.880425 with order 1 Centerline is valid? [False, False] Translation: X:11.47, Y:-0.27, Z:-0.10 [[ 0.96784576 0.05283498 0.24593302 11.4718127 ] [-0.08907365 0.98632854 0.13864303 -0.274741 ] [-0.23524556 -0.15609122 0.9593201 -0.09789507] [ 0. 0. 0. 1. ]] SLAMing on 41.778241007999995 meters Centerline goodness : 0.883555 with order 1 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.27, Z:-0.11 [[ 0.96633094 0.05919424 0.25040077 11.47809388] [-0.09242561 0.98808056 0.12310286 -0.26932112] [-0.24012916 -0.14210155 0.96028388 -0.11307224] [ 0. 0. 0. 1. ]] SLAMing on 41.838241008 meters Centerline goodness : 0.884435 with order 1 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.26, Z:-0.13 [[ 0.964958 0.06580233 0.25401991 11.48497809] [-0.09586768 0.98953474 0.10784426 -0.26403618] [-0.24426512 -0.12841748 0.96116778 -0.12692737] [ 0. 0. 0. 1. ]] SLAMing on 41.89824100799999 meters Centerline goodness : 0.887279 with order 1 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.26, Z:-0.14 [[ 0.96339756 0.07100041 0.25850355 11.49756417] [-0.09919962 0.99025805 0.09771605 -0.26067378] [-0.24904734 -0.11978286 0.9610554 -0.139473 ] [ 0. 0. 0. 1. ]] SLAMing on 41.958241007999995 meters Centerline goodness : 0.888077 with order 1 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.26, Z:-0.14 [[ 0.96369083 0.06983133 0.25772772 11.50084608] [-0.09781329 0.99042855 0.09738505 -0.26237596] [-0.24846036 -0.11905827 0.96129734 -0.14074101] [ 0. 0. 0. 1. ]] SLAMing on 42.018241008 meters Centerline goodness : 0.887716 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.26, Z:-0.15 [[ 0.96351122 0.06886505 0.25865756 11.52564511] [-0.09466413 0.9915555 0.08863626 -0.26294137] [-0.25036938 -0.10988762 0.9618939 -0.15042835] [ 0. 0. 0. 1. ]] SLAMing on 42.07824100799999 meters Centerline goodness : 0.888527 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.27, Z:-0.14 [[ 0.96397263 0.06341115 0.25833273 11.5699438 ] [-0.09296334 0.99024132 0.10382648 -0.27334616] [-0.24922799 -0.12410136 0.96046044 -0.1422434 ] [ 0. 0. 0. 1. ]] SLAMing on 42.138241007999994 meters Centerline goodness : 0.887556 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-0.28, Z:-0.12 [[ 0.9641404 0.0461537 0.26134866 11.59454988] [-0.08443079 0.9869411 0.13718132 -0.27902848] [-0.25160431 -0.15432792 0.95544658 -0.12454109] [ 0. 0. 0. 1. ]] SLAMing on 42.198241008 meters Centerline goodness : 0.888191 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.27, Z:-0.12 [[ 0.96544091 0.03826378 0.25779786 11.58107579] [-0.07576641 0.98764846 0.13714941 -0.27148196] [-0.2493658 -0.15194207 0.95641534 -0.12142956] [ 0. 0. 0. 1. ]] SLAMing on 42.25824100799999 meters Centerline goodness : 0.889498 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.26, Z:-0.12 [[ 0.96490596 0.03622433 0.26008516 11.57649028] [-0.07250438 0.98868971 0.13128505 -0.26354435] [-0.25238781 -0.14553504 0.95661902 -0.12051851] [ 0. 0. 0. 1. ]] SLAMing on 42.318241007999994 meters Centerline goodness : 0.892838 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.25, Z:-0.12 [[ 0.9640946 0.03662533 0.26302128 11.57141614] [-0.07301756 0.98882829 0.12995021 -0.25292712] [-0.25532341 -0.14448946 0.9559983 -0.1165144 ] [ 0. 0. 0. 1. ]] SLAMing on 42.378241007999996 meters Centerline goodness : 0.886681 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.25, Z:-0.11 [[ 0.96331776 0.0399908 0.26536696 11.56742078] [-0.07781409 0.98797742 0.13358739 -0.2457571 ] [-0.25683429 -0.14933639 0.95484804 -0.11313308] [ 0. 0. 0. 1. ]] SLAMing on 42.438241008 meters Centerline goodness : 0.887307 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.24, Z:-0.12 [[ 0.96142602 0.05159101 0.27018213 11.56757293] [-0.08737336 0.98866095 0.12212874 -0.23738442] [-0.26081778 -0.14102447 0.95503203 -0.12093272] [ 0. 0. 0. 1. ]] SLAMing on 42.498241007999994 meters Centerline goodness : 0.889158 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.23, Z:-0.13 [[ 0.95986111 0.06051907 0.27386876 11.57281885] [-0.0934323 0.9896665 0.10876865 -0.23034728] [-0.26445615 -0.12999099 0.95559682 -0.13357147] [ 0. 0. 0. 1. ]] SLAMing on 42.558241007999996 meters Centerline goodness : 0.889394 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-0.23, Z:-0.14 [[ 0.96183001 0.06936311 0.26471076 11.58710727] [-0.10024325 0.98940952 0.10497666 -0.22902203] [-0.25462584 -0.12750517 0.95859695 -0.13815952] [ 0. 0. 0. 1. ]] SLAMing on 42.618241008 meters Centerline goodness : 0.888122 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.23, Z:-0.15 [[ 0.96368982 0.07466643 0.25637251 11.60927394] [-0.10324834 0.98962773 0.09988359 -0.22807094] [-0.24625539 -0.12272684 0.96140335 -0.14531893] [ 0. 0. 0. 1. ]] SLAMing on 42.67824100799999 meters Centerline goodness : 0.883707 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.22, Z:-0.15 [[ 0.9645992 0.0721005 0.25367282 11.6183079 ] [-0.09952319 0.99029881 0.09697113 -0.22485411] [-0.24422022 -0.1187846 0.96241711 -0.15339392] [ 0. 0. 0. 1. ]] SLAMing on 42.738241007999996 meters Centerline goodness : 0.880299 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.24, Z:-0.13 [[ 0.96379513 0.0577825 0.26030777 11.66200325] [-0.09400078 0.98719159 0.12890546 -0.23750523] [-0.24952516 -0.14870758 0.95688204 -0.13466635] [ 0. 0. 0. 1. ]] SLAMing on 42.798241008 meters Centerline goodness : 0.881575 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:-0.24, Z:-0.12 [[ 0.96365432 0.04261698 0.26373121 11.66837641] [-0.08491123 0.98486292 0.15111294 -0.2384882 ] [-0.25329912 -0.16801438 0.95268606 -0.11561071] [ 0. 0. 0. 1. ]] SLAMing on 42.85824100799999 meters Centerline goodness : 0.879588 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.23, Z:-0.11 [[ 0.96359438 0.03450398 0.2651327 11.64736859] [-0.0764951 0.98576386 0.14972678 -0.2290886 ] [-0.25619206 -0.16455724 0.9525159 -0.11007535] [ 0. 0. 0. 1. ]] SLAMing on 42.918241007999995 meters Centerline goodness : 0.876648 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.22, Z:-0.10 [[ 0.96293031 0.03171064 0.26787994 11.62420986] [-0.07648403 0.98440803 0.15840148 -0.22250932] [-0.25868015 -0.17301812 0.95034168 -0.09606952] [ 0. 0. 0. 1. ]] SLAMing on 42.978241008 meters Centerline goodness : 0.878178 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.22, Z:-0.09 [[ 0.96209323 0.03488066 0.27048098 11.62052558] [-0.08120021 0.98344355 0.16200404 -0.21715196] [-0.26035197 -0.1778261 0.9489967 -0.09322756] [ 0. 0. 0. 1. ]] SLAMing on 43.03824100799999 meters Centerline goodness : 0.876737 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.21, Z:-0.11 [[ 0.96202012 0.04605054 0.26906623 11.62515096] [-0.08807023 0.98531958 0.14624962 -0.2094213 ] [-0.25838136 -0.1643918 0.95195295 -0.10673093] [ 0. 0. 0. 1. ]] SLAMing on 43.098241007999995 meters Centerline goodness : 0.874106 with order 1 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.21, Z:-0.11 [[ 0.9605971 0.05074981 0.27327213 11.6430191 ] [-0.09257667 0.98546899 0.1424094 -0.20593318] [-0.26207396 -0.16209668 0.9513369 -0.11437946] [ 0. 0. 0. 1. ]] SLAMing on 43.158241008 meters Centerline goodness : 0.875080 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.21, Z:-0.10 [[ 0.96022843 0.0452223 0.27552913 11.66237583] [-0.09276464 0.98241334 0.1620455 -0.20992437] [-0.26335542 -0.18116006 0.94753626 -0.09988511] [ 0. 0. 0. 1. ]] SLAMing on 43.21824100799999 meters Centerline goodness : 0.876796 with order 1 Centerline is valid? [False, False] Translation: X:11.69, Y:-0.21, Z:-0.09 [[ 0.95949639 0.03404734 0.27965596 11.69077529] [-0.08718232 0.97982666 0.17983036 -0.21089189] [-0.26789162 -0.19692763 0.94310847 -0.09140549] [ 0. 0. 0. 1. ]] SLAMing on 43.278241007999995 meters Centerline goodness : 0.876939 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.21, Z:-0.08 [[ 0.95791421 0.01878868 0.28643909 11.72343409] [-0.07822329 0.97717726 0.19749866 -0.21103684] [-0.27619103 -0.21159298 0.93752169 -0.08421973] [ 0. 0. 0. 1. ]] SLAMing on 43.338241008 meters Centerline goodness : 0.876826 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.20, Z:-0.08 [[ 0.95731845 0.01546534 0.28862123 11.72189785] [-0.07409989 0.97832618 0.1933574 -0.20471266] [-0.27937537 -0.2064914 0.93771568 -0.08264464] [ 0. 0. 0. 1. ]] SLAMing on 43.39824100799999 meters Centerline goodness : 0.877220 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.19, Z:-0.08 [[ 0.95666769 0.01565163 0.29076101 11.67951059] [-0.07136731 0.98070092 0.18202312 -0.19335715] [-0.28230063 -0.19488647 0.93932189 -0.07622213] [ 0. 0. 0. 1. ]] SLAMing on 43.458241007999995 meters Centerline goodness : 0.879731 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.18, Z:-0.07 [[ 0.95844338 0.02433075 0.28424339 11.61345386] [-0.07323657 0.98395006 0.16272273 -0.17858833] [-0.27572214 -0.17677753 0.94484232 -0.06850312] [ 0. 0. 0. 1. ]] SLAMing on 43.518241008 meters Centerline goodness : 0.879868 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.17, Z:-0.07 [[ 0.95941899 0.03625754 0.27964367 11.57628592] [-0.07972589 0.98611524 0.14567261 -0.16608368] [-0.27047916 -0.16205591 0.94898836 -0.06790765] [ 0. 0. 0. 1. ]] SLAMing on 43.57824100799999 meters Centerline goodness : 0.881486 with order 1 Centerline is valid? [False, False] Translation: X:11.54, Y:-0.16, Z:-0.06 [[ 0.95983201 0.05039773 0.27601192 11.54418386] [-0.09215206 0.98578832 0.14046135 -0.15817341] [-0.2650104 -0.16025436 0.95083544 -0.05662349] [ 0. 0. 0. 1. ]] SLAMing on 43.638241007999994 meters Centerline goodness : 0.880093 with order 1 Centerline is valid? [False, False] Translation: X:11.54, Y:-0.15, Z:-0.05 [[ 0.95962155 0.05454228 0.27595584 11.54391373] [-0.09752328 0.98468574 0.14451021 -0.15397083] [-0.26384786 -0.16558722 0.9502448 -0.05445917] [ 0. 0. 0. 1. ]] SLAMing on 43.698241008 meters Centerline goodness : 0.878608 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.15, Z:-0.07 [[ 0.95835736 0.0671756 0.2775583 11.55145621] [-0.10833015 0.9848101 0.13569686 -0.14874596] [-0.2642267 -0.16011402 0.95107715 -0.06855334] [ 0. 0. 0. 1. ]] SLAMing on 43.75824100799999 meters Centerline goodness : 0.876275 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-0.14, Z:-0.08 [[ 0.95693479 0.07704699 0.27989208 11.55759136] [-0.11537796 0.98565886 0.12314437 -0.14327663] [-0.26639021 -0.1501345 0.95210078 -0.08143062] [ 0. 0. 0. 1. ]] SLAMing on 43.818241007999994 meters Centerline goodness : 0.880576 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-0.14, Z:-0.09 [[ 0.95586321 0.08145189 0.28229615 11.57142841] [-0.11673011 0.98700087 0.11046883 -0.1409101 ] [-0.26962865 -0.13854555 0.95294571 -0.09494415] [ 0. 0. 0. 1. ]] SLAMing on 43.878241007999996 meters Centerline goodness : 0.879538 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.14, Z:-0.11 [[ 0.95475649 0.0859445 0.28469912 11.58042032] [-0.11686192 0.98874434 0.09342335 -0.13929365] [-0.27346542 -0.12246704 0.95405371 -0.10976169] [ 0. 0. 0. 1. ]] SLAMing on 43.938241008 meters Centerline goodness : 0.879351 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-0.14, Z:-0.13 [[ 0.95349759 0.08964678 0.28775998 11.59341755] [-0.1171186 0.9899161 0.07968278 -0.13686094] [-0.27771493 -0.10967938 0.95438192 -0.12533952] [ 0. 0. 0. 1. ]] SLAMing on 43.998241007999994 meters Centerline goodness : 0.882216 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.14, Z:-0.13 [[ 0.95449401 0.09400632 0.28302651 11.60891397] [-0.11836774 0.99048501 0.0702035 -0.14345433] [-0.27373394 -0.10051002 0.95653932 -0.13170712] [ 0. 0. 0. 1. ]] SLAMing on 44.058241007999996 meters Centerline goodness : 0.884360 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.14, Z:-0.15 [[ 0.95342777 0.0956473 0.28605433 11.62295234] [-0.11609925 0.99169293 0.05537233 -0.142486 ] [-0.27838184 -0.08600421 0.95661216 -0.14537413] [ 0. 0. 0. 1. ]] SLAMing on 44.118241008 meters Centerline goodness : 0.885639 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.15, Z:-0.15 [[ 0.9536898 0.09550496 0.28522721 11.64656337] [-0.11427742 0.99219615 0.04987446 -0.15024845] [-0.27823808 -0.0801598 0.95716142 -0.15206753] [ 0. 0. 0. 1. ]] SLAMing on 44.17824100799999 meters Centerline goodness : 0.885685 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:-0.15, Z:-0.16 [[ 0.95598683 0.09776178 0.27664383 11.66586757] [-0.11385394 0.99258044 0.04267737 -0.15489781] [-0.27041903 -0.07229599 0.96002439 -0.15747158] [ 0. 0. 0. 1. ]] SLAMing on 44.238241007999996 meters Centerline goodness : 0.884883 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.17, Z:-0.16 [[ 0.95723837 0.09082183 0.27467453 11.71824972] [-0.11107802 0.992054 0.05908075 -0.16864699] [-0.26712615 -0.08706466 0.95972046 -0.15503362] [ 0. 0. 0. 1. ]] SLAMing on 44.298241008 meters Centerline goodness : 0.886348 with order 1 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.18, Z:-0.15 [[ 0.95804553 0.08273056 0.27441651 11.74533603] [-0.10622591 0.99174138 0.07186862 -0.17509904] [-0.26620448 -0.09800355 0.95892152 -0.15428411] [ 0. 0. 0. 1. ]] SLAMing on 44.35824100799999 meters Centerline goodness : 0.885799 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.18, Z:-0.16 [[ 0.95914232 0.07911111 0.27163843 11.78700365] [-0.10486646 0.99113089 0.08162469 -0.18400346] [-0.26277182 -0.10677545 0.95893168 -0.1554858 ] [ 0. 0. 0. 1. ]] SLAMing on 44.418241007999995 meters Centerline goodness : 0.886106 with order 1 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.19, Z:-0.15 [[ 0.95952449 0.07283983 0.27204247 11.80922149] [-0.1020534 0.9902503 0.09481267 -0.18689543] [-0.262484 -0.11873794 0.95760297 -0.15063526] [ 0. 0. 0. 1. ]] SLAMing on 44.478241008 meters Centerline goodness : 0.884690 with order 1 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.18, Z:-0.15 [[ 0.95998193 0.06809479 0.27165751 11.81373116] [-0.09641784 0.99105215 0.09229966 -0.18283648] [-0.26294163 -0.11479863 0.95795771 -0.14782084] [ 0. 0. 0. 1. ]] SLAMing on 44.53824100799999 meters Centerline goodness : 0.885768 with order 1 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.19, Z:-0.14 [[ 0.9595813 0.05928505 0.27511635 11.8352893 ] [-0.09197547 0.98994389 0.10747839 -0.18857541] [-0.26597788 -0.12843821 0.95538442 -0.13759052] [ 0. 0. 0. 1. ]] SLAMing on 44.598241007999995 meters Centerline goodness : 0.879964 with order 1 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.18, Z:-0.13 [[ 0.95949093 0.0505538 0.27716687 11.85576604] [-0.08562936 0.98955828 0.11593977 -0.18439558] [-0.26841158 -0.13497678 0.95380108 -0.13481531] [ 0. 0. 0. 1. ]] SLAMing on 44.658241008 meters Centerline goodness : 0.878555 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.17, Z:-0.13 [[ 0.95974428 0.04848368 0.27665909 11.83257161] [-0.08341984 0.98974727 0.11593736 -0.1747297 ] [-0.26820151 -0.13434908 0.95394878 -0.13195239] [ 0. 0. 0. 1. ]] SLAMing on 44.71824100799999 meters Centerline goodness : 0.875022 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.16, Z:-0.14 [[ 0.95912248 0.048148 0.27886525 11.82680876] [-0.08092526 0.99093416 0.10724082 -0.16461244] [-0.27117367 -0.12542432 0.95432362 -0.13778804] [ 0. 0. 0. 1. ]] SLAMing on 44.778241007999995 meters Centerline goodness : 0.872297 with order 1 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.16, Z:-0.12 [[ 0.95700337 0.03752076 0.28763996 11.80379376] [-0.07700464 0.98888241 0.12720793 -0.15752741] [-0.27966916 -0.14388802 0.94925307 -0.12434693] [ 0. 0. 0. 1. ]] SLAMing on 44.838241008 meters Centerline goodness : 0.870522 with order 1 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.15, Z:-0.13 [[ 0.95675745 0.03849785 0.2883281 11.80234072] [-0.07672727 0.9895001 0.12248461 -0.14862939] [-0.28058529 -0.13931069 0.94966543 -0.13117857] [ 0. 0. 0. 1. ]] SLAMing on 44.89824100799999 meters Centerline goodness : 0.868801 with order 1 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.14, Z:-0.13 [[ 0.95820285 0.0482586 0.28199008 11.81041811] [-0.08530726 0.98902699 0.12061629 -0.14372435] [-0.27307502 -0.13963067 0.95180529 -0.12843733] [ 0. 0. 0. 1. ]] SLAMing on 44.958241007999995 meters Centerline goodness : 0.868669 with order 1 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.14, Z:-0.14 [[ 0.95660793 0.05575043 0.28599504 11.82349177] [-0.09138087 0.98940855 0.11278416 -0.13730306] [-0.27667817 -0.1340247 0.95157058 -0.14223697] [ 0. 0. 0. 1. ]] SLAMing on 45.018241008 meters Centerline goodness : 0.864777 with order 1 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.14, Z:-0.15 [[ 0.95477404 0.06417263 0.29032467 11.84046517] [-0.10138677 0.98817793 0.11500048 -0.13609337] [-0.27951254 -0.13923455 0.94999288 -0.14659457] [ 0. 0. 0. 1. ]] SLAMing on 45.07824100799999 meters Centerline goodness : 0.865419 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.13, Z:-0.16 [[ 0.95310347 0.07117928 0.29415521 11.85084091] [-0.10633255 0.98874161 0.10527777 -0.13141927] [-0.2833499 -0.13161889 0.94994174 -0.1564727 ] [ 0. 0. 0. 1. ]] SLAMing on 45.138241007999994 meters Centerline goodness : 0.867850 with order 1 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.13, Z:-0.17 [[ 0.95148091 0.07623676 0.29811412 11.86194335] [-0.10847769 0.98972773 0.09312145 -0.12769284] [-0.28795253 -0.12094202 0.94997704 -0.16903742] [ 0. 0. 0. 1. ]] SLAMing on 45.198241008 meters Centerline goodness : 0.863833 with order 1 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.12, Z:-0.18 [[ 0.95024108 0.08080666 0.30085243 11.87719127] [-0.11039832 0.99044352 0.08266706 -0.1246179 ] [-0.29129729 -0.11176724 0.95008104 -0.18341492] [ 0. 0. 0. 1. ]] SLAMing on 45.25824100799999 meters Centerline goodness : 0.862105 with order 1 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.12, Z:-0.19 [[ 0.95043451 0.08032415 0.30037023 11.87922213] [-0.10952372 0.99062531 0.08164584 -0.12327057] [-0.29099622 -0.11049669 0.95032188 -0.18685677] [ 0. 0. 0. 1. ]] SLAMing on 45.318241007999994 meters Centerline goodness : 0.862584 with order 1 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.13, Z:-0.19 [[ 0.95270775 0.08514782 0.29171525 11.89233767] [-0.11127502 0.99101983 0.07414557 -0.12529162] [-0.28278226 -0.10309968 0.9536271 -0.1901774 ] [ 0. 0. 0. 1. ]] SLAMing on 45.378241007999996 meters Centerline goodness : 0.862676 with order 1 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.12, Z:-0.20 [[ 0.95252864 0.09206149 0.29019627 11.89719187] [-0.11259362 0.99212709 0.05483168 -0.12197378] [-0.28286369 -0.084903 0.955395 -0.20263951] [ 0. 0. 0. 1. ]] SLAMing on 45.438241008 meters Centerline goodness : 0.861393 with order 1 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.12, Z:-0.21 [[ 0.95240655 0.09252163 0.29045053 11.8913528 ] [-0.11052605 0.99280022 0.0461705 -0.11745345] [-0.28408758 -0.07607543 0.95577548 -0.210036 ] [ 0. 0. 0. 1. ]] SLAMing on 45.498241007999994 meters Centerline goodness : 0.859046 with order 1 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.12, Z:-0.21 [[ 0.95258801 0.09229423 0.28992732 11.89314718] [-0.10984671 0.99293722 0.04482602 -0.11691662] [-0.28374244 -0.07454829 0.95599831 -0.21398161] [ 0. 0. 0. 1. ]] SLAMing on 45.558241007999996 meters Centerline goodness : 0.854420 with order 1 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.12, Z:-0.22 [[ 0.95281277 0.0924693 0.2891319 11.89504672] [-0.10986082 0.99295143 0.04447544 -0.11704067] [-0.28298132 -0.07414104 0.95625555 -0.21662995] [ 0. 0. 0. 1. ]] SLAMing on 45.618241008 meters Centerline goodness : 0.852428 with order 1 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.12, Z:-0.22 [[ 0.95248797 0.09628449 0.2889567 11.88023111] [-0.1113135 0.9931332 0.03599654 -0.11712437] [-0.28350658 -0.06645105 0.95666519 -0.21688994] [ 0. 0. 0. 1. ]] SLAMing on 45.67824100799999 meters Centerline goodness : 0.854439 with order 1 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.12, Z:-0.22 [[ 0.95417909 0.10309743 0.28091492 11.89405916] [-0.11766725 0.99241997 0.03545444 -0.12178791] [-0.27513031 -0.06688437 0.95907757 -0.21846513] [ 0. 0. 0. 1. ]] SLAMing on 45.738241007999996 meters Centerline goodness : 0.853719 with order 1 Centerline is valid? [False, False] Translation: X:11.91, Y:-0.13, Z:-0.22 [[ 0.95613181 0.10720446 0.2726154 11.90814654] [-0.11951902 0.99241051 0.02892391 -0.1300279 ] [-0.26744562 -0.06023779 0.96168823 -0.22096027] [ 0. 0. 0. 1. ]] SLAMing on 45.798241008 meters Centerline goodness : 0.852404 with order 1 Centerline is valid? [False, False] Translation: X:11.91, Y:-0.13, Z:-0.22 [[ 0.95673661 0.10366526 0.27186132 11.90980719] [-0.11474901 0.99307612 0.02514918 -0.13378868] [-0.26737189 -0.05525696 0.96200776 -0.22183918] [ 0. 0. 0. 1. ]] SLAMing on 45.85824100799999 meters Centerline goodness : 0.850483 with order 1 Centerline is valid? [False, False] Translation: X:11.91, Y:-0.13, Z:-0.23 [[ 0.9571502 0.10071381 0.27151467 11.9113676 ] [-0.11028691 0.99369467 0.02019177 -0.13365849] [-0.26776909 -0.04927107 0.96222247 -0.22695146] [ 0. 0. 0. 1. ]] SLAMing on 45.918241007999995 meters Centerline goodness : 0.848996 with order 1 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.14, Z:-0.23 [[ 0.95951738 0.1021552 0.26247039 11.92910382] [-0.1098357 0.99384077 0.01471887 -0.14070651] [-0.25935017 -0.04295163 0.96482778 -0.22719759] [ 0. 0. 0. 1. ]] SLAMing on 45.978241008 meters Centerline goodness : 0.850171 with order 1 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.14, Z:-0.23 [[ 0.95952577 0.10228988 0.26238728 11.9295148 ] [-0.11004264 0.99381391 0.01498413 -0.1397415 ] [-0.25923141 -0.04325145 0.9648463 -0.22635792] [ 0. 0. 0. 1. ]] SLAMing on 46.03824100799999 meters Centerline goodness : 0.846837 with order 1 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.15, Z:-0.24 [[ 0.96023482 0.10398072 0.25910828 11.96370062] [-0.11266397 0.99345436 0.01884839 -0.14520979] [-0.25545238 -0.04729105 0.96566435 -0.23527807] [ 0. 0. 0. 1. ]] SLAMing on 46.098241007999995 meters Centerline goodness : 0.848696 with order 1 Centerline is valid? [False, False] Translation: X:11.98, Y:-0.15, Z:-0.23 [[ 0.96191699 0.10862478 0.25083134 11.97614617] [-0.11612596 0.99311734 0.01525481 -0.14855967] [-0.2474479 -0.04380189 0.9679106 -0.23384816] [ 0. 0. 0. 1. ]] SLAMing on 46.158241008 meters Centerline goodness : 0.846654 with order 1 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.16, Z:-0.24 [[ 0.96234113 0.10773011 0.24958722 12.01392634] [-0.11669525 0.99293804 0.02136056 -0.15584298] [-0.24552347 -0.04968179 0.9681167 -0.23771014] [ 0. 0. 0. 1. ]] SLAMing on 46.21824100799999 meters Centerline goodness : 0.845322 with order 1 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.16, Z:-0.24 [[ 0.96280842 0.10605621 0.24849956 12.01888317] [-0.11486349 0.99315564 0.02117192 -0.15717939] [-0.24455332 -0.04892803 0.9684006 -0.24005386] [ 0. 0. 0. 1. ]] SLAMing on 46.278241007999995 meters Centerline goodness : 0.849033 with order 1 Centerline is valid? [False, False] Translation: X:12.05, Y:-0.16, Z:-0.25 [[ 0.96336636 0.10815937 0.24541149 12.05236092] [-0.11774521 0.99273698 0.02468494 -0.1631429 ] [-0.24095916 -0.05267667 0.96910467 -0.24712545] [ 0. 0. 0. 1. ]] SLAMing on 46.338241008 meters Centerline goodness : 0.850478 with order 1 Centerline is valid? [False, False] Translation: X:12.08, Y:-0.17, Z:-0.25 [[ 0.96244007 0.1092008 0.24856446 12.07851696] [-0.11830272 0.99273532 0.02193307 -0.16502624] [-0.24436361 -0.05051512 0.968367 -0.25462654] [ 0. 0. 0. 1. ]] SLAMing on 46.39824100799999 meters Centerline goodness : 0.850582 with order 1 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.17, Z:-0.25 [[ 0.96412155 0.11319472 0.24011788 12.09586457] [-0.12212406 0.99225775 0.02258933 -0.16827588] [-0.23570184 -0.05110303 0.97048087 -0.25268297] [ 0. 0. 0. 1. ]] SLAMing on 46.458241007999995 meters Centerline goodness : 0.851605 with order 1 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.17, Z:-0.25 [[ 0.96479305 0.11070415 0.23857697 12.11036884] [-0.12123639 0.99217364 0.0298867 -0.16846834] [-0.23340119 -0.05775869 0.9706636 -0.25028646] [ 0. 0. 0. 1. ]] SLAMing on 46.518241008 meters Centerline goodness : 0.849141 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.18, Z:-0.25 [[ 0.96568617 0.11223645 0.23420762 12.14626715] [-0.12365048 0.99172296 0.03458512 -0.17546734] [-0.22838736 -0.06235826 0.97157123 -0.25470183] [ 0. 0. 0. 1. ]] SLAMing on 46.57824100799999 meters Centerline goodness : 0.849713 with order 1 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.18, Z:-0.25 [[ 0.96570779 0.10835316 0.23594079 12.16542692] [-0.12315741 0.99118187 0.04889523 -0.18078008] [-0.22856228 -0.07627636 0.97053655 -0.24883315] [ 0. 0. 0. 1. ]] SLAMing on 46.638241007999994 meters Centerline goodness : 0.848090 with order 1 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.18, Z:-0.24 [[ 0.96626608 0.10494021 0.23519654 12.1797665 ] [-0.12143941 0.99097468 0.05675971 -0.18265319] [-0.22711744 -0.08340711 0.97028909 -0.24399197] [ 0. 0. 0. 1. ]] SLAMing on 46.698241008 meters Centerline goodness : 0.846553 with order 1 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.19, Z:-0.24 [[ 0.96637259 0.09795905 0.23775626 12.20462691] [-0.11829904 0.99030484 0.0728125 -0.18788033] [-0.22831853 -0.09849034 0.96859192 -0.23802594] [ 0. 0. 0. 1. ]] SLAMing on 46.75824100799999 meters Centerline goodness : 0.851949 with order 1 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.20, Z:-0.23 [[ 0.96615251 0.08564808 0.24333874 12.23988092] [-0.11123577 0.98939406 0.09341308 -0.19561023] [-0.23275725 -0.11731925 0.96543268 -0.2303112 ] [ 0. 0. 0. 1. ]] SLAMing on 46.818241007999994 meters Centerline goodness : 0.851598 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.20, Z:-0.23 [[ 0.96572243 0.07750946 0.24773468 12.26211518] [-0.10671027 0.98854964 0.10668893 -0.19714235] [-0.23662862 -0.12946773 0.96293562 -0.22680953] [ 0. 0. 0. 1. ]] SLAMing on 46.878241007999996 meters Centerline goodness : 0.854292 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.19, Z:-0.22 [[ 0.96706528 0.07973073 0.24171833 12.22751979] [-0.10764075 0.98867909 0.10453293 -0.18760472] [-0.23064737 -0.1271089 0.9646995 -0.21672441] [ 0. 0. 0. 1. ]] SLAMing on 46.938241008 meters Centerline goodness : 0.854787 with order 1 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.18, Z:-0.22 [[ 0.96734832 0.07769367 0.24124866 12.20238124] [-0.1046561 0.98936421 0.10102258 -0.17701275] [-0.23083398 -0.12297217 0.96519092 -0.2153847 ] [ 0. 0. 0. 1. ]] SLAMing on 46.998241007999994 meters Centerline goodness : 0.860826 with order 1 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.16, Z:-0.21 [[ 0.97268988 0.07476201 0.21973859 12.19817816] [-0.09733369 0.99082699 0.09374449 -0.16363028] [-0.2107144 -0.11257229 0.97104424 -0.21226991] [ 0. 0. 0. 1. ]] SLAMing on 47.058241007999996 meters Centerline goodness : 0.863825 with order 1 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.15, Z:-0.22 [[ 0.97249771 0.0818978 0.21803886 12.17461864] [-0.10140825 0.99163665 0.07983179 -0.15234437] [-0.20967728 -0.09974718 0.97266949 -0.21645354] [ 0. 0. 0. 1. ]] SLAMing on 47.118241008 meters Centerline goodness : 0.861103 with order 1 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.15, Z:-0.21 [[ 0.9719019 0.08623182 0.21902232 12.1726253 ] [-0.10690268 0.99068675 0.0843302 -0.14778043] [-0.20971056 -0.10537475 0.97206874 -0.21251524] [ 0. 0. 0. 1. ]] SLAMing on 47.17824100799999 meters Centerline goodness : 0.869755 with order 1 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.14, Z:-0.22 [[ 0.97010509 0.0930344 0.2241444 12.18171267] [-0.11265836 0.99069319 0.07638783 -0.14468301] [-0.21495164 -0.09935597 0.97155761 -0.21764623] [ 0. 0. 0. 1. ]] SLAMing on 47.238241007999996 meters Centerline goodness : 0.869560 with order 1 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.15, Z:-0.22 [[ 0.97033403 0.09744692 0.22125995 12.21019166] [-0.11722182 0.99003425 0.07804633 -0.14879235] [-0.21144956 -0.1016675 0.97208683 -0.22378405] [ 0. 0. 0. 1. ]] SLAMing on 47.298241008 meters Centerline goodness : 0.870099 with order 1 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.16, Z:-0.22 [[ 0.97051366 0.0974792 0.22045646 12.25050324] [-0.12049301 0.98830625 0.09344617 -0.15870856] [-0.20876944 -0.11725425 0.97091028 -0.22084969] [ 0. 0. 0. 1. ]] SLAMing on 47.35824100799999 meters Centerline goodness : 0.873683 with order 1 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.17, Z:-0.21 [[ 0.96992493 0.08933492 0.22641752 12.2811705 ] [-0.11838045 0.98591836 0.11811459 -0.17203903] [-0.21267743 -0.1413657 0.96684231 -0.21140717] [ 0. 0. 0. 1. ]] SLAMing on 47.418241007999995 meters Centerline goodness : 0.877095 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.17, Z:-0.22 [[ 0.96886768 0.09085778 0.23030477 12.2933074 ] [-0.11710876 0.98776552 0.10297968 -0.1723018 ] [-0.21813061 -0.12674439 0.96765433 -0.22282566] [ 0. 0. 0. 1. ]] SLAMing on 47.478241008 meters Centerline goodness : 0.879470 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-0.17, Z:-0.24 [[ 0.96789964 0.09174585 0.23399357 12.31248664] [-0.1160083 0.98896908 0.09209906 -0.17177017] [-0.2229627 -0.11628784 0.96786609 -0.23611356] [ 0. 0. 0. 1. ]] SLAMing on 47.53824100799999 meters Centerline goodness : 0.876658 with order 1 Centerline is valid? [False, False] Translation: X:12.35, Y:-0.18, Z:-0.22 [[ 0.96622875 0.07994685 0.24497042 12.34725737] [-0.11238064 0.98622102 0.12140298 -0.18290442] [-0.23188919 -0.14483298 0.96189958 -0.22095991] [ 0. 0. 0. 1. ]] SLAMing on 47.598241007999995 meters Centerline goodness : 0.876656 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-0.19, Z:-0.21 [[ 0.96575761 0.07229872 0.24916888 12.36963489] [-0.1093355 0.98435718 0.1381546 -0.18983202] [-0.23528278 -0.16066686 0.95855525 -0.21326815] [ 0. 0. 0. 1. ]] SLAMing on 47.658241008 meters Centerline goodness : 0.879163 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.19, Z:-0.22 [[ 0.96427503 0.07260601 0.25475878 12.39877219] [-0.11067151 0.98417209 0.1384092 -0.19091217] [-0.24067714 -0.16165908 0.95704799 -0.2218404 ] [ 0. 0. 0. 1. ]] SLAMing on 47.71824100799999 meters Centerline goodness : 0.878144 with order 1 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.19, Z:-0.24 [[ 0.96317448 0.07639317 0.25779645 12.41379363] [-0.11192168 0.98568757 0.12606964 -0.18792606] [-0.2444759 -0.15028007 0.95793916 -0.23695286] [ 0. 0. 0. 1. ]] SLAMing on 47.778241007999995 meters Centerline goodness : 0.876146 with order 1 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.18, Z:-0.25 [[ 0.96197677 0.08027591 0.26106795 12.43160191] [-0.11375619 0.98674262 0.11575204 -0.18320961] [-0.24831477 -0.14104887 0.95835536 -0.25394032] [ 0. 0. 0. 1. ]] SLAMing on 47.838241008 meters Centerline goodness : 0.872491 with order 1 Centerline is valid? [False, False] Translation: X:12.44, Y:-0.18, Z:-0.27 [[ 0.96076524 0.08497744 0.26402461 12.43949197] [-0.11440673 0.98857451 0.09814041 -0.17815128] [-0.25266828 -0.12449609 0.95951001 -0.26848474] [ 0. 0. 0. 1. ]] SLAMing on 47.89824100799999 meters Centerline goodness : 0.870455 with order 1 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.18, Z:-0.28 [[ 0.95955804 0.08886868 0.26711557 12.45287315] [-0.11527194 0.98970615 0.08481813 -0.17514079] [-0.25682825 -0.11217885 0.95992456 -0.28223408] [ 0. 0. 0. 1. ]] SLAMing on 47.958241007999995 meters Centerline goodness : 0.870363 with order 1 Centerline is valid? [False, False] Translation: X:12.47, Y:-0.17, Z:-0.30 [[ 0.95881994 0.09124476 0.26895857 12.47222099] [-0.11501636 0.99060641 0.07396058 -0.17304994] [-0.25968357 -0.10184952 0.96030782 -0.29572101] [ 0. 0. 0. 1. ]] SLAMing on 48.018241008 meters Centerline goodness : 0.870121 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.18, Z:-0.29 [[ 0.96020334 0.08135937 0.26718943 12.52848242] [-0.10830555 0.99024259 0.08768997 -0.18233632] [-0.25744795 -0.1131383 0.95964591 -0.29357934] [ 0. 0. 0. 1. ]] SLAMing on 48.07824100799999 meters Centerline goodness : 0.870413 with order 1 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.19, Z:-0.30 [[ 0.96107856 0.07509365 0.26587394 12.58158746] [-0.10600371 0.988926 0.10386812 -0.19366676] [-0.25512981 -0.12800904 0.95839578 -0.29522996] [ 0. 0. 0. 1. ]] SLAMing on 48.138241007999994 meters Centerline goodness : 0.865086 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.20, Z:-0.30 [[ 0.96157521 0.0757555 0.26388296 12.62063054] [-0.10835484 0.98786865 0.1112419 -0.19773029] [-0.25225452 -0.13556045 0.95811848 -0.30032463] [ 0. 0. 0. 1. ]] SLAMing on 48.198241008 meters Centerline goodness : 0.867907 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.20, Z:-0.31 [[ 0.96163272 0.08524455 0.26076021 12.65485566] [-0.11481933 0.98830515 0.10034661 -0.20019633] [-0.24915665 -0.1264369 0.96017429 -0.31006748] [ 0. 0. 0. 1. ]] SLAMing on 48.25824100799999 meters Centerline goodness : 0.873331 with order 1 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.21, Z:-0.31 [[ 0.96114406 0.08715368 0.26192809 12.70698222] [-0.11810147 0.98745496 0.10480812 -0.206322 ] [-0.24950778 -0.1316698 0.95937945 -0.31044252] [ 0. 0. 0. 1. ]] SLAMing on 48.318241007999994 meters Centerline goodness : 0.873249 with order 1 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.20, Z:-0.33 [[ 0.95992942 0.09336906 0.26423046 12.71058841] [-0.11932609 0.98930207 0.08392078 -0.1991377 ] [-0.25356814 -0.11208762 0.96080152 -0.3272336 ] [ 0. 0. 0. 1. ]] SLAMing on 48.378241007999996 meters Centerline goodness : 0.874907 with order 1 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.20, Z:-0.34 [[ 0.95888446 0.09514074 0.26737395 12.73261585] [-0.11967517 0.98982431 0.07697849 -0.19850374] [-0.25732945 -0.10581151 0.96051313 -0.33923665] [ 0. 0. 0. 1. ]] SLAMing on 48.438241008 meters Centerline goodness : 0.872264 with order 1 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.20, Z:-0.35 [[ 0.95988 0.09272571 0.26463624 12.76771296] [-0.11669771 0.99023106 0.07631575 -0.20458116] [-0.25497459 -0.1041364 0.96132386 -0.3467076 ] [ 0. 0. 0. 1. ]] SLAMing on 48.498241007999994 meters Centerline goodness : 0.875000 with order 1 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.21, Z:-0.35 [[ 0.96101158 0.09005549 0.26143211 12.80258021] [-0.11334717 0.99069063 0.07539554 -0.21081532] [-0.25220856 -0.10208858 0.96227271 -0.35350997] [ 0. 0. 0. 1. ]] SLAMing on 48.558241007999996 meters Centerline goodness : 0.875333 with order 1 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.22, Z:-0.35 [[ 0.96208066 0.08294614 0.25984754 12.85401806] [-0.10982665 0.98980618 0.0906743 -0.22302074] [-0.24967762 -0.11577417 0.96138308 -0.35228285] [ 0. 0. 0. 1. ]] SLAMing on 48.618241008 meters Centerline goodness : 0.873978 with order 1 Centerline is valid? [False, False] Translation: X:12.88, Y:-0.23, Z:-0.34 [[ 0.96134481 0.07480945 0.26499002 12.88256314] [-0.10762775 0.9879123 0.11155968 -0.22758308] [-0.25344118 -0.1357676 0.95777593 -0.34402092] [ 0. 0. 0. 1. ]] SLAMing on 48.67824100799999 meters Centerline goodness : 0.873938 with order 1 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.23, Z:-0.34 [[ 0.96084172 0.07253195 0.26743653 12.89068989] [-0.10821694 0.98671252 0.121192 -0.22751763] [-0.25509268 -0.14538749 0.95592374 -0.33695689] [ 0. 0. 0. 1. ]] SLAMing on 48.738241007999996 meters Centerline goodness : 0.876225 with order 1 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.22, Z:-0.34 [[ 0.96109165 0.0717494 0.26674868 12.89451058] [-0.10660335 0.9872086 0.11855341 -0.22171988] [-0.25483046 -0.14237699 0.95644667 -0.34150967] [ 0. 0. 0. 1. ]] SLAMing on 48.798241008 meters Centerline goodness : 0.882509 with order 1 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.22, Z:-0.35 [[ 0.95956131 0.07702923 0.27075558 12.90704794] [-0.1095301 0.98820378 0.10703478 -0.21515088] [-0.25931688 -0.13236232 0.95667914 -0.35465069] [ 0. 0. 0. 1. ]] SLAMing on 48.85824100799999 meters Centerline goodness : 0.877050 with order 1 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.21, Z:-0.36 [[ 0.95996109 0.08755258 0.26610008 12.91610978] [-0.11714786 0.98832335 0.09743376 -0.20745258] [-0.25446234 -0.12470568 0.95900856 -0.36147656] [ 0. 0. 0. 1. ]] SLAMing on 48.918241007999995 meters Centerline goodness : 0.877594 with order 1 Centerline is valid? [False, False] Translation: X:12.93, Y:-0.20, Z:-0.37 [[ 0.96012198 0.09881148 0.26153789 12.92563839] [-0.12661064 0.98771144 0.0916289 -0.20420976] [-0.24926998 -0.1210884 0.96083405 -0.36532602] [ 0. 0. 0. 1. ]] SLAMing on 48.978241008 meters Centerline goodness : 0.879831 with order 1 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.20, Z:-0.37 [[ 0.95823808 0.10599989 0.26560084 12.94032388] [-0.13357589 0.98712746 0.08795942 -0.20230874] [-0.25285819 -0.11976393 0.96006215 -0.37134438] [ 0. 0. 0. 1. ]] SLAMing on 49.03824100799999 meters Centerline goodness : 0.884337 with order 1 Centerline is valid? [False, False] Translation: X:12.96, Y:-0.20, Z:-0.38 [[ 0.95674349 0.1097375 0.26944308 12.95511339] [-0.13571478 0.98753711 0.07969915 -0.20134644] [-0.25733906 -0.11281905 0.9597127 -0.37755405] [ 0. 0. 0. 1. ]] SLAMing on 49.098241007999995 meters Centerline goodness : 0.882832 with order 1 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.20, Z:-0.38 [[ 0.95837383 0.11614428 0.2608258 12.96998679] [-0.13989073 0.98737229 0.07434069 -0.20406699] [-0.24889793 -0.10773328 0.96251928 -0.37958185] [ 0. 0. 0. 1. ]] SLAMing on 49.158241008 meters Centerline goodness : 0.881777 with order 1 Centerline is valid? [False, False] Translation: X:13.01, Y:-0.21, Z:-0.38 [[ 0.95945108 0.11391505 0.25783131 13.01231815] [-0.13944079 0.98675209 0.08292517 -0.21247428] [-0.24496916 -0.11551485 0.96262476 -0.38360963] [ 0. 0. 0. 1. ]] SLAMing on 49.21824100799999 meters Centerline goodness : 0.885107 with order 1 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.21, Z:-0.38 [[ 0.96015005 0.10979036 0.25701744 13.02358076] [-0.13660903 0.98663014 0.08887601 -0.21377719] [-0.24382343 -0.12044521 0.96231133 -0.37581018] [ 0. 0. 0. 1. ]] SLAMing on 49.278241007999995 meters Centerline goodness : 0.888953 with order 1 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.22, Z:-0.37 [[ 0.96222904 0.11016288 0.24895665 13.04679264] [-0.13639068 0.98650064 0.09063154 -0.22200808] [-0.23561167 -0.12116367 0.96426475 -0.36714722] [ 0. 0. 0. 1. ]] SLAMing on 49.338241008 meters Centerline goodness : 0.888641 with order 1 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.22, Z:-0.37 [[ 0.96254793 0.10913882 0.24817373 13.05129536] [-0.13507403 0.98674418 0.08994961 -0.21954496] [-0.23506699 -0.12010263 0.96453039 -0.37022321] [ 0. 0. 0. 1. ]] SLAMing on 49.39824100799999 meters Centerline goodness : 0.883190 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.22, Z:-0.37 [[ 0.96293586 0.10906644 0.24669626 13.06098306] [-0.13606426 0.98612205 0.09513048 -0.2168797 ] [-0.23289708 -0.1251711 0.96441233 -0.36978338] [ 0. 0. 0. 1. ]] SLAMing on 49.458241007999995 meters Centerline goodness : 0.890939 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.22, Z:-0.36 [[ 0.96503827 0.11202672 0.23696234 13.0779867 ] [-0.13685162 0.98640288 0.09099999 -0.21828598] [-0.22354591 -0.12024715 0.96724756 -0.36406629] [ 0. 0. 0. 1. ]] SLAMing on 49.518241008 meters Centerline goodness : 0.889230 with order 1 Centerline is valid? [False, False] Translation: X:13.09, Y:-0.21, Z:-0.36 [[ 0.96562409 0.11016327 0.23544464 13.0855889 ] [-0.13503961 0.98653747 0.09223955 -0.21394031] [-0.22211355 -0.12086308 0.96750074 -0.36240196] [ 0. 0. 0. 1. ]] SLAMing on 49.57824100799999 meters Centerline goodness : 0.887547 with order 1 Centerline is valid? [False, False] Translation: X:13.09, Y:-0.21, Z:-0.37 [[ 0.96630546 0.10890485 0.23322412 13.09209804] [-0.13246341 0.98729067 0.08780984 -0.20749082] [-0.22069708 -0.1157448 0.96845028 -0.37203065] [ 0. 0. 0. 1. ]] SLAMing on 49.638241007999994 meters Centerline goodness : 0.885898 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.21, Z:-0.37 [[ 0.96678026 0.10881177 0.23129186 13.12826302] [-0.13342681 0.98663363 0.09354871 -0.21239336] [-0.21802112 -0.12130158 0.96837633 -0.37264763] [ 0. 0. 0. 1. ]] SLAMing on 49.698241008 meters Centerline goodness : 0.889399 with order 1 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.21, Z:-0.36 [[ 0.96754772 0.10377463 0.23039583 13.13954815] [-0.12938375 0.98664586 0.09894337 -0.2144981 ] [-0.21705128 -0.12554191 0.9680537 -0.36269525] [ 0. 0. 0. 1. ]] SLAMing on 49.75824100799999 meters Centerline goodness : 0.890141 with order 1 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.21, Z:-0.37 [[ 0.96860268 0.1103175 0.22279786 13.15845968] [-0.13328399 0.98691152 0.09078014 -0.21013859] [-0.20986714 -0.11762527 0.9706287 -0.37056748] [ 0. 0. 0. 1. ]] SLAMing on 49.818241007999994 meters Centerline goodness : 0.891770 with order 1 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.20, Z:-0.37 [[ 0.9686672 0.11207529 0.22163705 13.16490751] [-0.13566372 0.98626715 0.09419372 -0.20458145] [-0.20803656 -0.12131048 0.97056919 -0.37196102] [ 0. 0. 0. 1. ]] SLAMing on 49.878241007999996 meters Centerline goodness : 0.889531 with order 1 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.20, Z:-0.38 [[ 0.96771504 0.11601221 0.22376053 13.18011293] [-0.13735008 0.98710349 0.08222932 -0.20082601] [-0.21133519 -0.11030808 0.97116917 -0.38330425] [ 0. 0. 0. 1. ]] SLAMing on 49.938241008 meters Centerline goodness : 0.894357 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.20, Z:-0.39 [[ 0.96689184 0.11809245 0.22621746 13.19786154] [-0.13758737 0.98784089 0.07238854 -0.19839325] [-0.21491831 -0.10111655 0.97138332 -0.39011527] [ 0. 0. 0. 1. ]] SLAMing on 49.998241007999994 meters Centerline goodness : 0.893483 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:-0.20, Z:-0.38 [[ 0.96736786 0.11377169 0.2263966 13.2204707 ] [-0.1362651 0.98690697 0.08629282 -0.20109467] [-0.2136147 -0.11432685 0.9702052 -0.38465138] [ 0. 0. 0. 1. ]] SLAMing on 50.058241007999996 meters Centerline goodness : 0.894234 with order 1 Centerline is valid? [False, False] Translation: X:13.23, Y:-0.20, Z:-0.39 [[ 0.96810217 0.11235373 0.22395271 13.23298148] [-0.13504627 0.98686258 0.08868341 -0.19791501] [-0.21104664 -0.11609858 0.97055677 -0.38888715] [ 0. 0. 0. 1. ]] SLAMing on 50.118241008 meters Centerline goodness : 0.898905 with order 1 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.20, Z:-0.38 [[ 0.96829248 0.10897425 0.22479833 13.24317881] [-0.1332769 0.98642922 0.09588877 -0.19916669] [-0.21129823 -0.1228088 0.96967575 -0.38235779] [ 0. 0. 0. 1. ]] SLAMing on 50.17824100799999 meters Centerline goodness : 0.898931 with order 1 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.20, Z:-0.37 [[ 0.96839271 0.09886614 0.22900011 13.24216501] [-0.12798924 0.98496851 0.11599912 -0.19862478] [-0.21408951 -0.14164225 0.96649012 -0.36517185] [ 0. 0. 0. 1. ]] SLAMing on 50.238241007999996 meters Centerline goodness : 0.897843 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.19, Z:-0.35 [[ 0.96767839 0.09151121 0.23499838 13.19722827] [-0.12319288 0.98462279 0.12386069 -0.18971716] [-0.22005012 -0.14880744 0.96407173 -0.35079454] [ 0. 0. 0. 1. ]] SLAMing on 50.298241008 meters Centerline goodness : 0.897281 with order 1 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.18, Z:-0.35 [[ 0.96723053 0.09265869 0.23638836 13.15705554] [-0.12217983 0.98600462 0.11343267 -0.17671868] [-0.2225695 -0.13859743 0.9650148 -0.35028332] [ 0. 0. 0. 1. ]] SLAMing on 50.35824100799999 meters Centerline goodness : 0.899577 with order 1 Centerline is valid? [False, False] Translation: X:13.10, Y:-0.16, Z:-0.35 [[ 0.96716393 0.1009084 0.23326256 13.10394516] [-0.12747722 0.98660867 0.10174917 -0.15956627] [-0.21987152 -0.12814379 0.96707584 -0.34662354] [ 0. 0. 0. 1. ]] SLAMing on 50.418241007999995 meters Centerline goodness : 0.897444 with order 1 Centerline is valid? [False, False] Translation: X:13.10, Y:-0.15, Z:-0.35 [[ 0.96691954 0.10314538 0.23329732 13.10227188] [-0.12927394 0.98659489 0.09959306 -0.15308086] [-0.21989738 -0.12645774 0.96729188 -0.34947899] [ 0. 0. 0. 1. ]] SLAMing on 50.478241008 meters Centerline goodness : 0.900519 with order 1 Centerline is valid? [False, False] Translation: X:13.11, Y:-0.15, Z:-0.36 [[ 0.96553946 0.11617255 0.23288944 13.10538084] [-0.13975485 0.98632103 0.08740371 -0.14639887] [-0.21954984 -0.11693916 0.96856755 -0.35929652] [ 0. 0. 0. 1. ]] SLAMing on 50.53824100799999 meters Centerline goodness : 0.899247 with order 1 Centerline is valid? [False, False] Translation: X:13.11, Y:-0.14, Z:-0.37 [[ 0.96387124 0.1258202 0.23477971 13.11177836] [-0.14683795 0.98637148 0.07422882 -0.14022031] [-0.22224053 -0.1060216 0.96921028 -0.37366704] [ 0. 0. 0. 1. ]] SLAMing on 50.598241007999995 meters Centerline goodness : 0.893639 with order 1 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.14, Z:-0.39 [[ 0.96194417 0.13359363 0.23836139 13.12411532] [-0.15330176 0.98596818 0.06607053 -0.13697257] [-0.22619015 -0.10009738 0.96892648 -0.3863017 ] [ 0. 0. 0. 1. ]] SLAMing on 50.658241008 meters Centerline goodness : 0.896660 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.13, Z:-0.40 [[ 0.96071844 0.14004783 0.23959692 13.12832496] [-0.15591006 0.98658052 0.04848648 -0.13432791] [-0.22959123 -0.08393743 0.96966096 -0.39726895] [ 0. 0. 0. 1. ]] SLAMing on 50.71824100799999 meters Centerline goodness : 0.895238 with order 1 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.14, Z:-0.40 [[ 0.96146715 0.14803188 0.23166241 13.13948136] [-0.16267418 0.98563827 0.04532454 -0.13841128] [-0.22162586 -0.08126354 0.97173979 -0.39711893] [ 0. 0. 0. 1. ]] SLAMing on 50.778241007999995 meters Centerline goodness : 0.899036 with order 1 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.14, Z:-0.40 [[ 0.96209934 0.14505171 0.23092176 13.14005348] [-0.15853351 0.98650871 0.04083728 -0.13982266] [-0.22188281 -0.07589835 0.97211494 -0.39938723] [ 0. 0. 0. 1. ]] SLAMing on 50.838241008 meters Centerline goodness : 0.898810 with order 1 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.14, Z:-0.40 [[ 0.9628305 0.14150214 0.23007516 13.14156221] [-0.15398514 0.98737475 0.03714417 -0.1433944 ] [-0.22191443 -0.07119169 0.97246374 -0.40057723] [ 0. 0. 0. 1. ]] SLAMing on 50.89824100799999 meters Centerline goodness : 0.901405 with order 1 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.15, Z:-0.40 [[ 0.96349047 0.13816561 0.22933899 13.14229633] [-0.14974687 0.98814644 0.03380076 -0.14813239] [-0.2219504 -0.0669095 0.97275955 -0.40092629] [ 0. 0. 0. 1. ]] SLAMing on 50.958241007999995 meters Centerline goodness : 0.901391 with order 1 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.15, Z:-0.40 [[ 0.96414627 0.13497468 0.22848151 13.14341495] [-0.1454825 0.98891467 0.02970906 -0.14916467] [-0.22193874 -0.06188394 0.97309484 -0.40172373] [ 0. 0. 0. 1. ]] SLAMing on 51.018241008 meters Centerline goodness : 0.902203 with order 1 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.16, Z:-0.40 [[ 0.96469456 0.12614221 0.23119806 13.17417597] [-0.14038466 0.98902063 0.04615556 -0.15648604] [-0.22283749 -0.07698268 0.97181126 -0.39929101] [ 0. 0. 0. 1. ]] SLAMing on 51.07824100799999 meters Centerline goodness : 0.899532 with order 1 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.16, Z:-0.40 [[ 0.96498655 0.12652089 0.2297682 13.18146618] [-0.14213372 0.98844607 0.05265331 -0.16060708] [-0.22045173 -0.08346754 0.97182005 -0.39618295] [ 0. 0. 0. 1. ]] SLAMing on 51.138241007999994 meters Centerline goodness : 0.901013 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:-0.17, Z:-0.39 [[ 0.96552076 0.12875353 0.22625691 13.21629318] [-0.14631252 0.98725822 0.06256073 -0.17126879] [-0.21531908 -0.0935079 0.97205656 -0.39256539] [ 0. 0. 0. 1. ]] SLAMing on 51.198241008 meters Centerline goodness : 0.899079 with order 1 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.17, Z:-0.39 [[ 0.96635762 0.12381757 0.22543769 13.2407649 ] [-0.14390091 0.98675457 0.07488628 -0.17430764] [-0.21317944 -0.10480762 0.97137526 -0.3912699 ] [ 0. 0. 0. 1. ]] SLAMing on 51.25824100799999 meters Centerline goodness : 0.900246 with order 1 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.19, Z:-0.37 [[ 0.96439977 0.1072849 0.24170858 13.27557955] [-0.13892074 0.98326611 0.11785065 -0.18666091] [-0.22502026 -0.14723348 0.96316571 -0.3664534 ] [ 0. 0. 0. 1. ]] SLAMing on 51.318241007999994 meters Centerline goodness : 0.900167 with order 1 Centerline is valid? [False, False] Translation: X:13.29, Y:-0.19, Z:-0.35 [[ 0.96232183 0.08950432 0.25675996 13.28947318] [-0.12894008 0.98156329 0.14109558 -0.1916163 ] [-0.23939748 -0.168886 0.95612048 -0.34568711] [ 0. 0. 0. 1. ]] SLAMing on 51.378241007999996 meters Centerline goodness : 0.903197 with order 1 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.19, Z:-0.34 [[ 0.96052708 0.07706923 0.2672977 13.29609208] [-0.12135438 0.98069641 0.15332213 -0.18830479] [-0.25032148 -0.1797078 0.95133814 -0.33843892] [ 0. 0. 0. 1. ]] SLAMing on 51.43824100799999 meters Centerline goodness : 0.898828 with order 1 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.17, Z:-0.34 [[ 0.96165604 0.0781652 0.26288373 13.25328659] [-0.11733398 0.98363226 0.1367491 -0.17247021] [-0.2478919 -0.1623508 0.95508734 -0.33969741] [ 0. 0. 0. 1. ]] SLAMing on 51.498241007999994 meters Centerline goodness : 0.898707 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.16, Z:-0.34 [[ 0.96273555 0.08432432 0.25696239 13.19893434] [-0.11858791 0.98555785 0.12088268 -0.15567449] [-0.24305796 -0.14685068 0.95883143 -0.33627488] [ 0. 0. 0. 1. ]] SLAMing on 51.558241007999996 meters Centerline goodness : 0.897171 with order 1 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.13, Z:-0.34 [[ 0.96229579 0.09853261 0.25353133 13.15196678] [-0.12667507 0.98717568 0.09714734 -0.1346839 ] [-0.24070778 -0.12560058 0.96243663 -0.33860355] [ 0. 0. 0. 1. ]] SLAMing on 51.618241008 meters Centerline goodness : 0.896220 with order 1 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.12, Z:-0.34 [[ 0.96138542 0.10311535 0.25515741 13.14881611] [-0.13175256 0.98644926 0.09777076 -0.12331306] [-0.24161817 -0.12761303 0.96194364 -0.34182096] [ 0. 0. 0. 1. ]] SLAMing on 51.67824100799999 meters Centerline goodness : 0.898956 with order 1 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.12, Z:-0.33 [[ 0.95996184 0.10703143 0.25887745 13.14983331] [-0.13986244 0.98383056 0.11187459 -0.12323449] [-0.24271744 -0.14360257 0.95940948 -0.33079201] [ 0. 0. 0. 1. ]] SLAMing on 51.738241007999996 meters Centerline goodness : 0.900502 with order 1 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.12, Z:-0.34 [[ 0.95849129 0.11477713 0.26099934 13.15986988] [-0.14496509 0.98442541 0.09945716 -0.11592135] [-0.24551898 -0.13316461 0.96020186 -0.34342367] [ 0. 0. 0. 1. ]] SLAMing on 51.798241008 meters Centerline goodness : 0.899842 with order 1 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.11, Z:-0.36 [[ 0.95733274 0.12099946 0.26243694 13.16680067] [-0.14698133 0.98576184 0.08167059 -0.10927383] [-0.24881823 -0.11675926 0.96148675 -0.3583273 ] [ 0. 0. 0. 1. ]] SLAMing on 51.85824100799999 meters Centerline goodness : 0.895796 with order 1 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.11, Z:-0.36 [[ 0.95766733 0.11983428 0.26174994 13.16995656] [-0.14544519 0.98606959 0.08069983 -0.10775311] [-0.24843305 -0.11535386 0.96175595 -0.36052443] [ 0. 0. 0. 1. ]] SLAMing on 51.918241007999995 meters Centerline goodness : 0.892983 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.12, Z:-0.36 [[ 0.95843429 0.11945317 0.25910354 13.20305736] [-0.14570449 0.98571037 0.08452973 -0.11519428] [-0.2453037 -0.11876874 0.96214348 -0.36368577] [ 0. 0. 0. 1. ]] SLAMing on 51.978241008 meters Centerline goodness : 0.888361 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.12, Z:-0.36 [[ 0.95868831 0.11826491 0.25870858 13.20549047] [-0.14436434 0.98593041 0.0842625 -0.11688142] [-0.24510336 -0.11812976 0.9622732 -0.36432051] [ 0. 0. 0. 1. ]] SLAMing on 52.03824100799999 meters Centerline goodness : 0.889511 with order 1 Centerline is valid? [False, False] Translation: X:13.23, Y:-0.12, Z:-0.37 [[ 0.95859219 0.11876987 0.2588334 13.23414827] [-0.14499347 0.98580646 0.08463168 -0.12225434] [-0.24510794 -0.11865642 0.96220723 -0.36713854] [ 0. 0. 0. 1. ]] SLAMing on 52.098241007999995 meters Centerline goodness : 0.885706 with order 1 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.12, Z:-0.37 [[ 0.95858268 0.12025398 0.25818254 13.23893766] [-0.14751206 0.98505937 0.08887199 -0.12252109] [-0.24363792 -0.12327619 0.96199976 -0.36820198] [ 0. 0. 0. 1. ]] SLAMing on 52.158241008 meters Centerline goodness : 0.885384 with order 1 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.13, Z:-0.37 [[ 0.95850201 0.12190447 0.25770758 13.24308 ] [-0.15044927 0.98413464 0.09404272 -0.12509632] [-0.24215473 -0.12891205 0.96163547 -0.36714997] [ 0. 0. 0. 1. ]] SLAMing on 52.21824100799999 meters Centerline goodness : 0.884964 with order 1 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.13, Z:-0.37 [[ 0.95855711 0.12359391 0.25669595 13.27586105] [-0.15412266 0.98273533 0.10235951 -0.13473137] [-0.23961317 -0.1376801 0.96105656 -0.36594662] [ 0. 0. 0. 1. ]] SLAMing on 52.278241007999995 meters Centerline goodness : 0.883732 with order 1 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.15, Z:-0.35 [[ 0.95864401 0.12160402 0.25732105 13.31793773] [-0.15742369 0.97978396 0.12345513 -0.15190914] [-0.2371064 -0.15885795 0.95840738 -0.3526325 ] [ 0. 0. 0. 1. ]] SLAMing on 52.338241008 meters Centerline goodness : 0.883659 with order 1 Centerline is valid? [False, False] Translation: X:13.33, Y:-0.16, Z:-0.35 [[ 0.96041189 0.12365957 0.24963437 13.33450261] [-0.1586004 0.97939527 0.12502329 -0.15633377] [-0.2290304 -0.15966597 0.96023531 -0.35404605] [ 0. 0. 0. 1. ]] SLAMing on 52.39824100799999 meters Centerline goodness : 0.881937 with order 1 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.17, Z:-0.35 [[ 0.96137405 0.12030089 0.24756337 13.38010381] [-0.15788319 0.9777705 0.13797734 -0.1690486 ] [-0.22546137 -0.17173393 0.95899668 -0.35382778] [ 0. 0. 0. 1. ]] SLAMing on 52.458241007999995 meters Centerline goodness : 0.884018 with order 1 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.18, Z:-0.35 [[ 0.96176933 0.11370759 0.24913919 13.4286908 ] [-0.15553279 0.97556859 0.15516272 -0.18374771] [-0.22540919 -0.18798006 0.95595721 -0.34601361] [ 0. 0. 0. 1. ]] SLAMing on 52.518241008 meters Centerline goodness : 0.885559 with order 1 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.20, Z:-0.33 [[ 0.96113088 0.10653875 0.25470948 13.47355328] [-0.15317385 0.97331292 0.17087929 -0.19763101] [-0.22970676 -0.20325219 0.95180006 -0.33490534] [ 0. 0. 0. 1. ]] SLAMing on 52.57824100799999 meters Centerline goodness : 0.889512 with order 1 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.20, Z:-0.34 [[ 0.95999764 0.10658294 0.25892972 13.49660294] [-0.15283188 0.97428015 0.16559169 -0.19703934] [-0.23462084 -0.19854035 0.95159592 -0.34120374] [ 0. 0. 0. 1. ]] SLAMing on 52.638241007999994 meters Centerline goodness : 0.887383 with order 1 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.20, Z:-0.34 [[ 0.96029155 0.10463729 0.2586333 13.54124713] [-0.15482247 0.97103572 0.18198803 -0.20448625] [-0.23209944 -0.21480381 0.94867759 -0.33747297] [ 0. 0. 0. 1. ]] SLAMing on 52.698241008 meters Centerline goodness : 0.883896 with order 1 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.20, Z:-0.35 [[ 0.95931527 0.10569771 0.26180567 13.56719557] [-0.15586766 0.97143468 0.17894114 -0.2036347 ] [-0.23541343 -0.21246801 0.94838698 -0.34542165] [ 0. 0. 0. 1. ]] SLAMing on 52.75824100799999 meters Centerline goodness : 0.883495 with order 1 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.21, Z:-0.34 [[ 0.95860066 0.10331159 0.26535162 13.60579016] [-0.1568013 0.96936899 0.18904264 -0.20937138] [-0.23769334 -0.22282388 0.94543714 -0.3444604 ] [ 0. 0. 0. 1. ]] SLAMing on 52.818241007999994 meters Centerline goodness : 0.886865 with order 1 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.20, Z:-0.36 [[ 0.95733286 0.10795661 0.26806561 13.61493259] [-0.15787898 0.97231884 0.17225069 -0.20499501] [-0.24204964 -0.20722317 0.94787685 -0.35982814] [ 0. 0. 0. 1. ]] SLAMing on 52.878241007999996 meters Centerline goodness : 0.886768 with order 1 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.20, Z:-0.37 [[ 0.95578228 0.11120858 0.27223683 13.63147435] [-0.16039752 0.97305518 0.16563894 -0.20441669] [-0.24648098 -0.20198087 0.94786647 -0.36594329] [ 0. 0. 0. 1. ]] SLAMing on 52.93824100799999 meters Centerline goodness : 0.885259 with order 1 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.20, Z:-0.38 [[ 0.95477578 0.1187841 0.27256842 13.63416125] [-0.16282408 0.97593549 0.14504566 -0.19961472] [-0.24878007 -0.18286678 0.95114048 -0.3824373 ] [ 0. 0. 0. 1. ]] SLAMing on 52.998241007999994 meters Centerline goodness : 0.883179 with order 1 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.20, Z:-0.40 [[ 0.95394683 0.12381956 0.27322915 13.6470663 ] [-0.16400125 0.97793364 0.12941943 -0.19670535] [-0.25117532 -0.16826917 0.95320325 -0.40067477] [ 0. 0. 0. 1. ]] SLAMing on 53.058241007999996 meters Centerline goodness : 0.885131 with order 1 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.20, Z:-0.41 [[ 0.95318998 0.12640977 0.2746806 13.66447525] [-0.16366739 0.97953295 0.1171673 -0.19615635] [-0.25424761 -0.15663895 0.95437016 -0.41308389] [ 0. 0. 0. 1. ]] SLAMing on 53.118241008 meters Centerline goodness : 0.883488 with order 1 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.19, Z:-0.43 [[ 0.95254072 0.12608204 0.27707308 13.67640148] [-0.15827376 0.98262084 0.09698296 -0.19365113] [-0.26002997 -0.13623362 0.95594185 -0.42719823] [ 0. 0. 0. 1. ]] SLAMing on 53.17824100799999 meters Centerline goodness : 0.882416 with order 1 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.19, Z:-0.43 [[ 0.95392127 0.12064928 0.27473253 13.68406053] [-0.15049794 0.98448521 0.09021778 -0.19047767] [-0.2595854 -0.12740734 0.95727885 -0.43438257] [ 0. 0. 0. 1. ]] SLAMing on 53.238241007999996 meters Centerline goodness : 0.877485 with order 1 Centerline is valid? [False, False] Translation: X:13.70, Y:-0.19, Z:-0.44 [[ 0.95503648 0.11665523 0.27257454 13.70143517] [-0.14751611 0.98443364 0.09554792 -0.18957953] [-0.25718538 -0.13146088 0.95737857 -0.43788743] [ 0. 0. 0. 1. ]] SLAMing on 53.298241008 meters Centerline goodness : 0.878928 with order 1 Centerline is valid? [False, False] Translation: X:13.71, Y:-0.19, Z:-0.43 [[ 0.95552946 0.1154683 0.27134945 13.71198706] [-0.14802704 0.98363736 0.10269146 -0.19088882] [-0.25505185 -0.13829177 0.95698691 -0.43403233] [ 0. 0. 0. 1. ]] SLAMing on 53.35824100799999 meters Centerline goodness : 0.876693 with order 1 Centerline is valid? [False, False] Translation: X:13.71, Y:-0.19, Z:-0.41 [[ 0.9566597 0.10770931 0.27055669 13.70969107] [-0.1449284 0.98194962 0.12153477 -0.19231907] [-0.25258262 -0.15547877 0.95500177 -0.41387091] [ 0. 0. 0. 1. ]] SLAMing on 53.418241007999995 meters Centerline goodness : 0.877244 with order 1 Centerline is valid? [False, False] Translation: X:13.71, Y:-0.19, Z:-0.42 [[ 0.95662716 0.10809016 0.27051987 13.71057632] [-0.14453815 0.98236525 0.11860536 -0.18525103] [-0.25292925 -0.15256155 0.95538043 -0.41811355] [ 0. 0. 0. 1. ]] SLAMing on 53.478241008 meters Centerline goodness : 0.876776 with order 1 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.18, Z:-0.43 [[ 0.95513483 0.11238632 0.27401965 13.72347384] [-0.14627258 0.98349666 0.10648312 -0.18189188] [-0.25753017 -0.1417873 0.95581095 -0.43139258] [ 0. 0. 0. 1. ]] SLAMing on 53.53824100799999 meters Centerline goodness : 0.876552 with order 1 Centerline is valid? [False, False] Translation: X:13.73, Y:-0.18, Z:-0.43 [[ 0.9549409 0.11441912 0.27385425 13.72582482] [-0.14951278 0.98252673 0.11084741 -0.18261465] [-0.25638606 -0.14679743 0.95536208 -0.43027511] [ 0. 0. 0. 1. ]] SLAMing on 53.598241007999995 meters Centerline goodness : 0.877752 with order 1 Centerline is valid? [False, False] Translation: X:13.73, Y:-0.18, Z:-0.44 [[ 0.95403547 0.12357313 0.27303116 13.72911471] [-0.15387245 0.983759 0.09242019 -0.17770898] [-0.2571762 -0.13018411 0.95755548 -0.44478763] [ 0. 0. 0. 1. ]] SLAMing on 53.658241008 meters Centerline goodness : 0.882108 with order 1 Centerline is valid? [False, False] Translation: X:13.74, Y:-0.17, Z:-0.46 [[ 0.95251225 0.13045035 0.27514199 13.73517293] [-0.15679867 0.98470582 0.07595147 -0.17311735] [-0.26102602 -0.11548661 0.9583988 -0.45905619] [ 0. 0. 0. 1. ]] SLAMing on 53.71824100799999 meters Centerline goodness : 0.874287 with order 1 Centerline is valid? [False, False] Translation: X:13.74, Y:-0.17, Z:-0.47 [[ 0.95132356 0.13590333 0.27661121 13.73902052] [-0.1569445 0.98605801 0.05529939 -0.16785737] [-0.26523933 -0.09602022 0.9593895 -0.47357654] [ 0. 0. 0. 1. ]] SLAMing on 53.778241007999995 meters Centerline goodness : 0.881567 with order 1 Centerline is valid? [False, False] Translation: X:13.76, Y:-0.17, Z:-0.47 [[ 0.9520397 0.12448182 0.27950793 13.76382006] [-0.14850188 0.98668126 0.06638741 -0.17438072] [-0.26752121 -0.1047109 0.95784551 -0.46835702] [ 0. 0. 0. 1. ]] SLAMing on 53.838241008 meters Centerline goodness : 0.878163 with order 1 Centerline is valid? [False, False] Translation: X:13.77, Y:-0.17, Z:-0.47 [[ 0.9527986 0.12238638 0.27784242 13.77065211] [-0.145852 0.98714631 0.06534035 -0.17189135] [-0.26627435 -0.10278007 0.95840191 -0.47183532] [ 0. 0. 0. 1. ]] SLAMing on 53.89824100799999 meters Centerline goodness : 0.878057 with order 1 Centerline is valid? [False, False] Translation: X:13.78, Y:-0.17, Z:-0.47 [[ 0.95315453 0.1227602 0.27645321 13.77749445] [-0.14732305 0.98662055 0.06982699 -0.17215041] [-0.26418244 -0.10728385 0.95848725 -0.47136154] [ 0. 0. 0. 1. ]] SLAMing on 53.958241007999995 meters Centerline goodness : 0.880003 with order 1 Centerline is valid? [False, False] Translation: X:13.83, Y:-0.19, Z:-0.46 [[ 0.95321621 0.11509642 0.27952044 13.82990319] [-0.1466465 0.98465047 0.09464809 -0.1865339 ] [-0.26433627 -0.13121079 0.95546327 -0.45746958] [ 0. 0. 0. 1. ]] SLAMing on 54.018241008 meters Centerline goodness : 0.875350 with order 1 Centerline is valid? [False, False] Translation: X:13.83, Y:-0.18, Z:-0.46 [[ 0.95364399 0.11235385 0.27917693 13.83134966] [-0.14212725 0.98586287 0.08873694 -0.18012114] [-0.26526024 -0.1243021 0.95613074 -0.46159168] [ 0. 0. 0. 1. ]] SLAMing on 54.07824100799999 meters Centerline goodness : 0.875449 with order 1 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.18, Z:-0.46 [[ 0.95448881 0.10691196 0.27842582 13.84452938] [-0.13782724 0.98599668 0.09388397 -0.17890776] [-0.26448962 -0.12798586 0.95585818 -0.45630701] [ 0. 0. 0. 1. ]] SLAMing on 54.138241007999994 meters Centerline goodness : 0.877207 with order 1 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.18, Z:-0.45 [[ 0.95417875 0.09692793 0.28310402 13.87068766] [-0.13311894 0.98480909 0.11149173 -0.18293291] [-0.26799675 -0.14406954 0.95258685 -0.44595373] [ 0. 0. 0. 1. ]] SLAMing on 54.198241008 meters Centerline goodness : 0.874880 with order 1 Centerline is valid? [False, False] Translation: X:13.90, Y:-0.18, Z:-0.44 [[ 0.95367572 0.08579788 0.2883424 13.89985448] [-0.12722887 0.98356164 0.12813786 -0.18416769] [-0.27260857 -0.15888745 0.94891483 -0.43956085] [ 0. 0. 0. 1. ]] SLAMing on 54.25824100799999 meters Centerline goodness : 0.874762 with order 1 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.19, Z:-0.43 [[ 0.95240368 0.07503221 0.29546134 13.92989978] [-0.12313419 0.98133617 0.14770675 -0.18504614] [-0.27886414 -0.17705785 0.94386721 -0.43296782] [ 0. 0. 0. 1. ]] SLAMing on 54.318241007999994 meters Centerline goodness : 0.874755 with order 1 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.18, Z:-0.43 [[ 0.9519002 0.07599457 0.2968347 13.92787678] [-0.12380586 0.98154675 0.14573296 -0.17576307] [-0.28028222 -0.17547311 0.94374311 -0.43398198] [ 0. 0. 0. 1. ]] SLAMing on 54.378241007999996 meters Centerline goodness : 0.870506 with order 1 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.17, Z:-0.45 [[ 0.9501065 0.08730994 0.29945719 13.93087775] [-0.13211742 0.98230102 0.13277684 -0.16922214] [-0.28256436 -0.16571565 0.94482575 -0.44609311] [ 0. 0. 0. 1. ]] SLAMing on 54.43824100799999 meters Centerline goodness : 0.867393 with order 1 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.16, Z:-0.46 [[ 0.94882691 0.10133241 0.29909738 13.92628262] [-0.14098558 0.98341777 0.11407262 -0.15989559] [-0.28257843 -0.15040359 0.94737965 -0.46088934] [ 0. 0. 0. 1. ]] SLAMing on 54.498241007999994 meters Centerline goodness : 0.865566 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.16, Z:-0.48 [[ 0.94737976 0.10829601 0.30123671 13.93911437] [-0.14539675 0.98394102 0.1035367 -0.15711114] [-0.28518655 -0.14188742 0.9479117 -0.47514151] [ 0. 0. 0. 1. ]] SLAMing on 54.558241007999996 meters Centerline goodness : 0.868313 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.15, Z:-0.49 [[ 0.94583487 0.11651202 0.30302038 13.94252442] [-0.14882772 0.98513759 0.08575685 -0.15173896] [-0.28852507 -0.12620965 0.9491177 -0.48949949] [ 0. 0. 0. 1. ]] SLAMing on 54.618241008 meters Centerline goodness : 0.869587 with order 1 Centerline is valid? [False, False] Translation: X:13.92, Y:-0.14, Z:-0.49 [[ 0.94622636 0.12424841 0.29869385 13.92341761] [-0.15219868 0.98571534 0.07211676 -0.14446971] [-0.28546672 -0.11369959 0.95162028 -0.4936721 ] [ 0. 0. 0. 1. ]] SLAMing on 54.67824100799999 meters Centerline goodness : 0.869651 with order 1 Centerline is valid? [False, False] Translation: X:13.92, Y:-0.14, Z:-0.50 [[ 0.94660785 0.12289665 0.29804362 13.92338139] [-0.14904446 0.98658769 0.06656186 -0.14245407] [-0.28586593 -0.10742973 0.95222871 -0.49903172] [ 0. 0. 0. 1. ]] SLAMing on 54.738241007999996 meters Centerline goodness : 0.869396 with order 1 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.15, Z:-0.50 [[ 0.94711632 0.12206224 0.29676839 13.92545105] [-0.14759324 0.98690227 0.06511632 -0.1452575 ] [-0.28493315 -0.10547374 0.95272682 -0.50056774] [ 0. 0. 0. 1. ]] SLAMing on 54.798241008 meters Centerline goodness : 0.869926 with order 1 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.16, Z:-0.50 [[ 0.94850765 0.11754243 0.29413774 13.96493303] [-0.14390153 0.9871442 0.06956053 -0.1574502 ] [-0.28218005 -0.10830557 0.95322837 -0.50448563] [ 0. 0. 0. 1. ]] SLAMing on 54.85824100799999 meters Centerline goodness : 0.866557 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:-0.16, Z:-0.51 [[ 0.94974218 0.10822101 0.29373119 13.98769328] [-0.13585344 0.98786316 0.0753008 -0.16192873] [-0.28201709 -0.11142074 0.95291751 -0.50759009] [ 0. 0. 0. 1. ]] SLAMing on 54.918241007999995 meters Centerline goodness : 0.870971 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.17, Z:-0.50 [[ 0.94997697 0.09832478 0.29643886 14.01195573] [-0.1296021 0.98767767 0.08772746 -0.16881323] [-0.28416026 -0.12175817 0.95101414 -0.50162377] [ 0. 0. 0. 1. ]] SLAMing on 54.978241008 meters Centerline goodness : 0.874749 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.17, Z:-0.50 [[ 0.94824045 0.09986751 0.30144074 14.0248181 ] [-0.12936726 0.98840547 0.07949049 -0.16948789] [-0.29000716 -0.11437266 0.95016564 -0.50181817] [ 0. 0. 0. 1. ]] SLAMing on 55.03824100799999 meters Centerline goodness : 0.873309 with order 1 Centerline is valid? [False, False] Translation: X:14.03, Y:-0.17, Z:-0.51 [[ 0.94833542 0.1014301 0.30061914 14.02902195] [-0.13152286 0.98795194 0.08156406 -0.16715328] [-0.28872421 -0.11688837 0.9502502 -0.50707741] [ 0. 0. 0. 1. ]] SLAMing on 55.098241007999995 meters Centerline goodness : 0.871848 with order 1 Centerline is valid? [False, False] Translation: X:14.06, Y:-0.17, Z:-0.50 [[ 0.94864424 0.09402529 0.30204859 14.06041507] [-0.13013555 0.98626662 0.10169998 -0.17025591] [-0.28833807 -0.13578436 0.94785218 -0.50374163] [ 0. 0. 0. 1. ]] SLAMing on 55.158241008 meters Centerline goodness : 0.874899 with order 1 Centerline is valid? [False, False] Translation: X:14.10, Y:-0.18, Z:-0.50 [[ 0.94945435 0.09101089 0.30042214 14.10440189] [-0.13160416 0.98428545 0.11773915 -0.17999454] [-0.28498559 -0.15132475 0.94651151 -0.4987982 ] [ 0. 0. 0. 1. ]] SLAMing on 55.21824100799999 meters Centerline goodness : 0.873784 with order 1 Centerline is valid? [False, False] Translation: X:14.12, Y:-0.18, Z:-0.50 [[ 0.95174693 0.09735632 0.29103183 14.11798768] [-0.13466631 0.98465368 0.11100501 -0.17867465] [-0.27575852 -0.14484086 0.95025174 -0.50340332] [ 0. 0. 0. 1. ]] SLAMing on 55.278241007999995 meters Centerline goodness : 0.873426 with order 1 Centerline is valid? [False, False] Translation: X:14.12, Y:-0.17, Z:-0.51 [[ 0.95208213 0.09632751 0.2902768 14.12198394] [-0.13304416 0.98504385 0.10948909 -0.17490083] [-0.27538857 -0.14286223 0.95065847 -0.50744399] [ 0. 0. 0. 1. ]] SLAMing on 55.338241008 meters Centerline goodness : 0.874274 with order 1 Centerline is valid? [False, False] Translation: X:14.13, Y:-0.17, Z:-0.52 [[ 0.95079372 0.09969959 0.29334501 14.12992328] [-0.13153226 0.98714261 0.09082253 -0.1698377 ] [-0.28051839 -0.12493783 0.9516827 -0.52117009] [ 0. 0. 0. 1. ]] SLAMing on 55.39824100799999 meters Centerline goodness : 0.878211 with order 1 Centerline is valid? [False, False] Translation: X:14.14, Y:-0.17, Z:-0.53 [[ 0.94915917 0.10292742 0.29749423 14.13997533] [-0.13127945 0.98835865 0.07689524 -0.1679516 ] [-0.28611637 -0.1120407 0.95162193 -0.53108479] [ 0. 0. 0. 1. ]] SLAMing on 55.458241007999995 meters Centerline goodness : 0.877104 with order 1 Centerline is valid? [False, False] Translation: X:14.14, Y:-0.16, Z:-0.53 [[ 0.94928676 0.10311144 0.29702302 14.14152683] [-0.13128795 0.98838993 0.07647759 -0.16396123] [-0.28568885 -0.11159471 0.95180277 -0.53179719] [ 0. 0. 0. 1. ]] SLAMing on 55.518241008 meters Centerline goodness : 0.875445 with order 1 Centerline is valid? [False, False] Translation: X:14.15, Y:-0.16, Z:-0.54 [[ 0.94953512 0.10397566 0.29592587 14.14770649] [-0.13304098 0.98789403 0.07978401 -0.16319645] [-0.2840478 -0.11512798 0.9518731 -0.5353094 ] [ 0. 0. 0. 1. ]] SLAMing on 55.57824100799999 meters Centerline goodness : 0.876986 with order 1 Centerline is valid? [False, False] Translation: X:14.16, Y:-0.16, Z:-0.54 [[ 0.95143441 0.11161835 0.28690399 14.15727926] [-0.1370548 0.98808024 0.0700958 -0.16064402] [-0.27566019 -0.10601312 0.95539137 -0.5381514 ] [ 0. 0. 0. 1. ]] SLAMing on 55.638241007999994 meters Centerline goodness : 0.879754 with order 1 Centerline is valid? [False, False] Translation: X:14.16, Y:-0.16, Z:-0.55 [[ 0.95005676 0.11760183 0.28907085 14.16329087] [-0.13853369 0.98893983 0.05297573 -0.15546388] [-0.27964364 -0.09037601 0.95584079 -0.55099836] [ 0. 0. 0. 1. ]] SLAMing on 55.698241008 meters Centerline goodness : 0.878724 with order 1 Centerline is valid? [False, False] Translation: X:14.16, Y:-0.15, Z:-0.55 [[ 0.9505857 0.11466814 0.28851004 14.16438939] [-0.13381088 0.98986987 0.04745822 -0.15238746] [-0.28014545 -0.08371889 0.95629999 -0.55432102] [ 0. 0. 0. 1. ]] SLAMing on 55.75824100799999 meters Centerline goodness : 0.878897 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.17, Z:-0.54 [[ 0.95111149 0.0955423 0.29369816 14.20989753] [-0.12077369 0.99028141 0.06896698 -0.16690046] [-0.28425456 -0.1010663 0.95340702 -0.54446851] [ 0. 0. 0. 1. ]] SLAMing on 55.818241007999994 meters Centerline goodness : 0.880621 with order 1 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.17, Z:-0.54 [[ 0.95168634 0.08513003 0.29503557 14.23873222] [-0.11461333 0.9898445 0.08409307 -0.17440104] [-0.28488049 -0.11384523 0.95177853 -0.54052045] [ 0. 0. 0. 1. ]] SLAMing on 55.878241007999996 meters Centerline goodness : 0.878295 with order 1 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.18, Z:-0.53 [[ 0.94921196 0.06473165 0.30790658 14.28526893] [-0.10603223 0.98717533 0.11933999 -0.18394466] [-0.2962327 -0.14592696 0.94390228 -0.52963757] [ 0. 0. 0. 1. ]] SLAMing on 55.93824100799999 meters Centerline goodness : 0.878598 with order 1 Centerline is valid? [False, False] Translation: X:14.30, Y:-0.18, Z:-0.53 [[ 0.9490494 0.05786652 0.30976877 14.30256757] [-0.10199354 0.98648985 0.12819941 -0.18114279] [-0.2981653 -0.15326198 0.94212962 -0.52750504] [ 0. 0. 0. 1. ]] SLAMing on 55.998241007999994 meters Centerline goodness : 0.879332 with order 1 Centerline is valid? [False, False] Translation: X:14.28, Y:-0.17, Z:-0.53 [[ 0.94930216 0.05275941 0.30990619 14.27946978] [-0.09400071 0.98835221 0.11968201 -0.1669907 ] [-0.29998211 -0.1427458 0.94320431 -0.52859707] [ 0. 0. 0. 1. ]] SLAMing on 56.058241007999996 meters Centerline goodness : 0.880498 with order 1 Centerline is valid? [False, False] Translation: X:14.25, Y:-0.16, Z:-0.52 [[ 0.94966628 0.05224844 0.30887549 14.24903683] [-0.09174764 0.98914672 0.11476557 -0.15672638] [-0.29952685 -0.13732759 0.94415295 -0.52326578] [ 0. 0. 0. 1. ]] SLAMing on 56.118241008 meters Centerline goodness : 0.881030 with order 1 Centerline is valid? [False, False] Translation: X:14.20, Y:-0.14, Z:-0.51 [[ 0.95133861 0.05517735 0.30316713 14.20260023] [-0.08994346 0.99071724 0.10192904 -0.14117191] [-0.29472873 -0.12423693 0.9474704 -0.51335593] [ 0. 0. 0. 1. ]] SLAMing on 56.17824100799999 meters Centerline goodness : 0.883619 with order 1 Centerline is valid? [False, False] Translation: X:14.14, Y:-0.12, Z:-0.50 [[ 0.95196041 0.06219506 0.29983853 14.14247407] [-0.09069133 0.99249197 0.0820657 -0.1245641 ] [-0.29248326 -0.10531605 0.95045361 -0.50290709] [ 0. 0. 0. 1. ]] SLAMing on 56.238241007999996 meters Centerline goodness : 0.889302 with order 1 Centerline is valid? [False, False] Translation: X:14.10, Y:-0.11, Z:-0.50 [[ 0.95090823 0.06669243 0.30220135 14.09807146] [-0.09244033 0.99313338 0.07169984 -0.10867382] [-0.29534442 -0.09611556 0.95054378 -0.49762823] [ 0. 0. 0. 1. ]] SLAMing on 56.298241008 meters Centerline goodness : 0.892144 with order 1 Centerline is valid? [False, False] Translation: X:14.04, Y:-0.09, Z:-0.48 [[ 0.95218572 0.07556023 0.29602874 14.0422254 ] [-0.09874151 0.99304426 0.06413433 -0.09384885] [-0.28912364 -0.09029811 0.95302349 -0.48359947] [ 0. 0. 0. 1. ]] SLAMing on 56.35824100799999 meters Centerline goodness : 0.893623 with order 1 Centerline is valid? [False, False] Translation: X:14.04, Y:-0.09, Z:-0.49 [[ 0.9518117 0.08045878 0.29594067 14.04113052] [-0.10425749 0.99239048 0.06550965 -0.08529446] [-0.28841788 -0.09320688 0.95295729 -0.48603188] [ 0. 0. 0. 1. ]] SLAMing on 56.418241007999995 meters Centerline goodness : 0.890831 with order 1 Centerline is valid? [False, False] Translation: X:14.05, Y:-0.09, Z:-0.48 [[ 0.95093751 0.08256043 0.29816376 14.04999897] [-0.11196217 0.99024966 0.08288596 -0.08841165] [-0.28841346 -0.11220243 0.95090919 -0.47638309] [ 0. 0. 0. 1. ]] SLAMing on 56.478241008 meters Centerline goodness : 0.895846 with order 1 Centerline is valid? [False, False] Translation: X:14.06, Y:-0.08, Z:-0.49 [[ 0.94889954 0.08993747 0.30249119 14.05935171] [-0.1172634 0.99038573 0.07338527 -0.08302699] [-0.29298287 -0.10510639 0.95032294 -0.48646451] [ 0. 0. 0. 1. ]] SLAMing on 56.53824100799999 meters Centerline goodness : 0.896153 with order 1 Centerline is valid? [False, False] Translation: X:14.06, Y:-0.08, Z:-0.49 [[ 0.94876382 0.09134725 0.30249444 14.06244695] [-0.11992734 0.9897721 0.07725683 -0.08197898] [-0.29234336 -0.10957584 0.950015 -0.4872113 ] [ 0. 0. 0. 1. ]] SLAMing on 56.598241007999995 meters Centerline goodness : 0.895650 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:-0.08, Z:-0.49 [[ 0.95058599 0.09751663 0.29474866 14.08022022] [-0.12425847 0.98953443 0.0733584 -0.08475187] [-0.28451029 -0.10635848 0.95275483 -0.48759082] [ 0. 0. 0. 1. ]] SLAMing on 56.658241008 meters Centerline goodness : 0.894775 with order 1 Centerline is valid? [False, False] Translation: X:14.10, Y:-0.09, Z:-0.49 [[ 0.95245816 0.10265733 0.28685349 14.09708309] [-0.12672865 0.98969923 0.06659796 -0.08765356] [-0.27706191 -0.09978433 0.95565673 -0.48991915] [ 0. 0. 0. 1. ]] SLAMing on 56.71824100799999 meters Centerline goodness : 0.899025 with order 1 Centerline is valid? [False, False] Translation: X:14.10, Y:-0.09, Z:-0.49 [[ 0.95300728 0.10070574 0.28571924 14.10278463] [-0.1241992 0.99010726 0.06528529 -0.08569508] [-0.2763181 -0.09770346 0.956087 -0.49364252] [ 0. 0. 0. 1. ]] SLAMing on 56.778241007999995 meters Centerline goodness : 0.898520 with order 1 Centerline is valid? [False, False] Translation: X:14.14, Y:-0.10, Z:-0.48 [[ 0.95383192 0.08727405 0.28738113 14.14441821] [-0.11932235 0.98821035 0.09592958 -0.10158884] [-0.27562084 -0.12579169 0.95300032 -0.48004759] [ 0. 0. 0. 1. ]] SLAMing on 56.838241008 meters Centerline goodness : 0.900281 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:-0.11, Z:-0.47 [[ 0.95261194 0.07327158 0.29523171 14.17611107] [-0.11262308 0.98653997 0.1185535 -0.10697995] [-0.28257128 -0.14618539 0.94804183 -0.47308591] [ 0. 0. 0. 1. ]] SLAMing on 56.89824100799999 meters Centerline goodness : 0.900014 with order 1 Centerline is valid? [False, False] Translation: X:14.20, Y:-0.11, Z:-0.47 [[ 0.95171463 0.06075135 0.30091285 14.20177581] [-0.10511138 0.9854607 0.13348707 -0.10964378] [-0.28842827 -0.15867096 0.94426302 -0.46589642] [ 0. 0. 0. 1. ]] SLAMing on 56.958241007999995 meters Centerline goodness : 0.896827 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:-0.11, Z:-0.45 [[ 0.95123302 0.05745077 0.30307615 14.18131654] [-0.10506544 0.98409922 0.14321303 -0.10518292] [-0.29002931 -0.16807179 0.94214376 -0.45206064] [ 0. 0. 0. 1. ]] SLAMing on 57.018241008 meters Centerline goodness : 0.899097 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:-0.10, Z:-0.45 [[ 0.95018873 0.06194142 0.30545808 14.17628494] [-0.11092051 0.98309306 0.14568691 -0.0999534 ] [-0.29126967 -0.17231162 0.94099452 -0.45157801] [ 0. 0. 0. 1. ]] SLAMing on 57.07824100799999 meters Centerline goodness : 0.895252 with order 1 Centerline is valid? [False, False] Translation: X:14.19, Y:-0.10, Z:-0.47 [[ 0.94852916 0.07023733 0.30880276 14.18750932] [-0.11720669 0.98371393 0.1362699 -0.09506533] [-0.29420235 -0.16544973 0.94131364 -0.4653887 ] [ 0. 0. 0. 1. ]] SLAMing on 57.138241007999994 meters Centerline goodness : 0.894290 with order 1 Centerline is valid? [False, False] Translation: X:14.20, Y:-0.09, Z:-0.48 [[ 0.94707751 0.0784177 0.31127937 14.19742562] [-0.12242538 0.9846467 0.12443035 -0.088949 ] [-0.29674266 -0.15595368 0.94213706 -0.47873636] [ 0. 0. 0. 1. ]] SLAMing on 57.198241008 meters Centerline goodness : 0.894556 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.08, Z:-0.50 [[ 0.94601454 0.0824731 0.31345602 14.20913076] [-0.12165937 0.98672763 0.10755273 -0.08397608] [-0.30042551 -0.13988131 0.94349231 -0.49554411] [ 0. 0. 0. 1. ]] SLAMing on 57.25824100799999 meters Centerline goodness : 0.892210 with order 1 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.09, Z:-0.50 [[ 0.94790375 0.07987358 0.30838075 14.24474381] [-0.11784134 0.98730496 0.10650039 -0.08931034] [-0.29595927 -0.13729212 0.94528249 -0.5042729 ] [ 0. 0. 0. 1. ]] SLAMing on 57.318241007999994 meters Centerline goodness : 0.892845 with order 1 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.10, Z:-0.51 [[ 0.94866102 0.07503114 0.30726634 14.28617686] [-0.11514315 0.98672219 0.1145486 -0.0957822 ] [-0.2945918 -0.14404741 0.94470419 -0.50626545] [ 0. 0. 0. 1. ]] SLAMing on 57.378241007999996 meters Centerline goodness : 0.892330 with order 1 Centerline is valid? [False, False] Translation: X:14.31, Y:-0.10, Z:-0.50 [[ 0.94882894 0.06633552 0.30874464 14.30691256] [-0.1096976 0.98604017 0.12526459 -0.09619605] [-0.29612512 -0.15272322 0.94286029 -0.50079329] [ 0. 0. 0. 1. ]] SLAMing on 57.43824100799999 meters Centerline goodness : 0.893223 with order 1 Centerline is valid? [False, False] Translation: X:14.31, Y:-0.10, Z:-0.50 [[ 0.94895994 0.06599797 0.30841416 14.31273111] [-0.11108104 0.98514314 0.13097327 -0.09636279] [-0.29518812 -0.15854735 0.9421925 -0.49696996] [ 0. 0. 0. 1. ]] SLAMing on 57.498241007999994 meters Centerline goodness : 0.894240 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.10, Z:-0.49 [[ 0.94810054 0.05812133 0.31261363 14.33688515] [-0.11044566 0.98213409 0.15236269 -0.09950323] [-0.29817298 -0.17898197 0.93758111 -0.48641833] [ 0. 0. 0. 1. ]] SLAMing on 57.558241007999996 meters Centerline goodness : 0.888574 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:-0.09, Z:-0.49 [[ 0.94770557 0.0603834 0.31338156 14.33418472] [-0.11187444 0.98248613 0.14901379 -0.09039352] [-0.29889508 -0.17628058 0.93786294 -0.49109446] [ 0. 0. 0. 1. ]] SLAMing on 57.61824100799999 meters Centerline goodness : 0.889245 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.09, Z:-0.49 [[ 0.94730224 0.06258923 0.31416724 14.33537487] [-0.11556021 0.98145915 0.15291752 -0.0863054 ] [-0.29877132 -0.18116434 0.93697128 -0.48983886] [ 0. 0. 0. 1. ]] SLAMing on 57.67824100799999 meters Centerline goodness : 0.894097 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.08, Z:-0.49 [[ 0.94692822 0.06542928 0.31471567 14.33536833] [-0.11972422 0.98041011 0.15640374 -0.08333067] [-0.29831704 -0.1857822 0.93621147 -0.48861307] [ 0. 0. 0. 1. ]] SLAMing on 57.738241007999996 meters Centerline goodness : 0.892492 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.08, Z:-0.50 [[ 0.94561717 0.07178852 0.31726106 14.34231093] [-0.12136739 0.98277533 0.13936505 -0.07821636] [-0.30179153 -0.17029113 0.93804201 -0.50318018] [ 0. 0. 0. 1. ]] SLAMing on 57.798241008 meters Centerline goodness : 0.890830 with order 1 Centerline is valid? [False, False] Translation: X:14.39, Y:-0.09, Z:-0.49 [[ 0.94557941 0.06679363 0.31846222 14.38705182] [-0.12373341 0.97899302 0.16205774 -0.08943715] [-0.30094786 -0.19264288 0.93398025 -0.49344558] [ 0. 0. 0. 1. ]] SLAMing on 57.85824100799999 meters Centerline goodness : 0.888864 with order 1 Centerline is valid? [False, False] Translation: X:14.39, Y:-0.09, Z:-0.51 [[ 0.94399638 0.07229308 0.32193873 14.39392525] [-0.12499958 0.98133142 0.14616347 -0.0863246 ] [-0.30536198 -0.17821999 0.93540991 -0.5063501 ] [ 0. 0. 0. 1. ]] SLAMing on 57.918241007999995 meters Centerline goodness : 0.893337 with order 1 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.10, Z:-0.49 [[ 0.94353811 0.05934443 0.32590501 14.42183942] [-0.11850942 0.97918152 0.16480011 -0.09520153] [-0.30934019 -0.194118 0.93092795 -0.49465861] [ 0. 0. 0. 1. ]] SLAMing on 57.978241008 meters Centerline goodness : 0.896162 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.10, Z:-0.49 [[ 0.94285854 0.04645859 0.32993843 14.44957839] [-0.11093104 0.97750876 0.17936256 -0.09839273] [-0.31418477 -0.20571394 0.92680618 -0.49004303] [ 0. 0. 0. 1. ]] SLAMing on 58.03824100799999 meters Centerline goodness : 0.891160 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:-0.10, Z:-0.49 [[ 0.94152265 0.03478987 0.33514888 14.47360759] [-0.10455161 0.9757254 0.19242895 -0.09768221] [-0.3203187 -0.21621656 0.9223049 -0.48921509] [ 0. 0. 0. 1. ]] SLAMing on 58.098241007999995 meters Centerline goodness : 0.894159 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:-0.09, Z:-0.49 [[ 0.94054861 0.0335956 0.33799356 14.47214454] [-0.1037288 0.97596808 0.19164197 -0.09020713] [-0.3234326 -0.21530825 0.92143025 -0.4897527 ] [ 0. 0. 0. 1. ]] SLAMing on 58.158241008 meters Centerline goodness : 0.888660 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.08, Z:-0.49 [[ 0.93953601 0.03655369 0.34049365 14.46112558] [-0.1049348 0.97718737 0.18464434 -0.08118315] [-0.32597666 -0.20920964 0.92193847 -0.48873208] [ 0. 0. 0. 1. ]] SLAMing on 58.21824100799999 meters Centerline goodness : 0.887555 with order 1 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.06, Z:-0.49 [[ 0.93840811 0.04086787 0.34310354 14.41790521] [-0.10550172 0.9794507 0.17188865 -0.06467829] [-0.32902827 -0.19749972 0.92343611 -0.48611162] [ 0. 0. 0. 1. ]] SLAMing on 58.278241007999995 meters Centerline goodness : 0.884776 with order 1 Centerline is valid? [False, False] Translation: X:14.38, Y:-0.05, Z:-0.49 [[ 0.9389818 0.05407024 0.33969044 14.37848027] [-0.11050487 0.98263569 0.14904955 -0.04568391] [-0.3257328 -0.17749227 0.92865205 -0.48717559] [ 0. 0. 0. 1. ]] SLAMing on 58.338241008 meters Centerline goodness : 0.885080 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.03, Z:-0.48 [[ 0.93766417 0.0582132 0.34263265 14.33589924] [-0.11201097 0.98388456 0.13937258 -0.03069576] [-0.32899765 -0.16906329 0.92907381 -0.48001974] [ 0. 0. 0. 1. ]] SLAMing on 58.39824100799999 meters Centerline goodness : 0.886974 with order 1 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.02, Z:-0.47 [[ 0.93925352 0.0639849 0.33720729 14.29066151] [-0.11427646 0.98471332 0.1314556 -0.01516698] [-0.32364133 -0.16200499 0.93220742 -0.46633131] [ 0. 0. 0. 1. ]] SLAMing on 58.458241007999995 meters Centerline goodness : 0.879784 with order 1 Centerline is valid? [False, False] Translation: X:14.26, Y:-0.00, Z:-0.46 [[ 9.38993347e-01 6.40019789e-02 3.37927864e-01 1.42583039e+01] [-1.11828947e-01 9.85960533e-01 1.24000464e-01 -2.57770835e-03] [-3.25247261e-01 -1.54225728e-01 9.32967654e-01 -4.62104887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.518241008 meters Centerline goodness : 0.879104 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:0.01, Z:-0.45 [[ 9.40422476e-01 6.90265267e-02 3.32927779e-01 1.42074268e+01] [-1.10661756e-01 9.88000751e-01 1.07742713e-01 1.33466639e-02] [-3.21495790e-01 -1.38166041e-01 9.36776709e-01 -4.50554259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57824100799999 meters Centerline goodness : 0.878243 with order 1 Centerline is valid? [False, False] Translation: X:14.17, Y:0.02, Z:-0.44 [[ 0.94131354 0.07228033 0.32970346 14.17153124] [-0.11265668 0.98806783 0.10502586 0.0231208 ] [-0.31817808 -0.13600556 0.93822449 -0.43503016] [ 0. 0. 0. 1. ]] SLAMing on 58.638241007999994 meters Centerline goodness : 0.879050 with order 1 Centerline is valid? [False, False] Translation: X:14.12, Y:0.04, Z:-0.42 [[ 0.94208377 0.08297312 0.32495174 14.12251766] [-0.12083513 0.98781428 0.09809083 0.04067731] [-0.31285307 -0.13167537 0.94062987 -0.42204082] [ 0. 0. 0. 1. ]] SLAMing on 58.698241008 meters Centerline goodness : 0.877491 with order 1 Centerline is valid? [False, False] Translation: X:14.09, Y:0.05, Z:-0.42 [[ 0.94124134 0.09826246 0.32312417 14.09403992] [-0.13334252 0.98713488 0.08822984 0.05391527] [-0.31029746 -0.12613176 0.94223472 -0.42261664] [ 0. 0. 0. 1. ]] SLAMing on 58.75824100799999 meters Centerline goodness : 0.877558 with order 1 Centerline is valid? [False, False] Translation: X:14.10, Y:0.06, Z:-0.43 [[ 0.93988018 0.10858836 0.32378052 14.10092182] [-0.14037258 0.98714572 0.07641249 0.05921629] [-0.31132105 -0.11726849 0.94304152 -0.43433983] [ 0. 0. 0. 1. ]] SLAMing on 58.818241007999994 meters Centerline goodness : 0.879046 with order 1 Centerline is valid? [False, False] Translation: X:14.11, Y:0.06, Z:-0.44 [[ 0.93993885 0.11041973 0.32298984 14.105076 ] [-0.14323802 0.98648252 0.07959337 0.0622199 ] [-0.30983515 -0.12107733 0.94304955 -0.43621242] [ 0. 0. 0. 1. ]] SLAMing on 58.878241007999996 meters Centerline goodness : 0.878975 with order 1 Centerline is valid? [False, False] Translation: X:14.11, Y:0.06, Z:-0.44 [[ 0.94003589 0.11120167 0.3224387 14.10956276] [-0.14560951 0.98572212 0.08455628 0.05981158] [-0.30843216 -0.12643608 0.94280619 -0.43551856] [ 0. 0. 0. 1. ]] SLAMing on 58.93824100799999 meters Centerline goodness : 0.881037 with order 1 Centerline is valid? [False, False] Translation: X:14.15, Y:0.05, Z:-0.43 [[ 0.94067642 0.10864927 0.32143927 14.14584336] [-0.1464671 0.98456204 0.09583833 0.04783012] [-0.30606414 -0.13723313 0.94206784 -0.43199013] [ 0. 0. 0. 1. ]] SLAMing on 58.998241007999994 meters Centerline goodness : 0.876220 with order 1 Centerline is valid? [False, False] Translation: X:14.16, Y:0.05, Z:-0.43 [[ 0.94170947 0.10519727 0.3195572 14.15519313] [-0.14308588 0.98490239 0.09743572 0.04580503] [-0.30448268 -0.13748026 0.94254415 -0.43205282] [ 0. 0. 0. 1. ]] SLAMing on 59.058241007999996 meters Centerline goodness : 0.876258 with order 1 Centerline is valid? [False, False] Translation: X:14.17, Y:0.04, Z:-0.42 [[ 0.94185191 0.09805263 0.32140419 14.17225416] [-0.14004332 0.98399448 0.11019404 0.03867383] [-0.30545513 -0.14879698 0.9405087 -0.42377777] [ 0. 0. 0. 1. ]] SLAMing on 59.11824100799999 meters Centerline goodness : 0.879460 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:0.04, Z:-0.42 [[ 0.94255603 0.09374711 0.32062377 14.18240475] [-0.13620627 0.98425765 0.1126265 0.03756964] [-0.30501799 -0.14982775 0.94048693 -0.42405114] [ 0. 0. 0. 1. ]] SLAMing on 59.17824100799999 meters Centerline goodness : 0.879063 with order 1 Centerline is valid? [False, False] Translation: X:14.19, Y:0.03, Z:-0.42 [[ 0.94261623 0.09265521 0.32076417 14.18888115] [-0.13763816 0.98312688 0.1204877 0.03300188] [-0.30418806 -0.15772305 0.93946424 -0.4188916 ] [ 0. 0. 0. 1. ]] SLAMing on 59.238241007999996 meters Centerline goodness : 0.879966 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:0.02, Z:-0.41 [[ 0.94232965 0.08348239 0.32410726 14.20731416] [-0.13395894 0.9815181 0.13666465 0.02343542] [-0.30670805 -0.17220022 0.93609682 -0.40506462] [ 0. 0. 0. 1. ]] SLAMing on 59.298241008 meters Centerline goodness : 0.878921 with order 1 Centerline is valid? [False, False] Translation: X:14.23, Y:0.02, Z:-0.39 [[ 0.93901521 0.06582738 0.3375162 14.23044498] [-0.12743203 0.97823792 0.1637426 0.01662876] [-0.3193924 -0.19676717 0.92696881 -0.39411904] [ 0. 0. 0. 1. ]] SLAMing on 59.35824100799999 meters Centerline goodness : 0.878574 with order 1 Centerline is valid? [False, False] Translation: X:14.23, Y:0.02, Z:-0.40 [[ 0.9386879 0.06248731 0.33905805 14.22625683] [-0.1210283 0.98057514 0.15435202 0.02003583] [-0.32282685 -0.18592399 0.92801675 -0.397048 ] [ 0. 0. 0. 1. ]] SLAMing on 59.418241007999995 meters Centerline goodness : 0.884954 with order 1 Centerline is valid? [False, False] Translation: X:14.23, Y:0.01, Z:-0.38 [[ 9.34783362e-01 4.74685869e-02 3.52032383e-01 1.42281533e+01] [-1.16031202e-01 9.77473071e-01 1.76304154e-01 1.33930792e-02] [-3.35733266e-01 -2.05652930e-01 9.19233402e-01 -3.80719786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.478241008 meters Centerline goodness : 0.881243 with order 1 Centerline is valid? [False, False] Translation: X:14.25, Y:0.01, Z:-0.37 [[ 9.33309770e-01 3.71916218e-02 3.57140949e-01 1.42486553e+01] [-1.12587168e-01 9.74775015e-01 1.92711702e-01 9.54101467e-03] [-3.40964813e-01 -2.20069202e-01 9.13954344e-01 -3.69962008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53824100799999 meters Centerline goodness : 0.885185 with order 1 Centerline is valid? [False, False] Translation: X:14.25, Y:0.02, Z:-0.37 [[ 0.93246531 0.03759974 0.35929751 14.24628442] [-0.11308739 0.97496343 0.19146164 0.01570804] [-0.34310302 -0.21916336 0.91337163 -0.3701479 ] [ 0. 0. 0. 1. ]] SLAMing on 59.598241007999995 meters Centerline goodness : 0.884669 with order 1 Centerline is valid? [False, False] Translation: X:14.22, Y:0.02, Z:-0.37 [[ 0.93369412 0.04922583 0.35467183 14.22403189] [-0.11828387 0.97730345 0.17574664 0.02256289] [-0.33797073 -0.20604557 0.91832511 -0.3731006 ] [ 0. 0. 0. 1. ]] SLAMing on 59.658241008 meters Centerline goodness : 0.886603 with order 1 Centerline is valid? [False, False] Translation: X:14.22, Y:0.03, Z:-0.38 [[ 0.93193929 0.06023008 0.35757727 14.22172085] [-0.12394724 0.97962397 0.15803151 0.02682807] [-0.34077302 -0.19159649 0.92041542 -0.38457866] [ 0. 0. 0. 1. ]] SLAMing on 59.71824100799999 meters Centerline goodness : 0.888450 with order 1 Centerline is valid? [False, False] Translation: X:14.22, Y:0.03, Z:-0.40 [[ 0.93036983 0.07147158 0.35958835 14.217878 ] [-0.12864409 0.98209218 0.13764322 0.03166673] [-0.34331133 -0.17431802 0.92290333 -0.39712859] [ 0. 0. 0. 1. ]] SLAMing on 59.778241007999995 meters Centerline goodness : 0.891250 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:0.04, Z:-0.41 [[ 0.93093757 0.08683622 0.3547037 14.20736951] [-0.13619995 0.98379362 0.11661771 0.03844022] [-0.33882859 -0.15687443 0.92767753 -0.40666689] [ 0. 0. 0. 1. ]] SLAMing on 59.838241008 meters Centerline goodness : 0.889408 with order 1 Centerline is valid? [False, False] Translation: X:14.20, Y:0.04, Z:-0.42 [[ 0.93031008 0.09817448 0.35339063 14.20119689] [-0.13959148 0.98577325 0.09362327 0.04203 ] [-0.33917161 -0.13642899 0.93077911 -0.41672361] [ 0. 0. 0. 1. ]] SLAMing on 59.89824100799999 meters Centerline goodness : 0.892007 with order 1 Centerline is valid? [False, False] Translation: X:14.20, Y:0.04, Z:-0.42 [[ 0.93063648 0.09734136 0.3527611 14.20353195] [-0.13859209 0.98591924 0.09357077 0.03984585] [-0.33868565 -0.13597027 0.93102316 -0.41853755] [ 0. 0. 0. 1. ]] SLAMing on 59.958241007999995 meters Centerline goodness : 0.890992 with order 1 Centerline is valid? [False, False] Translation: X:14.24, Y:0.03, Z:-0.43 [[ 0.93273111 0.0951049 0.34780417 14.24103974] [-0.13655112 0.98591114 0.0966075 0.03112651] [-0.33371616 -0.13760187 0.93257667 -0.43172525] [ 0. 0. 0. 1. ]] SLAMing on 60.018241008 meters Centerline goodness : 0.888493 with order 1 Centerline is valid? [False, False] Translation: X:14.25, Y:0.03, Z:-0.44 [[ 0.93344855 0.09370203 0.34625676 14.24615626] [-0.13463643 0.98622699 0.0960695 0.02889284] [-0.33248585 -0.13629471 0.93320786 -0.43555669] [ 0. 0. 0. 1. ]] SLAMing on 60.07824100799999 meters Centerline goodness : 0.888792 with order 1 Centerline is valid? [False, False] Translation: X:14.26, Y:0.02, Z:-0.44 [[ 0.93632116 0.09697844 0.33748759 14.26019141] [-0.13384549 0.98711512 0.08768763 0.0217876 ] [-0.32463529 -0.12727498 0.9372369 -0.43707703] [ 0. 0. 0. 1. ]] SLAMing on 60.138241007999994 meters Centerline goodness : 0.886178 with order 1 Centerline is valid? [False, False] Translation: X:14.26, Y:0.02, Z:-0.44 [[ 0.93687326 0.09408019 0.33677503 14.26190574] [-0.12926602 0.98808148 0.08357801 0.02101837] [-0.32489814 -0.12183557 0.93786848 -0.43849771] [ 0. 0. 0. 1. ]] SLAMing on 60.198241008 meters Centerline goodness : 0.886790 with order 1 Centerline is valid? [False, False] Translation: X:14.30, Y:0.01, Z:-0.43 [[ 9.36544708e-01 8.16660330e-02 3.40902727e-01 1.42979663e+01] [-1.25070375e-01 9.86326770e-01 1.07316841e-01 1.30778483e-02] [-3.27477345e-01 -1.43143851e-01 9.33953118e-01 -4.32178435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25824100799999 meters Centerline goodness : 0.885046 with order 1 Centerline is valid? [False, False] Translation: X:14.30, Y:0.02, Z:-0.43 [[ 0.93669863 0.08170991 0.34046905 14.29970061] [-0.12493314 0.98637937 0.10699277 0.01698992] [-0.32708928 -0.14275585 0.93414847 -0.43164157] [ 0. 0. 0. 1. ]] SLAMing on 60.318241007999994 meters Centerline goodness : 0.884492 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:0.01, Z:-0.41 [[ 9.35925238e-01 7.11388858e-02 3.44939427e-01 1.43285586e+01] [-1.23488486e-01 9.83496816e-01 1.32229370e-01 9.32970260e-03] [-3.29840178e-01 -1.66352852e-01 9.29264325e-01 -4.14416449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.378241007999996 meters Centerline goodness : 0.885635 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:0.02, Z:-0.42 [[ 0.93606465 0.07072128 0.34464689 14.33111502] [-0.12192182 0.98409399 0.12920562 0.01627884] [-0.33002735 -0.16296479 0.92979806 -0.42029403] [ 0. 0. 0. 1. ]] SLAMing on 60.43824100799999 meters Centerline goodness : 0.883799 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:0.02, Z:-0.41 [[ 0.93979974 0.07216652 0.33401862 14.33245541] [-0.12390975 0.98289135 0.13627535 0.01951309] [-0.31846949 -0.1694597 0.93266317 -0.41040173] [ 0. 0. 0. 1. ]] SLAMing on 60.498241007999994 meters Centerline goodness : 0.880809 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:0.03, Z:-0.40 [[ 0.93965032 0.07015062 0.33486739 14.33772739] [-0.12324451 0.98244891 0.14001763 0.02598595] [-0.31916778 -0.17283817 0.93180411 -0.40494052] [ 0. 0. 0. 1. ]] SLAMing on 60.558241007999996 meters Centerline goodness : 0.877186 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:0.03, Z:-0.40 [[ 0.93933339 0.07004336 0.33577776 14.33370483] [-0.12211775 0.98307716 0.13655237 0.0314757 ] [-0.32053086 -0.16927263 0.93199074 -0.40028134] [ 0. 0. 0. 1. ]] SLAMing on 60.61824100799999 meters Centerline goodness : 0.881379 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:0.03, Z:-0.40 [[ 0.93702188 0.07338894 0.34147336 14.34751595] [-0.12482011 0.98347369 0.13114662 0.03364268] [-0.32620535 -0.16551 0.93069679 -0.40398937] [ 0. 0. 0. 1. ]] SLAMing on 60.67824100799999 meters Centerline goodness : 0.876980 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:0.04, Z:-0.41 [[ 0.93722076 0.07317292 0.34097356 14.34948179] [-0.12345012 0.98404185 0.12814718 0.03810738] [-0.32615535 -0.16219543 0.93129766 -0.41052323] [ 0. 0. 0. 1. ]] SLAMing on 60.738241007999996 meters Centerline goodness : 0.868378 with order 1 Centerline is valid? [False, False] Translation: X:14.39, Y:0.03, Z:-0.41 [[ 0.93771239 0.0692139 0.34044811 14.39153926] [-0.12337472 0.98242253 0.14008804 0.03201009] [-0.32476785 -0.17336498 0.92976902 -0.41153923] [ 0. 0. 0. 1. ]] SLAMing on 60.798241008 meters Centerline goodness : 0.867320 with order 1 Centerline is valid? [False, False] Translation: X:14.40, Y:0.04, Z:-0.42 [[ 0.93642433 0.07406857 0.34296257 14.40117877] [-0.1239325 0.98428244 0.12581262 0.03582205] [-0.32825327 -0.16031821 0.93088552 -0.42124631] [ 0. 0. 0. 1. ]] SLAMing on 60.85824100799999 meters Centerline goodness : 0.864080 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:0.04, Z:-0.42 [[ 0.93712966 0.06851836 0.34218889 14.41460697] [-0.11964957 0.9841879 0.13060686 0.03889003] [-0.3278292 -0.16333831 0.93050987 -0.41696735] [ 0. 0. 0. 1. ]] SLAMing on 60.918241007999995 meters Centerline goodness : 0.854433 with order 1 Centerline is valid? [False, False] Translation: X:14.42, Y:0.04, Z:-0.42 [[ 0.93779355 0.06702844 0.34066178 14.42126286] [-0.11746802 0.98457743 0.12964783 0.04497772] [-0.3267178 -0.16159976 0.93120406 -0.42060439] [ 0. 0. 0. 1. ]] SLAMing on 60.978241008 meters Centerline goodness : 0.850681 with order 1 Centerline is valid? [False, False] Translation: X:14.44, Y:0.05, Z:-0.43 [[ 0.93666365 0.07148329 0.34285761 14.4408948 ] [-0.11990779 0.98524004 0.12216462 0.04941459] [-0.32906431 -0.15553845 0.93140994 -0.43422863] [ 0. 0. 0. 1. ]] SLAMing on 61.03824100799999 meters Centerline goodness : 0.847792 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:0.05, Z:-0.45 [[ 0.93535634 0.07639146 0.34535903 14.45830938] [-0.12256103 0.98590781 0.1138621 0.05207915] [-0.33179407 -0.1488292 0.93153774 -0.4480628 ] [ 0. 0. 0. 1. ]] SLAMing on 61.098241007999995 meters Centerline goodness : 0.845987 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:0.06, Z:-0.46 [[ 0.93395304 0.0830175 0.34762021 14.47132011] [-0.12602164 0.98667115 0.10294947 0.05705824] [-0.33444023 -0.13995764 0.93196652 -0.46195367] [ 0. 0. 0. 1. ]] SLAMing on 61.158241008 meters Centerline goodness : 0.843981 with order 1 Centerline is valid? [False, False] Translation: X:14.48, Y:0.06, Z:-0.48 [[ 0.93241547 0.08895932 0.35026794 14.48255469] [-0.12793511 0.98771706 0.08970856 0.06054194] [-0.33798521 -0.12845722 0.93234368 -0.47725754] [ 0. 0. 0. 1. ]] SLAMing on 61.21824100799999 meters Centerline goodness : 0.838559 with order 1 Centerline is valid? [False, False] Translation: X:14.48, Y:0.07, Z:-0.49 [[ 0.93041426 0.10052067 0.35245553 14.48408782] [-0.13518911 0.98796934 0.07510319 0.06854721] [-0.34066584 -0.11752523 0.93281006 -0.49109465] [ 0. 0. 0. 1. ]] SLAMing on 61.278241007999995 meters Centerline goodness : 0.837212 with order 1 Centerline is valid? [False, False] Translation: X:14.49, Y:0.07, Z:-0.50 [[ 0.92855196 0.11051573 0.35436921 14.48842929] [-0.14079106 0.98817459 0.06073603 0.0740035 ] [-0.34346636 -0.10628857 0.93313107 -0.5049041 ] [ 0. 0. 0. 1. ]] SLAMing on 61.338241008 meters Centerline goodness : 0.835182 with order 1 Centerline is valid? [False, False] Translation: X:14.48, Y:0.08, Z:-0.51 [[ 0.93006505 0.12454447 0.34564097 14.48271563] [-0.1503148 0.98743945 0.04867019 0.07810265] [-0.33523793 -0.0972214 0.9371038 -0.50645754] [ 0. 0. 0. 1. ]] SLAMing on 61.39824100799999 meters Centerline goodness : 0.836120 with order 1 Centerline is valid? [False, False] Translation: X:14.48, Y:0.08, Z:-0.51 [[ 0.92968084 0.126139 0.34609606 14.48038354] [-0.15182765 0.98723948 0.04802672 0.0803814 ] [-0.33562165 -0.09719647 0.93696902 -0.50713425] [ 0. 0. 0. 1. ]] SLAMing on 61.458241007999995 meters Centerline goodness : 0.836424 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:0.08, Z:-0.51 [[ 0.9287845 0.12941326 0.34729174 14.47316763] [-0.15457087 0.98692816 0.04561421 0.08258309] [-0.33684892 -0.09604696 0.9366471 -0.50918784] [ 0. 0. 0. 1. ]] SLAMing on 61.518241008 meters Centerline goodness : 0.832906 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:0.08, Z:-0.51 [[ 0.92884408 0.12835749 0.34752415 14.4704413 ] [-0.15178805 0.98756502 0.04093549 0.0841624 ] [-0.33794832 -0.0907727 0.93677706 -0.5097154 ] [ 0. 0. 0. 1. ]] SLAMing on 61.57824100799999 meters Centerline goodness : 0.837963 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:0.08, Z:-0.51 [[ 0.92944153 0.12598625 0.34679376 14.47086831] [-0.14781747 0.98831779 0.03712076 0.08283824] [-0.33806574 -0.08576375 0.93720656 -0.50987529] [ 0. 0. 0. 1. ]] SLAMing on 61.638241007999994 meters Centerline goodness : 0.832828 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:0.09, Z:-0.52 [[ 0.92978997 0.12573983 0.34594813 14.46381747] [-0.14290994 0.98943317 0.0244692 0.0883465 ] [-0.3392158 -0.07219064 0.93793451 -0.51736454] [ 0. 0. 0. 1. ]] SLAMing on 61.698241008 meters Centerline goodness : 0.831319 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:0.09, Z:-0.52 [[ 0.93038031 0.12370195 0.34509464 14.46420963] [-0.13842994 0.99020383 0.01826265 0.09066378] [-0.33945491 -0.06476264 0.9383902 -0.52251941] [ 0. 0. 0. 1. ]] SLAMing on 61.75824100799999 meters Centerline goodness : 0.834852 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:0.09, Z:-0.52 [[ 0.93081263 0.12298853 0.34418262 14.46689843] [-0.13757035 0.99032534 0.01816931 0.08936928] [-0.33861815 -0.06426155 0.93872691 -0.52410117] [ 0. 0. 0. 1. ]] SLAMing on 61.818241007999994 meters Centerline goodness : 0.832039 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:0.09, Z:-0.52 [[ 0.93088314 0.12235343 0.34421827 14.46782622] [-0.13694445 0.99040967 0.0183002 0.08886384] [-0.33867801 -0.06417413 0.93871129 -0.52396141] [ 0. 0. 0. 1. ]] SLAMing on 61.878241007999996 meters Centerline goodness : 0.830940 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:0.09, Z:-0.53 [[ 0.93118562 0.12167793 0.3436391 14.46989449] [-0.13603153 0.99054319 0.01787738 0.08937311] [-0.33821409 -0.06339292 0.93893161 -0.52519941] [ 0. 0. 0. 1. ]] SLAMing on 61.93824100799999 meters Centerline goodness : 0.831488 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:0.09, Z:-0.53 [[ 9.31613996e-01 1.19993944e-01 3.43069696e-01 1.44695870e+01] [-1.31760762e-01 9.91219338e-01 1.11051820e-02 9.34781775e-02] [-3.38724763e-01 -5.55488674e-02 9.39244302e-01 -5.30739841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.998241007999994 meters Centerline goodness : 0.834413 with order 1 Centerline is valid? [False, False] Translation: X:14.49, Y:0.09, Z:-0.53 [[ 9.34797260e-01 1.23464172e-01 3.33032553e-01 1.44869489e+01] [-1.33495768e-01 9.91022396e-01 7.31375606e-03 8.93866030e-02] [-3.29139732e-01 -5.12953155e-02 9.42886964e-01 -5.34679794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.058241007999996 meters Centerline goodness : 0.836373 with order 1 Centerline is valid? [False, False] Translation: X:14.49, Y:0.09, Z:-0.54 [[ 9.35182954e-01 1.22820244e-01 3.32186741e-01 1.44894343e+01] [-1.32617183e-01 9.91143384e-01 6.89027135e-03 8.77762895e-02] [-3.28398425e-01 -5.04973342e-02 9.43188472e-01 -5.37490378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11824100799999 meters Centerline goodness : 0.838253 with order 1 Centerline is valid? [False, False] Translation: X:14.49, Y:0.08, Z:-0.54 [[ 9.35821361e-01 1.20832111e-01 3.31116266e-01 1.44944649e+01] [-1.30946908e-01 9.91354455e-01 8.32173403e-03 8.44060599e-02] [-3.27248053e-01 -5.11463076e-02 9.43553267e-01 -5.37545300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17824100799999 meters Centerline goodness : 0.836311 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:0.08, Z:-0.53 [[ 9.35967323e-01 1.20183583e-01 3.30939688e-01 1.44961977e+01] [-1.31048076e-01 9.91319070e-01 1.06256193e-02 8.13417283e-02] [-3.26789799e-01 -5.33142419e-02 9.43592083e-01 -5.34087792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.238241007999996 meters Centerline goodness : 0.837645 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:0.08, Z:-0.53 [[ 9.36057063e-01 1.20040073e-01 3.30737896e-01 1.44968994e+01] [-1.31070688e-01 9.91310152e-01 1.11650356e-02 8.02760163e-02] [-3.26523583e-01 -5.38011541e-02 9.43656604e-01 -5.33090975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.298241008 meters Centerline goodness : 0.830721 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:0.08, Z:-0.54 [[ 9.36055862e-01 1.20325994e-01 3.30637382e-01 1.44971131e+01] [-1.30767104e-01 9.91368265e-01 9.43009607e-03 8.35269949e-02] [-3.26648722e-01 -5.20635896e-02 9.43710758e-01 -5.36711092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35824100799999 meters Centerline goodness : 0.832927 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:0.08, Z:-0.54 [[ 9.36222873e-01 1.20038088e-01 3.30268964e-01 1.44986824e+01] [-1.30816893e-01 9.91350747e-01 1.05184556e-02 8.15640600e-02] [-3.26149769e-01 -5.30523784e-02 9.43828254e-01 -5.35319333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.418241007999995 meters Centerline goodness : 0.830326 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:0.08, Z:-0.53 [[ 0.93643513 0.11937855 0.32990605 14.50554811] [-0.13297739 0.99093928 0.01887751 0.07629666] [-0.32466329 -0.06154761 0.943825 -0.52938785] [ 0. 0. 0. 1. ]] SLAMing on 62.478241008 meters Centerline goodness : 0.824239 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:0.08, Z:-0.53 [[ 0.93665427 0.11892493 0.32944748 14.50732075] [-0.13219229 0.99105916 0.01808128 0.07688459] [-0.32435163 -0.06048633 0.94400075 -0.53183812] [ 0. 0. 0. 1. ]] SLAMing on 62.53824100799999 meters Centerline goodness : 0.821558 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:0.08, Z:-0.53 [[ 9.37125188e-01 1.16980945e-01 3.28803651e-01 1.45074797e+01] [-1.28236535e-01 9.91662593e-01 1.26764394e-02 7.94446060e-02] [-3.24579379e-01 -5.40440516e-02 9.44313225e-01 -5.34977647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.598241007999995 meters Centerline goodness : 0.825219 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:0.08, Z:-0.53 [[ 9.37223473e-01 1.16947622e-01 3.28535258e-01 1.45078223e+01] [-1.28767222e-01 9.91570692e-01 1.43723634e-02 7.62077660e-02] [-3.24085120e-01 -5.57746889e-02 9.44382348e-01 -5.30926102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.658241008 meters Centerline goodness : 0.824204 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:0.07, Z:-0.53 [[ 0.93689753 0.1191205 0.32868424 14.50928257] [-0.13285506 0.99094239 0.01956294 0.0746046 ] [-0.3233768 -0.06199584 0.94423724 -0.52863073] [ 0. 0. 0. 1. ]] SLAMing on 62.71824100799999 meters Centerline goodness : 0.822743 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:0.08, Z:-0.54 [[ 0.93681062 0.12097655 0.32825376 14.50794372] [-0.13329646 0.99095959 0.0152037 0.08202839] [-0.32344692 -0.05799805 0.94446721 -0.53658421] [ 0. 0. 0. 1. ]] SLAMing on 62.778241007999995 meters Centerline goodness : 0.823666 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:0.08, Z:-0.54 [[ 9.37186722e-01 1.20572957e-01 3.27327374e-01 1.45103248e+01] [-1.32431746e-01 9.91091874e-01 1.40971902e-02 8.34833965e-02] [-3.22711760e-01 -5.65602350e-02 9.44805832e-01 -5.39357350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.838241008 meters Centerline goodness : 0.828590 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:0.09, Z:-0.54 [[ 9.37486154e-01 1.18852290e-01 3.27099136e-01 1.45090737e+01] [-1.28825887e-01 9.91627176e-01 8.91266382e-03 8.57762156e-02] [-3.23301102e-01 -5.04943351e-02 9.44947998e-01 -5.41111264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89824100799999 meters Centerline goodness : 0.826065 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:0.08, Z:-0.54 [[ 9.38088441e-01 1.17366038e-01 3.25906875e-01 1.45134029e+01] [-1.27546859e-01 9.91782454e-01 9.96805267e-03 8.31265003e-02] [-3.22058809e-01 -5.09193131e-02 9.45349325e-01 -5.40684324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.958241007999995 meters Centerline goodness : 0.825334 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:0.08, Z:-0.54 [[ 9.38400793e-01 1.15295206e-01 3.25746784e-01 1.45125022e+01] [-1.24156941e-01 9.92241485e-01 6.47216089e-03 8.22701168e-02] [-3.22473264e-01 -4.65172051e-02 9.45434897e-01 -5.39203034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.018241008 meters Centerline goodness : 0.821578 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:0.08, Z:-0.54 [[ 9.38437622e-01 1.15407308e-01 3.25600956e-01 1.45130989e+01] [-1.23857655e-01 9.92286006e-01 5.26910702e-03 8.43032753e-02] [-3.22481179e-01 -4.52728992e-02 9.45492599e-01 -5.41998300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07824100799999 meters Centerline goodness : 0.821403 with order 1 Centerline is valid? [False, False] Translation: X:14.52, Y:0.08, Z:-0.54 [[ 9.38946790e-01 1.14596572e-01 3.24417249e-01 1.45166385e+01] [-1.22810562e-01 9.92418107e-01 4.88528418e-03 8.36536476e-02] [-3.21397715e-01 -4.44288867e-02 9.45901466e-01 -5.44575942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.138241007999994 meters Centerline goodness : 0.823098 with order 1 Centerline is valid? [False, False] Translation: X:14.52, Y:0.08, Z:-0.55 [[ 9.39630018e-01 1.13398282e-01 3.22856405e-01 1.45213270e+01] [-1.21279134e-01 9.92609006e-01 4.32811250e-03 8.22185510e-02] [-3.19979375e-01 -4.32225698e-02 9.46438064e-01 -5.48222069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.198241008 meters Centerline goodness : 0.824110 with order 1 Centerline is valid? [False, False] Translation: X:14.52, Y:0.08, Z:-0.55 [[ 9.39937173e-01 1.12634900e-01 3.22228940e-01 1.45235813e+01] [-1.20459932e-01 9.92708530e-01 4.37931494e-03 8.13880699e-02] [-3.19386154e-01 -4.29319570e-02 9.46651642e-01 -5.48595503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25824100799999 meters Centerline goodness : 0.826752 with order 1 Centerline is valid? [False, False] Translation: X:14.53, Y:0.08, Z:-0.55 [[ 9.40235568e-01 1.11981118e-01 3.21585611e-01 1.45258141e+01] [-1.19812183e-01 9.92785932e-01 4.59721218e-03 8.13974435e-02] [-3.18750870e-01 -4.28523364e-02 9.46869347e-01 -5.48537622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.318241007999994 meters Centerline goodness : 0.827555 with order 1 Centerline is valid? [False, False] Translation: X:14.53, Y:0.08, Z:-0.55 [[ 9.40214430e-01 1.12666316e-01 3.21408037e-01 1.45295029e+01] [-1.22431381e-01 9.92423903e-01 1.02642314e-02 7.92456872e-02] [-3.17816586e-01 -4.90010085e-02 9.46885167e-01 -5.45772292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.378241007999996 meters Centerline goodness : 0.825116 with order 1 Centerline is valid? [False, False] Translation: X:14.53, Y:0.08, Z:-0.55 [[ 9.40405555e-01 1.11916003e-01 3.21110884e-01 1.45308654e+01] [-1.21654597e-01 9.92518452e-01 1.03576724e-02 7.88387888e-02] [-3.17549288e-01 -4.88050279e-02 9.46984962e-01 -5.45518451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43824100799999 meters Centerline goodness : 0.828836 with order 1 Centerline is valid? [False, False] Translation: X:14.56, Y:0.07, Z:-0.55 [[ 0.94112901 0.11297973 0.3186091 14.56177266] [-0.12415121 0.99215134 0.01490641 0.07031563] [-0.31442432 -0.05358456 0.94776898 -0.54688233] [ 0. 0. 0. 1. ]] SLAMing on 63.498241007999994 meters Centerline goodness : 0.832536 with order 1 Centerline is valid? [False, False] Translation: X:14.56, Y:0.07, Z:-0.55 [[ 9.41292097e-01 1.13152802e-01 3.18065450e-01 1.45629870e+01] [-1.23842774e-01 9.92209716e-01 1.35221067e-02 7.30666484e-02] [-3.14057566e-01 -5.21183600e-02 9.47972321e-01 -5.49797813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.558241007999996 meters Centerline goodness : 0.831239 with order 1 Centerline is valid? [False, False] Translation: X:14.57, Y:0.07, Z:-0.55 [[ 0.94134752 0.11452485 0.31740969 14.56712522] [-0.12633174 0.99184586 0.01679554 0.07405903] [-0.31289798 -0.05590935 0.94813976 -0.55281538] [ 0. 0. 0. 1. ]] SLAMing on 63.61824100799999 meters Centerline goodness : 0.832446 with order 1 Centerline is valid? [False, False] Translation: X:14.57, Y:0.07, Z:-0.55 [[ 0.9415288 0.11536551 0.31656645 14.57168392] [-0.12859813 0.9914711 0.021156 0.07119588] [-0.31142581 -0.06062883 0.94833439 -0.55404848] [ 0. 0. 0. 1. ]] SLAMing on 63.67824100799999 meters Centerline goodness : 0.835144 with order 1 Centerline is valid? [False, False] Translation: X:14.57, Y:0.08, Z:-0.55 [[ 0.94168191 0.11475999 0.31633103 14.56936145] [-0.12624365 0.99187058 0.01597788 0.07572962] [-0.31192582 -0.05498086 0.9485143 -0.55496234] [ 0. 0. 0. 1. ]] SLAMing on 63.738241007999996 meters Centerline goodness : 0.836795 with order 1 Centerline is valid? [False, False] Translation: X:14.57, Y:0.07, Z:-0.55 [[ 0.94221248 0.11337911 0.31524724 14.57308017] [-0.12493533 0.99202561 0.01662394 0.07334434] [-0.31084853 -0.05504881 0.94886396 -0.55473613] [ 0. 0. 0. 1. ]] SLAMing on 63.798241008 meters Centerline goodness : 0.835334 with order 1 Centerline is valid? [False, False] Translation: X:14.60, Y:0.07, Z:-0.55 [[ 0.94324473 0.10288994 0.31575788 14.59765194] [-0.11750255 0.99269065 0.02753938 0.0672061 ] [-0.31061637 -0.06307873 0.94844006 -0.55123376] [ 0. 0. 0. 1. ]] SLAMing on 63.85824100799999 meters Centerline goodness : 0.829653 with order 1 Centerline is valid? [False, False] Translation: X:14.61, Y:0.07, Z:-0.55 [[ 0.94460447 0.09544361 0.31402693 14.61444846] [-0.11082508 0.99334203 0.03145499 0.06545806] [-0.30893397 -0.06451458 0.94889287 -0.54946044] [ 0. 0. 0. 1. ]] SLAMing on 63.918241007999995 meters Centerline goodness : 0.827553 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:0.06, Z:-0.55 [[ 0.94486341 0.08909955 0.31511015 14.63401993] [-0.10845277 0.99311008 0.04438891 0.06047667] [-0.30898403 -0.07611602 0.94801646 -0.54542207] [ 0. 0. 0. 1. ]] SLAMing on 63.978241008 meters Centerline goodness : 0.827794 with order 1 Centerline is valid? [False, False] Translation: X:14.64, Y:0.06, Z:-0.54 [[ 0.94515761 0.08965156 0.31406957 14.63977405] [-0.11065929 0.99261628 0.04967332 0.06142808] [-0.30729728 -0.08170383 0.94809961 -0.54255092] [ 0. 0. 0. 1. ]] SLAMing on 64.038241008 meters Centerline goodness : 0.823949 with order 1 Centerline is valid? [False, False] Translation: X:14.64, Y:0.06, Z:-0.54 [[ 0.9453006 0.09111431 0.31321711 14.64367923] [-0.11311271 0.99218066 0.05275463 0.0632044 ] [-0.30596126 -0.08529781 0.94821516 -0.54498386] [ 0. 0. 0. 1. ]] SLAMing on 64.098241008 meters Centerline goodness : 0.824158 with order 1 Centerline is valid? [False, False] Translation: X:14.65, Y:0.07, Z:-0.54 [[ 0.94531711 0.09326688 0.31253296 14.64633428] [-0.11647575 0.99159141 0.05639047 0.06610388] [-0.30464564 -0.08970938 0.94823165 -0.5446928 ] [ 0. 0. 0. 1. ]] SLAMing on 64.158241008 meters Centerline goodness : 0.821831 with order 1 Centerline is valid? [False, False] Translation: X:14.65, Y:0.07, Z:-0.54 [[ 0.94538996 0.09351444 0.31223848 14.64674742] [-0.11653984 0.99161321 0.05587217 0.06841257] [-0.30439495 -0.08920921 0.94835934 -0.54459565] [ 0. 0. 0. 1. ]] SLAMing on 64.218241008 meters Centerline goodness : 0.820713 with order 1 Centerline is valid? [False, False] Translation: X:14.65, Y:0.07, Z:-0.54 [[ 0.94525259 0.09432711 0.31240988 14.64585057] [-0.11759539 0.99145574 0.05645209 0.07111359] [-0.30441561 -0.09009944 0.94826854 -0.54189452] [ 0. 0. 0. 1. ]] SLAMing on 64.278241008 meters Centerline goodness : 0.822082 with order 1 Centerline is valid? [False, False] Translation: X:14.65, Y:0.07, Z:-0.54 [[ 0.94527469 0.094666 0.31224047 14.64612146] [-0.11757586 0.99152097 0.05533605 0.07453133] [-0.30435453 -0.08901971 0.94839011 -0.54379987] [ 0. 0. 0. 1. ]] SLAMing on 64.338241008 meters Centerline goodness : 0.827679 with order 1 Centerline is valid? [False, False] Translation: X:14.66, Y:0.07, Z:-0.54 [[ 0.94722622 0.102714 0.30366482 14.66031582] [-0.12524511 0.99056541 0.05562227 0.07211403] [-0.29508668 -0.09071941 0.95115395 -0.54303954] [ 0. 0. 0. 1. ]] SLAMing on 64.398241008 meters Centerline goodness : 0.827825 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:0.07, Z:-0.54 [[ 0.94909992 0.10969084 0.29525796 14.67116532] [-0.13060475 0.99006954 0.05200671 0.06851733] [-0.28662125 -0.08792165 0.95400107 -0.54172934] [ 0. 0. 0. 1. ]] SLAMing on 64.458241008 meters Centerline goodness : 0.827815 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:0.07, Z:-0.55 [[ 0.94857993 0.1119989 0.29606141 14.66702682] [-0.13209456 0.99003996 0.04870227 0.0726071 ] [-0.28765802 -0.0853061 0.95392648 -0.54787873] [ 0. 0. 0. 1. ]] SLAMing on 64.518241008 meters Centerline goodness : 0.828056 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:0.07, Z:-0.55 [[ 0.94847334 0.11365058 0.29577334 14.66999531] [-0.13508788 0.98941444 0.05301265 0.0692988 ] [-0.2866175 -0.09023648 0.95378603 -0.54952347] [ 0. 0. 0. 1. ]] SLAMing on 64.578241008 meters Centerline goodness : 0.833285 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:0.07, Z:-0.55 [[ 0.94846838 0.11269245 0.29615561 14.66650677] [-0.13282449 0.98994274 0.04869316 0.06947163] [-0.28768975 -0.08552064 0.9538977 -0.54971033] [ 0. 0. 0. 1. ]] SLAMing on 64.63824100800001 meters Centerline goodness : 0.829496 with order 1 Centerline is valid? [False, False] Translation: X:14.68, Y:0.07, Z:-0.55 [[ 0.94996608 0.1048272 0.2942375 14.67778424] [-0.12436707 0.99105279 0.04844796 0.06506767] [-0.28652623 -0.08261738 0.95450358 -0.5457124 ] [ 0. 0. 0. 1. ]] SLAMing on 64.698241008 meters Centerline goodness : 0.831501 with order 1 Centerline is valid? [False, False] Translation: X:14.71, Y:0.05, Z:-0.53 [[ 0.94980976 0.08779987 0.30025422 14.71097291] [-0.11286219 0.99133989 0.06713675 0.05118161] [-0.29175939 -0.09765449 0.95149359 -0.53337062] [ 0. 0. 0. 1. ]] SLAMing on 64.758241008 meters Centerline goodness : 0.828023 with order 1 Centerline is valid? [False, False] Translation: X:14.73, Y:0.04, Z:-0.52 [[ 0.94909198 0.08064604 0.30450061 14.72920217] [-0.11217748 0.98982908 0.08749063 0.042115 ] [-0.29434779 -0.11719476 0.94848551 -0.51918915] [ 0. 0. 0. 1. ]] SLAMing on 64.818241008 meters Centerline goodness : 0.830216 with order 1 Centerline is valid? [False, False] Translation: X:14.75, Y:0.04, Z:-0.52 [[ 0.94946802 0.07467006 0.3048522 14.74658712] [-0.10847943 0.98950143 0.0954942 0.0415523 ] [-0.29452113 -0.12373888 0.94760012 -0.51725526] [ 0. 0. 0. 1. ]] SLAMing on 64.878241008 meters Centerline goodness : 0.830459 with order 1 Centerline is valid? [False, False] Translation: X:14.76, Y:0.04, Z:-0.52 [[ 0.94974772 0.07099001 0.3048601 14.75840747] [-0.10667206 0.98904744 0.10201094 0.04175806] [-0.29427935 -0.12940471 0.9469182 -0.51527057] [ 0. 0. 0. 1. ]] SLAMing on 64.938241008 meters Centerline goodness : 0.829441 with order 1 Centerline is valid? [False, False] Translation: X:14.76, Y:0.04, Z:-0.51 [[ 0.94761539 0.05712102 0.31426464 14.7566342 ] [-0.09814868 0.98835178 0.11630817 0.04386406] [-0.30396038 -0.14106007 0.94218371 -0.50831781] [ 0. 0. 0. 1. ]] SLAMing on 64.99824100800001 meters Centerline goodness : 0.827394 with order 1 Centerline is valid? [False, False] Translation: X:14.71, Y:0.05, Z:-0.49 [[ 0.94715893 0.05167184 0.31657541 14.70524919] [-0.09290301 0.98882928 0.11655766 0.05407481] [-0.30701628 -0.13980943 0.94137895 -0.492634 ] [ 0. 0. 0. 1. ]] SLAMing on 65.058241008 meters Centerline goodness : 0.826224 with order 1 Centerline is valid? [False, False] Translation: X:14.68, Y:0.07, Z:-0.50 [[ 0.94743402 0.05895726 0.31447229 14.67931716] [-0.09354457 0.99097199 0.09604127 0.06553285] [-0.30597091 -0.12040994 0.94439571 -0.49759732] [ 0. 0. 0. 1. ]] SLAMing on 65.118241008 meters Centerline goodness : 0.826761 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:0.08, Z:-0.49 [[ 0.94626055 0.06603885 0.31659098 14.63278613] [-0.09812184 0.99141019 0.0864751 0.08173033] [-0.30816081 -0.11289246 0.9446122 -0.4931574 ] [ 0. 0. 0. 1. ]] SLAMing on 65.178241008 meters Centerline goodness : 0.829979 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:0.09, Z:-0.50 [[ 0.94591024 0.06920399 0.31696154 14.63247788] [-0.10178794 0.99095894 0.08740475 0.08911009] [-0.30804712 -0.11493991 0.94440235 -0.49589886] [ 0. 0. 0. 1. ]] SLAMing on 65.238241008 meters Centerline goodness : 0.828047 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:0.10, Z:-0.50 [[ 0.9440691 0.0830514 0.31911753 14.63006007] [-0.11254389 0.99080568 0.07508647 0.09813864] [-0.30994743 -0.10680155 0.94473595 -0.50142932] [ 0. 0. 0. 1. ]] SLAMing on 65.298241008 meters Centerline goodness : 0.828264 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:0.11, Z:-0.51 [[ 0.94242008 0.09615863 0.32030909 14.63013934] [-0.12211624 0.99058278 0.06191432 0.10710468] [-0.31133907 -0.09746424 0.94528763 -0.51081707] [ 0. 0. 0. 1. ]] SLAMing on 65.35824100800001 meters Centerline goodness : 0.827791 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:0.11, Z:-0.51 [[ 0.94228192 0.09821116 0.32009273 14.63223043] [-0.12571818 0.9898426 0.06638192 0.10682057] [-0.31032198 -0.10279196 0.94505771 -0.50981327] [ 0. 0. 0. 1. ]] SLAMing on 65.418241008 meters Centerline goodness : 0.831159 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:0.11, Z:-0.51 [[ 0.94212182 0.09907743 0.32029695 14.6312561 ] [-0.12677407 0.98968284 0.06675489 0.10690572] [-0.31037849 -0.10349659 0.94496225 -0.50918998] [ 0. 0. 0. 1. ]] SLAMing on 65.478241008 meters Centerline goodness : 0.834794 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:0.11, Z:-0.51 [[ 0.94229569 0.0989076 0.31983765 14.63263612] [-0.12642772 0.98975076 0.06640376 0.10694666] [-0.30999172 -0.10300832 0.94514254 -0.51067635] [ 0. 0. 0. 1. ]] SLAMing on 65.538241008 meters Centerline goodness : 0.837113 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:0.11, Z:-0.52 [[ 0.94213725 0.0994463 0.32013722 14.62709848] [-0.12435051 0.99052651 0.05825955 0.1105501 ] [-0.31131071 -0.09469772 0.94557812 -0.51779193] [ 0. 0. 0. 1. ]] SLAMing on 65.598241008 meters Centerline goodness : 0.833367 with order 1 Centerline is valid? [False, False] Translation: X:14.66, Y:0.10, Z:-0.52 [[ 0.94277624 0.0971749 0.3189514 14.66263303] [-0.12413179 0.99011756 0.06525735 0.0979119 ] [-0.309458 -0.10111509 0.9455218 -0.51973004] [ 0. 0. 0. 1. ]] SLAMing on 65.658241008 meters Centerline goodness : 0.837320 with order 1 Centerline is valid? [False, False] Translation: X:14.66, Y:0.10, Z:-0.52 [[ 0.94290364 0.09524419 0.31915712 14.66094567] [-0.12047508 0.99088806 0.06022134 0.09780925] [-0.31051324 -0.0952334 0.94578651 -0.52211562] [ 0. 0. 0. 1. ]] SLAMing on 65.718241008 meters Centerline goodness : 0.837636 with order 1 Centerline is valid? [False, False] Translation: X:14.70, Y:0.09, Z:-0.52 [[ 0.94365564 0.09173279 0.3179609 14.69880854] [-0.11956412 0.99041838 0.06910761 0.08587861] [-0.30857489 -0.1032305 0.94558183 -0.52276071] [ 0. 0. 0. 1. ]] SLAMing on 65.778241008 meters Centerline goodness : 0.838506 with order 1 Centerline is valid? [False, False] Translation: X:14.70, Y:0.08, Z:-0.52 [[ 0.94400333 0.09009716 0.31739599 14.70242811] [-0.11862509 0.99034754 0.0716927 0.08160649] [-0.30787302 -0.10532927 0.94557916 -0.51852483] [ 0. 0. 0. 1. ]] SLAMing on 65.838241008 meters Centerline goodness : 0.843704 with order 1 Centerline is valid? [False, False] Translation: X:14.72, Y:0.08, Z:-0.51 [[ 0.9445914 0.08537973 0.31695015 14.71765032] [-0.11684683 0.98979171 0.08160387 0.07792794] [-0.30674731 -0.11411693 0.94492508 -0.51281195] [ 0. 0. 0. 1. ]] SLAMing on 65.898241008 meters Centerline goodness : 0.843015 with order 1 Centerline is valid? [False, False] Translation: X:14.72, Y:0.08, Z:-0.52 [[ 0.94528272 0.08398514 0.31525716 14.72362012] [-0.11468238 0.99016873 0.08008641 0.07886859] [-0.30543171 -0.11185874 0.94562101 -0.51869162] [ 0. 0. 0. 1. ]] SLAMing on 65.958241008 meters Centerline goodness : 0.848511 with order 1 Centerline is valid? [False, False] Translation: X:14.74, Y:0.07, Z:-0.51 [[ 0.94599833 0.07638666 0.31504322 14.7447835 ] [-0.11061149 0.98957759 0.09220245 0.07410345] [-0.30471667 -0.12207076 0.94458799 -0.51162752] [ 0. 0. 0. 1. ]] SLAMing on 66.018241008 meters Centerline goodness : 0.853249 with order 1 Centerline is valid? [False, False] Translation: X:14.75, Y:0.07, Z:-0.50 [[ 0.94627574 0.07521939 0.31449049 14.75295367] [-0.11200048 0.98860829 0.10054618 0.07176567] [-0.30334488 -0.1303675 0.94392065 -0.50443023] [ 0. 0. 0. 1. ]] SLAMing on 66.078241008 meters Centerline goodness : 0.851424 with order 1 Centerline is valid? [False, False] Translation: X:14.76, Y:0.07, Z:-0.51 [[ 0.94656437 0.07421511 0.31385985 14.75623903] [-0.11074585 0.98878591 0.10018872 0.07431047] [-0.30290468 -0.12959375 0.94416853 -0.50533373] [ 0. 0. 0. 1. ]] SLAMing on 66.13824100800001 meters Centerline goodness : 0.853266 with order 1 Centerline is valid? [False, False] Translation: X:14.77, Y:0.07, Z:-0.49 [[ 0.94669017 0.06783573 0.31492227 14.77420499] [-0.10879823 0.9874644 0.1143547 0.0726466 ] [-0.30321719 -0.14252145 0.94220325 -0.49394631] [ 0. 0. 0. 1. ]] SLAMing on 66.198241008 meters Centerline goodness : 0.851870 with order 1 Centerline is valid? [False, False] Translation: X:14.78, Y:0.07, Z:-0.49 [[ 0.94687036 0.06323635 0.31533741 14.78303764] [-0.10568789 0.98720728 0.11938118 0.07439982] [-0.30375416 -0.14636584 0.94144063 -0.48705972] [ 0. 0. 0. 1. ]] SLAMing on 66.258241008 meters Centerline goodness : 0.859105 with order 1 Centerline is valid? [False, False] Translation: X:14.80, Y:0.07, Z:-0.47 [[ 0.94650345 0.05550725 0.31788387 14.80028784] [-0.10260244 0.98574022 0.13337525 0.07303138] [-0.30594763 -0.15885579 0.9387017 -0.47439517] [ 0. 0. 0. 1. ]] SLAMing on 66.318241008 meters Centerline goodness : 0.860851 with order 1 Centerline is valid? [False, False] Translation: X:14.80, Y:0.08, Z:-0.47 [[ 0.94619611 0.05436069 0.31899505 14.8019779 ] [-0.10177966 0.98575272 0.13391217 0.07895214] [-0.30717068 -0.15917438 0.9382482 -0.47325356] [ 0. 0. 0. 1. ]] SLAMing on 66.378241008 meters Centerline goodness : 0.858721 with order 1 Centerline is valid? [False, False] Translation: X:14.81, Y:0.08, Z:-0.47 [[ 0.94639456 0.05522358 0.31825728 14.80723227] [-0.10371003 0.98506102 0.13747372 0.08322544] [-0.30591105 -0.16311085 0.93798363 -0.47434558] [ 0. 0. 0. 1. ]] SLAMing on 66.438241008 meters Centerline goodness : 0.861644 with order 1 Centerline is valid? [False, False] Translation: X:14.81, Y:0.09, Z:-0.47 [[ 0.94607001 0.0575109 0.31881661 14.80855527] [-0.10735677 0.98416536 0.14104281 0.08775967] [-0.30565676 -0.16766349 0.93726352 -0.4739034 ] [ 0. 0. 0. 1. ]] SLAMing on 66.49824100800001 meters Centerline goodness : 0.861545 with order 1 Centerline is valid? [False, False] Translation: X:14.81, Y:0.09, Z:-0.49 [[ 0.94402576 0.06470267 0.32346394 14.81207236] [-0.11050777 0.98594566 0.1252964 0.09294102] [-0.31081086 -0.15402831 0.93790825 -0.48602132] [ 0. 0. 0. 1. ]] SLAMing on 66.558241008 meters Centerline goodness : 0.863961 with order 1 Centerline is valid? [False, False] Translation: X:14.82, Y:0.10, Z:-0.50 [[ 0.94178378 0.06956729 0.32894331 14.81972197] [-0.11199343 0.98739726 0.11182183 0.0971013 ] [-0.31701858 -0.14215147 0.9377058 -0.49745416] [ 0. 0. 0. 1. ]] SLAMing on 66.618241008 meters Centerline goodness : 0.864246 with order 1 Centerline is valid? [False, False] Translation: X:14.84, Y:0.10, Z:-0.51 [[ 0.94028125 0.07100379 0.33291085 14.83842687] [-0.11148327 0.98829996 0.10408968 0.09818902] [-0.32162502 -0.13498756 0.93719566 -0.50546259] [ 0. 0. 0. 1. ]] SLAMing on 66.678241008 meters Centerline goodness : 0.864725 with order 1 Centerline is valid? [False, False] Translation: X:14.89, Y:0.08, Z:-0.49 [[ 0.94025165 0.06511291 0.33419626 14.88635017] [-0.11426533 0.9849635 0.12957754 0.08397009] [-0.32073395 -0.16002254 0.9335537 -0.49397395] [ 0. 0. 0. 1. ]] SLAMing on 66.738241008 meters Centerline goodness : 0.869202 with order 1 Centerline is valid? [False, False] Translation: X:14.89, Y:0.08, Z:-0.50 [[ 0.94054762 0.06402333 0.33357336 14.89029922] [-0.11314352 0.98504262 0.12995989 0.08395839] [-0.32026351 -0.15997513 0.93372332 -0.49529508] [ 0. 0. 0. 1. ]] SLAMing on 66.798241008 meters Centerline goodness : 0.870244 with order 1 Centerline is valid? [False, False] Translation: X:14.93, Y:0.07, Z:-0.49 [[ 0.94156976 0.0609627 0.3312551 14.93071245] [-0.11455887 0.98281372 0.14475306 0.07449892] [-0.31673752 -0.17424332 0.9323715 -0.49053026] [ 0. 0. 0. 1. ]] SLAMing on 66.85824100800001 meters Centerline goodness : 0.872656 with order 1 Centerline is valid? [False, False] Translation: X:14.94, Y:0.08, Z:-0.49 [[ 0.94213443 0.05807897 0.33016593 14.94378953] [-0.11429376 0.98151937 0.15348178 0.07552479] [-0.31515019 -0.18233638 0.93136126 -0.48596573] [ 0. 0. 0. 1. ]] SLAMing on 66.918241008 meters Centerline goodness : 0.871042 with order 1 Centerline is valid? [False, False] Translation: X:14.99, Y:0.07, Z:-0.49 [[ 0.94265539 0.05494601 0.32921385 14.98937882] [-0.11590733 0.97886135 0.16851097 0.07050691] [-0.31299571 -0.19700607 0.92909757 -0.48681531] [ 0. 0. 0. 1. ]] SLAMing on 66.978241008 meters Centerline goodness : 0.870102 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:0.07, Z:-0.49 [[ 0.94104343 0.05414336 0.33392479 15.01697612] [-0.11613151 0.97882555 0.16856456 0.07155565] [-0.31772747 -0.19740576 0.9274051 -0.49249355] [ 0. 0. 0. 1. ]] SLAMing on 67.038241008 meters Centerline goodness : 0.874478 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:0.07, Z:-0.48 [[ 0.94101 0.05176742 0.33439543 15.02247325] [-0.1158512 0.97779284 0.17464151 0.07414896] [-0.31792872 -0.20307952 0.92611017 -0.48338463] [ 0. 0. 0. 1. ]] SLAMing on 67.098241008 meters Centerline goodness : 0.875318 with order 1 Centerline is valid? [False, False] Translation: X:15.04, Y:0.08, Z:-0.50 [[ 0.93927293 0.05554 0.33864683 15.03608923] [-0.11675091 0.97966901 0.16314977 0.07809904] [-0.32270047 -0.19277948 0.92666093 -0.49592333] [ 0. 0. 0. 1. ]] SLAMing on 67.158241008 meters Centerline goodness : 0.877040 with order 1 Centerline is valid? [False, False] Translation: X:15.04, Y:0.08, Z:-0.49 [[ 0.9396318 0.05447216 0.33782371 15.04068428] [-0.11572158 0.97966497 0.16390565 0.08210928] [-0.32202576 -0.19310445 0.92682797 -0.49475124] [ 0. 0. 0. 1. ]] SLAMing on 67.218241008 meters Centerline goodness : 0.875128 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:0.08, Z:-0.49 [[ 0.93923282 0.04664384 0.34009714 15.06808655] [-0.11555048 0.97587006 0.185272 0.08160033] [-0.32324882 -0.21331193 0.9219589 -0.48646512] [ 0. 0. 0. 1. ]] SLAMing on 67.278241008 meters Centerline goodness : 0.879272 with order 1 Centerline is valid? [False, False] Translation: X:15.08, Y:0.08, Z:-0.48 [[ 0.93958616 0.03893795 0.34009069 15.08374876] [-0.11032738 0.97494 0.1931835 0.08140279] [-0.32404585 -0.21903386 0.92033606 -0.47698005] [ 0. 0. 0. 1. ]] SLAMing on 67.338241008 meters Centerline goodness : 0.880470 with order 1 Centerline is valid? [False, False] Translation: X:15.10, Y:0.08, Z:-0.47 [[ 0.93902257 0.0303122 0.34251683 15.10416844] [-0.10737736 0.97214305 0.20834587 0.08107151] [-0.32665994 -0.23242002 0.91611911 -0.46663528] [ 0. 0. 0. 1. ]] SLAMing on 67.398241008 meters Centerline goodness : 0.883913 with order 1 Centerline is valid? [False, False] Translation: X:15.14, Y:0.08, Z:-0.47 [[ 0.93667383 0.02539891 0.34928074 15.13706922] [-0.1049471 0.97188683 0.21076549 0.08311746] [-0.33410814 -0.23407452 0.9130065 -0.47296841] [ 0. 0. 0. 1. ]] SLAMing on 67.458241008 meters Centerline goodness : 0.883564 with order 1 Centerline is valid? [False, False] Translation: X:15.15, Y:0.08, Z:-0.46 [[ 0.93588301 0.01840062 0.35183008 15.15484132] [-0.10410383 0.96848578 0.22626906 0.08441849] [-0.33657894 -0.24838823 0.90830496 -0.46389027] [ 0. 0. 0. 1. ]] SLAMing on 67.518241008 meters Centerline goodness : 0.885940 with order 1 Centerline is valid? [False, False] Translation: X:15.15, Y:0.09, Z:-0.47 [[ 0.93507662 0.01833475 0.35397113 15.14910657] [-0.1020907 0.97027143 0.21943298 0.09186385] [-0.33942483 -0.24132381 0.90914994 -0.46757973] [ 0. 0. 0. 1. ]] SLAMing on 67.578241008 meters Centerline goodness : 0.889113 with order 1 Centerline is valid? [False, False] Translation: X:15.16, Y:0.10, Z:-0.48 [[ 0.93323851 0.02363097 0.35847937 15.1575058 ] [-0.1026715 0.97376084 0.20309698 0.09784672] [-0.3442738 -0.22634353 0.91117735 -0.48340945] [ 0. 0. 0. 1. ]] SLAMing on 67.63824100800001 meters Centerline goodness : 0.887245 with order 1 Centerline is valid? [False, False] Translation: X:15.18, Y:0.10, Z:-0.50 [[ 0.9317677 0.02624167 0.3621054 15.17915711] [-0.10455576 0.97452453 0.19841882 0.10213972] [-0.34767376 -0.22274046 0.9107742 -0.49517238] [ 0. 0. 0. 1. ]] SLAMing on 67.698241008 meters Centerline goodness : 0.887577 with order 1 Centerline is valid? [False, False] Translation: X:15.20, Y:0.11, Z:-0.51 [[ 0.9305512 0.02958292 0.36496481 15.20154055] [-0.10681388 0.97531052 0.19328781 0.10736882] [-0.350236 -0.21884751 0.91073625 -0.51047289] [ 0. 0. 0. 1. ]] SLAMing on 67.758241008 meters Centerline goodness : 0.890014 with order 1 Centerline is valid? [False, False] Translation: X:15.20, Y:0.11, Z:-0.52 [[ 0.92909037 0.0381984 0.36787494 15.20323917] [-0.10981959 0.97828557 0.17577542 0.1125175 ] [-0.35317241 -0.20371113 0.91311063 -0.52239181] [ 0. 0. 0. 1. ]] SLAMing on 67.818241008 meters Centerline goodness : 0.892026 with order 1 Centerline is valid? [False, False] Translation: X:15.21, Y:0.12, Z:-0.53 [[ 0.92960565 0.04587651 0.36568932 15.21193053] [-0.11161001 0.98067387 0.16069214 0.11968196] [-0.35124996 -0.19019491 0.91676025 -0.53070008] [ 0. 0. 0. 1. ]] SLAMing on 67.878241008 meters Centerline goodness : 0.893682 with order 1 Centerline is valid? [False, False] Translation: X:15.22, Y:0.13, Z:-0.53 [[ 0.93037821 0.04149475 0.36424522 15.2229266 ] [-0.1065428 0.98129335 0.16034961 0.12652741] [-0.35077774 -0.18799349 0.91739491 -0.53356888] [ 0. 0. 0. 1. ]] SLAMing on 67.938241008 meters Centerline goodness : 0.896136 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:0.13, Z:-0.53 [[ 0.92901469 0.03018398 0.36880975 15.24490641] [-0.10139459 0.97928668 0.17526188 0.12873205] [-0.35588038 -0.20021617 0.91283221 -0.52783986] [ 0. 0. 0. 1. ]] SLAMing on 67.99824100800001 meters Centerline goodness : 0.895111 with order 1 Centerline is valid? [False, False] Translation: X:15.22, Y:0.14, Z:-0.52 [[ 0.9282588 0.02704656 0.37095024 15.21835571] [-0.09871784 0.97949726 0.17561296 0.13883006] [-0.35859502 -0.19963368 0.91189693 -0.51715809] [ 0. 0. 0. 1. ]] SLAMing on 68.058241008 meters Centerline goodness : 0.900290 with order 1 Centerline is valid? [False, False] Translation: X:15.18, Y:0.15, Z:-0.50 [[ 0.92862428 0.02999502 0.36980703 15.18048463] [-0.09944079 0.98038141 0.17018761 0.15026601] [-0.35744715 -0.19481425 0.91338871 -0.50402336] [ 0. 0. 0. 1. ]] SLAMing on 68.118241008 meters Centerline goodness : 0.900316 with order 1 Centerline is valid? [False, False] Translation: X:15.15, Y:0.16, Z:-0.49 [[ 0.92908669 0.03120904 0.36854296 15.14750194] [-0.09888823 0.98111924 0.16621116 0.16033137] [-0.3563973 -0.19086914 0.91463104 -0.49352768] [ 0. 0. 0. 1. ]] SLAMing on 68.178241008 meters Centerline goodness : 0.900770 with order 1 Centerline is valid? [False, False] Translation: X:15.10, Y:0.17, Z:-0.48 [[ 0.92973929 0.03652932 0.36640204 15.10491796] [-0.10309733 0.98109224 0.1637955 0.17269488] [-0.35349086 -0.19006218 0.91592608 -0.47716105] [ 0. 0. 0. 1. ]] SLAMing on 68.238241008 meters Centerline goodness : 0.899891 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:0.19, Z:-0.47 [[ 0.93134323 0.0467937 0.36112343 15.07106255] [-0.10686573 0.98316478 0.14821181 0.18619855] [-0.34810846 -0.17662778 0.9206645 -0.47016892] [ 0. 0. 0. 1. ]] SLAMing on 68.298241008 meters Centerline goodness : 0.899608 with order 1 Centerline is valid? [False, False] Translation: X:15.05, Y:0.20, Z:-0.47 [[ 0.93077793 0.05405855 0.36156621 15.05203143] [-0.10986117 0.98465421 0.13559724 0.19703944] [-0.3486875 -0.165933 0.92243334 -0.47144955] [ 0. 0. 0. 1. ]] SLAMing on 68.35824100800001 meters Centerline goodness : 0.903689 with order 1 Centerline is valid? [False, False] Translation: X:15.05, Y:0.20, Z:-0.47 [[ 0.93032915 0.05715989 0.36224359 15.05134974] [-0.11411972 0.98385812 0.13784009 0.20423505] [-0.34851737 -0.16957579 0.92183496 -0.47160611] [ 0. 0. 0. 1. ]] SLAMing on 68.418241008 meters Centerline goodness : 0.903805 with order 1 Centerline is valid? [False, False] Translation: X:15.06, Y:0.21, Z:-0.49 [[ 0.92858869 0.06351614 0.36563472 15.06440849] [-0.1175588 0.98485005 0.12747668 0.20996829] [-0.35199854 -0.16135698 0.9219875 -0.48567053] [ 0. 0. 0. 1. ]] SLAMing on 68.478241008 meters Centerline goodness : 0.905124 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:0.22, Z:-0.50 [[ 0.92708078 0.07607651 0.36706075 15.06630617] [-0.12651028 0.98523855 0.11532624 0.21660588] [-0.35286879 -0.1533537 0.92302018 -0.4968693 ] [ 0. 0. 0. 1. ]] SLAMing on 68.538241008 meters Centerline goodness : 0.904198 with order 1 Centerline is valid? [False, False] Translation: X:15.06, Y:0.22, Z:-0.51 [[ 0.92556105 0.08873327 0.3680532 15.06254064] [-0.13302644 0.98638158 0.09672306 0.22346743] [-0.35445834 -0.13848391 0.92476024 -0.50878426] [ 0. 0. 0. 1. ]] SLAMing on 68.598241008 meters Centerline goodness : 0.903266 with order 1 Centerline is valid? [False, False] Translation: X:15.04, Y:0.23, Z:-0.51 [[ 0.92559441 0.10822891 0.36271406 15.03948161] [-0.14397502 0.98689034 0.07292909 0.23204901] [-0.35006597 -0.11972452 0.92904244 -0.51251443] [ 0. 0. 0. 1. ]] SLAMing on 68.658241008 meters Centerline goodness : 0.904448 with order 1 Centerline is valid? [False, False] Translation: X:15.04, Y:0.24, Z:-0.52 [[ 0.92567672 0.10771594 0.3626567 15.03667755] [-0.14061498 0.98789571 0.06549418 0.23689896] [-0.35121223 -0.1116214 0.92961854 -0.5185144 ] [ 0. 0. 0. 1. ]] SLAMing on 68.718241008 meters Centerline goodness : 0.902937 with order 1 Centerline is valid? [False, False] Translation: X:15.04, Y:0.24, Z:-0.52 [[ 0.92639812 0.10648843 0.36117412 15.04136696] [-0.1386425 0.98825708 0.0642355 0.23723475] [-0.35009254 -0.10958173 0.93028332 -0.52359724] [ 0. 0. 0. 1. ]] SLAMing on 68.778241008 meters Centerline goodness : 0.901150 with order 1 Centerline is valid? [False, False] Translation: X:15.06, Y:0.23, Z:-0.53 [[ 0.92943944 0.11050535 0.35203819 15.06129538] [-0.13923196 0.98860225 0.05727172 0.23293016] [-0.34169691 -0.10224556 0.9342318 -0.53014326] [ 0. 0. 0. 1. ]] SLAMing on 68.838241008 meters Centerline goodness : 0.901454 with order 1 Centerline is valid? [False, False] Translation: X:15.06, Y:0.23, Z:-0.53 [[ 0.92977663 0.10874711 0.35169516 15.06066919] [-0.13541951 0.98941906 0.05207189 0.23436655] [-0.34231122 -0.09604162 0.9346652 -0.53277498] [ 0. 0. 0. 1. ]] SLAMing on 68.898241008 meters Centerline goodness : 0.902784 with order 1 Centerline is valid? [False, False] Translation: X:15.06, Y:0.23, Z:-0.53 [[ 0.93029886 0.10746126 0.350708 15.06462262] [-0.13395733 0.98961614 0.05210875 0.23285995] [-0.34146663 -0.09545662 0.935034 -0.53458656] [ 0. 0. 0. 1. ]] SLAMing on 68.958241008 meters Centerline goodness : 0.903960 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:0.23, Z:-0.54 [[ 0.93089733 0.10571016 0.34965057 15.0694102 ] [-0.13209384 0.98985019 0.05241972 0.23128277] [-0.34056038 -0.09498406 0.93541256 -0.53601114] [ 0. 0. 0. 1. ]] SLAMing on 69.018241008 meters Centerline goodness : 0.903758 with order 1 Centerline is valid? [False, False] Translation: X:15.09, Y:0.22, Z:-0.53 [[ 0.93163991 0.09878443 0.34969802 15.08871283] [-0.12900341 0.98956744 0.06414354 0.22470195] [-0.33971339 -0.10487092 0.93466406 -0.52949088] [ 0. 0. 0. 1. ]] SLAMing on 69.078241008 meters Centerline goodness : 0.901957 with order 1 Centerline is valid? [False, False] Translation: X:15.09, Y:0.22, Z:-0.53 [[ 0.93187681 0.09835167 0.34918842 15.08987826] [-0.12883093 0.98952732 0.06510206 0.22196765] [-0.33912859 -0.10565337 0.9347883 -0.527016 ] [ 0. 0. 0. 1. ]] SLAMing on 69.13824100800001 meters Centerline goodness : 0.901715 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:0.22, Z:-0.54 [[ 0.93312407 0.09922615 0.34559172 15.12364755] [-0.13041541 0.98911533 0.0681372 0.217074 ] [-0.33506907 -0.10865095 0.93590795 -0.53639962] [ 0. 0. 0. 1. ]] SLAMing on 69.198241008 meters Centerline goodness : 0.897236 with order 1 Centerline is valid? [False, False] Translation: X:15.13, Y:0.22, Z:-0.54 [[ 0.93384861 0.0982803 0.34390079 15.12856867] [-0.12826091 0.98957608 0.0654853 0.22033409] [-0.33388008 -0.10526239 0.93671977 -0.54389127] [ 0. 0. 0. 1. ]] SLAMing on 69.258241008 meters Centerline goodness : 0.897890 with order 1 Centerline is valid? [False, False] Translation: X:15.15, Y:0.22, Z:-0.55 [[ 0.93693782 0.10264771 0.33408228 15.14707617] [-0.13063619 0.98946761 0.06235411 0.21981432] [-0.32416309 -0.10206516 0.94047913 -0.54555125] [ 0. 0. 0. 1. ]] SLAMing on 69.318241008 meters Centerline goodness : 0.899090 with order 1 Centerline is valid? [False, False] Translation: X:15.18, Y:0.21, Z:-0.54 [[ 0.9371658 0.09082566 0.33685451 15.17757062] [-0.12437924 0.98905613 0.07935859 0.21228137] [-0.32596022 -0.11626986 0.9382064 -0.53781632] [ 0. 0. 0. 1. ]] SLAMing on 69.378241008 meters Centerline goodness : 0.900753 with order 1 Centerline is valid? [False, False] Translation: X:15.19, Y:0.21, Z:-0.53 [[ 0.9379944 0.08578883 0.3358672 15.19457227] [-0.12228267 0.98849508 0.08901919 0.21163474] [-0.32436623 -0.12457024 0.93769334 -0.5326214 ] [ 0. 0. 0. 1. ]] SLAMing on 69.438241008 meters Centerline goodness : 0.902830 with order 1 Centerline is valid? [False, False] Translation: X:15.22, Y:0.21, Z:-0.52 [[ 0.93708502 0.07790543 0.34029752 15.21647225] [-0.12057869 0.98701982 0.10607858 0.21190014] [-0.3276163 -0.14043727 0.93431522 -0.52417506] [ 0. 0. 0. 1. ]] SLAMing on 69.49824100800001 meters Centerline goodness : 0.902297 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:0.21, Z:-0.52 [[ 0.93647657 0.06946291 0.34378268 15.24022113] [-0.11802232 0.98544042 0.12238423 0.21184225] [-0.33027618 -0.155184 0.93104005 -0.52070874] [ 0. 0. 0. 1. ]] SLAMing on 69.558241008 meters Centerline goodness : 0.904294 with order 1 Centerline is valid? [False, False] Translation: X:15.23, Y:0.22, Z:-0.50 [[ 0.93656464 0.06487048 0.34443939 15.22846643] [-0.11967793 0.98284805 0.14031001 0.21686993] [-0.32942961 -0.17263118 0.9282643 -0.50272078] [ 0. 0. 0. 1. ]] SLAMing on 69.618241008 meters Centerline goodness : 0.903853 with order 1 Centerline is valid? [False, False] Translation: X:15.20, Y:0.23, Z:-0.48 [[ 0.93531977 0.05413649 0.3496372 15.1980267 ] [-0.11625006 0.98038075 0.15918386 0.22555867] [-0.33415993 -0.18953316 0.92326287 -0.47929426] [ 0. 0. 0. 1. ]] SLAMing on 69.678241008 meters Centerline goodness : 0.908007 with order 1 Centerline is valid? [False, False] Translation: X:15.19, Y:0.23, Z:-0.48 [[ 0.93480508 0.05455077 0.35094682 15.19244748] [-0.11460122 0.98160868 0.15267924 0.23430094] [-0.33616368 -0.18294426 0.92386437 -0.4796911 ] [ 0. 0. 0. 1. ]] SLAMing on 69.738241008 meters Centerline goodness : 0.904953 with order 1 Centerline is valid? [False, False] Translation: X:15.20, Y:0.24, Z:-0.49 [[ 0.93274789 0.05982744 0.35553065 15.20081594] [-0.11595605 0.98352086 0.1387116 0.23873194] [-0.34137305 -0.17060888 0.92431437 -0.49130939] [ 0. 0. 0. 1. ]] SLAMing on 69.798241008 meters Centerline goodness : 0.905209 with order 1 Centerline is valid? [False, False] Translation: X:15.21, Y:0.24, Z:-0.49 [[ 0.9328484 0.06091912 0.35508128 15.20550685] [-0.1185883 0.98259676 0.14297003 0.24286603] [-0.34019211 -0.17547785 0.92383811 -0.4924301 ] [ 0. 0. 0. 1. ]] SLAMing on 69.85824100800001 meters Centerline goodness : 0.902669 with order 1 Centerline is valid? [False, False] Translation: X:15.21, Y:0.25, Z:-0.51 [[ 0.93118679 0.06873185 0.35800432 15.21159194] [-0.12146701 0.98444477 0.12694194 0.24764095] [-0.34371052 -0.16169237 0.92505062 -0.50859246] [ 0. 0. 0. 1. ]] SLAMing on 69.918241008 meters Centerline goodness : 0.895830 with order 1 Centerline is valid? [False, False] Translation: X:15.22, Y:0.25, Z:-0.52 [[ 0.92967489 0.07818532 0.35998842 15.21508622] [-0.12558462 0.98594476 0.11018816 0.25273138] [-0.3463136 -0.14764817 0.92642696 -0.52340091] [ 0. 0. 0. 1. ]] SLAMing on 69.978241008 meters Centerline goodness : 0.897937 with order 1 Centerline is valid? [False, False] Translation: X:15.22, Y:0.26, Z:-0.54 [[ 0.92791235 0.08375115 0.36326906 15.22392071] [-0.12636555 0.98741138 0.0951342 0.25564785] [-0.35072841 -0.1341809 0.92681448 -0.53732499] [ 0. 0. 0. 1. ]] SLAMing on 70.038241008 meters Centerline goodness : 0.896677 with order 1 Centerline is valid? [False, False] Translation: X:15.22, Y:0.26, Z:-0.54 [[ 0.92803656 0.08394213 0.36290752 15.22447063] [-0.12605241 0.98756805 0.09391561 0.25603456] [-0.35051239 -0.13290249 0.92708036 -0.5405372 ] [ 0. 0. 0. 1. ]] SLAMing on 70.098241008 meters Centerline goodness : 0.895327 with order 1 Centerline is valid? [False, False] Translation: X:15.23, Y:0.26, Z:-0.56 [[ 0.92696976 0.0874991 0.36478893 15.23363809] [-0.12255405 0.98969675 0.07403276 0.25741142] [-0.35455262 -0.11333249 0.92814233 -0.55783997] [ 0. 0. 0. 1. ]] SLAMing on 70.158241008 meters Centerline goodness : 0.895099 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:0.26, Z:-0.56 [[ 0.92877065 0.08523399 0.36072184 15.2421003 ] [-0.11837028 0.99044619 0.07074472 0.25587213] [-0.35124572 -0.10840436 0.92998653 -0.56226324] [ 0. 0. 0. 1. ]] SLAMing on 70.218241008 meters Centerline goodness : 0.887056 with order 1 Centerline is valid? [False, False] Translation: X:15.25, Y:0.26, Z:-0.57 [[ 0.92964303 0.08241506 0.35912616 15.24503344] [-0.11309278 0.99144082 0.06523128 0.25663695] [-0.35067629 -0.10125638 0.9310066 -0.56588088] [ 0. 0. 0. 1. ]] SLAMing on 70.278241008 meters Centerline goodness : 0.889991 with order 1 Centerline is valid? [False, False] Translation: X:15.25, Y:0.26, Z:-0.57 [[ 0.9305337 0.08073866 0.35719504 15.25153822] [-0.11043787 0.9918518 0.06350978 0.25930131] [-0.34915684 -0.09854585 0.93186813 -0.57166014] [ 0. 0. 0. 1. ]] SLAMing on 70.338241008 meters Centerline goodness : 0.884728 with order 1 Centerline is valid? [False, False] Translation: X:15.30, Y:0.25, Z:-0.56 [[ 0.92980973 0.06116295 0.36292281 15.3049899 ] [-0.10311523 0.98989345 0.09735607 0.24721491] [-0.35330033 -0.12794549 0.92671939 -0.5620638 ] [ 0. 0. 0. 1. ]] SLAMing on 70.398241008 meters Centerline goodness : 0.881749 with order 1 Centerline is valid? [False, False] Translation: X:15.31, Y:0.25, Z:-0.56 [[ 0.93070659 0.05793141 0.36114983 15.3148481 ] [-0.09961379 0.99020079 0.09787484 0.25232552] [-0.35194082 -0.12706826 0.92735717 -0.56254206] [ 0. 0. 0. 1. ]] SLAMing on 70.458241008 meters Centerline goodness : 0.873980 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:0.26, Z:-0.56 [[ 0.9307003 0.05799234 0.36115625 15.31563922] [-0.0990395 0.99042361 0.0961886 0.25887801] [-0.35211948 -0.12529149 0.92753109 -0.5636169 ] [ 0. 0. 0. 1. ]] SLAMing on 70.518241008 meters Centerline goodness : 0.870297 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:0.26, Z:-0.56 [[ 0.93062031 0.06045892 0.36095782 15.3168975 ] [-0.1028049 0.98973515 0.09927478 0.26320277] [-0.3512506 -0.12949536 0.92728311 -0.56388474] [ 0. 0. 0. 1. ]] SLAMing on 70.578241008 meters Centerline goodness : 0.860001 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:0.27, Z:-0.57 [[ 0.92909581 0.07357173 0.36244749 15.31589302] [-0.11139892 0.99017091 0.0845686 0.27199152] [-0.35266311 -0.11894859 0.92815945 -0.57416408] [ 0. 0. 0. 1. ]] SLAMing on 70.638241008 meters Centerline goodness : 0.858713 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:0.28, Z:-0.59 [[ 0.92732061 0.08487259 0.36451767 15.3192527 ] [-0.11880955 0.99032749 0.07166424 0.27761578] [-0.35490954 -0.1097639 0.92843476 -0.58608737] [ 0. 0. 0. 1. ]] SLAMing on 70.698241008 meters Centerline goodness : 0.861846 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:0.28, Z:-0.59 [[ 0.92724108 0.09855802 0.36126208 15.32139733] [-0.12863988 0.98986705 0.06012489 0.28317279] [-0.35167563 -0.10222298 0.93052389 -0.59434271] [ 0. 0. 0. 1. ]] SLAMing on 70.758241008 meters Centerline goodness : 0.853355 with order 1 Centerline is valid? [False, False] Translation: X:15.31, Y:0.29, Z:-0.60 [[ 0.92851209 0.11453307 0.35319609 15.31234301] [-0.13972915 0.98909296 0.0465927 0.29063852] [-0.34400736 -0.09261368 0.93438838 -0.59716945] [ 0. 0. 0. 1. ]] SLAMing on 70.818241008 meters Centerline goodness : 0.852043 with order 1 Centerline is valid? [False, False] Translation: X:15.30, Y:0.29, Z:-0.60 [[ 0.928075 0.11887204 0.3529111 15.29913988] [-0.14086021 0.9893307 0.03719091 0.29385414] [-0.34472482 -0.08422709 0.93491743 -0.60029379] [ 0. 0. 0. 1. ]] SLAMing on 70.878241008 meters Centerline goodness : 0.849430 with order 1 Centerline is valid? [False, False] Translation: X:15.30, Y:0.29, Z:-0.60 [[ 0.92865202 0.11654147 0.35216971 15.29976574] [-0.13670536 0.99006701 0.03284737 0.29333953] [-0.34484354 -0.07864727 0.93535958 -0.60167321] [ 0. 0. 0. 1. ]] SLAMing on 70.938241008 meters Centerline goodness : 0.846663 with order 1 Centerline is valid? [False, False] Translation: X:15.30, Y:0.29, Z:-0.60 [[ 0.92954887 0.1114361 0.35145538 15.30000943] [-0.12807436 0.99146501 0.02437404 0.2908798 ] [-0.34573957 -0.06766929 0.93588729 -0.60454268] [ 0. 0. 0. 1. ]] SLAMing on 70.99824100800001 meters Centerline goodness : 0.844526 with order 1 Centerline is valid? [False, False] Translation: X:15.30, Y:0.29, Z:-0.61 [[ 9.30210671e-01 1.07307682e-01 3.50988845e-01 1.52987385e+01] [-1.20273160e-01 9.92623229e-01 1.52804824e-02 2.91062510e-01] [-3.46759967e-01 -5.64286053e-02 9.36254953e-01 -6.07428662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.058241008 meters Centerline goodness : 0.842548 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:0.28, Z:-0.61 [[ 0.93132557 0.09994161 0.35020616 15.34220377] [-0.11454352 0.9931925 0.02117625 0.27944352] [-0.34570574 -0.05983583 0.93643324 -0.61480353] [ 0. 0. 0. 1. ]] SLAMing on 71.118241008 meters Centerline goodness : 0.841079 with order 1 Centerline is valid? [False, False] Translation: X:15.36, Y:0.28, Z:-0.61 [[ 0.93282765 0.09411443 0.34781467 15.35706045] [-0.10936088 0.99370213 0.02441859 0.27650261] [-0.34332604 -0.06081566 0.93724527 -0.6148064 ] [ 0. 0. 0. 1. ]] SLAMing on 71.178241008 meters Centerline goodness : 0.836558 with order 1 Centerline is valid? [False, False] Translation: X:15.36, Y:0.28, Z:-0.62 [[ 0.93339693 0.09260282 0.34669134 15.36124755] [-0.10731854 0.9939482 0.02344561 0.276682 ] [-0.34242211 -0.05909047 0.9376862 -0.61844047] [ 0. 0. 0. 1. ]] SLAMing on 71.238241008 meters Centerline goodness : 0.832593 with order 1 Centerline is valid? [False, False] Translation: X:15.40, Y:0.27, Z:-0.62 [[ 0.933887 0.08137058 0.34818658 15.39588312] [-0.1025902 0.99379762 0.04291309 0.26812251] [-0.34253513 -0.07579651 0.93644251 -0.61718839] [ 0. 0. 0. 1. ]] SLAMing on 71.298241008 meters Centerline goodness : 0.836424 with order 1 Centerline is valid? [False, False] Translation: X:15.43, Y:0.26, Z:-0.61 [[ 0.93150968 0.06394671 0.35805103 15.43394272] [-0.0944491 0.99318119 0.06834104 0.25998284] [-0.35123937 -0.09747793 0.93119759 -0.61071226] [ 0. 0. 0. 1. ]] SLAMing on 71.35824100800001 meters Centerline goodness : 0.839388 with order 1 Centerline is valid? [False, False] Translation: X:15.44, Y:0.26, Z:-0.61 [[ 0.93149475 0.0602037 0.35873812 15.43715549] [-0.0893914 0.99385211 0.06532356 0.26480375] [-0.35259992 -0.09291666 0.93114971 -0.61236655] [ 0. 0. 0. 1. ]] SLAMing on 71.418241008 meters Centerline goodness : 0.839062 with order 1 Centerline is valid? [False, False] Translation: X:15.38, Y:0.28, Z:-0.59 [[ 0.93113694 0.05584634 0.36036813 15.3843102 ] [-0.08472528 0.99429296 0.06483154 0.27664449] [-0.35469089 -0.09089933 0.9305545 -0.59186546] [ 0. 0. 0. 1. ]] SLAMing on 71.478241008 meters Centerline goodness : 0.836831 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:0.29, Z:-0.58 [[ 0.93345604 0.06137802 0.35340142 15.33624442] [-0.08577215 0.99486285 0.05376838 0.28974466] [-0.34828575 -0.08050242 0.93392526 -0.57778582] [ 0. 0. 0. 1. ]] SLAMing on 71.538241008 meters Centerline goodness : 0.840733 with order 1 Centerline is valid? [False, False] Translation: X:15.28, Y:0.31, Z:-0.56 [[ 0.93423051 0.07022479 0.34968819 15.2789165 ] [-0.08874848 0.99535871 0.03721226 0.30698424] [-0.34545197 -0.06579912 0.93612682 -0.5635181 ] [ 0. 0. 0. 1. ]] SLAMing on 71.598241008 meters Centerline goodness : 0.839468 with order 1 Centerline is valid? [False, False] Translation: X:15.25, Y:0.32, Z:-0.56 [[ 0.93530454 0.08147685 0.34433551 15.24630411] [-0.0948051 0.99525233 0.02201811 0.31818969] [-0.34090675 -0.0532384 0.93858844 -0.55686932] [ 0. 0. 0. 1. ]] SLAMing on 71.658241008 meters Centerline goodness : 0.838529 with order 1 Centerline is valid? [False, False] Translation: X:15.20, Y:0.33, Z:-0.54 [[ 0.93425903 0.08944463 0.34519519 15.20295167] [-0.10288277 0.99447669 0.02076667 0.32984371] [-0.3414311 -0.05491609 0.93830114 -0.54317646] [ 0. 0. 0. 1. ]] SLAMing on 71.718241008 meters Centerline goodness : 0.841025 with order 1 Centerline is valid? [False, False] Translation: X:15.18, Y:0.34, Z:-0.53 [[ 0.93100018 0.08910566 0.35397578 15.18347783] [-0.10706943 0.99375401 0.03145004 0.33523386] [-0.34896247 -0.06717998 0.93472565 -0.53293028] [ 0. 0. 0. 1. ]] SLAMing on 71.778241008 meters Centerline goodness : 0.837407 with order 1 Centerline is valid? [False, False] Translation: X:15.19, Y:0.33, Z:-0.53 [[ 0.93220859 0.10154486 0.3473842 15.19098148] [-0.12054693 0.99214315 0.03347259 0.33260805] [-0.34125588 -0.07307953 0.93712529 -0.52560518] [ 0. 0. 0. 1. ]] SLAMing on 71.838241008 meters Centerline goodness : 0.840959 with order 1 Centerline is valid? [False, False] Translation: X:15.20, Y:0.33, Z:-0.52 [[ 0.93219277 0.10036224 0.34777012 15.2029074 ] [-0.12467298 0.99102714 0.04818569 0.32603946] [-0.33981361 -0.08827589 0.93634079 -0.51702647] [ 0. 0. 0. 1. ]] SLAMing on 71.898241008 meters Centerline goodness : 0.840786 with order 1 Centerline is valid? [False, False] Translation: X:15.21, Y:0.32, Z:-0.52 [[ 0.93261587 0.09914519 0.34698395 15.21134875] [-0.12560846 0.99057817 0.05456557 0.32293406] [-0.33830481 -0.09447283 0.9362824 -0.51614922] [ 0. 0. 0. 1. ]] SLAMing on 71.958241008 meters Centerline goodness : 0.843709 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:0.31, Z:-0.50 [[ 0.93204006 0.08941819 0.35114913 15.23978691] [-0.1247706 0.98900933 0.07932749 0.31150357] [-0.34019644 -0.11774949 0.93295307 -0.50285561] [ 0. 0. 0. 1. ]] SLAMing on 72.018241008 meters Centerline goodness : 0.848248 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:0.31, Z:-0.51 [[ 0.93233964 0.08857555 0.35056692 15.2421407 ] [-0.12359631 0.98920119 0.07877155 0.30797692] [-0.33980398 -0.11677062 0.9332191 -0.50604948] [ 0. 0. 0. 1. ]] SLAMing on 72.078241008 meters Centerline goodness : 0.849545 with order 1 Centerline is valid? [False, False] Translation: X:15.25, Y:0.31, Z:-0.50 [[ 0.93243436 0.0865033 0.35083237 15.24653699] [-0.12292207 0.98895134 0.08285783 0.30535063] [-0.33978866 -0.12038453 0.93276537 -0.49912574] [ 0. 0. 0. 1. ]] SLAMing on 72.138241008 meters Centerline goodness : 0.847799 with order 1 Centerline is valid? [False, False] Translation: X:15.25, Y:0.31, Z:-0.50 [[ 0.93233052 0.08658497 0.35108808 15.24704674] [-0.12279785 0.98902303 0.08218352 0.30861191] [-0.34011834 -0.11973506 0.93272881 -0.49969892] [ 0. 0. 0. 1. ]] SLAMing on 72.198241008 meters Centerline goodness : 0.850097 with order 1 Centerline is valid? [False, False] Translation: X:15.25, Y:0.31, Z:-0.50 [[ 0.93272359 0.08744782 0.34982793 15.25291083] [-0.12482968 0.98846708 0.08573443 0.30935873] [-0.3382961 -0.12363543 0.93288265 -0.50274745] [ 0. 0. 0. 1. ]] SLAMing on 72.258241008 meters Centerline goodness : 0.856721 with order 1 Centerline is valid? [False, False] Translation: X:15.27, Y:0.31, Z:-0.51 [[ 0.93531377 0.09362084 0.34120857 15.26957165] [-0.12829802 0.98846536 0.08047263 0.30991914] [-0.32973894 -0.11904354 0.93653663 -0.50760273] [ 0. 0. 0. 1. ]] SLAMing on 72.318241008 meters Centerline goodness : 0.856608 with order 1 Centerline is valid? [False, False] Translation: X:15.30, Y:0.31, Z:-0.51 [[ 0.93643189 0.09699081 0.33717667 15.30054589] [-0.13275617 0.98752886 0.08463185 0.30602571] [-0.32476318 -0.12401425 0.93762964 -0.51449276] [ 0. 0. 0. 1. ]] SLAMing on 72.378241008 meters Centerline goodness : 0.854587 with order 1 Centerline is valid? [False, False] Translation: X:15.31, Y:0.31, Z:-0.52 [[ 0.93858595 0.10374118 0.3290808 15.31401632] [-0.13780453 0.98707008 0.08186918 0.30596949] [-0.31633261 -0.12219009 0.94074612 -0.51577979] [ 0. 0. 0. 1. ]] SLAMing on 72.438241008 meters Centerline goodness : 0.858241 with order 1 Centerline is valid? [False, False] Translation: X:15.33, Y:0.31, Z:-0.53 [[ 0.93684998 0.1072499 0.33288071 15.32637505] [-0.13767401 0.98806257 0.06912472 0.30937774] [-0.32149335 -0.11058851 0.94043192 -0.52766276] [ 0. 0. 0. 1. ]] SLAMing on 72.49824100800001 meters Centerline goodness : 0.859529 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:0.31, Z:-0.53 [[ 0.93774346 0.10354486 0.33153532 15.33606149] [-0.13457351 0.98828591 0.07197874 0.30803255] [-0.32019866 -0.11211347 0.94069304 -0.5257818 ] [ 0. 0. 0. 1. ]] SLAMing on 72.558241008 meters Centerline goodness : 0.866246 with order 1 Centerline is valid? [False, False] Translation: X:15.35, Y:0.31, Z:-0.52 [[ 0.93887666 0.09558652 0.33071716 15.35287168] [-0.12775102 0.98882238 0.07687642 0.30580753] [-0.31967218 -0.11442693 0.94059352 -0.52283655] [ 0. 0. 0. 1. ]] SLAMing on 72.618241008 meters Centerline goodness : 0.867603 with order 1 Centerline is valid? [False, False] Translation: X:15.38, Y:0.30, Z:-0.51 [[ 0.93844049 0.08418098 0.33502689 15.37571638] [-0.1213748 0.98836764 0.09163821 0.29984959] [-0.32341554 -0.12666083 0.93774166 -0.51294722] [ 0. 0. 0. 1. ]] SLAMing on 72.678241008 meters Centerline goodness : 0.868461 with order 1 Centerline is valid? [False, False] Translation: X:15.38, Y:0.30, Z:-0.50 [[ 0.93487094 0.06778026 0.34845684 15.37647326] [-0.11186573 0.98784 0.1079731 0.29840887] [-0.33690116 -0.13992129 0.93108519 -0.49848223] [ 0. 0. 0. 1. ]] SLAMing on 72.738241008 meters Centerline goodness : 0.870376 with order 1 Centerline is valid? [False, False] Translation: X:15.36, Y:0.31, Z:-0.49 [[ 0.93160078 0.0627397 0.35802754 15.36469621] [-0.10995344 0.98748567 0.11305876 0.30505245] [-0.3464538 -0.14469199 0.92684087 -0.49371598] [ 0. 0. 0. 1. ]] SLAMing on 72.798241008 meters Centerline goodness : 0.872674 with order 1 Centerline is valid? [False, False] Translation: X:15.36, Y:0.31, Z:-0.49 [[ 0.93072885 0.06567147 0.3597653 15.36244737] [-0.11467268 0.98653895 0.11658073 0.30881763] [-0.34726646 -0.1497603 0.92573099 -0.49259315] [ 0. 0. 0. 1. ]] SLAMing on 72.85824100800001 meters Centerline goodness : 0.877077 with order 1 Centerline is valid? [False, False] Translation: X:15.36, Y:0.31, Z:-0.49 [[ 0.93066246 0.06832753 0.35944225 15.36423205] [-0.11897097 0.98553477 0.12069438 0.31026501] [-0.34599608 -0.15508892 0.9253292 -0.492259 ] [ 0. 0. 0. 1. ]] SLAMing on 72.918241008 meters Centerline goodness : 0.878898 with order 1 Centerline is valid? [False, False] Translation: X:15.38, Y:0.31, Z:-0.50 [[ 0.93273623 0.07918573 0.35175665 15.37629714] [-0.1283674 0.98459274 0.11873902 0.31108287] [-0.3369346 -0.15590627 0.92853019 -0.49551178] [ 0. 0. 0. 1. ]] SLAMing on 72.978241008 meters Centerline goodness : 0.880666 with order 1 Centerline is valid? [False, False] Translation: X:15.39, Y:0.31, Z:-0.51 [[ 0.93097606 0.08649725 0.3546855 15.38515012] [-0.13191808 0.98558731 0.1059022 0.31433296] [-0.34041328 -0.14538184 0.92896874 -0.5100248 ] [ 0. 0. 0. 1. ]] SLAMing on 73.038241008 meters Centerline goodness : 0.881285 with order 1 Centerline is valid? [False, False] Translation: X:15.39, Y:0.32, Z:-0.52 [[ 0.92942987 0.09646611 0.35616627 15.38627131] [-0.13659871 0.98659837 0.08924374 0.31874005] [-0.34278407 -0.13159765 0.93015114 -0.52076647] [ 0. 0. 0. 1. ]] SLAMing on 73.098241008 meters Centerline goodness : 0.880999 with order 1 Centerline is valid? [False, False] Translation: X:15.39, Y:0.32, Z:-0.52 [[ 0.92969838 0.09585482 0.3556301 15.38861061] [-0.13583982 0.98671043 0.0891632 0.31862884] [-0.34235721 -0.13120361 0.93036399 -0.52193284] [ 0. 0. 0. 1. ]] SLAMing on 73.158241008 meters Centerline goodness : 0.881537 with order 1 Centerline is valid? [False, False] Translation: X:15.41, Y:0.31, Z:-0.52 [[ 0.93258846 0.0986141 0.3472089 15.41168471] [-0.13741447 0.98651615 0.08889962 0.31268846] [-0.33376043 -0.13061828 0.93356459 -0.5240646 ] [ 0. 0. 0. 1. ]] SLAMing on 73.218241008 meters Centerline goodness : 0.883943 with order 1 Centerline is valid? [False, False] Translation: X:15.42, Y:0.31, Z:-0.53 [[ 0.93495681 0.10402145 0.33916853 15.42427586] [-0.14064042 0.98639057 0.08516988 0.30841565] [-0.32569315 -0.12733096 0.93686221 -0.52567262] [ 0. 0. 0. 1. ]] SLAMing on 73.278241008 meters Centerline goodness : 0.881582 with order 1 Centerline is valid? [False, False] Translation: X:15.44, Y:0.31, Z:-0.53 [[ 0.9372064 0.1091716 0.33124873 15.43595794] [-0.14362702 0.98628597 0.08130973 0.30642502] [-0.31782926 -0.12378027 0.94003351 -0.52557846] [ 0. 0. 0. 1. ]] SLAMing on 73.338241008 meters Centerline goodness : 0.883631 with order 1 Centerline is valid? [False, False] Translation: X:15.45, Y:0.30, Z:-0.52 [[ 0.93721761 0.10405013 0.33286141 15.45094953] [-0.14303435 0.98516935 0.09477614 0.30254643] [-0.31806339 -0.13643649 0.93820081 -0.51501809] [ 0. 0. 0. 1. ]] SLAMing on 73.398241008 meters Centerline goodness : 0.879830 with order 1 Centerline is valid? [False, False] Translation: X:15.46, Y:0.31, Z:-0.53 [[ 0.93598218 0.11085806 0.33413747 15.45724659] [-0.14420101 0.98657815 0.0766135 0.30720218] [-0.3211595 -0.11989183 0.93940541 -0.53121054] [ 0. 0. 0. 1. ]] SLAMing on 73.458241008 meters Centerline goodness : 0.876972 with order 1 Centerline is valid? [False, False] Translation: X:15.50, Y:0.29, Z:-0.52 [[ 0.93500916 0.09669475 0.34118616 15.49740895] [-0.14053239 0.98436964 0.10614642 0.2934991 ] [-0.32558949 -0.14719558 0.93398337 -0.51900912] [ 0. 0. 0. 1. ]] SLAMing on 73.518241008 meters Centerline goodness : 0.875504 with order 1 Centerline is valid? [False, False] Translation: X:15.54, Y:0.29, Z:-0.52 [[ 0.93576351 0.09374155 0.33993996 15.53586156] [-0.13923893 0.98390864 0.11196562 0.28807146] [-0.32397403 -0.15210621 0.93375828 -0.52443585] [ 0. 0. 0. 1. ]] SLAMing on 73.578241008 meters Centerline goodness : 0.876147 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:0.28, Z:-0.52 [[ 0.93428427 0.07530524 0.34848533 15.58320215] [-0.13072661 0.98172014 0.13833335 0.27880358] [-0.33169784 -0.17479898 0.92705008 -0.51685714] [ 0. 0. 0. 1. ]] SLAMing on 73.638241008 meters Centerline goodness : 0.879180 with order 1 Centerline is valid? [False, False] Translation: X:15.59, Y:0.29, Z:-0.52 [[ 0.93456466 0.0723647 0.3483565 15.58573129] [-0.12591431 0.98300394 0.13359955 0.28552246] [-0.33276792 -0.16872049 0.92779249 -0.51887758] [ 0. 0. 0. 1. ]] SLAMing on 73.698241008 meters Centerline goodness : 0.879635 with order 1 Centerline is valid? [False, False] Translation: X:15.61, Y:0.29, Z:-0.52 [[ 0.93360483 0.05930754 0.3533619 15.61441048] [-0.11773773 0.98222122 0.14621662 0.28513845] [-0.3384078 -0.17811257 0.92398922 -0.51867599] [ 0. 0. 0. 1. ]] SLAMing on 73.758241008 meters Centerline goodness : 0.880338 with order 1 Centerline is valid? [False, False] Translation: X:15.61, Y:0.29, Z:-0.52 [[ 0.93225685 0.05955134 0.35686243 15.61262124] [-0.11923171 0.98182876 0.14763494 0.29265823] [-0.34158594 -0.18018301 0.922417 -0.5196426 ] [ 0. 0. 0. 1. ]] SLAMing on 73.818241008 meters Centerline goodness : 0.881831 with order 1 Centerline is valid? [False, False] Translation: X:15.61, Y:0.30, Z:-0.52 [[ 0.93156673 0.0614181 0.35834516 15.60788886] [-0.11966914 0.98250482 0.14270099 0.30174214] [-0.34331142 -0.17581835 0.92261865 -0.52459996] [ 0. 0. 0. 1. ]] SLAMing on 73.878241008 meters Centerline goodness : 0.881664 with order 1 Centerline is valid? [False, False] Translation: X:15.62, Y:0.31, Z:-0.54 [[ 0.92918184 0.06876492 0.36317007 15.6165894 ] [-0.12452812 0.98334046 0.13241713 0.30651208] [-0.34801417 -0.16826448 0.92226526 -0.53604831] [ 0. 0. 0. 1. ]] SLAMing on 73.938241008 meters Centerline goodness : 0.885516 with order 1 Centerline is valid? [False, False] Translation: X:15.63, Y:0.31, Z:-0.55 [[ 0.92706174 0.07958015 0.3663653 15.62662206] [-0.13397397 0.98300756 0.12548747 0.31179731] [-0.35015355 -0.16541804 0.92197037 -0.55033951] [ 0. 0. 0. 1. ]] SLAMing on 73.99824100800001 meters Centerline goodness : 0.883562 with order 1 Centerline is valid? [False, False] Translation: X:15.61, Y:0.32, Z:-0.56 [[ 0.92740648 0.09946132 0.36058934 15.60810194] [-0.14656106 0.98354329 0.10565249 0.32209983] [-0.34414689 -0.15083116 0.92672158 -0.55767078] [ 0. 0. 0. 1. ]] SLAMing on 74.058241008 meters Centerline goodness : 0.882462 with order 1 Centerline is valid? [False, False] Translation: X:15.62, Y:0.32, Z:-0.57 [[ 0.92571305 0.10373535 0.36372288 15.61977637] [-0.14664143 0.98487145 0.09232827 0.32316332] [-0.34864257 -0.13880632 0.92692026 -0.57032208] [ 0. 0. 0. 1. ]] SLAMing on 74.118241008 meters Centerline goodness : 0.883486 with order 1 Centerline is valid? [False, False] Translation: X:15.63, Y:0.32, Z:-0.59 [[ 0.92421017 0.10733472 0.36648986 15.62969488] [-0.14437889 0.98666653 0.07512584 0.32464733] [-0.35353967 -0.12234547 0.92738411 -0.58506206] [ 0. 0. 0. 1. ]] SLAMing on 74.178241008 meters Centerline goodness : 0.886222 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:0.32, Z:-0.60 [[ 0.92545502 0.10531177 0.36392643 15.66420097] [-0.14220938 0.98691111 0.07604568 0.31683927] [-0.35115453 -0.12213061 0.92831816 -0.59624614] [ 0. 0. 0. 1. ]] SLAMing on 74.238241008 meters Centerline goodness : 0.883349 with order 1 Centerline is valid? [False, False] Translation: X:15.71, Y:0.31, Z:-0.60 [[ 0.92658308 0.10147598 0.36214143 15.70615085] [-0.14142817 0.98624907 0.0855035 0.30641297] [-0.34848509 -0.1304431 0.92819327 -0.60266131] [ 0. 0. 0. 1. ]] SLAMing on 74.298241008 meters Centerline goodness : 0.881846 with order 1 Centerline is valid? [False, False] Translation: X:15.72, Y:0.31, Z:-0.62 [[ 0.92531989 0.10632961 0.36397406 15.71803767] [-0.14123827 0.98745535 0.07059524 0.30937512] [-0.35190176 -0.11673025 0.92872988 -0.61801828] [ 0. 0. 0. 1. ]] SLAMing on 74.35824100800001 meters Centerline goodness : 0.885008 with order 1 Centerline is valid? [False, False] Translation: X:15.73, Y:0.31, Z:-0.62 [[ 0.92602587 0.105106 0.36253111 15.72829706] [-0.14167336 0.98701296 0.07572374 0.30908241] [-0.34986389 -0.12148314 0.92889026 -0.61985144] [ 0. 0. 0. 1. ]] SLAMing on 74.418241008 meters Centerline goodness : 0.880924 with order 1 Centerline is valid? [False, False] Translation: X:15.73, Y:0.31, Z:-0.62 [[ 0.9263922 0.10479241 0.36168501 15.73151763] [-0.14053267 0.98731489 0.07389099 0.31352058] [-0.34935378 -0.1192806 0.92936757 -0.62473833] [ 0. 0. 0. 1. ]] SLAMing on 74.478241008 meters Centerline goodness : 0.881614 with order 1 Centerline is valid? [False, False] Translation: X:15.73, Y:0.31, Z:-0.63 [[ 0.9267152 0.10442375 0.36096347 15.73397924] [-0.13966338 0.98751309 0.07288372 0.31491757] [-0.34884536 -0.11795583 0.92972756 -0.62738841] [ 0. 0. 0. 1. ]] SLAMing on 74.538241008 meters Centerline goodness : 0.880788 with order 1 Centerline is valid? [False, False] Translation: X:15.78, Y:0.30, Z:-0.62 [[ 0.92520706 0.08620396 0.36954131 15.78044019] [-0.13306287 0.98571975 0.10320296 0.30251575] [-0.35536766 -0.14465633 0.92346541 -0.61548045] [ 0. 0. 0. 1. ]] SLAMing on 74.598241008 meters Centerline goodness : 0.883049 with order 1 Centerline is valid? [False, False] Translation: X:15.77, Y:0.31, Z:-0.61 [[ 0.92467034 0.07345674 0.37361594 15.76988037] [-0.12469716 0.98552513 0.11485137 0.30800628] [-0.35977129 -0.1527885 0.92044571 -0.60752771] [ 0. 0. 0. 1. ]] SLAMing on 74.658241008 meters Centerline goodness : 0.880666 with order 1 Centerline is valid? [False, False] Translation: X:15.73, Y:0.32, Z:-0.60 [[ 0.92691434 0.07657287 0.36737772 15.7265029 ] [-0.12096989 0.9876717 0.09935241 0.32276372] [-0.35524088 -0.13653282 0.92475008 -0.60123163] [ 0. 0. 0. 1. ]] SLAMing on 74.718241008 meters Centerline goodness : 0.883661 with order 1 Centerline is valid? [False, False] Translation: X:15.70, Y:0.33, Z:-0.60 [[ 0.93205751 0.07525131 0.35440942 15.69919564] [-0.11333842 0.98965746 0.08793476 0.33210045] [-0.34412672 -0.12212846 0.93094653 -0.59803555] [ 0. 0. 0. 1. ]] SLAMing on 74.778241008 meters Centerline goodness : 0.881458 with order 1 Centerline is valid? [False, False] Translation: X:15.67, Y:0.34, Z:-0.60 [[ 0.93276316 0.08458782 0.35042516 15.66522191] [-0.11442863 0.9912827 0.0653046 0.3442019 ] [-0.34184642 -0.10101239 0.93431125 -0.5956974 ] [ 0. 0. 0. 1. ]] SLAMing on 74.838241008 meters Centerline goodness : 0.878903 with order 1 Centerline is valid? [False, False] Translation: X:15.63, Y:0.36, Z:-0.59 [[ 0.93109084 0.08594428 0.3545186 15.62986564] [-0.11458823 0.99156491 0.06056867 0.35722445] [-0.34632267 -0.0970186 0.9330852 -0.58643854] [ 0. 0. 0. 1. ]] SLAMing on 74.898241008 meters Centerline goodness : 0.878933 with order 1 Centerline is valid? [False, False] Translation: X:15.60, Y:0.37, Z:-0.57 [[ 0.93014667 0.08892148 0.35625852 15.59817596] [-0.11898547 0.99087387 0.06333594 0.36755186] [-0.34737533 -0.1013013 0.93223839 -0.574491 ] [ 0. 0. 0. 1. ]] SLAMing on 74.958241008 meters Centerline goodness : 0.880661 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:0.37, Z:-0.56 [[ 0.92994128 0.08669013 0.35734301 15.58060953] [-0.12167832 0.98961123 0.07657674 0.37129875] [-0.34699221 -0.11469277 0.93082865 -0.56049662] [ 0. 0. 0. 1. ]] SLAMing on 75.018241008 meters Centerline goodness : 0.879290 with order 1 Centerline is valid? [False, False] Translation: X:15.57, Y:0.38, Z:-0.55 [[ 0.93118239 0.08480493 0.35455252 15.56808696] [-0.12335445 0.98849433 0.08753654 0.37673164] [-0.34304962 -0.12524811 0.93092957 -0.55012812] [ 0. 0. 0. 1. ]] SLAMing on 75.078241008 meters Centerline goodness : 0.878313 with order 1 Centerline is valid? [False, False] Translation: X:15.57, Y:0.38, Z:-0.55 [[ 0.93075218 0.08485488 0.35566843 15.56754684] [-0.12369749 0.98842016 0.08788927 0.3797291 ] [-0.34409201 -0.12579842 0.93047055 -0.54786037] [ 0. 0. 0. 1. ]] SLAMing on 75.138241008 meters Centerline goodness : 0.876348 with order 1 Centerline is valid? [False, False] Translation: X:15.57, Y:0.38, Z:-0.53 [[ 0.93174492 0.07552938 0.35517138 15.56608874] [-0.12100754 0.9868029 0.10759748 0.37959469] [-0.34235738 -0.14323182 0.92858821 -0.53002794] [ 0. 0. 0. 1. ]] SLAMing on 75.198241008 meters Centerline goodness : 0.875093 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:0.38, Z:-0.52 [[ 0.93253674 0.06585954 0.35501796 15.56429872] [-0.11699714 0.98529284 0.1245379 0.38115108] [-0.34159464 -0.15767225 0.92652715 -0.51516163] [ 0. 0. 0. 1. ]] SLAMing on 75.258241008 meters Centerline goodness : 0.881670 with order 1 Centerline is valid? [False, False] Translation: X:15.54, Y:0.39, Z:-0.50 [[ 0.93300049 0.06559608 0.35384635 15.53928835] [-0.11899204 0.98417479 0.13130451 0.38568516] [-0.33963359 -0.16461207 0.92604098 -0.49786464] [ 0. 0. 0. 1. ]] SLAMing on 75.318241008 meters Centerline goodness : 0.875178 with order 1 Centerline is valid? [False, False] Translation: X:15.51, Y:0.39, Z:-0.48 [[ 0.93184572 0.06632176 0.35674217 15.50992387] [-0.12337543 0.98248983 0.13961459 0.39273549] [-0.34123607 -0.17411248 0.92371142 -0.47970721] [ 0. 0. 0. 1. ]] SLAMing on 75.378241008 meters Centerline goodness : 0.872831 with order 1 Centerline is valid? [False, False] Translation: X:15.49, Y:0.40, Z:-0.48 [[ 0.93072955 0.07139855 0.35867081 15.49379559] [-0.12548435 0.98356357 0.1298321 0.40082789] [-0.34350572 -0.16584615 0.92439108 -0.48275922] [ 0. 0. 0. 1. ]] SLAMing on 75.438241008 meters Centerline goodness : 0.868577 with order 1 Centerline is valid? [False, False] Translation: X:15.49, Y:0.41, Z:-0.48 [[ 0.93015276 0.0721623 0.36001174 15.49257008] [-0.126962 0.98322618 0.13094626 0.4058348 ] [-0.34452358 -0.16750784 0.92371241 -0.47938913] [ 0. 0. 0. 1. ]] SLAMing on 75.49824100800001 meters Centerline goodness : 0.867593 with order 1 Centerline is valid? [False, False] Translation: X:15.49, Y:0.41, Z:-0.47 [[ 0.92889777 0.07281729 0.36310683 15.48978407] [-0.13041458 0.9819907 0.13669782 0.40730013] [-0.34661356 -0.17433273 0.92166542 -0.46927105] [ 0. 0. 0. 1. ]] SLAMing on 75.558241008 meters Centerline goodness : 0.870979 with order 1 Centerline is valid? [False, False] Translation: X:15.50, Y:0.41, Z:-0.47 [[ 0.93062908 0.08320494 0.35637965 15.50050609] [-0.13907174 0.98116213 0.13408924 0.40895913] [-0.33850933 -0.17434968 0.92466947 -0.47251851] [ 0. 0. 0. 1. ]] SLAMing on 75.618241008 meters Centerline goodness : 0.873499 with order 1 Centerline is valid? [False, False] Translation: X:15.48, Y:0.42, Z:-0.47 [[ 0.9322331 0.09496288 0.34917546 15.48340412] [-0.14458494 0.98232787 0.11885768 0.41719628] [-0.33171772 -0.16128858 0.92948876 -0.47474851] [ 0. 0. 0. 1. ]] SLAMing on 75.678241008 meters Centerline goodness : 0.873530 with order 1 Centerline is valid? [False, False] Translation: X:15.48, Y:0.42, Z:-0.49 [[ 0.93183828 0.10975374 0.34587792 15.47542423] [-0.15234443 0.9834191 0.09837705 0.42437531] [-0.32934571 -0.14436408 0.93310794 -0.48505501] [ 0. 0. 0. 1. ]] SLAMing on 75.738241008 meters Centerline goodness : 0.872216 with order 1 Centerline is valid? [False, False] Translation: X:15.46, Y:0.43, Z:-0.49 [[ 0.93203973 0.11692547 0.34297284 15.45570666] [-0.15448651 0.98439847 0.08422331 0.43129822] [-0.32777409 -0.13148415 0.9355619 -0.48900957] [ 0. 0. 0. 1. ]] SLAMing on 75.798241008 meters Centerline goodness : 0.875075 with order 1 Centerline is valid? [False, False] Translation: X:15.47, Y:0.43, Z:-0.49 [[ 0.93488703 0.12029261 0.33394001 15.46836864] [-0.154106 0.98508204 0.07658145 0.42508628] [-0.31974612 -0.12305717 0.93947823 -0.48993958] [ 0. 0. 0. 1. ]] SLAMing on 75.85824100800001 meters Centerline goodness : 0.875825 with order 1 Centerline is valid? [False, False] Translation: X:15.51, Y:0.41, Z:-0.50 [[ 0.93697498 0.11637957 0.32944451 15.50551352] [-0.14914304 0.98589834 0.0759001 0.41472215] [-0.31596557 -0.12025085 0.94111928 -0.50268492] [ 0. 0. 0. 1. ]] SLAMing on 75.918241008 meters Centerline goodness : 0.875029 with order 1 Centerline is valid? [False, False] Translation: X:15.52, Y:0.41, Z:-0.51 [[ 0.93964963 0.11919851 0.32070281 15.52393691] [-0.14919549 0.98628726 0.07055603 0.40990627] [-0.30789492 -0.11414536 0.94454833 -0.50711403] [ 0. 0. 0. 1. ]] SLAMing on 75.978241008 meters Centerline goodness : 0.879625 with order 1 Centerline is valid? [False, False] Translation: X:15.54, Y:0.41, Z:-0.52 [[ 0.93829428 0.12197845 0.32361259 15.53566773] [-0.14768555 0.9874472 0.05600903 0.41135437] [-0.31271845 -0.10034586 0.94453051 -0.51670387] [ 0. 0. 0. 1. ]] SLAMing on 76.038241008 meters Centerline goodness : 0.881015 with order 1 Centerline is valid? [False, False] Translation: X:15.55, Y:0.41, Z:-0.51 [[ 0.9390541 0.11771754 0.32298603 15.54507687] [-0.14391145 0.98786788 0.05836558 0.41166584] [-0.31219688 -0.10128983 0.94460229 -0.51429368] [ 0. 0. 0. 1. ]] SLAMing on 76.098241008 meters Centerline goodness : 0.879802 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:0.41, Z:-0.51 [[ 0.93903406 0.11475557 0.32410832 15.56129996] [-0.14501276 0.98689945 0.07071621 0.41230843] [-0.31174724 -0.11340477 0.94337321 -0.51306976] [ 0. 0. 0. 1. ]] SLAMing on 76.158241008 meters Centerline goodness : 0.878580 with order 1 Centerline is valid? [False, False] Translation: X:15.57, Y:0.41, Z:-0.52 [[ 0.93913752 0.11648564 0.32319006 15.56582728] [-0.14778686 0.98624873 0.0739762 0.41442882] [-0.31012862 -0.11723707 0.94343824 -0.51508539] [ 0. 0. 0. 1. ]] SLAMing on 76.218241008 meters Centerline goodness : 0.883804 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:0.41, Z:-0.51 [[ 0.9404309 0.12653818 0.31555951 15.57619703] [-0.15619466 0.98521243 0.07042507 0.41409007] [-0.30198169 -0.11551863 0.94628881 -0.51123065] [ 0. 0. 0. 1. ]] SLAMing on 76.278241008 meters Centerline goodness : 0.884362 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:0.42, Z:-0.52 [[ 0.93876639 0.13455862 0.31719338 15.58039967] [-0.15923118 0.98581428 0.0530625 0.42094026] [-0.30555375 -0.10032037 0.94687524 -0.52497696] [ 0. 0. 0. 1. ]] SLAMing on 76.338241008 meters Centerline goodness : 0.880475 with order 1 Centerline is valid? [False, False] Translation: X:15.60, Y:0.42, Z:-0.52 [[ 0.94093361 0.14013125 0.30823233 15.60105103] [-0.16513849 0.98465284 0.05646302 0.41777898] [-0.29558961 -0.10402897 0.94963401 -0.52304383] [ 0. 0. 0. 1. ]] SLAMing on 76.398241008 meters Centerline goodness : 0.882451 with order 1 Centerline is valid? [False, False] Translation: X:15.61, Y:0.42, Z:-0.53 [[ 0.94095643 0.14165387 0.30746573 15.60539073] [-0.16762345 0.98404641 0.05962415 0.41850361] [-0.29411456 -0.1076422 0.94968931 -0.52533686] [ 0. 0. 0. 1. ]] SLAMing on 76.458241008 meters Centerline goodness : 0.883342 with order 1 Centerline is valid? [False, False] Translation: X:15.62, Y:0.41, Z:-0.52 [[ 0.94320784 0.14560637 0.29859296 15.62454099] [-0.1710719 0.9833775 0.06085315 0.41422468] [-0.28476899 -0.10847803 0.95243852 -0.52431057] [ 0. 0. 0. 1. ]] SLAMing on 76.518241008 meters Centerline goodness : 0.881513 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:0.40, Z:-0.51 [[ 0.94310506 0.13402122 0.30428796 15.65927211] [-0.16760226 0.98201338 0.08694366 0.40360607] [-0.28716255 -0.13299635 0.94860405 -0.51111915] [ 0. 0. 0. 1. ]] SLAMing on 76.578241008 meters Centerline goodness : 0.878179 with order 1 Centerline is valid? [False, False] Translation: X:15.70, Y:0.39, Z:-0.49 [[ 0.94168599 0.11076592 0.31773954 15.69893551] [-0.15588134 0.98043502 0.12020061 0.39141432] [-0.29820884 -0.16272089 0.94052825 -0.49474757] [ 0. 0. 0. 1. ]] SLAMing on 76.638241008 meters Centerline goodness : 0.878795 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:0.40, Z:-0.47 [[ 0.94162206 0.09881703 0.32184326 15.66396539] [-0.14747204 0.98042768 0.13043607 0.39898639] [-0.30265474 -0.17028436 0.93776508 -0.47392436] [ 0. 0. 0. 1. ]] SLAMing on 76.698241008 meters Centerline goodness : 0.880418 with order 1 Centerline is valid? [False, False] Translation: X:15.60, Y:0.42, Z:-0.47 [[ 0.94323239 0.09361775 0.31866656 15.60310251] [-0.13598377 0.98420373 0.11336414 0.41696288] [-0.30301992 -0.15026221 0.94106333 -0.46515835] [ 0. 0. 0. 1. ]] SLAMing on 76.758241008 meters Centerline goodness : 0.879083 with order 1 Centerline is valid? [False, False] Translation: X:15.54, Y:0.44, Z:-0.46 [[ 0.94456049 0.09243922 0.31505631 15.54003756] [-0.12946413 0.98666473 0.09864963 0.43617072] [-0.30173586 -0.13396903 0.94393208 -0.45780169] [ 0. 0. 0. 1. ]] SLAMing on 76.818241008 meters Centerline goodness : 0.877236 with order 1 Centerline is valid? [False, False] Translation: X:15.49, Y:0.45, Z:-0.45 [[ 0.94704419 0.10127707 0.30471341 15.49350653] [-0.12896765 0.98902356 0.07210926 0.45444497] [-0.29406573 -0.10758882 0.94971048 -0.45357152] [ 0. 0. 0. 1. ]] SLAMing on 76.878241008 meters Centerline goodness : 0.880883 with order 1 Centerline is valid? [False, False] Translation: X:15.46, Y:0.47, Z:-0.46 [[ 0.94764896 0.10996864 0.29978049 15.46452002] [-0.13146996 0.9899312 0.05245831 0.4681789 ] [-0.29099329 -0.08912419 0.95256484 -0.45550656] [ 0. 0. 0. 1. ]] SLAMing on 76.938241008 meters Centerline goodness : 0.882753 with order 1 Centerline is valid? [False, False] Translation: X:15.41, Y:0.49, Z:-0.44 [[ 0.94853814 0.11961524 0.29320232 15.41030327] [-0.13745956 0.98966046 0.0409518 0.48583711] [-0.28527228 -0.07914781 0.95517294 -0.44460299] [ 0. 0. 0. 1. ]] SLAMing on 76.99824100800001 meters Centerline goodness : 0.885074 with order 1 Centerline is valid? [False, False] Translation: X:15.38, Y:0.50, Z:-0.44 [[ 0.94809715 0.13273837 0.28895037 15.38129131] [-0.14778457 0.98854017 0.03079045 0.49913001] [-0.28155198 -0.07189474 0.9568488 -0.44200707] [ 0. 0. 0. 1. ]] SLAMing on 77.058241008 meters Centerline goodness : 0.884867 with order 1 Centerline is valid? [False, False] Translation: X:15.39, Y:0.50, Z:-0.45 [[ 0.94509192 0.14308423 0.29381656 15.39078026] [-0.15762839 0.98714816 0.02630206 0.503768 ] [-0.28627707 -0.0711717 0.95549988 -0.45025081] [ 0. 0. 0. 1. ]] SLAMing on 77.118241008 meters Centerline goodness : 0.893862 with order 1 Centerline is valid? [False, False] Translation: X:15.39, Y:0.51, Z:-0.46 [[ 0.94196327 0.16109409 0.29454013 15.38554172] [-0.17368301 0.98465642 0.01691004 0.51381612] [-0.28729672 -0.06708525 0.95548949 -0.45634981] [ 0. 0. 0. 1. ]] SLAMing on 77.178241008 meters Centerline goodness : 0.890666 with order 1 Centerline is valid? [False, False] Translation: X:15.40, Y:0.51, Z:-0.45 [[ 0.94193069 0.17309542 0.28775779 15.39540021] [-0.18553707 0.98250171 0.01632106 0.51373378] [-0.27989743 -0.06876305 0.95756414 -0.45493633] [ 0. 0. 0. 1. ]] SLAMing on 77.238241008 meters Centerline goodness : 0.894305 with order 1 Centerline is valid? [False, False] Translation: X:15.39, Y:0.52, Z:-0.45 [[ 9.42122085e-01 1.86409054e-01 2.78671207e-01 1.53888135e+01] [-1.96523625e-01 9.80461822e-01 8.54873853e-03 5.16967083e-01] [-2.71632917e-01 -6.28194311e-02 9.60348519e-01 -4.49250648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.298241008 meters Centerline goodness : 0.894316 with order 1 Centerline is valid? [False, False] Translation: X:15.39, Y:0.52, Z:-0.45 [[ 9.42059701e-01 1.86797189e-01 2.78622199e-01 1.53891972e+01] [-1.96547691e-01 9.80467699e-01 7.21783575e-03 5.19174660e-01] [-2.71831795e-01 -6.15621821e-02 9.60373663e-01 -4.52618984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35824100800001 meters Centerline goodness : 0.897349 with order 1 Centerline is valid? [False, False] Translation: X:15.39, Y:0.52, Z:-0.46 [[ 9.42952182e-01 1.83997883e-01 2.77463441e-01 1.53906774e+01] [-1.91819688e-01 9.81429605e-01 1.06617222e-03 5.20594564e-01] [-2.72114662e-01 -5.42283003e-02 9.60735605e-01 -4.58846187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.418241008 meters Centerline goodness : 0.893929 with order 1 Centerline is valid? [False, False] Translation: X:15.40, Y:0.51, Z:-0.46 [[ 9.44777677e-01 1.77515450e-01 2.75469430e-01 1.53982202e+01] [-1.84195266e-01 9.82888287e-01 -1.64911708e-03 5.13625201e-01] [-2.71048420e-01 -4.91821158e-02 9.61308418e-01 -4.61055718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.478241008 meters Centerline goodness : 0.893800 with order 1 Centerline is valid? [False, False] Translation: X:15.44, Y:0.49, Z:-0.46 [[ 0.94596566 0.16005407 0.28201359 15.43594875] [-0.17138658 0.9850769 0.01581571 0.49233693] [-0.27527371 -0.06329446 0.95928004 -0.45561302] [ 0. 0. 0. 1. ]] SLAMing on 77.538241008 meters Centerline goodness : 0.892233 with order 1 Centerline is valid? [False, False] Translation: X:15.48, Y:0.47, Z:-0.43 [[ 0.94653745 0.14314608 0.28909523 15.48160356] [-0.16497133 0.9849021 0.05246252 0.46729876] [-0.27722069 -0.09735016 0.95586172 -0.43493465] [ 0. 0. 0. 1. ]] SLAMing on 77.598241008 meters Centerline goodness : 0.891457 with order 1 Centerline is valid? [False, False] Translation: X:15.49, Y:0.46, Z:-0.44 [[ 0.94740091 0.13969021 0.28795513 15.48982911] [-0.16182266 0.98531795 0.05442399 0.46323527] [-0.27612486 -0.098159 0.95609616 -0.43503478] [ 0. 0. 0. 1. ]] SLAMing on 77.658241008 meters Centerline goodness : 0.891986 with order 1 Centerline is valid? [False, False] Translation: X:15.53, Y:0.45, Z:-0.42 [[ 0.94672941 0.12754763 0.29569413 15.52505102] [-0.15810857 0.9840312 0.0817574 0.4476282 ] [-0.28054429 -0.12415391 0.95177766 -0.42067389] [ 0. 0. 0. 1. ]] SLAMing on 77.718241008 meters Centerline goodness : 0.894627 with order 1 Centerline is valid? [False, False] Translation: X:15.53, Y:0.45, Z:-0.42 [[ 0.9468602 0.12633393 0.29579636 15.52809592] [-0.15700878 0.9841655 0.08225885 0.44814993] [-0.28072049 -0.12433026 0.95170268 -0.42072986] [ 0. 0. 0. 1. ]] SLAMing on 77.778241008 meters Centerline goodness : 0.892432 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:0.44, Z:-0.42 [[ 0.94568619 0.11627189 0.30357614 15.55703882] [-0.15359028 0.98285431 0.10201685 0.44498755] [-0.28650942 -0.14310227 0.94732998 -0.41754897] [ 0. 0. 0. 1. ]] SLAMing on 77.838241008 meters Centerline goodness : 0.891191 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:0.45, Z:-0.42 [[ 0.94549811 0.11553122 0.30444354 15.55833543] [-0.15280001 0.98303086 0.10150113 0.44991142] [-0.28755085 -0.1424881 0.94710699 -0.41661363] [ 0. 0. 0. 1. ]] SLAMing on 77.898241008 meters Centerline goodness : 0.892227 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:0.46, Z:-0.42 [[ 0.94515738 0.113951 0.30609262 15.55802009] [-0.1505592 0.98366112 0.09870531 0.45741852] [-0.28984384 -0.13937711 0.94687094 -0.41820477] [ 0. 0. 0. 1. ]] SLAMing on 77.958241008 meters Centerline goodness : 0.888834 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:0.46, Z:-0.41 [[ 0.94498162 0.10719149 0.30906264 15.57708507] [-0.14766384 0.98283198 0.1106196 0.45970542] [-0.29189917 -0.15017086 0.94458646 -0.41324394] [ 0. 0. 0. 1. ]] SLAMing on 78.018241008 meters Centerline goodness : 0.887615 with order 1 Centerline is valid? [False, False] Translation: X:15.54, Y:0.48, Z:-0.41 [[ 0.94593613 0.11091733 0.30479858 15.5358333 ] [-0.14790633 0.98383014 0.10100481 0.47618934] [-0.28866685 -0.14062574 0.94704586 -0.40503119] [ 0. 0. 0. 1. ]] SLAMing on 78.078241008 meters Centerline goodness : 0.889403 with order 1 Centerline is valid? [False, False] Translation: X:15.50, Y:0.49, Z:-0.40 [[ 0.9448804 0.11406678 0.30690358 15.49894286] [-0.15046302 0.98378663 0.09759479 0.49064604] [-0.29079531 -0.13839305 0.94672354 -0.39644673] [ 0. 0. 0. 1. ]] SLAMing on 78.138241008 meters Centerline goodness : 0.887422 with order 1 Centerline is valid? [False, False] Translation: X:15.47, Y:0.51, Z:-0.40 [[ 0.94363169 0.12637866 0.305921 15.46969624] [-0.15944954 0.98349296 0.08554206 0.50638512] [-0.29006046 -0.12949917 0.94820615 -0.39524221] [ 0. 0. 0. 1. ]] SLAMing on 78.198241008 meters Centerline goodness : 0.887278 with order 1 Centerline is valid? [False, False] Translation: X:15.47, Y:0.52, Z:-0.40 [[ 0.94249552 0.1442781 0.3014731 15.46521223] [-0.17383411 0.98202967 0.07348083 0.51954211] [-0.28545386 -0.12166166 0.95063901 -0.4029799 ] [ 0. 0. 0. 1. ]] SLAMing on 78.258241008 meters Centerline goodness : 0.888626 with order 1 Centerline is valid? [False, False] Translation: X:15.48, Y:0.52, Z:-0.41 [[ 0.94008652 0.15262635 0.30486479 15.47818398] [-0.18133292 0.98106774 0.06800338 0.52198962] [-0.2887139 -0.11921108 0.94996474 -0.41170449] [ 0. 0. 0. 1. ]] SLAMing on 78.318241008 meters Centerline goodness : 0.888731 with order 1 Centerline is valid? [False, False] Translation: X:15.48, Y:0.52, Z:-0.41 [[ 0.93949826 0.15602852 0.30495593 15.47921963] [-0.18615806 0.97986576 0.07216834 0.52463215] [-0.28755555 -0.12457203 0.94962815 -0.41174017] [ 0. 0. 0. 1. ]] SLAMing on 78.378241008 meters Centerline goodness : 0.887689 with order 1 Centerline is valid? [False, False] Translation: X:15.49, Y:0.53, Z:-0.42 [[ 0.93724822 0.1643551 0.307495 15.48701433] [-0.1914272 0.97968123 0.05983573 0.52994002] [-0.29141278 -0.11494384 0.94966652 -0.42457729] [ 0. 0. 0. 1. ]] SLAMing on 78.438241008 meters Centerline goodness : 0.890940 with order 1 Centerline is valid? [False, False] Translation: X:15.50, Y:0.53, Z:-0.43 [[ 0.93849183 0.17051117 0.30026494 15.49739772] [-0.19422556 0.97964314 0.05075187 0.52633055] [-0.28549873 -0.10594934 0.95250471 -0.4263901 ] [ 0. 0. 0. 1. ]] SLAMing on 78.49824100800001 meters Centerline goodness : 0.890791 with order 1 Centerline is valid? [False, False] Translation: X:15.50, Y:0.52, Z:-0.43 [[ 0.93939297 0.16840902 0.29862893 15.50361864] [-0.19138607 0.9802799 0.04922078 0.52420465] [-0.28445072 -0.10339108 0.95309919 -0.43308171] [ 0. 0. 0. 1. ]] SLAMing on 78.558241008 meters Centerline goodness : 0.889589 with order 1 Centerline is valid? [False, False] Translation: X:15.52, Y:0.51, Z:-0.44 [[ 0.94164061 0.17177817 0.28949133 15.52228466] [-0.19284518 0.98016601 0.04566539 0.51462584] [-0.27590524 -0.0988274 0.95609071 -0.43768326] [ 0. 0. 0. 1. ]] SLAMing on 78.618241008 meters Centerline goodness : 0.888235 with order 1 Centerline is valid? [False, False] Translation: X:15.53, Y:0.51, Z:-0.44 [[ 0.94247054 0.16957105 0.28808841 15.52930184] [-0.19064191 0.98055701 0.04651454 0.51192533] [-0.27459959 -0.09876031 0.95647345 -0.44028628] [ 0. 0. 0. 1. ]] SLAMing on 78.678241008 meters Centerline goodness : 0.888565 with order 1 Centerline is valid? [False, False] Translation: X:15.55, Y:0.50, Z:-0.44 [[ 0.94263478 0.16334488 0.2911325 15.55406501] [-0.18942016 0.97983718 0.06355403 0.50156312] [-0.27488122 -0.1150546 0.95456941 -0.43803107] [ 0. 0. 0. 1. ]] SLAMing on 78.738241008 meters Centerline goodness : 0.888880 with order 1 Centerline is valid? [False, False] Translation: X:15.59, Y:0.48, Z:-0.43 [[ 0.94290194 0.1522124 0.2962555 15.58785936] [-0.18489318 0.9790368 0.08544853 0.48392129] [-0.27703872 -0.13534521 0.95127873 -0.43125024] [ 0. 0. 0. 1. ]] SLAMing on 78.798241008 meters Centerline goodness : 0.890522 with order 1 Centerline is valid? [False, False] Translation: X:15.59, Y:0.48, Z:-0.43 [[ 0.94329908 0.15140842 0.29540198 15.59088571] [-0.18387676 0.97924498 0.08525618 0.48261099] [-0.2763624 -0.13473963 0.95156138 -0.43300393] [ 0. 0. 0. 1. ]] SLAMing on 78.85824100800001 meters Centerline goodness : 0.891113 with order 1 Centerline is valid? [False, False] Translation: X:15.62, Y:0.47, Z:-0.42 [[ 0.94327517 0.14086794 0.30064627 15.61997824] [-0.18027881 0.97772231 0.10751106 0.46787773] [-0.27880371 -0.15561266 0.94765668 -0.42279587] [ 0. 0. 0. 1. ]] SLAMing on 78.918241008 meters Centerline goodness : 0.891304 with order 1 Centerline is valid? [False, False] Translation: X:15.63, Y:0.47, Z:-0.42 [[ 0.94412213 0.13743506 0.29957471 15.62954284] [-0.17759568 0.9778107 0.11111264 0.46616105] [-0.27765659 -0.15810707 0.94758059 -0.4195542 ] [ 0. 0. 0. 1. ]] SLAMing on 78.978241008 meters Centerline goodness : 0.889314 with order 1 Centerline is valid? [False, False] Translation: X:15.63, Y:0.46, Z:-0.42 [[ 0.94400638 0.13867214 0.29936931 15.63320927] [-0.18021927 0.97678284 0.11582877 0.463204 ] [-0.27635658 -0.16329521 0.94708063 -0.41901354] [ 0. 0. 0. 1. ]] SLAMing on 79.038241008 meters Centerline goodness : 0.888046 with order 1 Centerline is valid? [False, False] Translation: X:15.64, Y:0.46, Z:-0.43 [[ 0.94227744 0.1438957 0.30233631 15.64402372] [-0.18251077 0.97774429 0.10346947 0.46336855] [-0.28071879 -0.15267658 0.9475689 -0.43102623] [ 0. 0. 0. 1. ]] SLAMing on 79.098241008 meters Centerline goodness : 0.889612 with order 1 Centerline is valid? [False, False] Translation: X:15.65, Y:0.46, Z:-0.43 [[ 0.94267615 0.14344418 0.30130624 15.64751621] [-0.18174278 0.97793296 0.10303733 0.46458699] [-0.2798772 -0.15189107 0.94794402 -0.43286224] [ 0. 0. 0. 1. ]] SLAMing on 79.158241008 meters Centerline goodness : 0.889378 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:0.46, Z:-0.43 [[ 0.94396732 0.13776888 0.29990905 15.66167763] [-0.17680864 0.97840545 0.10705831 0.46223678] [-0.27868334 -0.15408605 0.9479415 -0.42930303] [ 0. 0. 0. 1. ]] SLAMing on 79.218241008 meters Centerline goodness : 0.888232 with order 1 Centerline is valid? [False, False] Translation: X:15.67, Y:0.46, Z:-0.43 [[ 0.94409195 0.13656826 0.30006583 15.66974361] [-0.17767899 0.97744368 0.11416667 0.46059356] [-0.27770591 -0.16109922 0.94706202 -0.42525078] [ 0. 0. 0. 1. ]] SLAMing on 79.278241008 meters Centerline goodness : 0.886164 with order 1 Centerline is valid? [False, False] Translation: X:15.67, Y:0.47, Z:-0.42 [[ 0.94420926 0.13446505 0.30064602 15.66933839] [-0.17459216 0.9783944 0.1107338 0.46562884] [-0.27926056 -0.15704632 0.94728559 -0.42358499] [ 0. 0. 0. 1. ]] SLAMing on 79.338241008 meters Centerline goodness : 0.886240 with order 1 Centerline is valid? [False, False] Translation: X:15.68, Y:0.46, Z:-0.41 [[ 0.9439635 0.13307621 0.30203252 15.67621632] [-0.17630544 0.97692139 0.12058605 0.46306432] [-0.27901489 -0.16707881 0.94564019 -0.41369047] [ 0. 0. 0. 1. ]] SLAMing on 79.398241008 meters Centerline goodness : 0.889924 with order 1 Centerline is valid? [False, False] Translation: X:15.69, Y:0.46, Z:-0.41 [[ 0.94582705 0.13851084 0.29364254 15.68728397] [-0.17794142 0.97764692 0.1119971 0.46497895] [-0.27156592 -0.15818106 0.94933172 -0.41407736] [ 0. 0. 0. 1. ]] SLAMing on 79.458241008 meters Centerline goodness : 0.882612 with order 1 Centerline is valid? [False, False] Translation: X:15.70, Y:0.46, Z:-0.41 [[ 0.94650295 0.13439577 0.29337681 15.70383326] [-0.17669135 0.97659193 0.1226718 0.46418587] [-0.27002285 -0.16794636 0.94809371 -0.40723409] [ 0. 0. 0. 1. ]] SLAMing on 79.518241008 meters Centerline goodness : 0.878075 with order 1 Centerline is valid? [False, False] Translation: X:15.71, Y:0.47, Z:-0.41 [[ 0.94691701 0.13425456 0.29210253 15.70689281] [-0.17538826 0.97723068 0.1194117 0.46966282] [-0.26941999 -0.16430432 0.94890303 -0.4137519 ] [ 0. 0. 0. 1. ]] SLAMing on 79.578241008 meters Centerline goodness : 0.881807 with order 1 Centerline is valid? [False, False] Translation: X:15.73, Y:0.47, Z:-0.41 [[ 0.94890087 0.13967177 0.2829822 15.72741451] [-0.17813518 0.97726575 0.11497612 0.47106007] [-0.2604899 -0.15951003 0.95220878 -0.41384268] [ 0. 0. 0. 1. ]] SLAMing on 79.638241008 meters Centerline goodness : 0.881679 with order 1 Centerline is valid? [False, False] Translation: X:15.74, Y:0.47, Z:-0.41 [[ 0.94927304 0.13940825 0.28186172 15.736077 ] [-0.17899854 0.97652116 0.11985799 0.4727572 ] [-0.25853475 -0.1642308 0.95193909 -0.41257138] [ 0. 0. 0. 1. ]] SLAMing on 79.698241008 meters Centerline goodness : 0.877626 with order 1 Centerline is valid? [False, False] Translation: X:15.75, Y:0.47, Z:-0.41 [[ 0.94931435 0.13550956 0.28361843 15.75444727] [-0.17909739 0.97469487 0.13376861 0.47052314] [-0.25831451 -0.17778379 0.94956124 -0.40700647] [ 0. 0. 0. 1. ]] SLAMing on 79.758241008 meters Centerline goodness : 0.878376 with order 1 Centerline is valid? [False, False] Translation: X:15.76, Y:0.48, Z:-0.42 [[ 0.9483165 0.14323748 0.28315868 15.756441 ] [-0.18105677 0.97706081 0.11211874 0.47967816] [-0.26060365 -0.15759184 0.95249701 -0.42178733] [ 0. 0. 0. 1. ]] SLAMing on 79.818241008 meters Centerline goodness : 0.876220 with order 1 Centerline is valid? [False, False] Translation: X:15.76, Y:0.48, Z:-0.42 [[ 0.94848967 0.14340041 0.28249543 15.75840656] [-0.18101077 0.97711167 0.11174919 0.4822039 ] [-0.2600047 -0.15712766 0.95273735 -0.42134208] [ 0. 0. 0. 1. ]] SLAMing on 79.878241008 meters Centerline goodness : 0.878445 with order 1 Centerline is valid? [False, False] Translation: X:15.74, Y:0.49, Z:-0.43 [[ 0.94893341 0.1500137 0.27752705 15.73640646] [-0.182336 0.97869097 0.09443284 0.49425166] [-0.257447 -0.14021365 0.95606547 -0.42811626] [ 0. 0. 0. 1. ]] SLAMing on 79.938241008 meters Centerline goodness : 0.877913 with order 1 Centerline is valid? [False, False] Translation: X:15.71, Y:0.51, Z:-0.43 [[ 0.94889512 0.15717483 0.27366792 15.71450244] [-0.18502781 0.97955554 0.0789662 0.50504563] [-0.25566143 -0.12556682 0.95857718 -0.43370377] [ 0. 0. 0. 1. ]] SLAMing on 79.99824100800001 meters Centerline goodness : 0.873712 with order 1 Centerline is valid? [False, False] Translation: X:15.72, Y:0.51, Z:-0.45 [[ 0.94738331 0.16335754 0.27528018 15.72134773] [-0.18721338 0.98032568 0.06255169 0.50955079] [-0.25964594 -0.11079656 0.9593269 -0.4466125 ] [ 0. 0. 0. 1. ]] SLAMing on 80.058241008 meters Centerline goodness : 0.876433 with order 1 Centerline is valid? [False, False] Translation: X:15.73, Y:0.51, Z:-0.46 [[ 0.94589601 0.1692854 0.27680895 15.72720189] [-0.18880463 0.98097162 0.04524917 0.51350008] [-0.2638817 -0.09506382 0.95985901 -0.45871704] [ 0. 0. 0. 1. ]] SLAMing on 80.118241008 meters Centerline goodness : 0.875416 with order 1 Centerline is valid? [False, False] Translation: X:15.73, Y:0.52, Z:-0.46 [[ 0.94581722 0.17032654 0.27643923 15.72728599] [-0.18933322 0.98095415 0.04338059 0.51734744] [-0.26378535 -0.09336924 0.96005181 -0.46269956] [ 0. 0. 0. 1. ]] SLAMing on 80.178241008 meters Centerline goodness : 0.870941 with order 1 Centerline is valid? [False, False] Translation: X:15.71, Y:0.52, Z:-0.47 [[ 0.9451986 0.17646002 0.27470252 15.71443232] [-0.19319689 0.98053959 0.03488647 0.52364296] [-0.26320063 -0.08604631 0.96089618 -0.46900932] [ 0. 0. 0. 1. ]] SLAMing on 80.238241008 meters Centerline goodness : 0.870683 with order 1 Centerline is valid? [False, False] Translation: X:15.72, Y:0.52, Z:-0.47 [[ 0.94540645 0.17607484 0.274234 15.71626501] [-0.19261789 0.98067106 0.03438921 0.52401087] [-0.26287827 -0.08533416 0.96104791 -0.47063204] [ 0. 0. 0. 1. ]] SLAMing on 80.298241008 meters Centerline goodness : 0.869504 with order 1 Centerline is valid? [False, False] Translation: X:15.72, Y:0.52, Z:-0.47 [[ 0.94593991 0.17374352 0.27388113 15.71506184] [-0.18899533 0.9815163 0.0301084 0.52413782] [-0.26358765 -0.08024299 0.96129216 -0.47044804] [ 0. 0. 0. 1. ]] SLAMing on 80.35824100800001 meters Centerline goodness : 0.870831 with order 1 Centerline is valid? [False, False] Translation: X:15.72, Y:0.52, Z:-0.47 [[ 0.94667885 0.1707704 0.27319706 15.71572449] [-0.18462968 0.98247338 0.02565049 0.52310776] [-0.26402849 -0.07472306 0.96161605 -0.47232639] [ 0. 0. 0. 1. ]] SLAMing on 80.418241008 meters Centerline goodness : 0.868762 with order 1 Centerline is valid? [False, False] Translation: X:15.72, Y:0.53, Z:-0.48 [[ 0.94729384 0.16845568 0.27250151 15.7158059 ] [-0.18056826 0.98336295 0.01980952 0.52594931] [-0.26463086 -0.06797056 0.96195141 -0.4760536 ] [ 0. 0. 0. 1. ]] SLAMing on 80.478241008 meters Centerline goodness : 0.867854 with order 1 Centerline is valid? [False, False] Translation: X:15.72, Y:0.52, Z:-0.47 [[ 0.94752444 0.16772026 0.27215317 15.71712252] [-0.18018633 0.98340204 0.02129136 0.52057483] [-0.26406499 -0.06921237 0.96201836 -0.47405189] [ 0. 0. 0. 1. ]] SLAMing on 80.538241008 meters Centerline goodness : 0.868215 with order 1 Centerline is valid? [False, False] Translation: X:15.72, Y:0.52, Z:-0.47 [[ 0.94779256 0.16709369 0.27160442 15.71913538] [-0.17963353 0.9834921 0.02179641 0.51773891] [-0.26347876 -0.06944773 0.96216213 -0.47429999] [ 0. 0. 0. 1. ]] SLAMing on 80.598241008 meters Centerline goodness : 0.865281 with order 1 Centerline is valid? [False, False] Translation: X:15.72, Y:0.52, Z:-0.48 [[ 0.94835917 0.16581166 0.27040964 15.72334047] [-0.17799276 0.98380804 0.02098382 0.51667218] [-0.26255182 -0.06803116 0.96251665 -0.47797613] [ 0. 0. 0. 1. ]] SLAMing on 80.658241008 meters Centerline goodness : 0.861381 with order 1 Centerline is valid? [False, False] Translation: X:15.75, Y:0.51, Z:-0.47 [[ 0.94921698 0.15844416 0.27181349 15.74969133] [-0.17444608 0.98402325 0.03559221 0.51065257] [-0.26183142 -0.08120153 0.96169154 -0.47406773] [ 0. 0. 0. 1. ]] SLAMing on 80.718241008 meters Centerline goodness : 0.860881 with order 1 Centerline is valid? [False, False] Translation: X:15.75, Y:0.51, Z:-0.48 [[ 0.94957993 0.15712487 0.27131113 15.74819109] [-0.1715175 0.98472356 0.03002095 0.51465975] [-0.26244943 -0.0750419 0.96202339 -0.47650677] [ 0. 0. 0. 1. ]] SLAMing on 80.778241008 meters Centerline goodness : 0.862638 with order 1 Centerline is valid? [False, False] Translation: X:15.75, Y:0.52, Z:-0.48 [[ 0.94980454 0.1568391 0.27068957 15.75053252] [-0.17120046 0.98477542 0.0301293 0.51582536] [-0.26184298 -0.07495912 0.96219509 -0.47641569] [ 0. 0. 0. 1. ]] SLAMing on 80.838241008 meters Centerline goodness : 0.856416 with order 1 Centerline is valid? [False, False] Translation: X:15.80, Y:0.50, Z:-0.46 [[ 0.94912764 0.14376873 0.28015579 15.79730951] [-0.16874954 0.98337533 0.0670564 0.50025987] [-0.26585768 -0.11092125 0.95760961 -0.45950417] [ 0. 0. 0. 1. ]] SLAMing on 80.898241008 meters Centerline goodness : 0.856426 with order 1 Centerline is valid? [False, False] Translation: X:15.80, Y:0.49, Z:-0.44 [[ 0.95025836 0.13507924 0.28064684 15.79940342] [-0.16685116 0.98163582 0.09247597 0.49231032] [-0.26300141 -0.13470231 0.95534577 -0.43947193] [ 0. 0. 0. 1. ]] SLAMing on 80.958241008 meters Centerline goodness : 0.853704 with order 1 Centerline is valid? [False, False] Translation: X:15.84, Y:0.48, Z:-0.42 [[ 0.94983789 0.12112117 0.288336 15.83895491] [-0.16250022 0.97887136 0.12411501 0.47713729] [-0.2672109 -0.1647438 0.94945132 -0.42057895] [ 0. 0. 0. 1. ]] SLAMing on 81.018241008 meters Centerline goodness : 0.847283 with order 1 Centerline is valid? [False, False] Translation: X:15.83, Y:0.48, Z:-0.43 [[ 0.94984026 0.12095713 0.28839703 15.83471811] [-0.1597538 0.9804422 0.11494262 0.48425542] [-0.26885349 -0.15524965 0.95058684 -0.42926189] [ 0. 0. 0. 1. ]] SLAMing on 81.078241008 meters Centerline goodness : 0.846790 with order 1 Centerline is valid? [False, False] Translation: X:15.84, Y:0.49, Z:-0.43 [[ 0.94999138 0.12099607 0.28788251 15.83689469] [-0.15922802 0.9807252 0.11324535 0.48905742] [-0.26863139 -0.15342107 0.95094645 -0.43292089] [ 0. 0. 0. 1. ]] SLAMing on 81.138241008 meters Centerline goodness : 0.849793 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:0.49, Z:-0.45 [[ 0.94915164 0.12487642 0.28899317 15.84850752] [-0.15869812 0.98258674 0.09663435 0.49348778] [-0.2718935 -0.13758333 0.95244147 -0.44571385] [ 0. 0. 0. 1. ]] SLAMing on 81.198241008 meters Centerline goodness : 0.850743 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:0.49, Z:-0.44 [[ 0.94964939 0.12295 0.28818282 15.85373787] [-0.15686814 0.98278166 0.09763501 0.49384119] [-0.27121656 -0.13792573 0.95258494 -0.44433181] [ 0. 0. 0. 1. ]] SLAMing on 81.258241008 meters Centerline goodness : 0.849349 with order 1 Centerline is valid? [False, False] Translation: X:15.87, Y:0.50, Z:-0.44 [[ 0.95078006 0.11661124 0.28708725 15.86917972] [-0.15129809 0.98324361 0.10169017 0.4958191 ] [-0.27041849 -0.14012074 0.95249148 -0.44198961] [ 0. 0. 0. 1. ]] SLAMing on 81.318241008 meters Centerline goodness : 0.864965 with order 1 Centerline is valid? [False, False] Translation: X:15.78, Y:0.38, Z:-0.13 [[ 0.7365861 0.35945941 -0.57291347 15.78492457] [-0.379133 0.92091966 0.09036118 0.37959476] [ 0.56008846 0.15065162 0.81461955 -0.13119874] [ 0. 0. 0. 1. ]] SLAMing on 81.378241008 meters Centerline goodness : 0.853144 with order 1 Centerline is valid? [False, False] Translation: X:16.02, Y:0.28, Z:-0.17 [[ 0.89332288 0.33173495 -0.30319326 16.01806458] [-0.35449676 0.93480595 -0.0216768 0.28396931] [ 0.27623591 0.12684541 0.95268251 -0.17230152] [ 0. 0. 0. 1. ]] SLAMing on 81.438241008 meters Centerline goodness : 0.853224 with order 1 Centerline is valid? [False, False] Translation: X:16.01, Y:0.28, Z:-0.16 [[ 8.92373158e-01 3.39014867e-01 -2.97891033e-01 1.60090128e+01] [-3.54806981e-01 9.34938885e-01 1.13449472e-03 2.78804894e-01] [ 2.78894521e-01 1.04681425e-01 9.54599207e-01 -1.60584909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49824100800001 meters Centerline goodness : 0.851308 with order 1 Centerline is valid? [False, False] Translation: X:16.01, Y:0.27, Z:-0.15 [[ 8.90590662e-01 3.45146507e-01 -2.96179273e-01 1.60065598e+01] [-3.58823148e-01 9.33364820e-01 8.72128105e-03 2.73437220e-01] [ 2.79453434e-01 9.85088876e-02 9.55092549e-01 -1.54643295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.558241008 meters Centerline goodness : 0.850911 with order 1 Centerline is valid? [False, False] Translation: X:16.01, Y:0.27, Z:-0.15 [[ 0.88864641 0.35289287 -0.2928723 16.00921402] [-0.3630185 0.93154599 0.02096769 0.26521691] [ 0.28022336 0.0876852 0.95592164 -0.14542039] [ 0. 0. 0. 1. ]] SLAMing on 81.618241008 meters Centerline goodness : 0.844519 with order 1 Centerline is valid? [False, False] Translation: X:16.01, Y:0.26, Z:-0.14 [[ 0.88691031 0.35886321 -0.29087332 16.00692483] [-0.36756518 0.92962945 0.02617107 0.26337706] [ 0.27979624 0.08370352 0.95640357 -0.14391732] [ 0. 0. 0. 1. ]] SLAMing on 81.678241008 meters Centerline goodness : 0.846308 with order 1 Centerline is valid? [False, False] Translation: X:16.01, Y:0.26, Z:-0.14 [[ 0.88671081 0.35958364 -0.29059171 16.00594611] [-0.3681528 0.92938313 0.02665563 0.26322337] [ 0.27965596 0.08334631 0.95647579 -0.14362678] [ 0. 0. 0. 1. ]] SLAMing on 81.738241008 meters Centerline goodness : 0.844831 with order 1 Centerline is valid? [False, False] Translation: X:16.01, Y:0.26, Z:-0.14 [[ 0.88669405 0.35927244 -0.29102744 16.00710604] [-0.36766905 0.92955505 0.02732924 0.25998657] [ 0.28034467 0.08276911 0.95632429 -0.14314511] [ 0. 0. 0. 1. ]] SLAMing on 81.798241008 meters Centerline goodness : 0.842916 with order 1 Centerline is valid? [False, False] Translation: X:16.00, Y:0.26, Z:-0.14 [[ 0.88652881 0.3610402 -0.28933828 15.99760954] [-0.3647091 0.93012099 0.04315344 0.25738583] [ 0.28469973 0.06726754 0.9562537 -0.1366823 ] [ 0. 0. 0. 1. ]] SLAMing on 81.85824100800001 meters Centerline goodness : 0.844179 with order 1 Centerline is valid? [False, False] Translation: X:15.98, Y:0.26, Z:-0.13 [[ 0.88598767 0.36157877 -0.29032163 15.98103896] [-0.36186031 0.93062421 0.05473303 0.25699565] [ 0.28997064 0.05656309 0.95536257 -0.13302608] [ 0. 0. 0. 1. ]] SLAMing on 81.918241008 meters Centerline goodness : 0.837988 with order 1 Centerline is valid? [False, False] Translation: X:15.98, Y:0.26, Z:-0.13 [[ 0.88611227 0.36103089 -0.29062302 15.98329904] [-0.36136356 0.9308288 0.05453548 0.25762419] [ 0.29020927 0.05669601 0.95528223 -0.1331474 ] [ 0. 0. 0. 1. ]] SLAMing on 81.978241008 meters Centerline goodness : 0.840155 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:0.27, Z:-0.14 [[ 0.88953272 0.35989931 -0.28143211 15.96020411] [-0.35893834 0.93162721 0.05686841 0.26745398] [ 0.28265671 0.05043047 0.95789454 -0.13722982] [ 0. 0. 0. 1. ]] SLAMing on 82.038241008 meters Centerline goodness : 0.838814 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:0.27, Z:-0.14 [[ 0.88940162 0.36054226 -0.28102321 15.95849587] [-0.35936647 0.93141572 0.05762376 0.26785442] [ 0.28252523 0.04973966 0.95796945 -0.13550714] [ 0. 0. 0. 1. ]] SLAMing on 82.098241008 meters Centerline goodness : 0.832148 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:0.27, Z:-0.13 [[ 0.88935842 0.36046023 -0.28126506 15.95925803] [-0.35908665 0.93148 0.05832492 0.26668508] [ 0.28301659 0.04912677 0.95785603 -0.13407723] [ 0. 0. 0. 1. ]] SLAMing on 82.158241008 meters Centerline goodness : 0.833363 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:0.27, Z:-0.13 [[ 0.88943587 0.3599112 -0.28172285 15.96123093] [-0.35855244 0.9316892 0.05826993 0.26625101] [ 0.28345014 0.04918505 0.95772483 -0.13423927] [ 0. 0. 0. 1. ]] SLAMing on 82.218241008 meters Centerline goodness : 0.827925 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:0.26, Z:-0.13 [[ 0.88967578 0.35899284 -0.28213675 15.96286543] [-0.35719863 0.93212081 0.05966514 0.2622553 ] [ 0.2844049 0.04769623 0.95751706 -0.13149085] [ 0. 0. 0. 1. ]] SLAMing on 82.278241008 meters Centerline goodness : 0.828408 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:0.26, Z:-0.13 [[ 0.88970949 0.35905314 -0.28195366 15.96181621] [-0.35682572 0.93217064 0.06110073 0.25928632] [ 0.28476733 0.04624642 0.95748046 -0.12870513] [ 0. 0. 0. 1. ]] SLAMing on 82.338241008 meters Centerline goodness : 0.821133 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.27, Z:-0.13 [[ 0.89312924 0.35732881 -0.27319641 15.94313439] [-0.3538567 0.93312997 0.06367013 0.2692467 ] [ 0.27767893 0.03980672 0.95984886 -0.13374749] [ 0. 0. 0. 1. ]] SLAMing on 82.398241008 meters Centerline goodness : 0.818085 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.27, Z:-0.13 [[ 0.89313131 0.35725215 -0.27328989 15.94448365] [-0.35392774 0.93313758 0.06316174 0.27207779] [ 0.27758174 0.04031315 0.95985584 -0.13425678] [ 0. 0. 0. 1. ]] SLAMing on 82.458241008 meters Centerline goodness : 0.816583 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.27, Z:-0.13 [[ 0.89303618 0.35755772 -0.27320112 15.94438819] [-0.35415922 0.93303007 0.06345181 0.27318072] [ 0.27759254 0.04009194 0.95986198 -0.13350994] [ 0. 0. 0. 1. ]] SLAMing on 82.518241008 meters Centerline goodness : 0.813952 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.27, Z:-0.13 [[ 0.89315993 0.35702126 -0.27349799 15.94465159] [-0.35336924 0.93327228 0.06428858 0.27073711] [ 0.27820049 0.0392258 0.95972174 -0.13148067] [ 0. 0. 0. 1. ]] SLAMing on 82.578241008 meters Centerline goodness : 0.818851 with order 1 Centerline is valid? [False, False] Translation: X:15.95, Y:0.27, Z:-0.13 [[ 0.89336259 0.35604591 -0.27410691 15.94740829] [-0.35242087 0.93364145 0.0641341 0.27081086] [ 0.27875226 0.03930599 0.95955835 -0.13125189] [ 0. 0. 0. 1. ]] SLAMing on 82.638241008 meters Centerline goodness : 0.813207 with order 1 Centerline is valid? [False, False] Translation: X:15.95, Y:0.27, Z:-0.13 [[ 0.89354424 0.35518104 -0.27463636 15.94987322] [-0.35161225 0.93396339 0.06388443 0.27141287] [ 0.27919084 0.03948194 0.9594236 -0.1312585 ] [ 0. 0. 0. 1. ]] SLAMing on 82.698241008 meters Centerline goodness : 0.812196 with order 1 Centerline is valid? [False, False] Translation: X:15.95, Y:0.27, Z:-0.13 [[ 0.89357802 0.35499091 -0.27477221 15.95017101] [-0.35128689 0.93405459 0.06433928 0.27158265] [ 0.2794921 0.03903171 0.95935431 -0.12971656] [ 0. 0. 0. 1. ]] SLAMing on 82.758241008 meters Centerline goodness : 0.809283 with order 1 Centerline is valid? [False, False] Translation: X:15.93, Y:0.28, Z:-0.13 [[ 0.89599012 0.35400548 -0.26810785 15.92775636] [-0.34941398 0.93461654 0.06634607 0.2842077 ] [ 0.2740649 0.03423521 0.96110165 -0.13475516] [ 0. 0. 0. 1. ]] SLAMing on 82.818241008 meters Centerline goodness : 0.812669 with order 1 Centerline is valid? [False, False] Translation: X:15.93, Y:0.29, Z:-0.13 [[ 0.8959272 0.35376571 -0.26863408 15.92931929] [-0.34925487 0.93469372 0.06609602 0.28579292] [ 0.27447309 0.03460454 0.96097193 -0.13439705] [ 0. 0. 0. 1. ]] SLAMing on 82.878241008 meters Centerline goodness : 0.811612 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.28, Z:-0.12 [[ 0.89549806 0.35762122 -0.2649345 15.93732609] [-0.3499052 0.93357554 0.07747951 0.2798994 ] [ 0.27504468 0.02331921 0.9611486 -0.12293533] [ 0. 0. 0. 1. ]] SLAMing on 82.938241008 meters Centerline goodness : 0.804934 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.28, Z:-0.12 [[ 0.89433079 0.36079541 -0.26457344 15.94205189] [-0.35128811 0.93247745 0.08415742 0.27642826] [ 0.27707238 0.01767693 0.96068643 -0.11624833] [ 0. 0. 0. 1. ]] SLAMing on 82.99824100800001 meters Centerline goodness : 0.808971 with order 1 Centerline is valid? [False, False] Translation: X:15.95, Y:0.27, Z:-0.11 [[ 8.93507237e-01 3.64775892e-01 -2.61884261e-01 1.59527783e+01] [-3.52065084e-01 9.31071237e-01 9.56897534e-02 2.70077685e-01] [ 2.78738218e-01 6.70081710e-03 9.60343743e-01 -1.05465320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.058241008 meters Centerline goodness : 0.804241 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:0.26, Z:-0.08 [[ 8.93781644e-01 3.71787961e-01 -2.50854709e-01 1.59580486e+01] [-3.53285289e-01 9.28182063e-01 1.16908350e-01 2.57756879e-01] [ 2.76303959e-01 -1.58672585e-02 9.60939307e-01 -8.10641361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.118241008 meters Centerline goodness : 0.807617 with order 1 Centerline is valid? [False, False] Translation: X:15.95, Y:0.26, Z:-0.08 [[ 0.89183467 0.37828351 -0.24805747 15.95374139] [-0.35875762 0.92548683 0.12151994 0.2586674 ] [ 0.27554292 -0.01938319 0.96109333 -0.07981102] [ 0. 0. 0. 1. ]] SLAMing on 83.178241008 meters Centerline goodness : 0.807275 with order 1 Centerline is valid? [False, False] Translation: X:15.95, Y:0.26, Z:-0.08 [[ 0.89119561 0.38004703 -0.24765833 15.95215146] [-0.36078557 0.92478501 0.12085714 0.26170189] [ 0.27496211 -0.0183558 0.96127983 -0.08185085] [ 0. 0. 0. 1. ]] SLAMing on 83.238241008 meters Centerline goodness : 0.809373 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.26, Z:-0.08 [[ 0.88909813 0.38632076 -0.24548071 15.94263992] [-0.36688835 0.92217308 0.12243267 0.26493757] [ 0.27367398 -0.01879065 0.96163895 -0.0828104 ] [ 0. 0. 0. 1. ]] SLAMing on 83.298241008 meters Centerline goodness : 0.808564 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.27, Z:-0.09 [[ 8.89945103e-01 3.83533154e-01 -2.46779322e-01 1.59410694e+01] [-3.65255495e-01 9.23408424e-01 1.17920763e-01 2.67059890e-01] [ 2.73104627e-01 -1.48055024e-02 9.61870397e-01 -8.55241527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35824100800001 meters Centerline goodness : 0.811572 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.27, Z:-0.09 [[ 8.91281069e-01 3.79550728e-01 -2.48111469e-01 1.59402721e+01] [-3.62308209e-01 9.25100398e-01 1.13675040e-01 2.66175741e-01] [ 2.72673463e-01 -1.14235891e-02 9.62038816e-01 -8.75845549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.418241008 meters Centerline goodness : 0.810265 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.27, Z:-0.09 [[ 8.92858462e-01 3.74957993e-01 -2.49419868e-01 1.59409723e+01] [-3.58674115e-01 9.27003586e-01 1.09623127e-01 2.65880582e-01] [ 2.72317179e-01 -8.41748575e-03 9.62170723e-01 -8.90169246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.478241008 meters Centerline goodness : 0.813642 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.26, Z:-0.09 [[ 8.94665980e-01 3.69051364e-01 -2.51741684e-01 1.59447776e+01] [-3.53854800e-01 9.29396656e-01 1.04922048e-01 2.64376186e-01] [ 2.72689504e-01 -4.79018433e-03 9.62090167e-01 -9.15353507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.538241008 meters Centerline goodness : 0.812921 with order 1 Centerline is valid? [False, False] Translation: X:15.95, Y:0.26, Z:-0.09 [[ 8.95008895e-01 3.67939412e-01 -2.52150087e-01 1.59475582e+01] [-3.52268092e-01 9.29827506e-01 1.06433079e-01 2.60460738e-01] [ 2.73617011e-01 -6.43412212e-03 9.61817204e-01 -8.88677842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.598241008 meters Centerline goodness : 0.814922 with order 1 Centerline is valid? [False, False] Translation: X:15.95, Y:0.26, Z:-0.08 [[ 8.95303229e-01 3.66858891e-01 -2.52679009e-01 1.59500417e+01] [-3.50532695e-01 9.30236591e-01 1.08566637e-01 2.55645063e-01] [ 2.74879896e-01 -8.62780669e-03 9.61439860e-01 -8.47016289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.658241008 meters Centerline goodness : 0.815445 with order 1 Centerline is valid? [False, False] Translation: X:15.95, Y:0.26, Z:-0.09 [[ 8.95305671e-01 3.66690633e-01 -2.52914481e-01 1.59510779e+01] [-3.50455873e-01 9.30306344e-01 1.08216388e-01 2.56456938e-01] [ 2.74969882e-01 -8.25138054e-03 9.61417432e-01 -8.51605793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.718241008 meters Centerline goodness : 0.817638 with order 1 Centerline is valid? [False, False] Translation: X:15.95, Y:0.26, Z:-0.09 [[ 8.94969595e-01 3.67604076e-01 -2.52777901e-01 1.59502873e+01] [-3.51549743e-01 9.29951847e-01 1.07714156e-01 2.59231550e-01] [ 2.74667439e-01 -7.53688838e-03 9.61509747e-01 -8.60308990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.778241008 meters Centerline goodness : 0.814725 with order 1 Centerline is valid? [False, False] Translation: X:15.92, Y:0.27, Z:-0.10 [[ 8.94673422e-01 3.69649513e-01 -2.50836012e-01 1.59214635e+01] [-3.54126694e-01 9.29150819e-01 1.06174572e-01 2.74587258e-01] [ 2.72311865e-01 -6.16383988e-03 9.62189303e-01 -9.90351033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.838241008 meters Centerline goodness : 0.822490 with order 1 Centerline is valid? [False, False] Translation: X:15.92, Y:0.28, Z:-0.10 [[ 8.94456975e-01 3.70327676e-01 -2.50607525e-01 1.59206981e+01] [-3.54778621e-01 9.28880302e-01 1.06365006e-01 2.75744747e-01] [ 2.72174299e-01 -6.22872904e-03 9.62227808e-01 -9.86434181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.898241008 meters Centerline goodness : 0.824479 with order 1 Centerline is valid? [False, False] Translation: X:15.92, Y:0.28, Z:-0.10 [[ 8.95656241e-01 3.66506798e-01 -2.51937819e-01 1.59202034e+01] [-3.51989270e-01 9.30411069e-01 1.02170429e-01 2.77612411e-01] [ 2.71851893e-01 -2.83017351e-03 9.62334941e-01 -9.98848217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.958241008 meters Centerline goodness : 0.820753 with order 1 Centerline is valid? [False, False] Translation: X:15.92, Y:0.28, Z:-0.10 [[ 8.96992796e-01 3.62476720e-01 -2.53010971e-01 1.59189581e+01] [-3.48847461e-01 9.31992824e-01 9.84623020e-02 2.78717165e-01] [ 2.71494701e-01 -5.77407879e-05 9.62439933e-01 -9.97767916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.018241008 meters Centerline goodness : 0.821596 with order 1 Centerline is valid? [False, False] Translation: X:15.92, Y:0.28, Z:-0.10 [[ 8.97164072e-01 3.62097862e-01 -2.52946175e-01 1.59193302e+01] [-3.48256284e-01 9.32139675e-01 9.91624296e-02 2.77915778e-01] [ 2.71687669e-01 -8.74874181e-04 9.62385082e-01 -9.79434528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.078241008 meters Centerline goodness : 0.820761 with order 1 Centerline is valid? [False, False] Translation: X:15.92, Y:0.28, Z:-0.10 [[ 8.97384996e-01 3.61492783e-01 -2.53027937e-01 1.59204589e+01] [-3.47421510e-01 9.32373295e-01 9.98916048e-02 2.77693823e-01] [ 2.72026585e-01 -1.73387932e-03 9.62288174e-01 -9.57756675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.138241008 meters Centerline goodness : 0.823844 with order 1 Centerline is valid? [False, False] Translation: X:15.92, Y:0.28, Z:-0.10 [[ 8.97485275e-01 3.60929611e-01 -2.53475831e-01 1.59223371e+01] [-3.46841400e-01 9.32591480e-01 9.98707883e-02 2.77497754e-01] [ 2.72435725e-01 -1.71664991e-03 9.62172453e-01 -9.53847463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.198241008 meters Centerline goodness : 0.818824 with order 1 Centerline is valid? [False, False] Translation: X:15.92, Y:0.28, Z:-0.10 [[ 8.98978540e-01 3.55947451e-01 -2.55223427e-01 1.59242907e+01] [-3.42899369e-01 9.34504501e-01 9.55058145e-02 2.78957787e-01] [ 2.72502492e-01 1.65827416e-03 9.62153648e-01 -9.63781575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.258241008 meters Centerline goodness : 0.820020 with order 1 Centerline is valid? [False, False] Translation: X:15.93, Y:0.28, Z:-0.10 [[ 8.99019033e-01 3.55455086e-01 -2.55766418e-01 1.59268548e+01] [-3.42211185e-01 9.34692712e-01 9.61303271e-02 2.77946701e-01] [ 2.73233020e-01 1.10313527e-03 9.61947244e-01 -9.50288280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.318241008 meters Centerline goodness : 0.815872 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.27, Z:-0.08 [[ 8.99475986e-01 3.58754094e-01 -2.49476354e-01 1.59391244e+01] [-3.41324750e-01 9.33309416e-01 1.11494163e-01 2.67666216e-01] [ 2.72837618e-01 -1.51338680e-02 9.61941059e-01 -7.84392573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.378241008 meters Centerline goodness : 0.820135 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.26, Z:-0.07 [[ 0.89806452 0.36329498 -0.24798563 15.93978382] [-0.34383871 0.93141697 0.11932047 0.26236824] [ 0.27432655 -0.02189042 0.96138741 -0.07057125] [ 0. 0. 0. 1. ]] SLAMing on 84.438241008 meters Centerline goodness : 0.824329 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.26, Z:-0.06 [[ 0.89669971 0.3689388 -0.24456857 15.93701227] [-0.34695355 0.92893549 0.12923654 0.25715564] [ 0.2748688 -0.03103244 0.96098082 -0.05891306] [ 0. 0. 0. 1. ]] SLAMing on 84.498241008 meters Centerline goodness : 0.827793 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.26, Z:-0.06 [[ 0.89774401 0.3652728 -0.24623459 15.93767619] [-0.3444292 0.93050758 0.12459605 0.26137209] [ 0.2746347 -0.02704497 0.96116822 -0.06081144] [ 0. 0. 0. 1. ]] SLAMing on 84.558241008 meters Centerline goodness : 0.829376 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.26, Z:-0.05 [[ 0.89752151 0.36889055 -0.24160899 15.94287413] [-0.34493217 0.92864619 0.13652125 0.25860485] [ 0.27473066 -0.03919204 0.96072215 -0.04615633] [ 0. 0. 0. 1. ]] SLAMing on 84.618241008 meters Centerline goodness : 0.832006 with order 1 Centerline is valid? [False, False] Translation: X:15.95, Y:0.25, Z:-0.01 [[ 9.00151194e-01 3.75197794e-01 -2.21256510e-01 1.59517023e+01] [-3.44324579e-01 9.24038808e-01 1.66111005e-01 2.46104378e-01] [ 2.66774085e-01 -7.33409645e-02 9.60964459e-01 -1.38452651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.678241008 meters Centerline goodness : 0.833108 with order 1 Centerline is valid? [False, False] Translation: X:15.95, Y:0.24, Z:0.00 [[ 9.00873258e-01 3.76018036e-01 -2.16882018e-01 1.59494874e+01] [-3.43388329e-01 9.22965308e-01 1.73837554e-01 2.44310029e-01] [ 2.65540634e-01 -8.21308499e-02 9.60594969e-01 4.09132034e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.738241008 meters Centerline goodness : 0.832234 with order 1 Centerline is valid? [False, False] Translation: X:15.95, Y:0.25, Z:0.00 [[ 9.00862481e-01 3.76878803e-01 -2.15427849e-01 1.59473412e+01] [-3.43823147e-01 9.22408133e-01 1.75922936e-01 2.45666455e-01] [ 2.65014026e-01 -8.44132914e-02 9.60542535e-01 4.75429425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.798241008 meters Centerline goodness : 0.837793 with order 1 Centerline is valid? [False, False] Translation: X:15.95, Y:0.24, Z:0.02 [[ 0.90073363 0.38064508 -0.20925641 15.94976942] [-0.3447511 0.91953214 0.18869902 0.2428192 ] [ 0.26424535 -0.09782617 0.95948134 0.02115267] [ 0. 0. 0. 1. ]] SLAMing on 84.85824100800001 meters Centerline goodness : 0.836506 with order 1 Centerline is valid? [False, False] Translation: X:15.95, Y:0.24, Z:0.05 [[ 0.90477183 0.38150919 -0.18931103 15.94809108] [-0.34203111 0.91574241 0.21078556 0.23798188] [ 0.25377677 -0.12596257 0.95902595 0.04514006] [ 0. 0. 0. 1. ]] SLAMing on 84.918241008 meters Centerline goodness : 0.842214 with order 1 Centerline is valid? [False, False] Translation: X:15.95, Y:0.24, Z:0.05 [[ 0.91127222 0.37168751 -0.17728886 15.9504292 ] [-0.33220494 0.91792954 0.21689915 0.23907997] [ 0.24335739 -0.13875793 0.95996011 0.05189504] [ 0. 0. 0. 1. ]] SLAMing on 84.978241008 meters Centerline goodness : 0.846689 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:0.24, Z:0.05 [[ 0.91249263 0.36934758 -0.17589649 15.95923802] [-0.32976571 0.91853971 0.21803527 0.24270122] [ 0.24209871 -0.14095095 0.95995888 0.05253049] [ 0. 0. 0. 1. ]] SLAMing on 85.038241008 meters Centerline goodness : 0.850085 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:0.25, Z:0.05 [[ 0.91305953 0.36818482 -0.17539165 15.96246459] [-0.32908862 0.91917637 0.21636884 0.24794039] [ 0.24087959 -0.13983823 0.96042818 0.05062435] [ 0. 0. 0. 1. ]] SLAMing on 85.098241008 meters Centerline goodness : 0.854357 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:0.25, Z:0.06 [[ 0.91339868 0.36992366 -0.16988034 15.96171498] [-0.32989284 0.91718477 0.22347887 0.24963627] [ 0.23848178 -0.14808299 0.95979053 0.06059561] [ 0. 0. 0. 1. ]] SLAMing on 85.158241008 meters Centerline goodness : 0.859062 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:0.26, Z:0.06 [[ 0.91363644 0.37017314 -0.16804851 15.95901542] [-0.33089994 0.91728739 0.22156053 0.25607232] [ 0.23616453 -0.14681854 0.96055746 0.05913597] [ 0. 0. 0. 1. ]] SLAMing on 85.218241008 meters Centerline goodness : 0.861009 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:0.26, Z:0.06 [[ 0.91393388 0.37051365 -0.16566379 15.95736973] [-0.33195734 0.91725077 0.22012576 0.26350737] [ 0.23351484 -0.14618708 0.96130128 0.05696716] [ 0. 0. 0. 1. ]] SLAMing on 85.278241008 meters Centerline goodness : 0.865918 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:0.27, Z:0.06 [[ 0.91401251 0.37070752 -0.16479401 15.9570368 ] [-0.33253373 0.91728848 0.21909624 0.26811323] [ 0.23238427 -0.14545714 0.9616859 0.05625586] [ 0. 0. 0. 1. ]] SLAMing on 85.338241008 meters Centerline goodness : 0.868256 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.27, Z:0.07 [[ 0.91626109 0.3735827 -0.14457379 15.94149013] [-0.33470196 0.91226827 0.23609573 0.27123903] [ 0.22009136 -0.1679362 0.96091478 0.07051608] [ 0. 0. 0. 1. ]] SLAMing on 85.398241008 meters Centerline goodness : 0.873706 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:0.27, Z:0.07 [[ 0.91736354 0.3712384 -0.14361819 15.95634195] [-0.33567459 0.91541408 0.22212526 0.27161458] [ 0.21393154 -0.15556064 0.9643828 0.06547906] [ 0. 0. 0. 1. ]] SLAMing on 85.458241008 meters Centerline goodness : 0.872576 with order 1 Centerline is valid? [False, False] Translation: X:15.98, Y:0.27, Z:0.06 [[ 0.91882207 0.36768351 -0.14343933 15.97837107] [-0.334813 0.91859295 0.20996964 0.27038073] [ 0.20896473 -0.14489938 0.96712869 0.06178798] [ 0. 0. 0. 1. ]] SLAMing on 85.518241008 meters Centerline goodness : 0.873541 with order 1 Centerline is valid? [False, False] Translation: X:15.98, Y:0.27, Z:0.06 [[ 0.91935805 0.36612492 -0.14399073 15.98332039] [-0.33334725 0.91931056 0.20915952 0.27219301] [ 0.20895071 -0.14429358 0.96722229 0.0608382 ] [ 0. 0. 0. 1. ]] SLAMing on 85.578241008 meters Centerline goodness : 0.874257 with order 1 Centerline is valid? [False, False] Translation: X:15.99, Y:0.27, Z:0.07 [[ 0.92051878 0.36509949 -0.13909545 15.99282077] [-0.33089349 0.91782963 0.21931316 0.26846617] [ 0.20773705 -0.15585611 0.96568846 0.07467071] [ 0. 0. 0. 1. ]] SLAMing on 85.638241008 meters Centerline goodness : 0.877552 with order 1 Centerline is valid? [False, False] Translation: X:15.99, Y:0.27, Z:0.08 [[ 0.92059515 0.36636855 -0.13519859 15.99187985] [-0.33230327 0.91677143 0.22159578 0.27223621] [ 0.20513193 -0.15907307 0.96572079 0.07632609] [ 0. 0. 0. 1. ]] SLAMing on 85.698241008 meters Centerline goodness : 0.878331 with order 1 Centerline is valid? [False, False] Translation: X:15.99, Y:0.28, Z:0.07 [[ 0.92108209 0.36589171 -0.13315799 15.99164362] [-0.33259198 0.91715727 0.21955665 0.27873042] [ 0.20246077 -0.15794242 0.96646978 0.07361322] [ 0. 0. 0. 1. ]] SLAMing on 85.758241008 meters Centerline goodness : 0.879198 with order 1 Centerline is valid? [False, False] Translation: X:15.99, Y:0.28, Z:0.08 [[ 0.92155056 0.36543986 -0.13114221 15.9901887 ] [-0.33229576 0.9170623 0.22040027 0.28499845] [ 0.20080861 -0.15953199 0.96655338 0.07867782] [ 0. 0. 0. 1. ]] SLAMing on 85.818241008 meters Centerline goodness : 0.883940 with order 1 Centerline is valid? [False, False] Translation: X:15.99, Y:0.29, Z:0.08 [[ 0.92195134 0.36488342 -0.12986847 15.9912833 ] [-0.33187022 0.91712154 0.22079455 0.2898257 ] [ 0.19966944 -0.16046235 0.96663538 0.0810078 ] [ 0. 0. 0. 1. ]] SLAMing on 85.878241008 meters Centerline goodness : 0.883723 with order 1 Centerline is valid? [False, False] Translation: X:15.99, Y:0.29, Z:0.08 [[ 0.9224695 0.36371937 -0.12945362 15.99492955] [-0.33099669 0.91768893 0.2197458 0.29485966] [ 0.19872396 -0.15986008 0.96692996 0.08007428] [ 0. 0. 0. 1. ]] SLAMing on 85.938241008 meters Centerline goodness : 0.887692 with order 1 Centerline is valid? [False, False] Translation: X:16.00, Y:0.30, Z:0.07 [[ 0.9244469 0.35772401 -0.13202823 15.99990027] [-0.32638692 0.92136774 0.21107596 0.30172368] [ 0.1971535 -0.15203623 0.96851199 0.07262303] [ 0. 0. 0. 1. ]] SLAMing on 85.998241008 meters Centerline goodness : 0.888315 with order 1 Centerline is valid? [False, False] Translation: X:16.00, Y:0.31, Z:0.07 [[ 0.92446117 0.35813075 -0.13082017 15.99844689] [-0.3271036 0.92125172 0.21047207 0.30567331] [ 0.19589482 -0.15178151 0.9688073 0.07263227] [ 0. 0. 0. 1. ]] SLAMing on 86.058241008 meters Centerline goodness : 0.893987 with order 1 Centerline is valid? [False, False] Translation: X:16.00, Y:0.31, Z:0.07 [[ 0.92427443 0.35848514 -0.13116855 15.99969326] [-0.3278058 0.92145569 0.20847725 0.30959426] [ 0.195602 -0.14969238 0.96919144 0.06994525] [ 0. 0. 0. 1. ]] SLAMing on 86.118241008 meters Centerline goodness : 0.887699 with order 1 Centerline is valid? [False, False] Translation: X:16.00, Y:0.32, Z:0.06 [[ 0.92407109 0.35788574 -0.13420287 15.99967301] [-0.32839211 0.92304777 0.20035327 0.31796035] [ 0.19557924 -0.1410695 0.97048862 0.05892659] [ 0. 0. 0. 1. ]] SLAMing on 86.178241008 meters Centerline goodness : 0.890615 with order 1 Centerline is valid? [False, False] Translation: X:16.00, Y:0.32, Z:0.06 [[ 0.92412058 0.35725854 -0.13552668 16.00412435] [-0.32815744 0.9237534 0.1974648 0.32473745] [ 0.19573922 -0.1380072 0.97089658 0.05574775] [ 0. 0. 0. 1. ]] SLAMing on 86.238241008 meters Centerline goodness : 0.891886 with order 1 Centerline is valid? [False, False] Translation: X:16.00, Y:0.33, Z:0.05 [[ 0.92420596 0.35702773 -0.13555275 16.00441131] [-0.32839551 0.92416787 0.19511569 0.32933435] [ 0.19493521 -0.13581217 0.97136776 0.05292788] [ 0. 0. 0. 1. ]] SLAMing on 86.298241008 meters Centerline goodness : 0.892268 with order 1 Centerline is valid? [False, False] Translation: X:16.00, Y:0.33, Z:0.05 [[ 0.92412983 0.35765372 -0.13441676 16.00244313] [-0.32915738 0.92387249 0.19523073 0.33334385] [ 0.19400894 -0.13617427 0.9715025 0.0548288 ] [ 0. 0. 0. 1. ]] SLAMing on 86.35824100800001 meters Centerline goodness : 0.893525 with order 1 Centerline is valid? [False, False] Translation: X:16.01, Y:0.34, Z:0.05 [[ 0.92434349 0.35699118 -0.13470861 16.00530627] [-0.32858456 0.92421411 0.19457767 0.33647049] [ 0.19396211 -0.13559343 0.97159308 0.05473086] [ 0. 0. 0. 1. ]] SLAMing on 86.418241008 meters Centerline goodness : 0.896532 with order 1 Centerline is valid? [False, False] Translation: X:16.01, Y:0.34, Z:0.05 [[ 0.92556973 0.35310079 -0.13653026 16.00653973] [-0.32561309 0.9264812 0.18870268 0.34182115] [ 0.19312378 -0.13020145 0.97249719 0.05118149] [ 0. 0. 0. 1. ]] SLAMing on 86.478241008 meters Centerline goodness : 0.898471 with order 1 Centerline is valid? [False, False] Translation: X:16.01, Y:0.34, Z:0.05 [[ 0.92560011 0.35292369 -0.13678193 16.00786173] [-0.32545701 0.92659228 0.18842635 0.34450768] [ 0.1932412 -0.12989081 0.97251541 0.05221587] [ 0. 0. 0. 1. ]] SLAMing on 86.538241008 meters Centerline goodness : 0.901882 with order 1 Centerline is valid? [False, False] Translation: X:16.02, Y:0.34, Z:0.08 [[ 0.92566657 0.3569773 -0.12533396 16.02197171] [-0.32641296 0.92102649 0.21252007 0.33502029] [ 0.19130074 -0.1558121 0.96908545 0.0798023 ] [ 0. 0. 0. 1. ]] SLAMing on 86.598241008 meters Centerline goodness : 0.900361 with order 1 Centerline is valid? [False, False] Translation: X:16.03, Y:0.34, Z:0.06 [[ 0.92513139 0.35605448 -0.13174641 16.03046684] [-0.32907559 0.92511429 0.1894012 0.34136967] [ 0.18931763 -0.13186647 0.9730211 0.06243101] [ 0. 0. 0. 1. ]] SLAMing on 86.658241008 meters Centerline goodness : 0.902676 with order 1 Centerline is valid? [False, False] Translation: X:16.01, Y:0.36, Z:0.05 [[ 0.92245944 0.3606734 -0.13777984 16.00728367] [-0.33562124 0.92547902 0.17563303 0.35524751] [ 0.19085851 -0.11577251 0.97476651 0.04658503] [ 0. 0. 0. 1. ]] SLAMing on 86.718241008 meters Centerline goodness : 0.904159 with order 1 Centerline is valid? [False, False] Translation: X:15.99, Y:0.36, Z:0.03 [[ 0.92068233 0.36342619 -0.14235681 15.99190008] [-0.33991469 0.92583208 0.16520584 0.3640505 ] [ 0.19183863 -0.10371292 0.97593113 0.03446783] [ 0. 0. 0. 1. ]] SLAMing on 86.778241008 meters Centerline goodness : 0.903586 with order 1 Centerline is valid? [False, False] Translation: X:16.00, Y:0.37, Z:0.03 [[ 0.92296077 0.35594205 -0.14645364 15.99550382] [-0.33387308 0.9297073 0.155477 0.36706191] [ 0.19149982 -0.09460224 0.97692284 0.02772525] [ 0. 0. 0. 1. ]] SLAMing on 86.838241008 meters Centerline goodness : 0.904275 with order 1 Centerline is valid? [False, False] Translation: X:16.00, Y:0.37, Z:0.02 [[ 0.92475813 0.34990107 -0.14963834 16.00238714] [-0.32866903 0.93254882 0.14943012 0.36893549] [ 0.19183082 -0.08900523 0.97738376 0.02361852] [ 0. 0. 0. 1. ]] SLAMing on 86.898241008 meters Centerline goodness : 0.900664 with order 1 Centerline is valid? [False, False] Translation: X:16.00, Y:0.37, Z:0.02 [[ 9.26013517e-01 3.45571152e-01 -1.51919536e-01 1.60032380e+01] [-3.25608941e-01 9.34823425e-01 1.41717963e-01 3.70961231e-01] [ 1.90991581e-01 -8.17663901e-02 9.78180184e-01 1.58866425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.958241008 meters Centerline goodness : 0.901835 with order 1 Centerline is valid? [False, False] Translation: X:16.02, Y:0.36, Z:0.02 [[ 0.92869845 0.34238214 -0.14245579 16.02278386] [-0.32337673 0.9357348 0.14081152 0.36400034] [ 0.18151218 -0.08470455 0.97973388 0.01825422] [ 0. 0. 0. 1. ]] SLAMing on 87.018241008 meters Centerline goodness : 0.903802 with order 1 Centerline is valid? [False, False] Translation: X:16.04, Y:0.35, Z:0.05 [[ 0.93102789 0.33984821 -0.13300474 16.04104352] [-0.31815289 0.9343705 0.1604073 0.35025974] [ 0.17878984 -0.10702783 0.97804869 0.04527781] [ 0. 0. 0. 1. ]] SLAMing on 87.078241008 meters Centerline goodness : 0.906056 with order 1 Centerline is valid? [False, False] Translation: X:16.06, Y:0.35, Z:0.04 [[ 0.93180134 0.33758355 -0.13335517 16.06373013] [-0.31795578 0.93637006 0.14871191 0.34945151] [ 0.17507248 -0.09616891 0.97984752 0.04128053] [ 0. 0. 0. 1. ]] SLAMing on 87.138241008 meters Centerline goodness : 0.903165 with order 1 Centerline is valid? [False, False] Translation: X:16.09, Y:0.35, Z:0.04 [[ 0.93264192 0.33516956 -0.13356799 16.08643715] [-0.3175489 0.93826975 0.13715893 0.34771819] [ 0.1712943 -0.0855058 0.98150243 0.03723404] [ 0. 0. 0. 1. ]] SLAMing on 87.198241008 meters Centerline goodness : 0.899954 with order 1 Centerline is valid? [False, False] Translation: X:16.10, Y:0.34, Z:0.05 [[ 0.93337537 0.33327648 -0.13318108 16.10253446] [-0.3141642 0.93810803 0.14578814 0.34461144] [ 0.173526 -0.09423433 0.98031047 0.04806989] [ 0. 0. 0. 1. ]] SLAMing on 87.258241008 meters Centerline goodness : 0.900130 with order 1 Centerline is valid? [False, False] Translation: X:16.14, Y:0.33, Z:0.08 [[ 0.93591449 0.33267955 -0.11570816 16.14151836] [-0.30987868 0.93386396 0.17853096 0.32569953] [ 0.16744928 -0.13123422 0.97710712 0.08382094] [ 0. 0. 0. 1. ]] SLAMing on 87.318241008 meters Centerline goodness : 0.901546 with order 1 Centerline is valid? [False, False] Translation: X:16.17, Y:0.32, Z:0.11 [[ 0.93782893 0.33053431 -0.10594327 16.16683797] [-0.3058304 0.93124183 0.19813231 0.31829835] [ 0.16414833 -0.15341354 0.97443297 0.10588267] [ 0. 0. 0. 1. ]] SLAMing on 87.378241008 meters Centerline goodness : 0.904106 with order 1 Centerline is valid? [False, False] Translation: X:16.17, Y:0.33, Z:0.10 [[ 0.93887135 0.32695709 -0.10779447 16.16812506] [-0.30308722 0.93350044 0.19161175 0.32551028] [ 0.16327501 -0.14722765 0.97553334 0.10192214] [ 0. 0. 0. 1. ]] SLAMing on 87.438241008 meters Centerline goodness : 0.904625 with order 1 Centerline is valid? [False, False] Translation: X:16.19, Y:0.33, Z:0.10 [[ 0.93865894 0.32746726 -0.10809525 16.18832758] [-0.30547596 0.93503471 0.17998482 0.32612934] [ 0.16001195 -0.13592386 0.97771206 0.09503373] [ 0. 0. 0. 1. ]] SLAMing on 87.498241008 meters Centerline goodness : 0.905936 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:0.33, Z:0.09 [[ 0.93821265 0.32935236 -0.1062264 16.20636297] [-0.30926218 0.93571412 0.1696938 0.32864002] [ 0.15528659 -0.12635707 0.97975505 0.08890747] [ 0. 0. 0. 1. ]] SLAMing on 87.558241008 meters Centerline goodness : 0.905933 with order 1 Centerline is valid? [False, False] Translation: X:16.20, Y:0.33, Z:0.09 [[ 0.93806335 0.32997154 -0.10562165 16.20491269] [-0.30988725 0.93542659 0.17013815 0.33056105] [ 0.15494205 -0.12686955 0.97974337 0.09089662] [ 0. 0. 0. 1. ]] SLAMing on 87.618241008 meters Centerline goodness : 0.905493 with order 1 Centerline is valid? [False, False] Translation: X:16.22, Y:0.33, Z:0.08 [[ 0.93861416 0.32825129 -0.10608749 16.2223324 ] [-0.31032164 0.93775071 0.15596182 0.33123641] [ 0.15067828 -0.11346673 0.98204957 0.08473089] [ 0. 0. 0. 1. ]] SLAMing on 87.678241008 meters Centerline goodness : 0.904590 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:0.34, Z:0.08 [[ 0.93996131 0.32330227 -0.10930862 16.22806747] [-0.30612846 0.94030543 0.14869791 0.33651875] [ 0.15085786 -0.10630781 0.98282275 0.0785243 ] [ 0. 0. 0. 1. ]] SLAMing on 87.738241008 meters Centerline goodness : 0.903428 with order 1 Centerline is valid? [False, False] Translation: X:16.25, Y:0.33, Z:0.08 [[ 0.94183627 0.31739265 -0.11048235 16.25022803] [-0.29944358 0.94178755 0.15287169 0.33374329] [ 0.15257126 -0.11089687 0.98205086 0.08269057] [ 0. 0. 0. 1. ]] SLAMing on 87.798241008 meters Centerline goodness : 0.903245 with order 1 Centerline is valid? [False, False] Translation: X:16.26, Y:0.33, Z:0.09 [[ 0.94316122 0.31303884 -0.11159572 16.2597885 ] [-0.2946903 0.94300023 0.15462273 0.33267485] [ 0.15363771 -0.11294798 0.98165076 0.08846175] [ 0. 0. 0. 1. ]] SLAMing on 87.85824100800001 meters Centerline goodness : 0.904333 with order 1 Centerline is valid? [False, False] Translation: X:16.25, Y:0.34, Z:0.10 [[ 0.94804823 0.30250594 -0.09846177 16.25095403] [-0.28329534 0.94360595 0.17132295 0.33502211] [ 0.14473532 -0.13452866 0.98028247 0.1001495 ] [ 0. 0. 0. 1. ]] SLAMing on 87.918241008 meters Centerline goodness : 0.899022 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:0.35, Z:0.10 [[ 0.95117182 0.29367472 -0.09501223 16.23305217] [-0.27520286 0.94627479 0.16978633 0.34626489] [ 0.13976963 -0.13534833 0.98089004 0.09652391] [ 0. 0. 0. 1. ]] SLAMing on 87.978241008 meters Centerline goodness : 0.903019 with order 1 Centerline is valid? [False, False] Translation: X:16.25, Y:0.35, Z:0.10 [[ 0.95308691 0.28507468 -0.10177316 16.24583919] [-0.26584688 0.94910294 0.16890544 0.34647469] [ 0.14474387 -0.13392549 0.9803638 0.10025198] [ 0. 0. 0. 1. ]] SLAMing on 88.038241008 meters Centerline goodness : 0.905169 with order 1 Centerline is valid? [False, False] Translation: X:16.22, Y:0.37, Z:0.08 [[ 0.95506089 0.27622437 -0.10751185 16.22171478] [-0.25870613 0.95384345 0.15249199 0.36575858] [ 0.14467148 -0.11782516 0.98243951 0.07886596] [ 0. 0. 0. 1. ]] SLAMing on 88.098241008 meters Centerline goodness : 0.905506 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:0.37, Z:0.08 [[ 0.95512409 0.27477403 -0.11062189 16.22844195] [-0.25691094 0.9543555 0.15232317 0.36825359] [ 0.14742706 -0.11706756 0.98212038 0.07977792] [ 0. 0. 0. 1. ]] SLAMing on 88.158241008 meters Centerline goodness : 0.907332 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:0.38, Z:0.07 [[ 0.95510145 0.27225939 -0.11685905 16.21172074] [-0.2565217 0.95725459 0.13364229 0.38350826] [ 0.14824923 -0.09766507 0.9841157 0.06514936] [ 0. 0. 0. 1. ]] SLAMing on 88.218241008 meters Centerline goodness : 0.906288 with order 1 Centerline is valid? [False, False] Translation: X:16.17, Y:0.41, Z:0.05 [[ 0.95539856 0.27166323 -0.11581311 16.17379014] [-0.25807332 0.95867076 0.11978538 0.41009724] [ 0.14356792 -0.0845545 0.9860217 0.04695926] [ 0. 0. 0. 1. ]] SLAMing on 88.278241008 meters Centerline goodness : 0.908330 with order 1 Centerline is valid? [False, False] Translation: X:16.14, Y:0.43, Z:0.03 [[ 0.95487314 0.27401725 -0.11459424 16.1355585 ] [-0.26200667 0.95882926 0.10953977 0.43412813] [ 0.1398921 -0.07457213 0.98735465 0.03109272] [ 0. 0. 0. 1. ]] SLAMing on 88.338241008 meters Centerline goodness : 0.906732 with order 1 Centerline is valid? [False, False] Translation: X:16.11, Y:0.45, Z:0.02 [[ 0.9552418 0.274254 -0.11089562 16.10549812] [-0.26315142 0.95902457 0.10499144 0.45249676] [ 0.13514595 -0.07110987 0.98827069 0.01970981] [ 0. 0. 0. 1. ]] SLAMing on 88.398241008 meters Centerline goodness : 0.906197 with order 1 Centerline is valid? [False, False] Translation: X:16.10, Y:0.46, Z:0.02 [[ 0.952788 0.28374791 -0.10808396 16.10408619] [-0.27196022 0.95579222 0.11179839 0.45796722] [ 0.13502837 -0.07712563 0.9878355 0.02071366] [ 0. 0. 0. 1. ]] SLAMing on 88.458241008 meters Centerline goodness : 0.903405 with order 1 Centerline is valid? [False, False] Translation: X:16.11, Y:0.46, Z:0.03 [[ 0.94944278 0.29503803 -0.10728918 16.11096557] [-0.28151199 0.95137847 0.12502006 0.45921272] [ 0.13895828 -0.0884962 0.98633616 0.02744686] [ 0. 0. 0. 1. ]] SLAMing on 88.518241008 meters Centerline goodness : 0.901578 with order 1 Centerline is valid? [False, False] Translation: X:16.13, Y:0.46, Z:0.02 [[ 0.94854679 0.29807732 -0.10681247 16.12880566] [-0.28617929 0.95141157 0.11365494 0.46206686] [ 0.13550058 -0.07723951 0.98776194 0.01872476] [ 0. 0. 0. 1. ]] SLAMing on 88.578241008 meters Centerline goodness : 0.905283 with order 1 Centerline is valid? [False, False] Translation: X:16.11, Y:0.47, Z:0.01 [[ 9.47351857e-01 3.02554822e-01 -1.04809530e-01 1.61103868e+01] [-2.91825890e-01 9.50554794e-01 1.06222567e-01 4.71722253e-01] [ 1.31765351e-01 -7.00440119e-02 9.88803180e-01 1.24555320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.638241008 meters Centerline goodness : 0.903040 with order 1 Centerline is valid? [False, False] Translation: X:16.12, Y:0.47, Z:0.01 [[ 9.46765676e-01 3.04988417e-01 -1.03037951e-01 1.61224638e+01] [-2.96044005e-01 9.50587262e-01 9.34976146e-02 4.74204770e-01] [ 1.26462253e-01 -5.80165646e-02 9.90273385e-01 5.53299707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.698241008 meters Centerline goodness : 0.904569 with order 1 Centerline is valid? [False, False] Translation: X:16.12, Y:0.48, Z:0.00 [[ 9.46786185e-01 3.04762288e-01 -1.03517473e-01 1.61245436e+01] [-2.95944602e-01 9.50737194e-01 9.22798992e-02 4.76175472e-01] [ 1.26541345e-01 -5.67338966e-02 9.90337596e-01 3.13750019e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.758241008 meters Centerline goodness : 0.902613 with order 1 Centerline is valid? [False, False] Translation: X:16.13, Y:0.48, Z:-0.00 [[ 9.48040866e-01 3.00227487e-01 -1.05270949e-01 1.61269899e+01] [-2.92027472e-01 9.52487631e-01 8.65290052e-02 4.78418035e-01] [ 1.26247663e-01 -5.12910237e-02 9.90671872e-01 -7.94818888e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.818241008 meters Centerline goodness : 0.905503 with order 1 Centerline is valid? [False, False] Translation: X:16.13, Y:0.48, Z:-0.00 [[ 9.50298300e-01 2.92047994e-01 -1.07893980e-01 1.61273022e+01] [-2.84763107e-01 9.55417621e-01 7.80201410e-02 4.77903522e-01] [ 1.25869436e-01 -4.34181822e-02 9.91096235e-01 -2.65447867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.878241008 meters Centerline goodness : 0.902517 with order 1 Centerline is valid? [False, False] Translation: X:16.14, Y:0.47, Z:-0.00 [[ 9.52549609e-01 2.83610307e-01 -1.10518942e-01 1.61413405e+01] [-2.76391414e-01 9.58015830e-01 7.62460235e-02 4.72145095e-01] [ 1.27503054e-01 -4.20816333e-02 9.90945058e-01 -2.90219906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.938241008 meters Centerline goodness : 0.901188 with order 1 Centerline is valid? [False, False] Translation: X:16.17, Y:0.46, Z:0.01 [[ 9.55145652e-01 2.77274992e-01 -1.03996931e-01 1.61651713e+01] [-2.68536732e-01 9.59004592e-01 9.05440000e-02 4.58346495e-01] [ 1.24839122e-01 -5.85557119e-02 9.90447587e-01 1.24854793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.998241008 meters Centerline goodness : 0.901998 with order 1 Centerline is valid? [False, False] Translation: X:16.19, Y:0.44, Z:0.05 [[ 0.9596302 0.26716729 -0.08792907 16.18784423] [-0.25521751 0.95850645 0.12700161 0.43541605] [ 0.11821125 -0.09943355 0.9879975 0.04606048] [ 0. 0. 0. 1. ]] SLAMing on 89.058241008 meters Centerline goodness : 0.899209 with order 1 Centerline is valid? [False, False] Translation: X:16.19, Y:0.43, Z:0.07 [[ 0.96288425 0.25939229 -0.07462952 16.18863267] [-0.24640038 0.95760383 0.14927078 0.42826686] [ 0.1101852 -0.12534174 0.985976 0.06526521] [ 0. 0. 0. 1. ]] SLAMing on 89.118241008 meters Centerline goodness : 0.902709 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:0.41, Z:0.09 [[ 0.96615568 0.25176716 -0.05618279 16.20528848] [-0.2382378 0.95439165 0.17994256 0.41454358] [ 0.09892401 -0.16046766 0.98207137 0.09216234] [ 0. 0. 0. 1. ]] SLAMing on 89.178241008 meters Centerline goodness : 0.901533 with order 1 Centerline is valid? [False, False] Translation: X:16.19, Y:0.42, Z:0.09 [[ 0.96738211 0.24957347 -0.04341593 16.19329057] [-0.23727476 0.95272471 0.18977963 0.41964158] [ 0.08872739 -0.17328791 0.98086633 0.09451394] [ 0. 0. 0. 1. ]] SLAMing on 89.238241008 meters Centerline goodness : 0.896525 with order 1 Centerline is valid? [False, False] Translation: X:16.19, Y:0.43, Z:0.09 [[ 0.96726937 0.25003845 -0.04325195 16.19391648] [-0.23803741 0.9531409 0.18671 0.42644082] [ 0.08790988 -0.17030328 0.9814625 0.0894373 ] [ 0. 0. 0. 1. ]] SLAMing on 89.298241008 meters Centerline goodness : 0.899224 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:0.43, Z:0.08 [[ 0.96694713 0.25145516 -0.04223203 16.20615639] [-0.24093049 0.95527452 0.17147327 0.43115523] [ 0.08346103 -0.1556306 0.98428318 0.0802146 ] [ 0. 0. 0. 1. ]] SLAMing on 89.35824100800001 meters Centerline goodness : 0.899153 with order 1 Centerline is valid? [False, False] Translation: X:16.22, Y:0.43, Z:0.08 [[ 0.96656784 0.25342552 -0.03901431 16.2220002 ] [-0.24411288 0.95605112 0.1624043 0.43340169] [ 0.07845707 -0.14745087 0.9859527 0.07689112] [ 0. 0. 0. 1. ]] SLAMing on 89.418241008 meters Centerline goodness : 0.898626 with order 1 Centerline is valid? [False, False] Translation: X:16.24, Y:0.44, Z:0.07 [[ 0.96687475 0.2523439 -0.03841587 16.24360063] [-0.24414099 0.95817565 0.14931377 0.43772365] [ 0.07448757 -0.13498883 0.98804333 0.06852082] [ 0. 0. 0. 1. ]] SLAMing on 89.478241008 meters Centerline goodness : 0.900422 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:0.44, Z:0.06 [[ 0.96735064 0.25061864 -0.03772308 16.26759468] [-0.24331067 0.95999977 0.13856533 0.43938038] [ 0.0709412 -0.12486284 0.98963459 0.06303552] [ 0. 0. 0. 1. ]] SLAMing on 89.538241008 meters Centerline goodness : 0.902360 with order 1 Centerline is valid? [False, False] Translation: X:16.29, Y:0.44, Z:0.05 [[ 0.96731751 0.25086036 -0.03695819 16.28567557] [-0.24457079 0.96151243 0.12521569 0.4431163 ] [ 0.06694741 -0.11208443 0.99144093 0.05476955] [ 0. 0. 0. 1. ]] SLAMing on 89.598241008 meters Centerline goodness : 0.894203 with order 1 Centerline is valid? [False, False] Translation: X:16.30, Y:0.45, Z:0.05 [[ 0.96606189 0.25582266 -0.03576577 16.30429493] [-0.25025694 0.96123135 0.11578322 0.44767785] [ 0.06399915 -0.10290312 0.99263037 0.04538349] [ 0. 0. 0. 1. ]] SLAMing on 89.658241008 meters Centerline goodness : 0.893185 with order 1 Centerline is valid? [False, False] Translation: X:16.32, Y:0.45, Z:0.04 [[ 0.96479628 0.26107336 -0.03176211 16.32357456] [-0.25610446 0.9601 0.11233208 0.44831998] [ 0.05982172 -0.10024316 0.99316296 0.04348414] [ 0. 0. 0. 1. ]] SLAMing on 89.718241008 meters Centerline goodness : 0.893823 with order 1 Centerline is valid? [False, False] Translation: X:16.34, Y:0.45, Z:0.03 [[ 0.96341389 0.2661176 -0.0318606 16.33669529] [-0.26189003 0.95998578 0.09920136 0.45332739] [ 0.05698495 -0.08722799 0.99455718 0.03240564] [ 0. 0. 0. 1. ]] SLAMing on 89.778241008 meters Centerline goodness : 0.892628 with order 1 Centerline is valid? [False, False] Translation: X:16.33, Y:0.46, Z:0.03 [[ 0.96136752 0.27365254 -0.0297788 16.33050387] [-0.26950835 0.9577422 0.10047452 0.45904811] [ 0.05601552 -0.08856731 0.99449389 0.02832543] [ 0. 0. 0. 1. ]] SLAMing on 89.838241008 meters Centerline goodness : 0.895730 with order 1 Centerline is valid? [False, False] Translation: X:16.31, Y:0.47, Z:0.02 [[ 0.95969697 0.27896345 -0.03407531 16.31051202] [-0.27509384 0.95727476 0.08915382 0.47009036] [ 0.05749009 -0.07618675 0.99543481 0.01893885] [ 0. 0. 0. 1. ]] SLAMing on 89.898241008 meters Centerline goodness : 0.893230 with order 1 Centerline is valid? [False, False] Translation: X:16.30, Y:0.47, Z:0.01 [[ 9.58713537e-01 2.82317696e-01 -3.41331603e-02 1.62982388e+01] [-2.78788671e-01 9.56761290e-01 8.29741574e-02 4.74800011e-01] [ 5.60823595e-02 -7.00325095e-02 9.95966976e-01 1.35936000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.958241008 meters Centerline goodness : 0.893546 with order 1 Centerline is valid? [False, False] Translation: X:16.29, Y:0.48, Z:0.01 [[ 9.58391139e-01 2.83170616e-01 -3.60669836e-02 1.62854160e+01] [-2.80067002e-01 9.57194856e-01 7.30785993e-02 4.80953140e-01] [ 5.52168431e-02 -5.99367101e-02 9.96673814e-01 6.57718545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.018241008 meters Centerline goodness : 0.890901 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.49, Z:-0.00 [[ 9.60175657e-01 2.76752055e-01 -3.83537187e-02 1.62841096e+01] [-2.74148215e-01 9.59701807e-01 6.17672815e-02 4.85440471e-01] [ 5.39023553e-02 -4.87928366e-02 9.97353395e-01 -1.09880699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.078241008 meters Centerline goodness : 0.890908 with order 1 Centerline is valid? [False, False] Translation: X:16.29, Y:0.49, Z:-0.01 [[ 9.62264280e-01 2.69035120e-01 -4.08357693e-02 1.62850030e+01] [-2.66919092e-01 9.62386189e-01 5.06657830e-02 4.88449596e-01] [ 5.29306554e-02 -3.78540267e-02 9.97880463e-01 -8.42116670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.138241008 meters Centerline goodness : 0.888250 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.49, Z:-0.01 [[ 9.63294520e-01 2.65189388e-01 -4.16923998e-02 1.62842771e+01] [-2.63277249e-01 9.63613057e-01 4.62056933e-02 4.88629948e-01] [ 5.24286003e-02 -3.35330308e-02 9.98061510e-01 -9.40690296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.198241008 meters Centerline goodness : 0.888297 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.49, Z:-0.01 [[ 9.64221188e-01 2.61691790e-01 -4.23663586e-02 1.62833360e+01] [-2.60000514e-01 9.64714570e-01 4.15395207e-02 4.90926859e-01] [ 5.17419949e-02 -2.90380109e-02 9.98238228e-01 -1.06313499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.258241008 meters Centerline goodness : 0.888121 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.49, Z:-0.01 [[ 9.65083002e-01 2.58451094e-01 -4.26360330e-02 1.62811255e+01] [-2.56943837e-01 9.65687526e-01 3.77818309e-02 4.91367477e-01] [ 5.09378407e-02 -2.55075368e-02 9.98376032e-01 -1.04715619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.318241008 meters Centerline goodness : 0.885920 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.49, Z:-0.01 [[ 9.65872613e-01 2.55410112e-01 -4.30786424e-02 1.62793286e+01] [-2.54115118e-01 9.66599084e-01 3.33424381e-02 4.93691992e-01] [ 5.01557722e-02 -2.12576135e-02 9.98515154e-01 -1.13727243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.378241008 meters Centerline goodness : 0.887323 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.49, Z:-0.01 [[ 9.65992472e-01 2.54887997e-01 -4.34816471e-02 1.62811988e+01] [-2.53597949e-01 9.66744348e-01 3.30673008e-02 4.92059982e-01] [ 5.04640946e-02 -2.09159071e-02 9.98506835e-01 -1.31509828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.438241008 meters Centerline goodness : 0.888374 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.49, Z:-0.01 [[ 9.66943945e-01 2.51077711e-01 -4.44903277e-02 1.62809391e+01] [-2.49936070e-01 9.67807222e-01 2.96840346e-02 4.89247817e-01] [ 5.05110600e-02 -1.75830599e-02 9.98568710e-01 -1.32742925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.498241008 meters Centerline goodness : 0.886502 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.48, Z:-0.01 [[ 9.67051323e-01 2.50572305e-01 -4.50028672e-02 1.62822185e+01] [-2.49330355e-01 9.67907513e-01 3.14550375e-02 4.83361307e-01] [ 5.14403746e-02 -1.91980548e-02 9.98491524e-01 -1.15146704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.558241008 meters Centerline goodness : 0.886965 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.48, Z:-0.01 [[ 9.67118383e-01 2.50257948e-01 -4.53099740e-02 1.62834775e+01] [-2.48929517e-01 9.67959273e-01 3.29991141e-02 4.78029991e-01] [ 5.21165001e-02 -2.06350599e-02 9.98427796e-01 -1.05521244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.618241008 meters Centerline goodness : 0.884241 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.48, Z:-0.01 [[ 9.67647057e-01 2.48277301e-01 -4.49172100e-02 1.62783449e+01] [-2.47149957e-01 9.68537011e-01 2.92054242e-02 4.80139745e-01] [ 5.07550242e-02 -1.71592562e-02 9.98563712e-01 -9.72469863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.678241008 meters Centerline goodness : 0.881355 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.48, Z:-0.01 [[ 9.67592636e-01 2.48537188e-01 -4.46515014e-02 1.62773259e+01] [-2.47361756e-01 9.68450914e-01 3.02487883e-02 4.79300059e-01] [ 5.07607362e-02 -1.82234310e-02 9.98544568e-01 -7.47302136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.738241008 meters Centerline goodness : 0.876042 with order 1 Centerline is valid? [False, False] Translation: X:16.29, Y:0.47, Z:-0.00 [[ 9.68094980e-01 2.46588350e-01 -4.45678722e-02 1.62874825e+01] [-2.45114516e-01 9.68823777e-01 3.60466888e-02 4.74579770e-01] [ 5.20671078e-02 -2.39723861e-02 9.98355819e-01 -2.88802370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.798241008 meters Centerline goodness : 0.876890 with order 1 Centerline is valid? [False, False] Translation: X:16.29, Y:0.48, Z:-0.01 [[ 9.69173092e-01 2.42123138e-01 -4.56059592e-02 1.62888843e+01] [-2.40898439e-01 9.70063051e-01 3.07509174e-02 4.77147232e-01] [ 5.16861645e-02 -1.88165573e-02 9.98486093e-01 -5.71622764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85824100800001 meters Centerline goodness : 0.877347 with order 1 Centerline is valid? [False, False] Translation: X:16.31, Y:0.47, Z:0.01 [[ 9.70932810e-01 2.35630482e-01 -4.20446642e-02 1.63147707e+01] [-2.33806484e-01 9.71283191e-01 4.40850430e-02 4.67008093e-01] [ 5.12250556e-02 -3.29732996e-02 9.98142653e-01 6.89834212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.918241008 meters Centerline goodness : 0.872812 with order 1 Centerline is valid? [False, False] Translation: X:16.36, Y:0.44, Z:0.04 [[ 0.97237778 0.23160857 -0.02896412 16.36052757] [-0.22858449 0.97001264 0.08261121 0.44330244] [ 0.04722902 -0.07370856 0.99616086 0.04003954] [ 0. 0. 0. 1. ]] SLAMing on 90.978241008 meters Centerline goodness : 0.877499 with order 1 Centerline is valid? [False, False] Translation: X:16.39, Y:0.44, Z:0.05 [[ 0.97413835 0.22474494 -0.0233278 16.38878505] [-0.22150234 0.9702391 0.09784074 0.43639525] [ 0.04462275 -0.09014325 0.99492864 0.05322626] [ 0. 0. 0. 1. ]] SLAMing on 91.038241008 meters Centerline goodness : 0.874730 with order 1 Centerline is valid? [False, False] Translation: X:16.41, Y:0.44, Z:0.06 [[ 0.97527489 0.21966618 -0.02420037 16.40601496] [-0.21617592 0.97101389 0.10198039 0.4368632 ] [ 0.04590054 -0.09422737 0.994492 0.05642103] [ 0. 0. 0. 1. ]] SLAMing on 91.098241008 meters Centerline goodness : 0.872533 with order 1 Centerline is valid? [False, False] Translation: X:16.42, Y:0.44, Z:0.07 [[ 0.97629294 0.21534333 -0.02189391 16.42175985] [-0.21173677 0.97112143 0.10995781 0.43809126] [ 0.04494032 -0.10271529 0.99369509 0.06510461] [ 0. 0. 0. 1. ]] SLAMing on 91.158241008 meters Centerline goodness : 0.868190 with order 1 Centerline is valid? [False, False] Translation: X:16.42, Y:0.45, Z:0.06 [[ 0.97750836 0.20967271 -0.02268815 16.42440964] [-0.20633754 0.97307441 0.10271809 0.44727222] [ 0.04361443 -0.09572637 0.99445173 0.06192195] [ 0. 0. 0. 1. ]] SLAMing on 91.218241008 meters Centerline goodness : 0.868203 with order 1 Centerline is valid? [False, False] Translation: X:16.39, Y:0.45, Z:0.09 [[ 9.79151319e-01 2.03117406e-01 2.45228795e-03 1.63872438e+01] [-2.01339925e-01 9.68841155e-01 1.44253428e-01 4.50816826e-01] [ 2.69245046e-02 -1.41739678e-01 9.89537738e-01 8.67719843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.278241008 meters Centerline goodness : 0.867371 with order 1 Centerline is valid? [False, False] Translation: X:16.38, Y:0.46, Z:0.08 [[ 9.78636243e-01 2.05573952e-01 3.23317885e-03 1.63822114e+01] [-2.04040467e-01 9.69163020e-01 1.38168479e-01 4.62287808e-01] [ 2.52703629e-02 -1.35876381e-01 9.90403462e-01 7.79039454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.338241008 meters Centerline goodness : 0.867598 with order 1 Centerline is valid? [False, False] Translation: X:16.36, Y:0.46, Z:0.10 [[ 9.78772112e-01 2.02701484e-01 3.02863139e-02 1.63580099e+01] [-2.04873287e-01 9.63572356e-01 1.71916408e-01 4.64454569e-01] [ 5.66465608e-03 -1.74471842e-01 9.84645869e-01 9.85779823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.398241008 meters Centerline goodness : 0.868994 with order 1 Centerline is valid? [False, False] Translation: X:16.35, Y:0.48, Z:0.09 [[ 9.77557410e-01 2.08778556e-01 2.81606794e-02 1.63454703e+01] [-2.10544110e-01 9.63603495e-01 1.64740653e-01 4.77935375e-01] [ 7.25858667e-03 -1.66972512e-01 9.85934832e-01 9.13567900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.458241008 meters Centerline goodness : 0.870519 with order 1 Centerline is valid? [False, False] Translation: X:16.35, Y:0.49, Z:0.09 [[ 9.77417578e-01 2.09421676e-01 2.82389848e-02 1.63463870e+01] [-2.11200416e-01 9.63677979e-01 1.63459897e-01 4.85747636e-01] [ 7.01875786e-03 -1.65732662e-01 9.86145741e-01 9.01408095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.518241008 meters Centerline goodness : 0.871756 with order 1 Centerline is valid? [False, False] Translation: X:16.35, Y:0.49, Z:0.08 [[ 9.76669497e-01 2.13069488e-01 2.67971279e-02 1.63549798e+01] [-2.14684457e-01 9.65714356e-01 1.45967006e-01 4.94272661e-01] [ 5.22274428e-03 -1.48314450e-01 9.88926462e-01 7.98115809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.578241008 meters Centerline goodness : 0.868704 with order 1 Centerline is valid? [False, False] Translation: X:16.36, Y:0.49, Z:0.10 [[ 9.76579120e-01 2.10525417e-01 4.44102508e-02 1.63607050e+01] [-2.15084827e-01 9.60626628e-01 1.75883478e-01 4.87279594e-01] [-5.63372689e-03 -1.81316103e-01 9.83408731e-01 1.04255402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.638241008 meters Centerline goodness : 0.864249 with order 1 Centerline is valid? [False, False] Translation: X:16.37, Y:0.49, Z:0.09 [[ 9.76295114e-01 2.11579850e-01 4.56269299e-02 1.63740375e+01] [-2.16212174e-01 9.63082275e-01 1.60389610e-01 4.91636449e-01] [-1.00072778e-02 -1.66452690e-01 9.85998659e-01 9.35319342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.698241008 meters Centerline goodness : 0.862319 with order 1 Centerline is valid? [False, False] Translation: X:16.40, Y:0.49, Z:0.10 [[ 9.75657272e-01 2.12959820e-01 5.23545826e-02 1.64001360e+01] [-2.18779642e-01 9.61644648e-01 1.65454040e-01 4.87796342e-01] [-1.51114416e-02 -1.72880554e-01 9.84826867e-01 1.00302967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.758241008 meters Centerline goodness : 0.858842 with order 1 Centerline is valid? [False, False] Translation: X:16.41, Y:0.49, Z:0.11 [[ 9.76446984e-01 2.09321725e-01 5.23039391e-02 1.64096872e+01] [-2.15278241e-01 9.61365256e-01 1.71557931e-01 4.89025646e-01] [-1.43723877e-02 -1.78777125e-01 9.83784618e-01 1.10885312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.818241008 meters Centerline goodness : 0.865382 with order 1 Centerline is valid? [False, False] Translation: X:16.42, Y:0.49, Z:0.13 [[ 0.97636953 0.20779868 0.05934857 16.42329396] [-0.21543349 0.95757678 0.19140303 0.48538695] [-0.01705752 -0.19966576 0.97971558 0.13113431] [ 0. 0. 0. 1. ]] SLAMing on 91.878241008 meters Centerline goodness : 0.862736 with order 1 Centerline is valid? [False, False] Translation: X:16.41, Y:0.49, Z:0.14 [[ 0.97684261 0.20106511 0.07315279 16.41209429] [-0.21202297 0.95555914 0.20482432 0.48914611] [-0.0287188 -0.21559119 0.9760613 0.14129094] [ 0. 0. 0. 1. ]] SLAMing on 91.938241008 meters Centerline goodness : 0.860991 with order 1 Centerline is valid? [False, False] Translation: X:16.40, Y:0.49, Z:0.16 [[ 0.97819468 0.18773186 0.08883643 16.40235279] [-0.20374455 0.95037463 0.23510894 0.49026048] [-0.04029045 -0.24808225 0.96790076 0.15995892] [ 0. 0. 0. 1. ]] SLAMing on 91.998241008 meters Centerline goodness : 0.859885 with order 1 Centerline is valid? [False, False] Translation: X:16.40, Y:0.49, Z:0.17 [[ 0.9788778 0.17713343 0.10208817 16.40053291] [-0.19747184 0.94848572 0.2477493 0.49224159] [-0.05294449 -0.26267583 0.96343048 0.17052583] [ 0. 0. 0. 1. ]] SLAMing on 92.058241008 meters Centerline goodness : 0.862328 with order 1 Centerline is valid? [False, False] Translation: X:16.35, Y:0.51, Z:0.16 [[ 0.979369 0.17577293 0.09970069 16.35394585] [-0.1946364 0.95316778 0.23149051 0.50914256] [-0.05434172 -0.24612002 0.96771479 0.16455005] [ 0. 0. 0. 1. ]] SLAMing on 92.118241008 meters Centerline goodness : 0.863011 with order 1 Centerline is valid? [False, False] Translation: X:16.31, Y:0.53, Z:0.15 [[ 0.97904822 0.17668496 0.10122751 16.3091432 ] [-0.19503639 0.9565398 0.21677736 0.52750384] [-0.05852684 -0.23197854 0.97095858 0.154053 ] [ 0. 0. 0. 1. ]] SLAMing on 92.178241008 meters Centerline goodness : 0.863454 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:0.55, Z:0.14 [[ 0.97806732 0.18607144 0.09360412 16.27003482] [-0.20131736 0.95979059 0.19563575 0.54755368] [-0.05343813 -0.21018907 0.97619922 0.14136383] [ 0. 0. 0. 1. ]] SLAMing on 92.238241008 meters Centerline goodness : 0.862198 with order 1 Centerline is valid? [False, False] Translation: X:16.24, Y:0.56, Z:0.14 [[ 0.97650803 0.19616949 0.08916054 16.23978093] [-0.20979937 0.95994329 0.18572319 0.55991532] [-0.04915584 -0.20006601 0.97854857 0.13899128] [ 0. 0. 0. 1. ]] SLAMing on 92.298241008 meters Centerline goodness : 0.863790 with order 1 Centerline is valid? [False, False] Translation: X:16.24, Y:0.57, Z:0.13 [[ 0.97444873 0.20599146 0.08953881 16.24352625] [-0.21886523 0.96039948 0.17242638 0.56636181] [-0.05047467 -0.1876176 0.98094442 0.13008672] [ 0. 0. 0. 1. ]] SLAMing on 92.35824100800001 meters Centerline goodness : 0.862067 with order 1 Centerline is valid? [False, False] Translation: X:16.25, Y:0.57, Z:0.12 [[ 0.97310626 0.21201785 0.09007017 16.24807957] [-0.22404086 0.96201156 0.15601105 0.57135326] [-0.05357142 -0.17199473 0.98364014 0.11935208] [ 0. 0. 0. 1. ]] SLAMing on 92.418241008 meters Centerline goodness : 0.857784 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:0.58, Z:0.11 [[ 0.97131127 0.22224443 0.08462759 16.23320727] [-0.23202506 0.96366583 0.13233495 0.57994557] [-0.05214201 -0.14817415 0.98758576 0.10882154] [ 0. 0. 0. 1. ]] SLAMing on 92.478241008 meters Centerline goodness : 0.857344 with order 1 Centerline is valid? [False, False] Translation: X:16.25, Y:0.58, Z:0.10 [[ 0.97097597 0.22330102 0.0856873 16.24786367] [-0.23242419 0.96545982 0.1177554 0.57996178] [-0.05643274 -0.13425346 0.98933885 0.09763564] [ 0. 0. 0. 1. ]] SLAMing on 92.538241008 meters Centerline goodness : 0.856951 with order 1 Centerline is valid? [False, False] Translation: X:16.26, Y:0.58, Z:0.08 [[ 0.9709305 0.22420529 0.08382096 16.25502969] [-0.23182804 0.96799274 0.09615519 0.58131178] [-0.05957958 -0.11279205 0.99183074 0.08361121] [ 0. 0. 0. 1. ]] SLAMing on 92.598241008 meters Centerline goodness : 0.857248 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:0.58, Z:0.07 [[ 0.97164684 0.22128171 0.08328758 16.26864454] [-0.22761626 0.97076056 0.0762547 0.57947611] [-0.06397853 -0.09305024 0.99360374 0.07092556] [ 0. 0. 0. 1. ]] SLAMing on 92.658241008 meters Centerline goodness : 0.853784 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:0.58, Z:0.07 [[ 0.9728421 0.21655811 0.08173632 16.27242567] [-0.22237136 0.97242444 0.07029707 0.58021558] [-0.06425899 -0.08656376 0.99417176 0.06526751] [ 0. 0. 0. 1. ]] SLAMing on 92.718241008 meters Centerline goodness : 0.854724 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:0.58, Z:0.06 [[ 0.97467394 0.20895819 0.07966922 16.27472582] [-0.21396886 0.97496245 0.06054385 0.58130695] [-0.06502337 -0.07605724 0.99498103 0.06035518] [ 0. 0. 0. 1. ]] SLAMing on 92.778241008 meters Centerline goodness : 0.851918 with order 1 Centerline is valid? [False, False] Translation: X:16.29, Y:0.57, Z:0.06 [[ 0.97651922 0.20008549 0.07984992 16.28847808] [-0.20528172 0.97666071 0.06319235 0.57235459] [-0.0653424 -0.07810027 0.99480185 0.06495502] [ 0. 0. 0. 1. ]] SLAMing on 92.838241008 meters Centerline goodness : 0.853163 with order 1 Centerline is valid? [False, False] Translation: X:16.30, Y:0.57, Z:0.07 [[ 0.97771962 0.19509255 0.0774806 16.30146764] [-0.20020764 0.97760607 0.06483271 0.5695855 ] [-0.06309713 -0.07890042 0.99488365 0.06666859] [ 0. 0. 0. 1. ]] SLAMing on 92.898241008 meters Centerline goodness : 0.847697 with order 1 Centerline is valid? [False, False] Translation: X:16.34, Y:0.55, Z:0.09 [[ 0.97820925 0.18735503 0.08946936 16.33917153] [-0.19570537 0.97594963 0.09602988 0.54985293] [-0.06932591 -0.11144695 0.99134933 0.09057048] [ 0. 0. 0. 1. ]] SLAMing on 92.958241008 meters Centerline goodness : 0.841009 with order 1 Centerline is valid? [False, False] Translation: X:16.36, Y:0.55, Z:0.10 [[ 0.97894982 0.18173502 0.09289584 16.35531226] [-0.19142328 0.9754407 0.10896134 0.54523809] [-0.07081229 -0.12445012 0.98969581 0.10415295] [ 0. 0. 0. 1. ]] SLAMing on 93.018241008 meters Centerline goodness : 0.839925 with order 1 Centerline is valid? [False, False] Translation: X:16.36, Y:0.55, Z:0.10 [[ 0.97960831 0.17806915 0.09305342 16.3552459 ] [-0.18744277 0.97673557 0.10417696 0.54997803] [-0.07233788 -0.11949481 0.99019605 0.10431912] [ 0. 0. 0. 1. ]] SLAMing on 93.078241008 meters Centerline goodness : 0.844592 with order 1 Centerline is valid? [False, False] Translation: X:16.36, Y:0.56, Z:0.11 [[ 0.98032903 0.17366137 0.09379084 16.36428387] [-0.18334186 0.97721403 0.10695094 0.55503079] [-0.07308048 -0.1220429 0.98983068 0.10912047] [ 0. 0. 0. 1. ]] SLAMing on 93.138241008 meters Centerline goodness : 0.839796 with order 1 Centerline is valid? [False, False] Translation: X:16.33, Y:0.57, Z:0.11 [[ 0.98100248 0.16468358 0.10253517 16.33307297] [-0.17628076 0.97739096 0.1167562 0.56834308] [-0.08098912 -0.13261309 0.9878535 0.11456761] [ 0. 0. 0. 1. ]] SLAMing on 93.198241008 meters Centerline goodness : 0.840577 with order 1 Centerline is valid? [False, False] Translation: X:16.29, Y:0.59, Z:0.12 [[ 0.98090503 0.16245289 0.10693168 16.28520838] [-0.17516263 0.9768593 0.1227353 0.58644874] [-0.0845185 -0.13912211 0.98666188 0.11908887] [ 0. 0. 0. 1. ]] SLAMing on 93.258241008 meters Centerline goodness : 0.848746 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:0.61, Z:0.12 [[ 0.98082559 0.16256298 0.10749156 16.23440858] [-0.1753828 0.97677326 0.12310511 0.60665186] [-0.08498255 -0.13959682 0.98655496 0.12036026] [ 0. 0. 0. 1. ]] SLAMing on 93.318241008 meters Centerline goodness : 0.842281 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:0.62, Z:0.11 [[ 0.98019429 0.16422746 0.11067293 16.20766985] [-0.17712251 0.97696886 0.11899352 0.62459367] [-0.088582 -0.13623943 0.98670768 0.11255757] [ 0. 0. 0. 1. ]] SLAMing on 93.378241008 meters Centerline goodness : 0.846302 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:0.63, Z:0.11 [[ 0.97919413 0.16959671 0.11142629 16.20574087] [-0.18280484 0.97560936 0.12152684 0.63234122] [-0.08809797 -0.13936763 0.98631405 0.1128509 ] [ 0. 0. 0. 1. ]] SLAMing on 93.438241008 meters Centerline goodness : 0.847673 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:0.64, Z:0.10 [[ 0.97798843 0.17561142 0.11269097 16.20979461] [-0.18742947 0.97669525 0.10457815 0.63910335] [-0.09169962 -0.12339783 0.98811141 0.10232145] [ 0. 0. 0. 1. ]] SLAMing on 93.498241008 meters Centerline goodness : 0.841669 with order 1 Centerline is valid? [False, False] Translation: X:16.22, Y:0.64, Z:0.09 [[ 0.97658646 0.1818616 0.11491403 16.22069955] [-0.19276522 0.97690792 0.09215469 0.64457046] [-0.09550102 -0.11214845 0.98909164 0.09044276] [ 0. 0. 0. 1. ]] SLAMing on 93.558241008 meters Centerline goodness : 0.844581 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:0.65, Z:0.08 [[ 0.97581997 0.18485811 0.1166313 16.23301341] [-0.19458008 0.97775907 0.07826748 0.64637679] [-0.09956893 -0.0990691 0.99008653 0.08002087] [ 0. 0. 0. 1. ]] SLAMing on 93.618241008 meters Centerline goodness : 0.847676 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:0.65, Z:0.08 [[ 0.97632163 0.18305009 0.11527679 16.23333002] [-0.19203713 0.97872042 0.07230546 0.64868192] [-0.09958823 -0.09273081 0.99069833 0.07507526] [ 0. 0. 0. 1. ]] SLAMing on 93.678241008 meters Centerline goodness : 0.848858 with order 1 Centerline is valid? [False, False] Translation: X:16.24, Y:0.65, Z:0.07 [[ 0.97628132 0.18404979 0.11401959 16.24162956] [-0.19335883 0.97812272 0.07673527 0.64662529] [-0.09740204 -0.0969619 0.99051059 0.07390114] [ 0. 0. 0. 1. ]] SLAMing on 93.738241008 meters Centerline goodness : 0.850400 with order 1 Centerline is valid? [False, False] Translation: X:16.24, Y:0.65, Z:0.07 [[ 0.97638948 0.18351472 0.11395579 16.2375778 ] [-0.19233035 0.97869901 0.07181429 0.64686179] [-0.09834944 -0.09203588 0.99088687 0.07103996] [ 0. 0. 0. 1. ]] SLAMing on 93.798241008 meters Centerline goodness : 0.847171 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:0.65, Z:0.07 [[ 0.97654791 0.18272327 0.11387007 16.23455845] [-0.19099104 0.97934198 0.06642069 0.64938992] [-0.09938114 -0.08661115 0.99127287 0.06680036] [ 0. 0. 0. 1. ]] SLAMing on 93.85824100800001 meters Centerline goodness : 0.845584 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:0.65, Z:0.06 [[ 0.97702997 0.18032147 0.11356318 16.23322066] [-0.1880987 0.9801989 0.06187892 0.65014743] [-0.10015641 -0.08181865 0.99160194 0.06498425] [ 0. 0. 0. 1. ]] SLAMing on 93.918241008 meters Centerline goodness : 0.848886 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:0.65, Z:0.06 [[ 0.97800414 0.17533578 0.11298345 16.22980971] [-0.1822525 0.98176591 0.05403454 0.64996421] [-0.10144911 -0.07343752 0.99212651 0.06447539] [ 0. 0. 0. 1. ]] SLAMing on 93.978241008 meters Centerline goodness : 0.850965 with order 1 Centerline is valid? [False, False] Translation: X:16.26, Y:0.64, Z:0.07 [[ 0.97938256 0.16444897 0.11733006 16.25517241] [-0.17296273 0.98268506 0.06643763 0.63874271] [-0.1043729 -0.08536159 0.99086815 0.07474682] [ 0. 0. 0. 1. ]] SLAMing on 94.038241008 meters Centerline goodness : 0.850802 with order 1 Centerline is valid? [False, False] Translation: X:16.26, Y:0.64, Z:0.07 [[ 0.98009281 0.16071105 0.11657632 16.25632825] [-0.16863621 0.98375264 0.06158385 0.63985876] [-0.10478506 -0.08001688 0.99127059 0.07278018] [ 0. 0. 0. 1. ]] SLAMing on 94.098241008 meters Centerline goodness : 0.853199 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:0.64, Z:0.07 [[ 0.98145408 0.15345148 0.11489359 16.27314125] [-0.16144547 0.98481755 0.06379466 0.63574527] [-0.10335984 -0.08116058 0.99132724 0.07273065] [ 0. 0. 0. 1. ]] SLAMing on 94.158241008 meters Centerline goodness : 0.849938 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:0.64, Z:0.07 [[ 0.98196963 0.1505031 0.11438737 16.27291097] [-0.15793776 0.98568908 0.05892971 0.63709445] [-0.10388128 -0.07593327 0.99168686 0.07083967] [ 0. 0. 0. 1. ]] SLAMing on 94.218241008 meters Centerline goodness : 0.853882 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:0.64, Z:0.07 [[ 0.98232131 0.14794406 0.11470572 16.27020039] [-0.15494848 0.98640616 0.05471617 0.63883069] [-0.10505149 -0.07152234 0.9918915 0.07129137] [ 0. 0. 0. 1. ]] SLAMing on 94.278241008 meters Centerline goodness : 0.852054 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.64, Z:0.08 [[ 0.98250207 0.14714999 0.1141778 16.28045534] [-0.15499902 0.98589286 0.06317105 0.63621765] [-0.10327146 -0.07976314 0.99144987 0.07836105] [ 0. 0. 0. 1. ]] SLAMing on 94.338241008 meters Centerline goodness : 0.855495 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.64, Z:0.08 [[ 0.98271664 0.14610363 0.1136738 16.28338816] [-0.15389608 0.98607325 0.06305195 0.63869053] [-0.10287857 -0.07945616 0.99151536 0.07901007] [ 0. 0. 0. 1. ]] SLAMing on 94.398241008 meters Centerline goodness : 0.853856 with order 1 Centerline is valid? [False, False] Translation: X:16.30, Y:0.63, Z:0.09 [[ 0.98303222 0.14124759 0.11703318 16.30433045] [-0.15092209 0.98543488 0.07836216 0.63297934] [-0.10426011 -0.09469542 0.99003162 0.09031827] [ 0. 0. 0. 1. ]] SLAMing on 94.458241008 meters Centerline goodness : 0.856202 with order 1 Centerline is valid? [False, False] Translation: X:16.31, Y:0.64, Z:0.09 [[ 0.98364108 0.13812788 0.11563267 16.31265107] [-0.14774164 0.98585492 0.07913591 0.6357768 ] [-0.10306616 -0.09492509 0.99013463 0.0917079 ] [ 0. 0. 0. 1. ]] SLAMing on 94.518241008 meters Centerline goodness : 0.856583 with order 1 Centerline is valid? [False, False] Translation: X:16.35, Y:0.63, Z:0.12 [[ 0.98380894 0.13017534 0.12318421 16.34604759] [-0.14388757 0.98347667 0.10986359 0.62523763] [-0.10684726 -0.12580946 0.98628375 0.11832124] [ 0. 0. 0. 1. ]] SLAMing on 94.578241008 meters Centerline goodness : 0.858234 with order 1 Centerline is valid? [False, False] Translation: X:16.35, Y:0.63, Z:0.13 [[ 0.98415027 0.12683601 0.12393896 16.35316021] [-0.14125631 0.98321686 0.11546107 0.62653336] [-0.10721425 -0.13113821 0.98554953 0.12726245] [ 0. 0. 0. 1. ]] SLAMing on 94.638241008 meters Centerline goodness : 0.855756 with order 1 Centerline is valid? [False, False] Translation: X:16.38, Y:0.62, Z:0.15 [[ 0.98375308 0.12098135 0.13264011 16.38062894] [-0.13992001 0.97959882 0.14425166 0.61995675] [-0.11248234 -0.16046702 0.98061106 0.15045677] [ 0. 0. 0. 1. ]] SLAMing on 94.698241008 meters Centerline goodness : 0.854165 with order 1 Centerline is valid? [False, False] Translation: X:16.38, Y:0.62, Z:0.17 [[ 0.98296604 0.12232217 0.137168 16.38210447] [-0.14365703 0.97688248 0.15831388 0.61910372] [-0.11463171 -0.17532231 0.97781474 0.16657883] [ 0. 0. 0. 1. ]] SLAMing on 94.758241008 meters Centerline goodness : 0.854538 with order 1 Centerline is valid? [False, False] Translation: X:16.39, Y:0.63, Z:0.16 [[ 0.98151768 0.12843535 0.14187112 16.39106795] [-0.14924831 0.97775137 0.14740149 0.62506148] [-0.11978312 -0.16585119 0.97884901 0.15713891] [ 0. 0. 0. 1. ]] SLAMing on 94.818241008 meters Centerline goodness : 0.855334 with order 1 Centerline is valid? [False, False] Translation: X:16.43, Y:0.62, Z:0.17 [[ 0.98058635 0.1282103 0.14836618 16.43469757] [-0.15279028 0.97382254 0.16829968 0.6189949 ] [-0.12290458 -0.18770128 0.97450638 0.17208156] [ 0. 0. 0. 1. ]] SLAMing on 94.878241008 meters Centerline goodness : 0.857455 with order 1 Centerline is valid? [False, False] Translation: X:16.45, Y:0.62, Z:0.16 [[ 0.97976171 0.13129107 0.15109482 16.45120907] [-0.15497789 0.97528467 0.15748544 0.62439363] [-0.12668403 -0.17771456 0.97589379 0.16147098] [ 0. 0. 0. 1. ]] SLAMing on 94.938241008 meters Centerline goodness : 0.857477 with order 1 Centerline is valid? [False, False] Translation: X:16.48, Y:0.63, Z:0.16 [[ 0.9792305 0.13174989 0.15410901 16.47683654] [-0.15543476 0.97586729 0.15337228 0.62646178] [-0.13018316 -0.17414072 0.97607754 0.1566642 ] [ 0. 0. 0. 1. ]] SLAMing on 94.998241008 meters Centerline goodness : 0.862493 with order 1 Centerline is valid? [False, False] Translation: X:16.49, Y:0.63, Z:0.14 [[ 0.97845664 0.13729921 0.15418021 16.49018928] [-0.15934495 0.97708325 0.14112943 0.63186463] [-0.13126994 -0.16265687 0.97791152 0.14481411] [ 0. 0. 0. 1. ]] SLAMing on 95.058241008 meters Centerline goodness : 0.863168 with order 1 Centerline is valid? [False, False] Translation: X:16.51, Y:0.63, Z:0.14 [[ 0.97744314 0.14015077 0.15799579 16.5069871 ] [-0.16171198 0.97782803 0.1330473 0.63488246] [-0.13584603 -0.15559599 0.97843536 0.13801158] [ 0. 0. 0. 1. ]] SLAMing on 95.118241008 meters Centerline goodness : 0.864082 with order 1 Centerline is valid? [False, False] Translation: X:16.52, Y:0.64, Z:0.13 [[ 0.97647584 0.14237084 0.16194285 16.52404106] [-0.16354585 0.97846516 0.12593124 0.63624831] [-0.1405265 -0.14945389 0.97873175 0.13393337] [ 0. 0. 0. 1. ]] SLAMing on 95.178241008 meters Centerline goodness : 0.867618 with order 1 Centerline is valid? [False, False] Translation: X:16.53, Y:0.64, Z:0.12 [[ 0.9754936 0.14827181 0.16256602 16.53005309] [-0.16702513 0.97997021 0.10844816 0.64260087] [-0.14323005 -0.13294309 0.98071978 0.12119075] [ 0. 0. 0. 1. ]] SLAMing on 95.238241008 meters Centerline goodness : 0.864692 with order 1 Centerline is valid? [False, False] Translation: X:16.54, Y:0.65, Z:0.11 [[ 0.97466582 0.15249041 0.16362524 16.54062676] [-0.16906059 0.98124901 0.09256836 0.64742258] [-0.14644132 -0.1178858 0.98216999 0.10805213] [ 0. 0. 0. 1. ]] SLAMing on 95.298241008 meters Centerline goodness : 0.868626 with order 1 Centerline is valid? [False, False] Translation: X:16.56, Y:0.65, Z:0.10 [[ 0.97408393 0.15484777 0.16487164 16.55774812] [-0.16964332 0.98227584 0.07972029 0.65139146] [-0.14960492 -0.10562363 0.983088 0.09631871] [ 0. 0. 0. 1. ]] SLAMing on 95.35824100800001 meters Centerline goodness : 0.863996 with order 1 Centerline is valid? [False, False] Translation: X:16.56, Y:0.65, Z:0.09 [[ 0.97441274 0.15389407 0.16381829 16.56143403] [-0.16836735 0.98260191 0.07839587 0.65254031] [-0.14890351 -0.10397159 0.98337056 0.09294371] [ 0. 0. 0. 1. ]] SLAMing on 95.418241008 meters Centerline goodness : 0.869663 with order 1 Centerline is valid? [False, False] Translation: X:16.57, Y:0.66, Z:0.09 [[ 0.97479075 0.15268152 0.16270018 16.56565396] [-0.16679997 0.98298767 0.07689614 0.65571361] [-0.14819166 -0.10209603 0.98367456 0.08996048] [ 0. 0. 0. 1. ]] SLAMing on 95.478241008 meters Centerline goodness : 0.872231 with order 1 Centerline is valid? [False, False] Translation: X:16.58, Y:0.65, Z:0.10 [[ 0.97544831 0.14885789 0.16230193 16.58184583] [-0.164366 0.98258536 0.08665921 0.65351409] [-0.14657559 -0.1112085 0.98292841 0.09767761] [ 0. 0. 0. 1. ]] SLAMing on 95.538241008 meters Centerline goodness : 0.871103 with order 1 Centerline is valid? [False, False] Translation: X:16.60, Y:0.66, Z:0.09 [[ 0.97477507 0.14952581 0.16569732 16.59600612] [-0.16332585 0.98386941 0.07297701 0.65896049] [-0.15211258 -0.09819882 0.9834728 0.08899642] [ 0. 0. 0. 1. ]] SLAMing on 95.598241008 meters Centerline goodness : 0.871272 with order 1 Centerline is valid? [False, False] Translation: X:16.63, Y:0.65, Z:0.11 [[ 0.97413895 0.13939273 0.17782852 16.62904691] [-0.15977198 0.98145708 0.10590051 0.64928526] [-0.1597693 -0.13157383 0.97834662 0.11069784] [ 0. 0. 0. 1. ]] SLAMing on 95.658241008 meters Centerline goodness : 0.874614 with order 1 Centerline is valid? [False, False] Translation: X:16.65, Y:0.65, Z:0.12 [[ 0.97447557 0.13336882 0.18058273 16.64708397] [-0.15627656 0.98049806 0.11916874 0.64736741] [-0.16116762 -0.14434787 0.97631383 0.1215426 ] [ 0. 0. 0. 1. ]] SLAMing on 95.718241008 meters Centerline goodness : 0.875014 with order 1 Centerline is valid? [False, False] Translation: X:16.68, Y:0.64, Z:0.14 [[ 0.9740123 0.12478205 0.18902243 16.67561789] [-0.15367189 0.977158 0.14678965 0.64221477] [-0.16638807 -0.17202236 0.9709394 0.14158006] [ 0. 0. 0. 1. ]] SLAMing on 95.778241008 meters Centerline goodness : 0.875454 with order 1 Centerline is valid? [False, False] Translation: X:16.68, Y:0.65, Z:0.14 [[ 0.97390319 0.1242773 0.18991508 16.67651575] [-0.15297726 0.97756691 0.14477877 0.64964652] [-0.16766198 -0.1700532 0.97106713 0.13849824] [ 0. 0. 0. 1. ]] SLAMing on 95.838241008 meters Centerline goodness : 0.877086 with order 1 Centerline is valid? [False, False] Translation: X:16.68, Y:0.65, Z:0.16 [[ 0.97333855 0.114836 0.19855669 16.68245385] [-0.15139195 0.97194576 0.1800053 0.64685818] [-0.17231524 -0.20526598 0.96341753 0.16152209] [ 0. 0. 0. 1. ]] SLAMing on 95.898241008 meters Centerline goodness : 0.878239 with order 1 Centerline is valid? [False, False] Translation: X:16.68, Y:0.65, Z:0.17 [[ 0.97232021 0.11511262 0.20332852 16.67822829] [-0.15372373 0.97051481 0.18566104 0.65086565] [-0.17596141 -0.2117784 0.96134671 0.17073477] [ 0. 0. 0. 1. ]] SLAMing on 95.958241008 meters Centerline goodness : 0.879332 with order 1 Centerline is valid? [False, False] Translation: X:16.70, Y:0.65, Z:0.18 [[ 0.97026858 0.10649368 0.21734301 16.70326639] [-0.15244741 0.9663791 0.20705365 0.64650335] [-0.18798584 -0.23403103 0.95388196 0.18091396] [ 0. 0. 0. 1. ]] SLAMing on 96.018241008 meters Centerline goodness : 0.880800 with order 1 Centerline is valid? [False, False] Translation: X:16.70, Y:0.65, Z:0.19 [[ 0.96942802 0.10694339 0.22084478 16.70006957] [-0.15439147 0.96538224 0.21023891 0.65212663] [-0.19071596 -0.23790804 0.95237975 0.18594712] [ 0. 0. 0. 1. ]] SLAMing on 96.078241008 meters Centerline goodness : 0.877773 with order 1 Centerline is valid? [False, False] Translation: X:16.71, Y:0.66, Z:0.18 [[ 0.96776955 0.11112797 0.22599265 16.71310366] [-0.1580163 0.96669643 0.20131783 0.6554425 ] [-0.19609424 -0.23053979 0.95309939 0.17626163] [ 0. 0. 0. 1. ]] SLAMing on 96.138241008 meters Centerline goodness : 0.877246 with order 1 Centerline is valid? [False, False] Translation: X:16.71, Y:0.66, Z:0.17 [[ 0.96712177 0.12067267 0.22386065 16.71435453] [-0.16379082 0.96893552 0.18530115 0.66088314] [-0.19454575 -0.2158751 0.95684371 0.16689504] [ 0. 0. 0. 1. ]] SLAMing on 96.198241008 meters Centerline goodness : 0.882894 with order 1 Centerline is valid? [False, False] Translation: X:16.73, Y:0.66, Z:0.16 [[ 0.96645769 0.13410108 0.21903523 16.7312857 ] [-0.17342084 0.96981127 0.17143895 0.65977327] [-0.18943268 -0.20367376 0.96053748 0.15972406] [ 0. 0. 0. 1. ]] SLAMing on 96.258241008 meters Centerline goodness : 0.887364 with order 1 Centerline is valid? [False, False] Translation: X:16.71, Y:0.67, Z:0.15 [[ 0.96649791 0.14865212 0.20924709 16.71030354] [-0.18152276 0.97222236 0.14776051 0.66587612] [-0.18146979 -0.18079333 0.96663462 0.15100107] [ 0. 0. 0. 1. ]] SLAMing on 96.318241008 meters Centerline goodness : 0.887287 with order 1 Centerline is valid? [False, False] Translation: X:16.71, Y:0.67, Z:0.14 [[ 0.96730804 0.15503881 0.2006941 16.70633092] [-0.18392497 0.97372681 0.13426728 0.66866605] [-0.17460458 -0.16679047 0.97040928 0.14285319] [ 0. 0. 0. 1. ]] SLAMing on 96.378241008 meters Centerline goodness : 0.885954 with order 1 Centerline is valid? [False, False] Translation: X:16.70, Y:0.67, Z:0.13 [[ 0.9659653 0.16205709 0.20161481 16.70451053] [-0.1872844 0.97578779 0.11297234 0.67220566] [-0.1784253 -0.14688667 0.97292791 0.12965197] [ 0. 0. 0. 1. ]] SLAMing on 96.438241008 meters Centerline goodness : 0.887272 with order 1 Centerline is valid? [False, False] Translation: X:16.71, Y:0.67, Z:0.12 [[ 0.96481277 0.16682588 0.20323739 16.71170147] [-0.1892426 0.97720195 0.09624756 0.67356132] [-0.18254739 -0.13132205 0.97438748 0.11720042] [ 0. 0. 0. 1. ]] SLAMing on 96.498241008 meters Centerline goodness : 0.887549 with order 1 Centerline is valid? [False, False] Translation: X:16.72, Y:0.68, Z:0.11 [[ 0.96322597 0.17247673 0.20602794 16.71514369] [-0.19211294 0.97816378 0.07929839 0.67542033] [-0.18785194 -0.1159629 0.97532777 0.10630266] [ 0. 0. 0. 1. ]] SLAMing on 96.558241008 meters Centerline goodness : 0.887092 with order 1 Centerline is valid? [False, False] Translation: X:16.73, Y:0.68, Z:0.10 [[ 0.96231802 0.17386385 0.20908223 16.72547943] [-0.19068922 0.97962359 0.06304956 0.67688292] [-0.19385985 -0.10054345 0.9758634 0.0951515 ] [ 0. 0. 0. 1. ]] SLAMing on 96.618241008 meters Centerline goodness : 0.884471 with order 1 Centerline is valid? [False, False] Translation: X:16.73, Y:0.67, Z:0.09 [[ 0.96330406 0.16942576 0.20818308 16.72798025] [-0.18536929 0.98086712 0.05948047 0.67318204] [-0.19412242 -0.09588853 0.97627961 0.09367462] [ 0. 0. 0. 1. ]] SLAMing on 96.678241008 meters Centerline goodness : 0.884542 with order 1 Centerline is valid? [False, False] Translation: X:16.74, Y:0.67, Z:0.09 [[ 0.96471613 0.16375011 0.20617636 16.7350581 ] [-0.17858435 0.98236404 0.05539422 0.67219994] [-0.19346943 -0.09025957 0.97694564 0.09076626] [ 0. 0. 0. 1. ]] SLAMing on 96.738241008 meters Centerline goodness : 0.884627 with order 1 Centerline is valid? [False, False] Translation: X:16.74, Y:0.67, Z:0.09 [[ 0.96630417 0.15662349 0.20426779 16.73804834] [-0.16945672 0.98442514 0.04681422 0.6702826 ] [-0.19375414 -0.07985132 0.97779502 0.0874324 ] [ 0. 0. 0. 1. ]] SLAMing on 96.798241008 meters Centerline goodness : 0.883692 with order 1 Centerline is valid? [False, False] Translation: X:16.75, Y:0.67, Z:0.09 [[ 0.96796145 0.14811638 0.20276135 16.75160018] [-0.16067223 0.98589579 0.04683938 0.66774259] [-0.19296388 -0.07791683 0.97810731 0.08875907] [ 0. 0. 0. 1. ]] SLAMing on 96.85824100800001 meters Centerline goodness : 0.882383 with order 1 Centerline is valid? [False, False] Translation: X:16.76, Y:0.67, Z:0.09 [[ 0.96862739 0.14616425 0.20099003 16.75836803] [-0.15847845 0.986266 0.04651843 0.66702976] [-0.1914303 -0.07691161 0.97848814 0.0857971 ] [ 0. 0. 0. 1. ]] SLAMing on 96.918241008 meters Centerline goodness : 0.881741 with order 1 Centerline is valid? [False, False] Translation: X:16.78, Y:0.66, Z:0.10 [[ 0.96830845 0.14242604 0.20516718 16.77660769] [-0.15872595 0.98516573 0.06522694 0.6586343 ] [-0.19283366 -0.09572515 0.97655101 0.09796671] [ 0. 0. 0. 1. ]] SLAMing on 96.978241008 meters Centerline goodness : 0.880799 with order 1 Centerline is valid? [False, False] Translation: X:16.78, Y:0.66, Z:0.10 [[ 0.96841922 0.14205065 0.20490446 16.77726043] [-0.15875338 0.98501249 0.06743707 0.65531983] [-0.19225397 -0.09783663 0.97645604 0.10262625] [ 0. 0. 0. 1. ]] SLAMing on 97.038241008 meters Centerline goodness : 0.887006 with order 1 Centerline is valid? [False, False] Translation: X:16.79, Y:0.66, Z:0.11 [[ 0.96917901 0.13922093 0.20324757 16.78544736] [-0.1560892 0.98530249 0.06939147 0.65571082] [-0.1905996 -0.0989775 0.97666537 0.10571024] [ 0. 0. 0. 1. ]] SLAMing on 97.098241008 meters Centerline goodness : 0.881827 with order 1 Centerline is valid? [False, False] Translation: X:16.79, Y:0.66, Z:0.10 [[ 0.96926077 0.13909334 0.20294481 16.7870344 ] [-0.15568951 0.98545122 0.06816647 0.66083279] [-0.19051071 -0.09766747 0.97681459 0.10428462] [ 0. 0. 0. 1. ]] SLAMing on 97.158241008 meters Centerline goodness : 0.879474 with order 1 Centerline is valid? [False, False] Translation: X:16.79, Y:0.66, Z:0.11 [[ 0.96907201 0.1405335 0.20285407 16.7909694 ] [-0.15822149 0.98464874 0.07370761 0.66081567] [-0.18938161 -0.10352386 0.97643096 0.1084339 ] [ 0. 0. 0. 1. ]] SLAMing on 97.218241008 meters Centerline goodness : 0.880291 with order 1 Centerline is valid? [False, False] Translation: X:16.80, Y:0.66, Z:0.11 [[ 0.96936271 0.14064368 0.20138346 16.79981969] [-0.1592091 0.98407156 0.07909253 0.66196806] [-0.18705187 -0.10873143 0.97631402 0.11088115] [ 0. 0. 0. 1. ]] SLAMing on 97.278241008 meters Centerline goodness : 0.880848 with order 1 Centerline is valid? [False, False] Translation: X:16.80, Y:0.67, Z:0.11 [[ 0.96939894 0.14061675 0.20122777 16.801757 ] [-0.15907425 0.984131 0.07862286 0.66811292] [-0.18697879 -0.10822707 0.97638406 0.11120638] [ 0. 0. 0. 1. ]] SLAMing on 97.338241008 meters Centerline goodness : 0.879502 with order 1 Centerline is valid? [False, False] Translation: X:16.80, Y:0.67, Z:0.11 [[ 0.9695183 0.14067758 0.20060927 16.80349271] [-0.15868888 0.98434914 0.07664607 0.67264909] [-0.18668717 -0.10614423 0.97666847 0.10781529] [ 0. 0. 0. 1. ]] SLAMing on 97.398241008 meters Centerline goodness : 0.881145 with order 1 Centerline is valid? [False, False] Translation: X:16.81, Y:0.68, Z:0.10 [[ 0.97002104 0.13922201 0.19918938 16.80927011] [-0.15684198 0.98473176 0.07552453 0.67543427] [-0.18563343 -0.10450164 0.97704638 0.1047946 ] [ 0. 0. 0. 1. ]] SLAMing on 97.458241008 meters Centerline goodness : 0.874962 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:0.66, Z:0.13 [[ 0.97035233 0.1269833 0.20564923 16.82671694] [-0.15269603 0.98163436 0.11435871 0.66460608] [-0.18735071 -0.14237006 0.97192103 0.13212966] [ 0. 0. 0. 1. ]] SLAMing on 97.518241008 meters Centerline goodness : 0.877056 with order 1 Centerline is valid? [False, False] Translation: X:16.84, Y:0.66, Z:0.15 [[ 0.96914267 0.12012606 0.21524921 16.84225537] [-0.15149085 0.97910549 0.13565748 0.65951588] [-0.19445569 -0.16407974 0.96709091 0.147911 ] [ 0. 0. 0. 1. ]] SLAMing on 97.578241008 meters Centerline goodness : 0.874748 with order 1 Centerline is valid? [False, False] Translation: X:16.84, Y:0.67, Z:0.14 [[ 0.96933516 0.11707683 0.21606099 16.84175259] [-0.14700315 0.98081367 0.12804146 0.66929226] [-0.19692489 -0.15587674 0.96794784 0.14216279] [ 0. 0. 0. 1. ]] SLAMing on 97.638241008 meters Centerline goodness : 0.878522 with order 1 Centerline is valid? [False, False] Translation: X:16.84, Y:0.68, Z:0.14 [[ 0.96912641 0.11700526 0.21703404 16.84223184] [-0.14666798 0.98113049 0.12598202 0.67746328] [-0.19819816 -0.15392444 0.96800039 0.13955222] [ 0. 0. 0. 1. ]] SLAMing on 97.698241008 meters Centerline goodness : 0.878715 with order 1 Centerline is valid? [False, False] Translation: X:16.84, Y:0.69, Z:0.14 [[ 0.96896334 0.1179079 0.21727349 16.84188672] [-0.14712463 0.98136962 0.12356384 0.68656903] [-0.19865645 -0.15169511 0.96825834 0.13779865] [ 0. 0. 0. 1. ]] SLAMing on 97.758241008 meters Centerline goodness : 0.883110 with order 1 Centerline is valid? [False, False] Translation: X:16.85, Y:0.69, Z:0.13 [[ 0.96739989 0.12450788 0.22053399 16.85319962] [-0.15202911 0.98195146 0.11250988 0.69224701] [-0.20254531 -0.14236963 0.96886856 0.12742819] [ 0. 0. 0. 1. ]] SLAMing on 97.818241008 meters Centerline goodness : 0.884089 with order 1 Centerline is valid? [False, False] Translation: X:16.86, Y:0.69, Z:0.13 [[ 0.96738509 0.12554334 0.22001127 16.859654 ] [-0.15441769 0.98077417 0.11931979 0.69325547] [-0.20080157 -0.14940182 0.96817242 0.13252669] [ 0. 0. 0. 1. ]] SLAMing on 97.878241008 meters Centerline goodness : 0.883118 with order 1 Centerline is valid? [False, False] Translation: X:16.87, Y:0.70, Z:0.12 [[ 0.96625906 0.13041361 0.22211645 16.87496294] [-0.15724272 0.98167385 0.10766231 0.69710768] [-0.20400529 -0.13895588 0.96905785 0.11836606] [ 0. 0. 0. 1. ]] SLAMing on 97.938241008 meters Centerline goodness : 0.882914 with order 1 Centerline is valid? [False, False] Translation: X:16.89, Y:0.70, Z:0.10 [[ 0.96541006 0.13392708 0.22371175 16.88939455] [-0.15802905 0.98299966 0.09347993 0.70032833] [-0.20738907 -0.12559942 0.97016213 0.10395398] [ 0. 0. 0. 1. ]] SLAMing on 97.998241008 meters Centerline goodness : 0.881827 with order 1 Centerline is valid? [False, False] Translation: X:16.91, Y:0.70, Z:0.11 [[ 0.96680047 0.13813962 0.21497509 16.90616176] [-0.16106911 0.98255179 0.09299847 0.69757741] [-0.19837738 -0.12453681 0.97218157 0.10667826] [ 0. 0. 0. 1. ]] SLAMing on 98.058241008 meters Centerline goodness : 0.875836 with order 1 Centerline is valid? [False, False] Translation: X:16.91, Y:0.70, Z:0.11 [[ 0.96745735 0.1365691 0.21301443 16.91345619] [-0.15956971 0.98263055 0.09473497 0.69789548] [-0.19637662 -0.1256427 0.97244544 0.10874632] [ 0. 0. 0. 1. ]] SLAMing on 98.118241008 meters Centerline goodness : 0.880301 with order 1 Centerline is valid? [False, False] Translation: X:16.93, Y:0.70, Z:0.12 [[ 0.96777773 0.13401865 0.21317896 16.92682216] [-0.15890752 0.9817809 0.10418572 0.69722473] [-0.1953322 -0.13470436 0.97144226 0.11572997] [ 0. 0. 0. 1. ]] SLAMing on 98.178241008 meters Centerline goodness : 0.879485 with order 1 Centerline is valid? [False, False] Translation: X:16.96, Y:0.69, Z:0.13 [[ 0.96702966 0.12540822 0.22164481 16.96144611] [-0.1576815 0.97829673 0.13443234 0.68661745] [-0.19997548 -0.16494934 0.96581651 0.13279697] [ 0. 0. 0. 1. ]] SLAMing on 98.238241008 meters Centerline goodness : 0.884100 with order 1 Centerline is valid? [False, False] Translation: X:16.97, Y:0.69, Z:0.12 [[ 0.96593674 0.127699 0.22507595 16.97413899] [-0.15773644 0.98005222 0.12090024 0.68918545] [-0.20514735 -0.15228466 0.96681123 0.12329416] [ 0. 0. 0. 1. ]] SLAMing on 98.298241008 meters Centerline goodness : 0.877411 with order 1 Centerline is valid? [False, False] Translation: X:17.01, Y:0.68, Z:0.13 [[ 0.96549851 0.12430035 0.22882755 17.01350093] [-0.15685531 0.97902678 0.13001142 0.68300617] [-0.20786784 -0.16141865 0.96474607 0.1254416 ] [ 0. 0. 0. 1. ]] SLAMing on 98.35824100800001 meters Centerline goodness : 0.879889 with order 1 Centerline is valid? [False, False] Translation: X:17.06, Y:0.67, Z:0.14 [[ 0.96561608 0.12051003 0.23035391 17.06022745] [-0.15799416 0.97569322 0.15185714 0.67026785] [-0.20645444 -0.18303027 0.96118494 0.13658229] [ 0. 0. 0. 1. ]] SLAMing on 98.418241008 meters Centerline goodness : 0.880253 with order 1 Centerline is valid? [False, False] Translation: X:17.08, Y:0.67, Z:0.13 [[ 0.96729378 0.12485452 0.22080329 17.08038883] [-0.15940444 0.97631988 0.14625223 0.67046793] [-0.19731439 -0.1766659 0.96429051 0.13392177] [ 0. 0. 0. 1. ]] SLAMing on 98.478241008 meters Centerline goodness : 0.877460 with order 1 Centerline is valid? [False, False] Translation: X:17.13, Y:0.65, Z:0.17 [[ 0.96556157 0.10824153 0.23658959 17.12590431] [-0.15707259 0.96744813 0.19842459 0.64997125] [-0.20741038 -0.22875289 0.95113251 0.16986339] [ 0. 0. 0. 1. ]] SLAMing on 98.538241008 meters Centerline goodness : 0.877667 with order 1 Centerline is valid? [False, False] Translation: X:17.16, Y:0.64, Z:0.18 [[ 0.96351721 0.09539162 0.25007005 17.1649705 ] [-0.15295076 0.96298035 0.22197954 0.64452835] [-0.21963755 -0.25212951 0.94243836 0.17849462] [ 0. 0. 0. 1. ]] SLAMing on 98.598241008 meters Centerline goodness : 0.878923 with order 1 Centerline is valid? [False, False] Translation: X:17.15, Y:0.66, Z:0.19 [[ 0.96317237 0.08915045 0.25367536 17.14719143] [-0.14855487 0.9628087 0.22567867 0.65633056] [-0.22412149 -0.25505217 0.94059447 0.18665427] [ 0. 0. 0. 1. ]] SLAMing on 98.658241008 meters Centerline goodness : 0.876014 with order 1 Centerline is valid? [False, False] Translation: X:17.14, Y:0.67, Z:0.18 [[ 0.9624685 0.0900922 0.25600349 17.14068987] [-0.1485035 0.96437302 0.2189324 0.66698901] [-0.22715876 -0.24873295 0.94155766 0.18249741] [ 0. 0. 0. 1. ]] SLAMing on 98.718241008 meters Centerline goodness : 0.875050 with order 1 Centerline is valid? [False, False] Translation: X:17.14, Y:0.67, Z:0.20 [[ 0.96021894 0.0919942 0.2636601 17.14009102] [-0.15652694 0.95921867 0.23536962 0.67186758] [-0.23125505 -0.26727628 0.93545951 0.1981651 ] [ 0. 0. 0. 1. ]] SLAMing on 98.778241008 meters Centerline goodness : 0.871772 with order 1 Centerline is valid? [False, False] Translation: X:17.14, Y:0.68, Z:0.18 [[ 0.95899626 0.10210925 0.26438584 17.14155518] [-0.16231623 0.96258182 0.21700159 0.6820785 ] [-0.23233513 -0.25101783 0.93968635 0.18447584] [ 0. 0. 0. 1. ]] SLAMing on 98.838241008 meters Centerline goodness : 0.872237 with order 1 Centerline is valid? [False, False] Translation: X:17.13, Y:0.70, Z:0.17 [[ 0.95935231 0.11574748 0.25738234 17.12629125] [-0.16864783 0.96639415 0.19401095 0.69670885] [-0.22627651 -0.22953182 0.94663302 0.17382299] [ 0. 0. 0. 1. ]] SLAMing on 98.898241008 meters Centerline goodness : 0.868452 with order 1 Centerline is valid? [False, False] Translation: X:17.11, Y:0.71, Z:0.16 [[ 0.95880466 0.12831984 0.25343175 17.11256057] [-0.17383043 0.9706529 0.16618044 0.70846616] [-0.22467001 -0.20338873 0.95297241 0.16119543] [ 0. 0. 0. 1. ]] SLAMing on 98.958241008 meters Centerline goodness : 0.872791 with order 1 Centerline is valid? [False, False] Translation: X:17.11, Y:0.72, Z:0.15 [[ 0.9578898 0.13779762 0.2519106 17.11219772] [-0.17829464 0.97313791 0.14564898 0.71614549] [-0.22507368 -0.18442998 0.95672745 0.15049936] [ 0. 0. 0. 1. ]] SLAMing on 99.018241008 meters Centerline goodness : 0.872205 with order 1 Centerline is valid? [False, False] Translation: X:17.13, Y:0.72, Z:0.14 [[ 0.95855923 0.14599922 0.2446394 17.1254178 ] [-0.18251802 0.97404958 0.13384536 0.71932409] [-0.21874959 -0.1729498 0.9603317 0.14045613] [ 0. 0. 0. 1. ]] SLAMing on 99.078241008 meters Centerline goodness : 0.870843 with order 1 Centerline is valid? [False, False] Translation: X:17.14, Y:0.72, Z:0.12 [[ 0.95800944 0.14960688 0.24461337 17.14264183] [-0.18312906 0.9756783 0.12048069 0.72075117] [-0.22063921 -0.16021746 0.96210639 0.12478016] [ 0. 0. 0. 1. ]] SLAMing on 99.138241008 meters Centerline goodness : 0.869789 with order 1 Centerline is valid? [False, False] Translation: X:17.16, Y:0.72, Z:0.12 [[ 0.95986215 0.15370786 0.23460297 17.1595841 ] [-0.18375742 0.97657026 0.11199885 0.71559486] [-0.21189118 -0.15061349 0.96561778 0.1193793 ] [ 0. 0. 0. 1. ]] SLAMing on 99.198241008 meters Centerline goodness : 0.866961 with order 1 Centerline is valid? [False, False] Translation: X:17.18, Y:0.71, Z:0.11 [[ 0.95954045 0.15416191 0.23561883 17.18158869] [-0.18224743 0.97791049 0.10235696 0.71306819] [-0.21463458 -0.14115657 0.96644028 0.10821325] [ 0. 0. 0. 1. ]] SLAMing on 99.258241008 meters Centerline goodness : 0.868523 with order 1 Centerline is valid? [False, False] Translation: X:17.21, Y:0.70, Z:0.10 [[ 0.95982484 0.1604905 0.23017182 17.21462045] [-0.18501669 0.97868571 0.08912412 0.70314024] [-0.2109623 -0.12812917 0.96906028 0.09895226] [ 0. 0. 0. 1. ]] SLAMing on 99.318241008 meters Centerline goodness : 0.869754 with order 1 Centerline is valid? [False, False] Translation: X:17.23, Y:0.70, Z:0.09 [[ 0.95896612 0.1626913 0.23219718 17.2313642 ] [-0.18514204 0.97958978 0.07827059 0.70036151] [-0.21472404 -0.11804831 0.96951441 0.08837437] [ 0. 0. 0. 1. ]] SLAMing on 99.378241008 meters Centerline goodness : 0.864766 with order 1 Centerline is valid? [False, False] Translation: X:17.25, Y:0.70, Z:0.08 [[ 0.95767789 0.16665229 0.23469145 17.25028089] [-0.18799737 0.97955896 0.07156282 0.69784709] [-0.21796801 -0.11265551 0.96943215 0.07675468] [ 0. 0. 0. 1. ]] SLAMing on 99.438241008 meters Centerline goodness : 0.866226 with order 1 Centerline is valid? [False, False] Translation: X:17.26, Y:0.69, Z:0.08 [[ 0.95874183 0.17295868 0.22560895 17.26305629] [-0.19233923 0.97905312 0.06678783 0.68953766] [-0.20933161 -0.10742574 0.97192592 0.07678155] [ 0. 0. 0. 1. ]] SLAMing on 99.498241008 meters Centerline goodness : 0.867061 with order 1 Centerline is valid? [False, False] Translation: X:17.28, Y:0.68, Z:0.07 [[ 0.96015378 0.1777854 0.21563181 17.28144088] [-0.19567965 0.97854335 0.06451663 0.68318919] [-0.19953496 -0.10414064 0.97434107 0.07434365] [ 0. 0. 0. 1. ]] SLAMing on 99.558241008 meters Centerline goodness : 0.869417 with order 1 Centerline is valid? [False, False] Translation: X:17.31, Y:0.67, Z:0.07 [[ 0.96126379 0.16943466 0.21740246 17.31046078] [-0.18976898 0.97886814 0.07618984 0.67131134] [-0.19989915 -0.11449478 0.97310394 0.07329374] [ 0. 0. 0. 1. ]] SLAMing on 99.618241008 meters Centerline goodness : 0.869139 with order 1 Centerline is valid? [False, False] Translation: X:17.33, Y:0.66, Z:0.07 [[ 0.96304774 0.17177813 0.20743993 17.32833867] [-0.18948295 0.97948587 0.06858314 0.66298638] [-0.1914034 -0.10535517 0.97584068 0.06936865] [ 0. 0. 0. 1. ]] SLAMing on 99.678241008 meters Centerline goodness : 0.869702 with order 1 Centerline is valid? [False, False] Translation: X:17.37, Y:0.64, Z:0.08 [[ 0.96365985 0.15888854 0.21474202 17.36932131] [-0.18215863 0.97884303 0.09319096 0.64182644] [-0.19539175 -0.1289215 0.97221464 0.081318 ] [ 0. 0. 0. 1. ]] SLAMing on 99.738241008 meters Centerline goodness : 0.868606 with order 1 Centerline is valid? [False, False] Translation: X:17.37, Y:0.64, Z:0.08 [[ 0.96388665 0.15810125 0.21430473 17.37265831] [-0.18176901 0.97868992 0.09553042 0.64032667] [-0.1946344 -0.13103445 0.97208406 0.08484766] [ 0. 0. 0. 1. ]] SLAMing on 99.798241008 meters Centerline goodness : 0.867610 with order 1 Centerline is valid? [False, False] Translation: X:17.39, Y:0.63, Z:0.08 [[ 0.96494783 0.16310811 0.20560019 17.3872159 ] [-0.18472018 0.97860651 0.09059661 0.63365844] [-0.18642464 -0.1253995 0.97443359 0.08324454] [ 0. 0. 0. 1. ]] SLAMing on 99.85824100800001 meters Centerline goodness : 0.870794 with order 1 Centerline is valid? [False, False] Translation: X:17.42, Y:0.62, Z:0.09 [[ 0.96503823 0.16395095 0.20450257 17.42030137] [-0.18687462 0.9774618 0.09821566 0.61994276] [-0.1837909 -0.1329982 0.97392627 0.08637199] [ 0. 0. 0. 1. ]] SLAMing on 99.918241008 meters Centerline goodness : 0.866638 with order 1 Centerline is valid? [False, False] Translation: X:17.45, Y:0.61, Z:0.10 [[ 0.96474873 0.15540758 0.2123873 17.44787497] [-0.18404402 0.97526968 0.12237992 0.60635736] [-0.18811613 -0.15715448 0.96949203 0.10477505] [ 0. 0. 0. 1. ]] SLAMing on 99.978241008 meters Centerline goodness : 0.866665 with order 1 Centerline is valid? [False, False] Translation: X:17.48, Y:0.59, Z:0.12 [[ 0.96480848 0.1467882 0.21816923 17.47958372] [-0.18140322 0.97219144 0.14811039 0.59261394] [-0.1903614 -0.18247476 0.9646064 0.12256072] [ 0. 0. 0. 1. ]] SLAMing on 100.038241008 meters Centerline goodness : 0.865984 with order 1 Centerline is valid? [False, False] Translation: X:17.51, Y:0.59, Z:0.12 [[ 0.96541235 0.14905797 0.21391756 17.50874566] [-0.18275628 0.97203606 0.1474654 0.58799361] [-0.18595468 -0.1814597 0.96565689 0.1172108 ] [ 0. 0. 0. 1. ]] SLAMing on 100.098241008 meters Centerline goodness : 0.861219 with order 1 Centerline is valid? [False, False] Translation: X:17.54, Y:0.58, Z:0.12 [[ 0.96617726 0.14923708 0.21030879 17.54363757] [-0.18354694 0.97082111 0.15432723 0.57916975] [-0.18114087 -0.187709 0.96537729 0.11966319] [ 0. 0. 0. 1. ]] SLAMing on 100.158241008 meters Centerline goodness : 0.861282 with order 1 Centerline is valid? [False, False] Translation: X:17.57, Y:0.58, Z:0.11 [[ 0.96540217 0.1509828 0.21260962 17.56798148] [-0.18488002 0.97128652 0.14973933 0.57847666] [-0.18389679 -0.18386594 0.96559582 0.11134309] [ 0. 0. 0. 1. ]] SLAMing on 100.218241008 meters Centerline goodness : 0.862931 with order 1 Centerline is valid? [False, False] Translation: X:17.57, Y:0.58, Z:0.12 [[ 0.96546517 0.14995886 0.21304777 17.571857 ] [-0.18423316 0.97116643 0.15130732 0.58289419] [-0.18421497 -0.18533241 0.96525476 0.1152758 ] [ 0. 0. 0. 1. ]] SLAMing on 100.278241008 meters Centerline goodness : 0.865793 with order 1 Centerline is valid? [False, False] Translation: X:17.59, Y:0.58, Z:0.11 [[ 0.96452908 0.15319169 0.21497895 17.59148256] [-0.18616469 0.9721264 0.14252357 0.58453067] [-0.18715329 -0.17748962 0.96616307 0.10589037] [ 0. 0. 0. 1. ]] SLAMing on 100.338241008 meters Centerline goodness : 0.861312 with order 1 Centerline is valid? [False, False] Translation: X:17.61, Y:0.59, Z:0.11 [[ 0.96551008 0.15984335 0.20552466 17.60996325] [-0.19036624 0.97190632 0.1384153 0.5862164 ] [-0.17762595 -0.17276633 0.96881413 0.10504742] [ 0. 0. 0. 1. ]] SLAMing on 100.398241008 meters Centerline goodness : 0.863526 with order 1 Centerline is valid? [False, False] Translation: X:17.63, Y:0.59, Z:0.09 [[ 0.96466917 0.16385455 0.20631307 17.63384483] [-0.19320083 0.97236011 0.13110782 0.588625 ] [-0.17912799 -0.16633552 0.96966265 0.0922271 ] [ 0. 0. 0. 1. ]] SLAMing on 100.458241008 meters Centerline goodness : 0.863344 with order 1 Centerline is valid? [False, False] Translation: X:17.64, Y:0.59, Z:0.09 [[ 0.96494606 0.16440236 0.2045751 17.63756672] [-0.19330002 0.9724526 0.13027292 0.59115342] [-0.17752241 -0.16525072 0.97014328 0.09085569] [ 0. 0. 0. 1. ]] SLAMing on 100.518241008 meters Centerline goodness : 0.866216 with order 1 Centerline is valid? [False, False] Translation: X:17.66, Y:0.59, Z:0.08 [[ 0.96384964 0.16771354 0.20704117 17.65528957] [-0.19522449 0.97334227 0.12038365 0.59334628] [-0.18133195 -0.15645124 0.97089738 0.08032893] [ 0. 0. 0. 1. ]] SLAMing on 100.578241008 meters Centerline goodness : 0.867427 with order 1 Centerline is valid? [False, False] Translation: X:17.67, Y:0.59, Z:0.07 [[ 0.96279317 0.17096114 0.20928834 17.6743746 ] [-0.19733596 0.97388586 0.11227131 0.59446588] [-0.18462892 -0.14939416 0.97138743 0.07209868] [ 0. 0. 0. 1. ]] SLAMing on 100.638241008 meters Centerline goodness : 0.867430 with order 1 Centerline is valid? [False, False] Translation: X:17.69, Y:0.59, Z:0.06 [[ 0.96178574 0.17362561 0.21171286 17.69137275] [-0.19842792 0.97479279 0.10200678 0.5946081 ] [-0.18866518 -0.14011841 0.97199397 0.06260422] [ 0. 0. 0. 1. ]] SLAMing on 100.698241008 meters Centerline goodness : 0.869498 with order 1 Centerline is valid? [False, False] Translation: X:17.71, Y:0.60, Z:0.05 [[ 0.9608999 0.17643542 0.21340555 17.70885191] [-0.19933371 0.97571033 0.09085932 0.59625021] [-0.1921912 -0.12984564 0.97272949 0.0508608 ] [ 0. 0. 0. 1. ]] SLAMing on 100.758241008 meters Centerline goodness : 0.869418 with order 1 Centerline is valid? [False, False] Translation: X:17.72, Y:0.59, Z:0.05 [[ 0.96166262 0.18275112 0.20446769 17.72459053] [-0.20319775 0.97554904 0.08375404 0.59409832] [-0.18416211 -0.1220905 0.97528366 0.04587741] [ 0. 0. 0. 1. ]] SLAMing on 100.818241008 meters Centerline goodness : 0.871370 with order 1 Centerline is valid? [False, False] Translation: X:17.73, Y:0.59, Z:0.05 [[ 0.96241264 0.18117251 0.20233248 17.73248683] [-0.20157295 0.97577185 0.08507439 0.59438325] [-0.1820172 -0.12266143 0.97561463 0.04669919] [ 0. 0. 0. 1. ]] SLAMing on 100.878241008 meters Centerline goodness : 0.871638 with order 1 Centerline is valid? [False, False] Translation: X:17.74, Y:0.60, Z:0.05 [[ 0.96332314 0.17801801 0.20079372 17.73530182] [-0.19735093 0.97701276 0.08061432 0.59673715] [-0.18182723 -0.11728447 0.97631102 0.04637024] [ 0. 0. 0. 1. ]] SLAMing on 100.938241008 meters Centerline goodness : 0.871152 with order 1 Centerline is valid? [False, False] Translation: X:17.74, Y:0.60, Z:0.05 [[ 0.9635171 0.17753475 0.20029033 17.73801806] [-0.19677204 0.97714172 0.08046628 0.59840582] [-0.18142647 -0.11694218 0.97642663 0.04609133] [ 0. 0. 0. 1. ]] SLAMing on 100.998241008 meters Centerline goodness : 0.870126 with order 1 Centerline is valid? [False, False] Translation: X:17.76, Y:0.60, Z:0.05 [[ 0.96437336 0.1732546 0.19991716 17.75647382] [-0.19407204 0.97688923 0.08957387 0.5958979 ] [-0.17977784 -0.12518099 0.97570982 0.04973452] [ 0. 0. 0. 1. ]] SLAMing on 101.058241008 meters Centerline goodness : 0.869483 with order 1 Centerline is valid? [False, False] Translation: X:17.77, Y:0.59, Z:0.06 [[ 0.96497583 0.16862175 0.20096851 17.77302393] [-0.19144898 0.97639207 0.10002908 0.59233982] [-0.17935698 -0.13500086 0.97447721 0.057678 ] [ 0. 0. 0. 1. ]] SLAMing on 101.118241008 meters Centerline goodness : 0.868830 with order 1 Centerline is valid? [False, False] Translation: X:17.78, Y:0.59, Z:0.06 [[ 0.96569511 0.16557047 0.20004842 17.78129092] [-0.1885643 0.97676669 0.10183487 0.59325999] [-0.17853979 -0.13606343 0.9744795 0.06171541] [ 0. 0. 0. 1. ]] SLAMing on 101.178241008 meters Centerline goodness : 0.868742 with order 1 Centerline is valid? [False, False] Translation: X:17.79, Y:0.59, Z:0.06 [[ 0.96675719 0.16119179 0.19848864 17.79337587] [-0.18426147 0.9773883 0.10372951 0.59479916] [-0.17728013 -0.13685506 0.97459861 0.06415835] [ 0. 0. 0. 1. ]] SLAMing on 101.238241008 meters Centerline goodness : 0.869727 with order 1 Centerline is valid? [False, False] Translation: X:17.82, Y:0.59, Z:0.08 [[ 0.96682298 0.15346026 0.20421381 17.81803475] [-0.18076251 0.97587347 0.12245768 0.58891929] [-0.18049446 -0.1553091 0.97123676 0.07716481] [ 0. 0. 0. 1. ]] SLAMing on 101.298241008 meters Centerline goodness : 0.871125 with order 1 Centerline is valid? [False, False] Translation: X:17.82, Y:0.59, Z:0.08 [[ 0.9677989 0.14589418 0.20513454 17.81754239] [-0.17536185 0.97539381 0.13362315 0.59343718] [-0.18059212 -0.16529311 0.96956932 0.07822298] [ 0. 0. 0. 1. ]] SLAMing on 101.358241008 meters Centerline goodness : 0.872796 with order 1 Centerline is valid? [False, False] Translation: X:17.85, Y:0.59, Z:0.09 [[ 0.96774699 0.13742335 0.21114116 17.8471473 ] [-0.17195781 0.97283822 0.15497196 0.588357 ] [-0.18410943 -0.18628102 0.96509228 0.08955273] [ 0. 0. 0. 1. ]] SLAMing on 101.418241008 meters Centerline goodness : 0.872568 with order 1 Centerline is valid? [False, False] Translation: X:17.85, Y:0.60, Z:0.08 [[ 0.96810102 0.13507244 0.21103521 17.85226884] [-0.16885288 0.97397421 0.15120498 0.59718467] [-0.18511923 -0.1820156 0.96571279 0.0846074 ] [ 0. 0. 0. 1. ]] SLAMing on 101.478241008 meters Centerline goodness : 0.877452 with order 1 Centerline is valid? [False, False] Translation: X:17.82, Y:0.61, Z:0.09 [[ 0.96709194 0.13137065 0.21788742 17.82128784] [-0.16535718 0.97539019 0.14584576 0.61192042] [-0.1933654 -0.17707551 0.96501507 0.08869366] [ 0. 0. 0. 1. ]] SLAMing on 101.538241008 meters Centerline goodness : 0.875018 with order 1 Centerline is valid? [False, False] Translation: X:17.79, Y:0.63, Z:0.09 [[ 0.96655135 0.13219385 0.21978005 17.78800507] [-0.16491451 0.97662886 0.13783784 0.62903851] [-0.19642222 -0.16947227 0.96576263 0.08682668] [ 0. 0. 0. 1. ]] SLAMing on 101.598241008 meters Centerline goodness : 0.875533 with order 1 Centerline is valid? [False, False] Translation: X:17.75, Y:0.64, Z:0.10 [[ 0.96550405 0.12590352 0.22792593 17.75202351] [-0.16217147 0.97559136 0.14806049 0.64327393] [-0.20372123 -0.17991608 0.96235537 0.09656652] [ 0. 0. 0. 1. ]] SLAMing on 101.658241008 meters Centerline goodness : 0.875816 with order 1 Centerline is valid? [False, False] Translation: X:17.70, Y:0.66, Z:0.10 [[ 0.96465128 0.12346834 0.2328164 17.70204036] [-0.16081612 0.97568899 0.14889318 0.66216078] [-0.2087728 -0.18107063 0.96105533 0.10155436] [ 0. 0. 0. 1. ]] SLAMing on 101.718241008 meters Centerline goodness : 0.873610 with order 1 Centerline is valid? [False, False] Translation: X:17.70, Y:0.67, Z:0.09 [[ 0.96406431 0.12687992 0.23341271 17.69583893] [-0.1628087 0.97643335 0.14167299 0.67301059] [-0.20993649 -0.17458349 0.9620017 0.09192482] [ 0. 0. 0. 1. ]] SLAMing on 101.778241008 meters Centerline goodness : 0.876254 with order 1 Centerline is valid? [False, False] Translation: X:17.69, Y:0.68, Z:0.09 [[ 0.96376015 0.12858002 0.23373821 17.69464591] [-0.16414016 0.97650745 0.13961089 0.6799915 ] [-0.21029593 -0.17291724 0.96222412 0.09099476] [ 0. 0. 0. 1. ]] SLAMing on 101.838241008 meters Centerline goodness : 0.872517 with order 1 Centerline is valid? [False, False] Translation: X:17.70, Y:0.69, Z:0.08 [[ 0.96195992 0.13677172 0.23648806 17.7021933 ] [-0.17019817 0.97716929 0.12717216 0.68654708] [-0.21369532 -0.16258436 0.96327599 0.0800628 ] [ 0. 0. 0. 1. ]] SLAMing on 101.898241008 meters Centerline goodness : 0.872162 with order 1 Centerline is valid? [False, False] Translation: X:17.71, Y:0.69, Z:0.07 [[ 0.96040026 0.14276821 0.23926677 17.71010695] [-0.17333112 0.97848766 0.11188486 0.69207165] [-0.21814598 -0.14892663 0.96448597 0.06687662] [ 0. 0. 0. 1. ]] SLAMing on 101.958241008 meters Centerline goodness : 0.868170 with order 1 Centerline is valid? [False, False] Translation: X:17.72, Y:0.70, Z:0.05 [[ 0.95862751 0.1506868 0.24150938 17.7177099 ] [-0.17855422 0.97905028 0.09787209 0.6982665 ] [-0.22170179 -0.1369454 0.9654503 0.05252017] [ 0. 0. 0. 1. ]] SLAMing on 102.018241008 meters Centerline goodness : 0.870696 with order 1 Centerline is valid? [False, False] Translation: X:17.73, Y:0.70, Z:0.04 [[ 0.95731231 0.15658416 0.24297026 17.72558107] [-0.1810159 0.98009059 0.08158238 0.70287668] [-0.22535836 -0.12208129 0.966597 0.03941533] [ 0. 0. 0. 1. ]] SLAMing on 102.078241008 meters Centerline goodness : 0.871558 with order 1 Centerline is valid? [False, False] Translation: X:17.74, Y:0.71, Z:0.02 [[ 0.95630395 0.16056568 0.24433874 17.74009629] [-0.18203842 0.98094795 0.06784635 0.70571933] [-0.22878979 -0.10936077 0.96731352 0.0248992 ] [ 0. 0. 0. 1. ]] SLAMing on 102.138241008 meters Centerline goodness : 0.867302 with order 1 Centerline is valid? [False, False] Translation: X:17.74, Y:0.70, Z:0.02 [[ 0.9565522 0.15979463 0.24387202 17.74229847] [-0.18113231 0.98113355 0.06758725 0.70415828] [-0.22847095 -0.10882384 0.96744943 0.02355491] [ 0. 0. 0. 1. ]] SLAMing on 102.198241008 meters Centerline goodness : 0.866155 with order 1 Centerline is valid? [False, False] Translation: X:17.75, Y:0.70, Z:0.02 [[ 0.95760201 0.1568858 0.24163039 17.7514908 ] [-0.17832263 0.98151972 0.06942672 0.70175639] [-0.22627293 -0.10957134 0.96788154 0.02478672] [ 0. 0. 0. 1. ]] SLAMing on 102.258241008 meters Centerline goodness : 0.866271 with order 1 Centerline is valid? [False, False] Translation: X:17.78, Y:0.69, Z:0.03 [[ 0.95848981 0.14868201 0.2432919 17.7778616 ] [-0.17379788 0.98109455 0.08513387 0.69042216] [-0.22603449 -0.12388356 0.96620975 0.03131845] [ 0. 0. 0. 1. ]] SLAMing on 102.318241008 meters Centerline goodness : 0.866092 with order 1 Centerline is valid? [False, False] Translation: X:17.80, Y:0.68, Z:0.04 [[ 0.95889483 0.14153538 0.24594397 17.79889729] [-0.17004898 0.9804752 0.09875078 0.68444155] [-0.22716523 -0.13651413 0.96424056 0.03868402] [ 0. 0. 0. 1. ]] SLAMing on 102.378241008 meters Centerline goodness : 0.869104 with order 1 Centerline is valid? [False, False] Translation: X:17.82, Y:0.67, Z:0.07 [[ 0.95681168 0.11396955 0.26743663 17.81548364] [-0.15788681 0.97617028 0.14887359 0.66707564] [-0.24409663 -0.1846687 0.95200541 0.07392927] [ 0. 0. 0. 1. ]] SLAMing on 102.438241008 meters Centerline goodness : 0.865973 with order 1 Centerline is valid? [False, False] Translation: X:17.80, Y:0.67, Z:0.08 [[ 0.95804811 0.105631 0.2664318 17.79738706] [-0.14883176 0.97779801 0.14751321 0.67299995] [-0.24493452 -0.18097827 0.95249879 0.07800412] [ 0. 0. 0. 1. ]] SLAMing on 102.498241008 meters Centerline goodness : 0.871255 with order 1 Centerline is valid? [False, False] Translation: X:17.77, Y:0.68, Z:0.08 [[ 0.95830012 0.10114873 0.26726356 17.76949061] [-0.14194361 0.98021071 0.13798181 0.68451034] [-0.24801792 -0.17016434 0.95369346 0.07536268] [ 0. 0. 0. 1. ]] SLAMing on 102.558241008 meters Centerline goodness : 0.863834 with order 1 Centerline is valid? [False, False] Translation: X:17.76, Y:0.70, Z:0.06 [[ 0.95875005 0.09851211 0.26663404 17.75928596] [-0.13346489 0.9842089 0.11627538 0.69627918] [-0.25096906 -0.14706531 0.95675824 0.06150115] [ 0. 0. 0. 1. ]] SLAMing on 102.618241008 meters Centerline goodness : 0.865523 with order 1 Centerline is valid? [False, False] Translation: X:17.74, Y:0.71, Z:0.06 [[ 0.95895376 0.09486566 0.26722313 17.73645279] [-0.12844257 0.98547664 0.11107792 0.70827744] [-0.25280467 -0.14084141 0.95721131 0.06043608] [ 0. 0. 0. 1. ]] SLAMing on 102.678241008 meters Centerline goodness : 0.862890 with order 1 Centerline is valid? [False, False] Translation: X:17.71, Y:0.72, Z:0.05 [[ 0.95933379 0.10369943 0.26253591 17.71194046] [-0.13180228 0.98702037 0.09175483 0.72443959] [-0.24961337 -0.12262635 0.96054981 0.05125995] [ 0. 0. 0. 1. ]] SLAMing on 102.738241008 meters Centerline goodness : 0.866424 with order 1 Centerline is valid? [False, False] Translation: X:17.69, Y:0.74, Z:0.05 [[ 0.95930793 0.10450928 0.26230916 17.68729605] [-0.13212049 0.98714978 0.089886 0.7383456 ] [-0.24954451 -0.12088476 0.96078843 0.05120255] [ 0. 0. 0. 1. ]] SLAMing on 102.798241008 meters Centerline goodness : 0.864858 with order 1 Centerline is valid? [False, False] Translation: X:17.67, Y:0.75, Z:0.06 [[ 0.95908409 0.10491005 0.26296692 17.66944415] [-0.13553076 0.98560146 0.10109979 0.74774497] [-0.24857419 -0.13260331 0.95949322 0.06132937] [ 0. 0. 0. 1. ]] SLAMing on 102.858241008 meters Centerline goodness : 0.866650 with order 1 Centerline is valid? [False, False] Translation: X:17.67, Y:0.75, Z:0.06 [[ 0.95892073 0.10657476 0.26289323 17.66824011] [-0.13643437 0.98578755 0.09802334 0.75374155] [-0.24871006 -0.12986429 0.95983258 0.05663235] [ 0. 0. 0. 1. ]] SLAMing on 102.918241008 meters Centerline goodness : 0.862585 with order 1 Centerline is valid? [False, False] Translation: X:17.68, Y:0.76, Z:0.06 [[ 0.95940369 0.11870741 0.25583806 17.67990594] [-0.14745129 0.98437964 0.09620209 0.7551508 ] [-0.24042187 -0.13002029 0.96192102 0.05516407] [ 0. 0. 0. 1. ]] SLAMing on 102.978241008 meters Centerline goodness : 0.864743 with order 1 Centerline is valid? [False, False] Translation: X:17.68, Y:0.76, Z:0.04 [[ 0.95753887 0.12756376 0.25854749 17.68488046] [-0.15342897 0.98471963 0.08238203 0.75959269] [-0.24408783 -0.11855267 0.9624793 0.04343858] [ 0. 0. 0. 1. ]] SLAMing on 103.038241008 meters Centerline goodness : 0.860458 with order 1 Centerline is valid? [False, False] Translation: X:17.68, Y:0.77, Z:0.03 [[ 0.95564864 0.14041349 0.25888169 17.68453565] [-0.16305751 0.98426573 0.0680678 0.76721833] [-0.24525074 -0.1072615 0.96350768 0.03267899] [ 0. 0. 0. 1. ]] SLAMing on 103.098241008 meters Centerline goodness : 0.860095 with order 1 Centerline is valid? [False, False] Translation: X:17.69, Y:0.77, Z:0.02 [[ 0.95415841 0.14759487 0.2603795 17.69038313] [-0.16644283 0.98469164 0.0517606 0.77114151] [-0.24875392 -0.09272611 0.96411792 0.01869121] [ 0. 0. 0. 1. ]] SLAMing on 103.158241008 meters Centerline goodness : 0.857199 with order 1 Centerline is valid? [False, False] Translation: X:17.69, Y:0.77, Z:0.01 [[ 9.54492412e-01 1.46097875e-01 2.59999319e-01 1.76853417e+01] [-1.62454237e-01 9.85802404e-01 4.24528032e-02 7.72890381e-01] [-2.50105689e-01 -8.27588694e-02 9.64675134e-01 1.38045771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.218241008 meters Centerline goodness : 0.853719 with order 1 Centerline is valid? [False, False] Translation: X:17.69, Y:0.77, Z:0.01 [[ 9.55168367e-01 1.43183501e-01 2.59136789e-01 1.76862850e+01] [-1.58205437e-01 9.86676243e-01 3.79609174e-02 7.71758612e-01] [-2.50248737e-01 -7.72559164e-02 9.65094344e-01 1.12624764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.278241008 meters Centerline goodness : 0.856369 with order 1 Centerline is valid? [False, False] Translation: X:17.72, Y:0.76, Z:0.00 [[ 9.56986123e-01 1.41268076e-01 2.53418411e-01 1.77175573e+01] [-1.55307936e-01 9.87203564e-01 3.61741323e-02 7.59186109e-01] [-2.45065309e-01 -7.39760330e-02 9.66680165e-01 4.48753217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.338241008 meters Centerline goodness : 0.853558 with order 1 Centerline is valid? [False, False] Translation: X:17.72, Y:0.76, Z:-0.00 [[ 9.57719750e-01 1.38118620e-01 2.52380918e-01 1.77192464e+01] [-1.50674063e-01 9.88096684e-01 3.10204748e-02 7.57470473e-01] [-2.45092243e-01 -6.77361797e-02 9.67130603e-01 -2.29648877e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.398241008 meters Centerline goodness : 0.848572 with order 1 Centerline is valid? [False, False] Translation: X:17.72, Y:0.76, Z:-0.00 [[ 9.58551153e-01 1.34680776e-01 2.51079224e-01 1.77216905e+01] [-1.45803920e-01 9.88967860e-01 2.61493420e-02 7.55970327e-01] [-2.44787469e-01 -6.16738169e-02 9.67613267e-01 -3.94512249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.458241008 meters Centerline goodness : 0.845880 with order 1 Centerline is valid? [False, False] Translation: X:17.73, Y:0.75, Z:-0.00 [[ 9.59424628e-01 1.31479406e-01 2.49434458e-01 1.77296273e+01] [-1.42997337e-01 9.89311232e-01 2.85490375e-02 7.51874585e-01] [-2.43014701e-01 -6.30591130e-02 9.67970766e-01 -1.66377882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.518241008 meters Centerline goodness : 0.846129 with order 1 Centerline is valid? [False, False] Translation: X:17.73, Y:0.75, Z:-0.00 [[ 9.59726903e-01 1.30718893e-01 2.48670150e-01 1.77319361e+01] [-1.42198537e-01 9.89422140e-01 2.86950183e-02 7.50649781e-01] [-2.42288771e-01 -6.28999127e-02 9.68163082e-01 -1.72801529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.578241008 meters Centerline goodness : 0.847351 with order 1 Centerline is valid? [False, False] Translation: X:17.75, Y:0.75, Z:0.01 [[ 9.59926954e-01 1.26889436e-01 2.49878598e-01 1.77505617e+01] [-1.42226373e-01 9.88845333e-01 4.42330881e-02 7.45217321e-01] [-2.41478574e-01 -7.79998602e-02 9.67266313e-01 6.54669575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.638241008 meters Centerline goodness : 0.841809 with order 1 Centerline is valid? [False, False] Translation: X:17.77, Y:0.75, Z:0.00 [[ 9.61182404e-01 1.23343846e-01 2.46808998e-01 1.77681643e+01] [-1.39668206e-01 9.88950453e-01 4.96970109e-02 7.45663264e-01] [-2.37952050e-01 -8.22392624e-02 9.67788988e-01 4.82961402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.698241008 meters Centerline goodness : 0.845999 with order 1 Centerline is valid? [False, False] Translation: X:17.79, Y:0.74, Z:0.02 [[ 0.96116129 0.11981276 0.24862395 17.7853292 ] [-0.14065808 0.98773536 0.0677803 0.73802786] [-0.23745372 -0.10011876 0.96622563 0.01834179] [ 0. 0. 0. 1. ]] SLAMing on 103.758241008 meters Centerline goodness : 0.840324 with order 1 Centerline is valid? [False, False] Translation: X:17.79, Y:0.74, Z:0.02 [[ 9.61783400e-01 1.18364071e-01 2.46906133e-01 1.77904291e+01] [-1.38970178e-01 9.87979080e-01 6.77098802e-02 7.37237006e-01] [-2.35923677e-01 -9.94348281e-02 9.66670954e-01 1.76315713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.818241008 meters Centerline goodness : 0.841481 with order 1 Centerline is valid? [False, False] Translation: X:17.83, Y:0.72, Z:0.04 [[ 0.9612004 0.10546689 0.25489318 17.83174784] [-0.13474143 0.98579998 0.10021554 0.72470533] [-0.24070427 -0.13067189 0.96176209 0.03513162] [ 0. 0. 0. 1. ]] SLAMing on 103.878241008 meters Centerline goodness : 0.844080 with order 1 Centerline is valid? [False, False] Translation: X:17.83, Y:0.73, Z:0.03 [[ 0.96110574 0.10535781 0.2552949 17.83206269] [-0.13441683 0.98595262 0.0991441 0.72904457] [-0.24126307 -0.12960389 0.96176659 0.03438866] [ 0. 0. 0. 1. ]] SLAMing on 103.938241008 meters Centerline goodness : 0.847559 with order 1 Centerline is valid? [False, False] Translation: X:17.84, Y:0.73, Z:0.03 [[ 0.95948781 0.11035723 0.25923817 17.84472066] [-0.13779191 0.98635425 0.09010375 0.73112857] [-0.24575707 -0.12217438 0.96160121 0.02649447] [ 0. 0. 0. 1. ]] SLAMing on 103.998241008 meters Centerline goodness : 0.848408 with order 1 Centerline is valid? [False, False] Translation: X:17.86, Y:0.74, Z:0.02 [[ 9.57101445e-01 1.20085664e-01 2.63697282e-01 1.78557534e+01] [-1.47070631e-01 9.85464701e-01 8.50267794e-02 7.35292299e-01] [-2.49653866e-01 -1.20161379e-01 9.60850764e-01 1.67498788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.058241008 meters Centerline goodness : 0.851311 with order 1 Centerline is valid? [False, False] Translation: X:17.86, Y:0.74, Z:0.01 [[ 9.55316081e-01 1.30557958e-01 2.65190128e-01 1.78582541e+01] [-1.54447230e-01 9.85429831e-01 7.12327289e-02 7.39477732e-01] [-2.52026264e-01 -1.09007652e-01 9.61561279e-01 5.80525145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.118241008 meters Centerline goodness : 0.852409 with order 1 Centerline is valid? [False, False] Translation: X:17.87, Y:0.74, Z:0.01 [[ 9.56486343e-01 1.37015095e-01 2.57605783e-01 1.78678289e+01] [-1.59748008e-01 9.84715840e-01 6.93922824e-02 7.37757562e-01] [-2.44160705e-01 -1.07524781e-01 9.63755141e-01 6.76225926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.178241008 meters Centerline goodness : 0.854957 with order 1 Centerline is valid? [False, False] Translation: X:17.88, Y:0.74, Z:-0.00 [[ 9.55248958e-01 1.38369440e-01 2.61444692e-01 1.78799043e+01] [-1.57968282e-01 9.85889287e-01 5.53925522e-02 7.38420620e-01] [-2.50090885e-01 -9.42136466e-02 9.63627697e-01 -2.97543296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.238241008 meters Centerline goodness : 0.856061 with order 1 Centerline is valid? [False, False] Translation: X:17.89, Y:0.73, Z:0.01 [[ 9.55996273e-01 1.34068407e-01 2.60953612e-01 1.78888298e+01] [-1.54980471e-01 9.86021009e-01 6.11851538e-02 7.34560786e-01] [-2.49102747e-01 -9.89354927e-02 9.63410395e-01 6.31276515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.298241008 meters Centerline goodness : 0.852961 with order 1 Centerline is valid? [False, False] Translation: X:17.90, Y:0.74, Z:-0.00 [[ 9.56249832e-01 1.34604143e-01 2.59745997e-01 1.78963570e+01] [-1.55782050e-01 9.85802596e-01 6.26513797e-02 7.38265272e-01] [-2.47625143e-01 -1.00374135e-01 9.63642476e-01 -1.81449045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.358241008 meters Centerline goodness : 0.847803 with order 1 Centerline is valid? [False, False] Translation: X:17.90, Y:0.74, Z:-0.01 [[ 9.56460868e-01 1.35039736e-01 2.58740948e-01 1.79031211e+01] [-1.56966202e-01 9.85399525e-01 6.59498930e-02 7.37884633e-01] [-2.46057351e-01 -1.03692076e-01 9.63692759e-01 -6.01933321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.418241008 meters Centerline goodness : 0.845043 with order 1 Centerline is valid? [False, False] Translation: X:17.91, Y:0.74, Z:-0.02 [[ 9.55461841e-01 1.36745575e-01 2.61521162e-01 1.79144721e+01] [-1.55022583e-01 9.86620255e-01 5.04823745e-02 7.37672871e-01] [-2.51118835e-01 -8.87756688e-02 9.63876658e-01 -1.60219570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.478241008 meters Centerline goodness : 0.849125 with order 1 Centerline is valid? [False, False] Translation: X:17.93, Y:0.73, Z:-0.02 [[ 9.57242485e-01 1.41055652e-01 2.52567075e-01 1.79333513e+01] [-1.57903322e-01 9.86305566e-01 4.76221758e-02 7.33223372e-01] [-2.42390935e-01 -8.54671499e-02 9.66406747e-01 -1.51180679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.538241008 meters Centerline goodness : 0.849869 with order 1 Centerline is valid? [False, False] Translation: X:17.93, Y:0.74, Z:-0.02 [[ 0.95741282 0.14126631 0.25180254 17.93492622] [-0.15716826 0.9865869 0.04409572 0.73693462] [-0.24219584 -0.08179318 0.96677353 -0.02331251] [ 0. 0. 0. 1. ]] SLAMing on 104.598241008 meters Centerline goodness : 0.852520 with order 1 Centerline is valid? [False, False] Translation: X:17.94, Y:0.74, Z:-0.03 [[ 0.95759527 0.14207862 0.25064909 17.94121667] [-0.15855558 0.98624455 0.04670995 0.73622802] [-0.24056482 -0.08447104 0.96695047 -0.0286077 ] [ 0. 0. 0. 1. ]] SLAMing on 104.658241008 meters Centerline goodness : 0.851408 with order 1 Centerline is valid? [False, False] Translation: X:17.95, Y:0.73, Z:-0.03 [[ 0.95902622 0.14791077 0.24164255 17.95383066] [-0.16293536 0.98568567 0.0433109 0.73113002] [-0.23177745 -0.08090841 0.96939829 -0.02584784] [ 0. 0. 0. 1. ]] SLAMing on 104.718241008 meters Centerline goodness : 0.851448 with order 1 Centerline is valid? [False, False] Translation: X:17.95, Y:0.73, Z:-0.02 [[ 0.95886778 0.14834438 0.24200522 17.95244042] [-0.16371648 0.98549954 0.04458225 0.72980028] [-0.23188251 -0.08236873 0.96925017 -0.02224728] [ 0. 0. 0. 1. ]] SLAMing on 104.778241008 meters Centerline goodness : 0.857874 with order 1 Centerline is valid? [False, False] Translation: X:17.95, Y:0.73, Z:-0.02 [[ 0.95858181 0.14913778 0.2426496 17.9504869 ] [-0.16477843 0.98528635 0.04537483 0.73017825] [-0.23231223 -0.08347891 0.96905227 -0.02012649] [ 0. 0. 0. 1. ]] SLAMing on 104.838241008 meters Centerline goodness : 0.851455 with order 1 Centerline is valid? [False, False] Translation: X:17.95, Y:0.73, Z:-0.02 [[ 0.95862784 0.14911222 0.24248341 17.95116902] [-0.16456838 0.9853537 0.04466926 0.73080147] [-0.23227119 -0.0827263 0.96912664 -0.02220023] [ 0. 0. 0. 1. ]] SLAMing on 104.898241008 meters Centerline goodness : 0.853909 with order 1 Centerline is valid? [False, False] Translation: X:17.97, Y:0.73, Z:-0.02 [[ 0.96063765 0.15130472 0.23298537 17.96705982] [-0.16513574 0.98542107 0.04093281 0.72522358] [-0.22339537 -0.07779581 0.9716184 -0.02061204] [ 0. 0. 0. 1. ]] SLAMing on 104.958241008 meters Centerline goodness : 0.851253 with order 1 Centerline is valid? [False, False] Translation: X:17.98, Y:0.72, Z:-0.02 [[ 0.96168504 0.14736796 0.23118079 17.97618281] [-0.16121759 0.98602052 0.04210003 0.72121094] [-0.22174481 -0.07775738 0.9719995 -0.02075438] [ 0. 0. 0. 1. ]] SLAMing on 105.018241008 meters Centerline goodness : 0.854158 with order 1 Centerline is valid? [False, False] Translation: X:17.98, Y:0.72, Z:-0.02 [[ 0.96200945 0.14640065 0.23044449 17.97904166] [-0.16010518 0.98621307 0.04183423 0.71992121] [-0.22114281 -0.07714028 0.9721858 -0.02211026] [ 0. 0. 0. 1. ]] SLAMing on 105.078241008 meters Centerline goodness : 0.857566 with order 1 Centerline is valid? [False, False] Translation: X:18.01, Y:0.71, Z:-0.01 [[ 9.61892421e-01 1.38942252e-01 2.35495268e-01 1.80071184e+01] [-1.58410089e-01 9.85179950e-01 6.57777247e-02 7.10109704e-01] [-2.22865912e-01 -1.00575921e-01 9.69646982e-01 -7.74142461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.138241008 meters Centerline goodness : 0.857007 with order 1 Centerline is valid? [False, False] Translation: X:18.03, Y:0.70, Z:0.00 [[ 9.61916453e-01 1.34081087e-01 2.38199493e-01 1.80259240e+01] [-1.57353122e-01 9.84177927e-01 8.14481605e-02 7.01155558e-01] [-2.23510026e-01 -1.15827760e-01 9.67795019e-01 8.07830874e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.198241008 meters Centerline goodness : 0.855567 with order 1 Centerline is valid? [False, False] Translation: X:18.03, Y:0.70, Z:0.01 [[ 9.61971900e-01 1.34125482e-01 2.37950454e-01 1.80335590e+01] [-1.59231298e-01 9.83171811e-01 8.95465470e-02 6.98870659e-01] [-2.21935705e-01 -1.24030422e-01 9.67140630e-01 7.26779824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.258241008 meters Centerline goodness : 0.859818 with order 1 Centerline is valid? [False, False] Translation: X:18.04, Y:0.70, Z:0.01 [[ 9.61619491e-01 1.37035862e-01 2.37716484e-01 1.80352788e+01] [-1.63039865e-01 9.82195143e-01 9.33311544e-02 6.97364851e-01] [-2.20694260e-01 -1.28506321e-01 9.66840302e-01 5.93692574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.318241008 meters Centerline goodness : 0.860388 with order 1 Centerline is valid? [False, False] Translation: X:18.09, Y:0.68, Z:0.02 [[ 0.96178131 0.13036741 0.24079255 18.09347368] [-0.16300613 0.97918405 0.1209446 0.68311737] [-0.22001298 -0.15557292 0.96301161 0.01885277] [ 0. 0. 0. 1. ]] SLAMing on 105.378241008 meters Centerline goodness : 0.863588 with order 1 Centerline is valid? [False, False] Translation: X:18.10, Y:0.69, Z:0.01 [[ 9.60915621e-01 1.33462524e-01 2.42546744e-01 1.81010111e+01] [-1.61928274e-01 9.81578446e-01 1.01405075e-01 6.86989923e-01] [-2.24544879e-01 -1.36716896e-01 9.64825418e-01 5.15164834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.438241008 meters Centerline goodness : 0.863579 with order 1 Centerline is valid? [False, False] Translation: X:18.15, Y:0.67, Z:0.01 [[ 9.61489219e-01 1.28611512e-01 2.42894135e-01 1.81463368e+01] [-1.60901763e-01 9.79881315e-01 1.18081456e-01 6.74627062e-01] [-2.22820790e-01 -1.52616142e-01 9.62839140e-01 1.24911587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.498241008 meters Centerline goodness : 0.862826 with order 1 Centerline is valid? [False, False] Translation: X:18.15, Y:0.67, Z:0.02 [[ 9.61725734e-01 1.27305865e-01 2.42645481e-01 1.81499422e+01] [-1.60186588e-01 9.79652622e-01 1.20917315e-01 6.74074191e-01] [-2.22314799e-01 -1.55157846e-01 9.62549829e-01 1.74703399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.558241008 meters Centerline goodness : 0.865249 with order 1 Centerline is valid? [False, False] Translation: X:18.17, Y:0.67, Z:0.01 [[ 9.60687788e-01 1.28322582e-01 2.46195630e-01 1.81693891e+01] [-1.59960030e-01 9.80627405e-01 1.13060523e-01 6.74456456e-01] [-2.26917964e-01 -1.47997325e-01 9.62603257e-01 9.89580171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.618241008 meters Centerline goodness : 0.863754 with order 1 Centerline is valid? [False, False] Translation: X:18.18, Y:0.68, Z:0.02 [[ 9.61206186e-01 1.24742096e-01 2.46012351e-01 1.81776442e+01] [-1.57261289e-01 9.80573502e-01 1.17236919e-01 6.75723561e-01] [-2.26608813e-01 -1.51377071e-01 9.62150419e-01 1.55360887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.678241008 meters Centerline goodness : 0.863638 with order 1 Centerline is valid? [False, False] Translation: X:18.18, Y:0.68, Z:0.01 [[ 9.61502409e-01 1.24290780e-01 2.45081456e-01 1.81808211e+01] [-1.56342187e-01 9.80877208e-01 1.15918180e-01 6.78992519e-01] [-2.25987253e-01 -1.49772180e-01 9.62547690e-01 1.28990376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.738241008 meters Centerline goodness : 0.866857 with order 1 Centerline is valid? [False, False] Translation: X:18.19, Y:0.68, Z:0.01 [[ 9.61636551e-01 1.25742005e-01 2.43811589e-01 1.81867992e+01] [-1.58456844e-01 9.80106834e-01 1.19507420e-01 6.80629087e-01] [-2.23934302e-01 -1.53556318e-01 9.62431237e-01 1.17618326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.798241008 meters Centerline goodness : 0.865634 with order 1 Centerline is valid? [False, False] Translation: X:18.20, Y:0.68, Z:0.01 [[ 9.62927725e-01 1.31946428e-01 2.35287774e-01 1.81982248e+01] [-1.62275658e-01 9.80079106e-01 1.14505707e-01 6.81936507e-01] [-2.15492012e-01 -1.48442199e-01 9.65157037e-01 1.01958516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.858241008 meters Centerline goodness : 0.866326 with order 1 Centerline is valid? [False, False] Translation: X:18.23, Y:0.68, Z:0.01 [[ 9.62002996e-01 1.31922725e-01 2.39053615e-01 1.82258359e+01] [-1.62616971e-01 9.80138092e-01 1.13512300e-01 6.81047096e-01] [-2.19330702e-01 -1.48073348e-01 9.64348654e-01 7.13872573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.918241008 meters Centerline goodness : 0.865322 with order 1 Centerline is valid? [False, False] Translation: X:18.23, Y:0.68, Z:0.00 [[ 9.62227081e-01 1.31621876e-01 2.38316440e-01 1.82282804e+01] [-1.61811986e-01 9.80465493e-01 1.11822616e-01 6.83687141e-01] [-2.18942744e-01 -1.46161206e-01 9.64728447e-01 3.87110859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.978241008 meters Centerline goodness : 0.862042 with order 1 Centerline is valid? [False, False] Translation: X:18.23, Y:0.68, Z:0.01 [[ 9.62721938e-01 1.30085254e-01 2.37158801e-01 1.82338656e+01] [-1.60309462e-01 9.80589843e-01 1.12891263e-01 6.84772349e-01] [-2.17870023e-01 -1.46701695e-01 9.64889250e-01 5.40011195e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.038241008 meters Centerline goodness : 0.863398 with order 1 Centerline is valid? [False, False] Translation: X:18.24, Y:0.68, Z:0.02 [[ 0.96215448 0.1273717 0.24090498 18.24231334] [-0.16169955 0.97843902 0.12849259 0.67987699] [-0.21934451 -0.16258394 0.96200543 0.02424603] [ 0. 0. 0. 1. ]] SLAMing on 106.098241008 meters Centerline goodness : 0.861158 with order 1 Centerline is valid? [False, False] Translation: X:18.24, Y:0.68, Z:0.03 [[ 0.96179626 0.12759212 0.24221522 18.24045044] [-0.16287729 0.97782103 0.13167015 0.67814609] [-0.22004306 -0.16609121 0.96124646 0.0323272 ] [ 0. 0. 0. 1. ]] SLAMing on 106.158241008 meters Centerline goodness : 0.865569 with order 1 Centerline is valid? [False, False] Translation: X:18.24, Y:0.68, Z:0.03 [[ 0.96179375 0.12778479 0.24212358 18.24150995] [-0.16293953 0.97787969 0.13115649 0.68271608] [-0.22000792 -0.165597 0.96133977 0.03251165] [ 0. 0. 0. 1. ]] SLAMing on 106.218241008 meters Centerline goodness : 0.862964 with order 1 Centerline is valid? [False, False] Translation: X:18.26, Y:0.69, Z:0.02 [[ 0.96043706 0.13351875 0.24440419 18.25576364] [-0.16650321 0.97875952 0.11960969 0.68820389] [-0.22324279 -0.15557167 0.96226821 0.01827628] [ 0. 0. 0. 1. ]] SLAMing on 106.278241008 meters Centerline goodness : 0.865896 with order 1 Centerline is valid? [False, False] Translation: X:18.27, Y:0.69, Z:0.01 [[ 9.58617484e-01 1.40828426e-01 2.47426500e-01 1.82695113e+01] [-1.72294142e-01 9.78839458e-01 1.10399477e-01 6.94860121e-01] [-2.26643437e-01 -1.48461006e-01 9.62596531e-01 5.66696174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.338241008 meters Centerline goodness : 0.862828 with order 1 Centerline is valid? [False, False] Translation: X:18.27, Y:0.70, Z:0.01 [[ 9.58748754e-01 1.40856682e-01 2.46901238e-01 1.82708917e+01] [-1.72274050e-01 9.78826780e-01 1.10543139e-01 6.96692522e-01] [-2.26102804e-01 -1.48517773e-01 9.62714908e-01 7.32778053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.398241008 meters Centerline goodness : 0.865051 with order 1 Centerline is valid? [False, False] Translation: X:18.28, Y:0.70, Z:0.01 [[ 9.59298443e-01 1.39556901e-01 2.45500243e-01 1.82766737e+01] [-1.70537222e-01 9.79222280e-01 1.09730501e-01 7.00582139e-01] [-2.25085659e-01 -1.47131228e-01 9.63166054e-01 5.16909226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.458241008 meters Centerline goodness : 0.866816 with order 1 Centerline is valid? [False, False] Translation: X:18.28, Y:0.70, Z:0.00 [[ 9.59777701e-01 1.37686605e-01 2.44681758e-01 1.82814654e+01] [-1.68402575e-01 9.79638777e-01 1.09308920e-01 7.01743871e-01] [-2.24649364e-01 -1.46117302e-01 9.63422232e-01 3.85524632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.518241008 meters Centerline goodness : 0.865905 with order 1 Centerline is valid? [False, False] Translation: X:18.28, Y:0.71, Z:0.00 [[ 9.60300101e-01 1.34766581e-01 2.44257416e-01 1.82823393e+01] [-1.64163219e-01 9.80914326e-01 1.04199437e-01 7.06132812e-01] [-2.25552996e-01 -1.40160813e-01 9.64095842e-01 2.57157585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.578241008 meters Centerline goodness : 0.864792 with order 1 Centerline is valid? [False, False] Translation: X:18.28, Y:0.71, Z:0.00 [[ 9.60528033e-01 1.34262350e-01 2.43638092e-01 1.82847153e+01] [-1.63499221e-01 9.81051173e-01 1.03954799e-01 7.07252483e-01] [-2.25064220e-01 -1.39686137e-01 9.64278943e-01 2.22742438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.638241008 meters Centerline goodness : 0.867231 with order 1 Centerline is valid? [False, False] Translation: X:18.30, Y:0.70, Z:0.02 [[ 0.96042186 0.12824679 0.24727033 18.30407434] [-0.1625133 0.97894881 0.12348541 0.69914734] [-0.22622839 -0.1587828 0.96104565 0.01964611] [ 0. 0. 0. 1. ]] SLAMing on 106.698241008 meters Centerline goodness : 0.864594 with order 1 Centerline is valid? [False, False] Translation: X:18.31, Y:0.70, Z:0.02 [[ 9.60524459e-01 1.28188253e-01 2.46901875e-01 1.83057203e+01] [-1.62200093e-01 9.79103173e-01 1.22670721e-01 7.00534793e-01] [-2.26017464e-01 -1.57875734e-01 9.61244692e-01 1.77979635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.758241008 meters Centerline goodness : 0.868342 with order 1 Centerline is valid? [False, False] Translation: X:18.31, Y:0.70, Z:0.03 [[ 0.96043317 0.12802553 0.24734106 18.31238522] [-0.16434565 0.97750433 0.13219602 0.6971813 ] [-0.22485249 -0.16761486 0.95986802 0.02706847] [ 0. 0. 0. 1. ]] SLAMing on 106.818241008 meters Centerline goodness : 0.868316 with order 1 Centerline is valid? [False, False] Translation: X:18.32, Y:0.70, Z:0.01 [[ 9.59180164e-01 1.33408995e-01 2.49350063e-01 1.83190293e+01] [-1.65850084e-01 9.79552089e-01 1.13892295e-01 7.01776314e-01] [-2.29057118e-01 -1.50597959e-01 9.61692826e-01 1.16588459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.878241008 meters Centerline goodness : 0.865317 with order 1 Centerline is valid? [False, False] Translation: X:18.34, Y:0.70, Z:0.00 [[ 9.58045944e-01 1.36982075e-01 2.51761554e-01 1.83357510e+01] [-1.67428893e-01 9.80416226e-01 1.03689869e-01 7.03198868e-01] [-2.32627459e-01 -1.41491817e-01 9.62218546e-01 9.77915422e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.938241008 meters Centerline goodness : 0.863902 with order 1 Centerline is valid? [False, False] Translation: X:18.35, Y:0.71, Z:-0.01 [[ 9.56882302e-01 1.40423668e-01 2.54278299e-01 1.83450095e+01] [-1.66995509e-01 9.82198737e-01 8.60124419e-02 7.07208132e-01] [-2.37673642e-01 -1.24767117e-01 9.63298711e-01 -1.39957951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.998241008 meters Centerline goodness : 0.861316 with order 1 Centerline is valid? [False, False] Translation: X:18.35, Y:0.71, Z:-0.02 [[ 9.57363112e-01 1.39249509e-01 2.53111528e-01 1.83496053e+01] [-1.65407345e-01 9.82548358e-01 8.50831030e-02 7.09060229e-01] [-2.36846536e-01 -1.23321930e-01 9.63688446e-01 -1.71294439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.058241008 meters Centerline goodness : 0.858610 with order 1 Centerline is valid? [False, False] Translation: X:18.36, Y:0.71, Z:-0.02 [[ 0.95796815 0.13783603 0.25159145 18.35505951] [-0.16347036 0.9829736 0.08390678 0.71026422] [-0.23574238 -0.12150776 0.9641895 -0.02090701] [ 0. 0. 0. 1. ]] SLAMing on 107.118241008 meters Centerline goodness : 0.858524 with order 1 Centerline is valid? [False, False] Translation: X:18.39, Y:0.70, Z:-0.03 [[ 0.95973807 0.13789139 0.24472187 18.39358975] [-0.16350704 0.98264986 0.08754827 0.70245657] [-0.22840376 -0.12403716 0.9656327 -0.02621068] [ 0. 0. 0. 1. ]] SLAMing on 107.178241008 meters Centerline goodness : 0.860334 with order 1 Centerline is valid? [False, False] Translation: X:18.40, Y:0.70, Z:-0.03 [[ 0.95991392 0.13792936 0.24400977 18.39520744] [-0.16336338 0.98270729 0.08717108 0.70342334] [-0.22776672 -0.12353899 0.96584701 -0.0270889 ] [ 0. 0. 0. 1. ]] SLAMing on 107.238241008 meters Centerline goodness : 0.857707 with order 1 Centerline is valid? [False, False] Translation: X:18.40, Y:0.70, Z:-0.02 [[ 0.96072878 0.13352906 0.24324924 18.39826271] [-0.15840001 0.98365357 0.08564514 0.70314571] [-0.22783687 -0.12081243 0.9661753 -0.02114922] [ 0. 0. 0. 1. ]] SLAMing on 107.298241008 meters Centerline goodness : 0.862206 with order 1 Centerline is valid? [False, False] Translation: X:18.41, Y:0.70, Z:-0.02 [[ 0.96106675 0.13354341 0.24190259 18.40668877] [-0.15918564 0.98316754 0.08967447 0.70326665] [-0.22585534 -0.12469057 0.96614783 -0.02336716] [ 0. 0. 0. 1. ]] SLAMing on 107.358241008 meters Centerline goodness : 0.860617 with order 1 Centerline is valid? [False, False] Translation: X:18.42, Y:0.71, Z:-0.04 [[ 0.95978312 0.13741831 0.24481132 18.42193612] [-0.1607218 0.98392804 0.07780825 0.7076989 ] [-0.23018444 -0.11402556 0.96644363 -0.03743131] [ 0. 0. 0. 1. ]] SLAMing on 107.418241008 meters Centerline goodness : 0.862914 with order 1 Centerline is valid? [False, False] Translation: X:18.44, Y:0.71, Z:-0.05 [[ 0.95831465 0.14204056 0.24790623 18.4376584 ] [-0.16365995 0.98411554 0.06878971 0.71082195] [-0.23419745 -0.10649451 0.9663387 -0.0478641 ] [ 0. 0. 0. 1. ]] SLAMing on 107.478241008 meters Centerline goodness : 0.861075 with order 1 Centerline is valid? [False, False] Translation: X:18.44, Y:0.72, Z:-0.06 [[ 0.957172 0.15087256 0.24710168 18.43959616] [-0.16853349 0.98433243 0.05182799 0.71701747] [-0.23541077 -0.09125321 0.96760251 -0.05745443] [ 0. 0. 0. 1. ]] SLAMing on 107.538241008 meters Centerline goodness : 0.858240 with order 1 Centerline is valid? [False, False] Translation: X:18.45, Y:0.72, Z:-0.06 [[ 0.95767687 0.14987237 0.24575044 18.45017011] [-0.16867407 0.98401022 0.05720971 0.71689011] [-0.23324679 -0.09624014 0.96764341 -0.0573272 ] [ 0. 0. 0. 1. ]] SLAMing on 107.598241008 meters Centerline goodness : 0.857914 with order 1 Centerline is valid? [False, False] Translation: X:18.45, Y:0.72, Z:-0.06 [[ 0.95801028 0.14924843 0.24482892 18.45307578] [-0.16763484 0.98426059 0.05594333 0.71863464] [-0.23262601 -0.09463614 0.967951 -0.06078027] [ 0. 0. 0. 1. ]] SLAMing on 107.658241008 meters Centerline goodness : 0.857614 with order 1 Centerline is valid? [False, False] Translation: X:18.47, Y:0.72, Z:-0.06 [[ 0.95973387 0.15403033 0.23491607 18.4693685 ] [-0.17067977 0.98394579 0.05214487 0.71565741] [-0.22311279 -0.09014062 0.97061597 -0.06154878] [ 0. 0. 0. 1. ]] SLAMing on 107.718241008 meters Centerline goodness : 0.865179 with order 1 Centerline is valid? [False, False] Translation: X:18.49, Y:0.71, Z:-0.06 [[ 0.96062419 0.14888665 0.23459313 18.48873147] [-0.1677891 0.98382851 0.06267592 0.7119168 ] [-0.2214678 -0.09957018 0.97007102 -0.05612638] [ 0. 0. 0. 1. ]] SLAMing on 107.778241008 meters Centerline goodness : 0.860700 with order 1 Centerline is valid? [False, False] Translation: X:18.50, Y:0.71, Z:-0.06 [[ 0.96203258 0.14387447 0.23193416 18.50226854] [-0.16270659 0.98458878 0.06412101 0.71134305] [-0.21913439 -0.09942372 0.97061581 -0.05635636] [ 0. 0. 0. 1. ]] SLAMing on 107.838241008 meters Centerline goodness : 0.865096 with order 1 Centerline is valid? [False, False] Translation: X:18.52, Y:0.71, Z:-0.05 [[ 0.96340651 0.13706583 0.23034943 18.51889436] [-0.15681654 0.98516834 0.06965574 0.70836468] [-0.21738554 -0.1032294 0.97061178 -0.05087699] [ 0. 0. 0. 1. ]] SLAMing on 107.898241008 meters Centerline goodness : 0.864137 with order 1 Centerline is valid? [False, False] Translation: X:18.52, Y:0.71, Z:-0.05 [[ 0.96368111 0.13614886 0.2297438 18.52169947] [-0.155794 0.98533661 0.06957001 0.7086703 ] [-0.2169031 -0.10283601 0.97076145 -0.0509866 ] [ 0. 0. 0. 1. ]] SLAMing on 107.958241008 meters Centerline goodness : 0.864103 with order 1 Centerline is valid? [False, False] Translation: X:18.54, Y:0.71, Z:-0.04 [[ 0.96368307 0.13238267 0.23192621 18.53520655] [-0.15485643 0.9845731 0.08145738 0.70574319] [-0.21756476 -0.11441436 0.96931673 -0.04066399] [ 0. 0. 0. 1. ]] SLAMing on 108.018241008 meters Centerline goodness : 0.865101 with order 1 Centerline is valid? [False, False] Translation: X:18.55, Y:0.71, Z:-0.04 [[ 0.96465015 0.13963715 0.22349843 18.54548215] [-0.16023565 0.9840896 0.07676063 0.70604643] [-0.20922384 -0.10985957 0.97167703 -0.04078039] [ 0. 0. 0. 1. ]] SLAMing on 108.078241008 meters Centerline goodness : 0.863840 with order 1 Centerline is valid? [False, False] Translation: X:18.56, Y:0.71, Z:-0.04 [[ 0.96533338 0.1473084 0.21548017 18.55670586] [-0.16614075 0.98347242 0.07196698 0.7061963 ] [-0.20131747 -0.10527216 0.97385268 -0.03923425] [ 0. 0. 0. 1. ]] SLAMing on 108.138241008 meters Centerline goodness : 0.869951 with order 1 Centerline is valid? [False, False] Translation: X:18.56, Y:0.71, Z:-0.04 [[ 0.96516697 0.14826667 0.21556838 18.55586003] [-0.16715711 0.98328942 0.07211389 0.70778679] [-0.20127402 -0.10563573 0.9738223 -0.03845153] [ 0. 0. 0. 1. ]] SLAMing on 108.198241008 meters Centerline goodness : 0.865132 with order 1 Centerline is valid? [False, False] Translation: X:18.56, Y:0.71, Z:-0.04 [[ 0.96535027 0.14910276 0.21416636 18.5636286 ] [-0.16869352 0.98271764 0.07621374 0.7083081 ] [-0.19910138 -0.10970143 0.97381941 -0.03955768] [ 0. 0. 0. 1. ]] SLAMing on 108.258241008 meters Centerline goodness : 0.866805 with order 1 Centerline is valid? [False, False] Translation: X:18.57, Y:0.71, Z:-0.04 [[ 0.96563908 0.14869064 0.21314842 18.56665971] [-0.16821713 0.98277651 0.07650707 0.70758271] [-0.19810138 -0.10973343 0.97401972 -0.03920001] [ 0. 0. 0. 1. ]] SLAMing on 108.318241008 meters Centerline goodness : 0.866742 with order 1 Centerline is valid? [False, False] Translation: X:18.59, Y:0.70, Z:-0.03 [[ 0.96629317 0.14119192 0.21527274 18.58834284] [-0.16353895 0.98244932 0.08971257 0.70213137] [-0.19882787 -0.12189412 0.97242445 -0.02965711] [ 0. 0. 0. 1. ]] SLAMing on 108.378241008 meters Centerline goodness : 0.870414 with order 1 Centerline is valid? [False, False] Translation: X:18.60, Y:0.70, Z:-0.02 [[ 0.96613516 0.13912937 0.21731516 18.59729978] [-0.16384542 0.98139283 0.10011388 0.70069707] [-0.19934276 -0.13232963 0.97095383 -0.01982752] [ 0. 0. 0. 1. ]] SLAMing on 108.438241008 meters Centerline goodness : 0.870389 with order 1 Centerline is valid? [False, False] Translation: X:18.61, Y:0.71, Z:-0.03 [[ 0.9649042 0.14349872 0.21992725 18.60625401] [-0.16525291 0.98268077 0.08384499 0.70610615] [-0.20408663 -0.117246 0.97190639 -0.03259261] [ 0. 0. 0. 1. ]] SLAMing on 108.498241008 meters Centerline goodness : 0.868080 with order 1 Centerline is valid? [False, False] Translation: X:18.61, Y:0.71, Z:-0.03 [[ 0.96493277 0.14425618 0.21930551 18.61235745] [-0.16723565 0.98179923 0.09001391 0.70601528] [-0.20232892 -0.12353307 0.97149503 -0.02806115] [ 0. 0. 0. 1. ]] SLAMing on 108.558241008 meters Centerline goodness : 0.868636 with order 1 Centerline is valid? [False, False] Translation: X:18.61, Y:0.71, Z:-0.03 [[ 0.96433548 0.14775532 0.21960295 18.6131959 ] [-0.1717909 0.98057912 0.09461747 0.7087037 ] [-0.20135783 -0.12896878 0.97099026 -0.02545128] [ 0. 0. 0. 1. ]] SLAMing on 108.618241008 meters Centerline goodness : 0.871778 with order 1 Centerline is valid? [False, False] Translation: X:18.62, Y:0.72, Z:-0.04 [[ 0.96260774 0.15869085 0.21955307 18.61701175] [-0.17988715 0.98042427 0.08005534 0.71728922] [-0.2025511 -0.11655667 0.97231044 -0.03798301] [ 0. 0. 0. 1. ]] SLAMing on 108.678241008 meters Centerline goodness : 0.873573 with order 1 Centerline is valid? [False, False] Translation: X:18.62, Y:0.72, Z:-0.04 [[ 0.96255978 0.16047629 0.21846286 18.62222614] [-0.18197614 0.97987716 0.08200871 0.71972997] [-0.20090631 -0.11869331 0.97239321 -0.04257239] [ 0. 0. 0. 1. ]] SLAMing on 108.738241008 meters Centerline goodness : 0.873489 with order 1 Centerline is valid? [False, False] Translation: X:18.64, Y:0.72, Z:-0.04 [[ 0.96417079 0.16379947 0.208673 18.63576192] [-0.18250801 0.98044037 0.07367163 0.71834004] [-0.19252406 -0.10911652 0.97520668 -0.04453983] [ 0. 0. 0. 1. ]] SLAMing on 108.798241008 meters Centerline goodness : 0.876467 with order 1 Centerline is valid? [False, False] Translation: X:18.64, Y:0.72, Z:-0.05 [[ 0.96561322 0.15712087 0.20713313 18.63711874] [-0.17347459 0.98280877 0.0631941 0.7213422 ] [-0.19364315 -0.0969534 0.97626962 -0.04928539] [ 0. 0. 0. 1. ]] SLAMing on 108.858241008 meters Centerline goodness : 0.876259 with order 1 Centerline is valid? [False, False] Translation: X:18.64, Y:0.72, Z:-0.05 [[ 0.96675259 0.15246215 0.20529181 18.64203412] [-0.1674723 0.98418454 0.05773922 0.7224815 ] [-0.19324198 -0.09020023 0.97699614 -0.05321097] [ 0. 0. 0. 1. ]] SLAMing on 108.918241008 meters Centerline goodness : 0.879597 with order 1 Centerline is valid? [False, False] Translation: X:18.67, Y:0.71, Z:-0.04 [[ 0.96708759 0.14223012 0.21097912 18.66867686] [-0.16179461 0.98369871 0.0784816 0.71069367] [-0.19637744 -0.11003386 0.97433488 -0.03708191] [ 0. 0. 0. 1. ]] SLAMing on 108.978241008 meters Centerline goodness : 0.878184 with order 1 Centerline is valid? [False, False] Translation: X:18.67, Y:0.70, Z:-0.01 [[ 9.65523300e-01 1.30695604e-01 2.25129775e-01 1.86690374e+01] [-1.58415558e-01 9.81253842e-01 1.09751579e-01 7.02071599e-01] [-2.06565408e-01 -1.41631765e-01 9.68127665e-01 -9.99370425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.038241008 meters Centerline goodness : 0.880268 with order 1 Centerline is valid? [False, False] Translation: X:18.67, Y:0.71, Z:-0.01 [[ 9.65718448e-01 1.29370509e-01 2.25058104e-01 1.86675309e+01] [-1.55600205e-01 9.82442065e-01 1.02937677e-01 7.09416052e-01] [-2.07789449e-01 -1.34427901e-01 9.68892504e-01 -1.38784004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.098241008 meters Centerline goodness : 0.881550 with order 1 Centerline is valid? [False, False] Translation: X:18.67, Y:0.71, Z:-0.01 [[ 9.65153679e-01 1.33410836e-01 2.25122021e-01 1.86686945e+01] [-1.60364777e-01 9.81354242e-01 1.05957490e-01 7.14462967e-01] [-2.06788573e-01 -1.38366904e-01 9.68552056e-01 -1.48488548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.158241008 meters Centerline goodness : 0.880447 with order 1 Centerline is valid? [False, False] Translation: X:18.68, Y:0.72, Z:-0.02 [[ 0.96446859 0.14327318 0.22197552 18.67723885] [-0.16757871 0.98129545 0.09474504 0.71746012] [-0.20424914 -0.12857699 0.97043817 -0.02362189] [ 0. 0. 0. 1. ]] SLAMing on 109.218241008 meters Centerline goodness : 0.875952 with order 1 Centerline is valid? [False, False] Translation: X:18.68, Y:0.72, Z:-0.04 [[ 0.9629774 0.15099253 0.22332885 18.68418409] [-0.17223536 0.98189855 0.07880495 0.72326236] [-0.20738732 -0.11435251 0.97155237 -0.039983 ] [ 0. 0. 0. 1. ]] SLAMing on 109.278241008 meters Centerline goodness : 0.876653 with order 1 Centerline is valid? [False, False] Translation: X:18.69, Y:0.73, Z:-0.05 [[ 0.96182955 0.1550893 0.2254578 18.69449121] [-0.17320666 0.98288064 0.06281002 0.72755111] [-0.21185694 -0.09946333 0.97222615 -0.05422373] [ 0. 0. 0. 1. ]] SLAMing on 109.338241008 meters Centerline goodness : 0.872991 with order 1 Centerline is valid? [False, False] Translation: X:18.70, Y:0.73, Z:-0.05 [[ 0.9619592 0.15498849 0.22497346 18.69590313] [-0.17314139 0.98286609 0.06321643 0.7279046 ] [-0.21132096 -0.09976384 0.972312 -0.05282803] [ 0. 0. 0. 1. ]] SLAMing on 109.398241008 meters Centerline goodness : 0.866323 with order 1 Centerline is valid? [False, False] Translation: X:18.71, Y:0.73, Z:-0.05 [[ 0.96333077 0.15886839 0.21622824 18.70629113] [-0.17482053 0.98296983 0.05664 0.72608722] [-0.20354753 -0.0923642 0.97469855 -0.04886468] [ 0. 0. 0. 1. ]] SLAMing on 109.458241008 meters Centerline goodness : 0.868413 with order 1 Centerline is valid? [False, False] Translation: X:18.71, Y:0.73, Z:-0.06 [[ 0.96388605 0.15669014 0.21534132 18.70651239] [-0.17088817 0.98407827 0.04885899 0.73253245] [-0.20425699 -0.08389378 0.9753158 -0.05601236] [ 0. 0. 0. 1. ]] SLAMing on 109.518241008 meters Centerline goodness : 0.862488 with order 1 Centerline is valid? [False, False] Translation: X:18.72, Y:0.73, Z:-0.06 [[ 0.96466522 0.15502524 0.21304505 18.71968135] [-0.16962837 0.98413773 0.05195335 0.73309834] [-0.20161159 -0.08625607 0.97566011 -0.06043591] [ 0. 0. 0. 1. ]] SLAMing on 109.578241008 meters Centerline goodness : 0.864613 with order 1 Centerline is valid? [False, False] Translation: X:18.72, Y:0.73, Z:-0.06 [[ 0.9650033 0.15440347 0.21196274 18.72261414] [-0.16887047 0.98427479 0.05182568 0.73097055] [-0.20062752 -0.0858062 0.97590261 -0.06168502] [ 0. 0. 0. 1. ]] SLAMing on 109.638241008 meters Centerline goodness : 0.866270 with order 1 Centerline is valid? [False, False] Translation: X:18.73, Y:0.73, Z:-0.06 [[ 0.96576435 0.15202493 0.21020855 18.73037384] [-0.16652744 0.98461147 0.05299868 0.73028807] [-0.19891663 -0.08618973 0.97621899 -0.06075895] [ 0. 0. 0. 1. ]] SLAMing on 109.698241008 meters Centerline goodness : 0.863609 with order 1 Centerline is valid? [False, False] Translation: X:18.75, Y:0.73, Z:-0.06 [[ 0.96641674 0.14659412 0.211066 18.75231961] [-0.16354106 0.98438522 0.06511581 0.72537294] [-0.19822465 -0.09744696 0.97530051 -0.05629176] [ 0. 0. 0. 1. ]] SLAMing on 109.758241008 meters Centerline goodness : 0.864763 with order 1 Centerline is valid? [False, False] Translation: X:18.77, Y:0.72, Z:-0.05 [[ 0.96746094 0.14127269 0.20990795 18.77185034] [-0.15971582 0.98441605 0.07359277 0.72250724] [-0.19624011 -0.10472375 0.97494757 -0.05162068] [ 0. 0. 0. 1. ]] SLAMing on 109.818241008 meters Centerline goodness : 0.865100 with order 1 Centerline is valid? [False, False] Translation: X:18.78, Y:0.72, Z:-0.05 [[ 0.96809622 0.13985372 0.20791983 18.78496489] [-0.15928343 0.98400518 0.07976588 0.72193482] [-0.19343863 -0.11033923 0.97488807 -0.04975169] [ 0. 0. 0. 1. ]] SLAMing on 109.878241008 meters Centerline goodness : 0.863688 with order 1 Centerline is valid? [False, False] Translation: X:18.79, Y:0.73, Z:-0.05 [[ 0.9682786 0.13987485 0.20705451 18.78737585] [-0.15884059 0.98422464 0.07791993 0.72573468] [-0.19288911 -0.10833687 0.97522147 -0.05296196] [ 0. 0. 0. 1. ]] SLAMing on 109.938241008 meters Centerline goodness : 0.863063 with order 1 Centerline is valid? [False, False] Translation: X:18.79, Y:0.73, Z:-0.05 [[ 0.96850515 0.13929878 0.20638224 18.79086787] [-0.15829739 0.98426452 0.07851931 0.72766894] [-0.19219707 -0.10871613 0.97531589 -0.05190636] [ 0. 0. 0. 1. ]] SLAMing on 109.998241008 meters Centerline goodness : 0.867285 with order 1 Centerline is valid? [False, False] Translation: X:18.81, Y:0.72, Z:-0.04 [[ 0.96833267 0.13585413 0.20946477 18.81407637] [-0.1594536 0.98211112 0.10016139 0.72014574] [-0.19211034 -0.13038946 0.97267271 -0.0387047 ] [ 0. 0. 0. 1. ]] SLAMing on 110.058241008 meters Centerline goodness : 0.864591 with order 1 Centerline is valid? [False, False] Translation: X:18.82, Y:0.72, Z:-0.04 [[ 0.96845645 0.136192 0.20867164 18.81578899] [-0.15960957 0.98212661 0.09976021 0.72305929] [-0.19135542 -0.12991941 0.9728844 -0.03844409] [ 0. 0. 0. 1. ]] SLAMing on 110.118241008 meters Centerline goodness : 0.862686 with order 1 Centerline is valid? [False, False] Translation: X:18.83, Y:0.72, Z:-0.05 [[ 0.96743513 0.13865577 0.21176366 18.83173332] [-0.16036389 0.98304148 0.08895431 0.7245667 ] [-0.19583843 -0.12001677 0.97326424 -0.04773546] [ 0. 0. 0. 1. ]] SLAMing on 110.178241008 meters Centerline goodness : 0.862132 with order 1 Centerline is valid? [False, False] Translation: X:18.86, Y:0.73, Z:-0.06 [[ 0.96666408 0.13998668 0.21439281 18.85624407] [-0.16075735 0.98352816 0.0826404 0.72591785] [-0.19929281 -0.11435073 0.97324523 -0.05816577] [ 0. 0. 0. 1. ]] SLAMing on 110.238241008 meters Centerline goodness : 0.859985 with order 1 Centerline is valid? [False, False] Translation: X:18.87, Y:0.72, Z:-0.06 [[ 0.96801093 0.14394271 0.20551237 18.86912046] [-0.16318733 0.98335441 0.07989994 0.72420176] [-0.19059048 -0.11088103 0.97538744 -0.05799039] [ 0. 0. 0. 1. ]] SLAMing on 110.298241008 meters Centerline goodness : 0.862210 with order 1 Centerline is valid? [False, False] Translation: X:18.87, Y:0.72, Z:-0.06 [[ 0.96873457 0.14322078 0.20258612 18.87467168] [-0.16204417 0.98357428 0.07951933 0.72266482] [-0.18786968 -0.10986102 0.9760305 -0.05755452] [ 0. 0. 0. 1. ]] SLAMing on 110.358241008 meters Centerline goodness : 0.859384 with order 1 Centerline is valid? [False, False] Translation: X:18.89, Y:0.72, Z:-0.05 [[ 0.96916363 0.14174217 0.20157139 18.88630921] [-0.16187577 0.98295954 0.08710212 0.71997636] [-0.18579047 -0.11704573 0.97559325 -0.05285058] [ 0. 0. 0. 1. ]] SLAMing on 110.418241008 meters Centerline goodness : 0.858096 with order 1 Centerline is valid? [False, False] Translation: X:18.90, Y:0.72, Z:-0.06 [[ 0.97021823 0.13846232 0.19875808 18.89760281] [-0.15787999 0.98376284 0.08534977 0.72301344] [-0.18371309 -0.11418783 0.97632507 -0.05831747] [ 0. 0. 0. 1. ]] SLAMing on 110.478241008 meters Centerline goodness : 0.860877 with order 1 Centerline is valid? [False, False] Translation: X:18.91, Y:0.72, Z:-0.06 [[ 0.97158236 0.13321599 0.19565585 18.91242762] [-0.1520519 0.98474766 0.08457102 0.72427736] [-0.18140543 -0.11191756 0.97701921 -0.06273659] [ 0. 0. 0. 1. ]] SLAMing on 110.538241008 meters Centerline goodness : 0.859887 with order 1 Centerline is valid? [False, False] Translation: X:18.93, Y:0.72, Z:-0.05 [[ 0.97263466 0.12404235 0.1964569 18.93149054] [-0.14459204 0.9850243 0.09391628 0.72138119] [-0.18186523 -0.11975233 0.97600431 -0.04927921] [ 0. 0. 0. 1. ]] SLAMing on 110.598241008 meters Centerline goodness : 0.857259 with order 1 Centerline is valid? [False, False] Translation: X:18.93, Y:0.72, Z:-0.03 [[ 0.97311165 0.11499506 0.19957417 18.92755594] [-0.13933984 0.98383024 0.11252765 0.72141643] [-0.18340698 -0.1373106 0.97340006 -0.0326365 ] [ 0. 0. 0. 1. ]] SLAMing on 110.658241008 meters Centerline goodness : 0.855214 with order 1 Centerline is valid? [False, False] Translation: X:18.90, Y:0.73, Z:-0.02 [[ 0.97279955 0.10379715 0.20709223 18.89725353] [-0.13108819 0.98374692 0.12271059 0.73492321] [-0.19098934 -0.14652015 0.97059514 -0.02271459] [ 0. 0. 0. 1. ]] SLAMing on 110.718241008 meters Centerline goodness : 0.854002 with order 1 Centerline is valid? [False, False] Translation: X:18.90, Y:0.74, Z:-0.03 [[ 0.97272367 0.10393852 0.20737752 18.89768509] [-0.13045613 0.98433957 0.11856139 0.74423762] [-0.19180681 -0.14238114 0.97104982 -0.02791908] [ 0. 0. 0. 1. ]] SLAMing on 110.778241008 meters Centerline goodness : 0.851960 with order 1 Centerline is valid? [False, False] Translation: X:18.90, Y:0.75, Z:-0.03 [[ 0.9727306 0.1069178 0.20582458 18.90231505] [-0.13359518 0.9836975 0.1203809 0.75031684] [-0.18959827 -0.14459535 0.97115636 -0.03010369] [ 0. 0. 0. 1. ]] SLAMing on 110.838241008 meters Centerline goodness : 0.851165 with order 1 Centerline is valid? [False, False] Translation: X:18.92, Y:0.75, Z:-0.04 [[ 0.97172094 0.11165991 0.20806362 18.91757376] [-0.13644297 0.98465484 0.10880333 0.75447593] [-0.19272188 -0.13411529 0.97204494 -0.04251323] [ 0. 0. 0. 1. ]] SLAMing on 110.898241008 meters Centerline goodness : 0.853005 with order 1 Centerline is valid? [False, False] Translation: X:18.94, Y:0.75, Z:-0.03 [[ 0.97152834 0.10973206 0.20997989 18.94261355] [-0.13892284 0.98177232 0.12970566 0.75417242] [-0.19191957 -0.15518373 0.96906392 -0.03260847] [ 0. 0. 0. 1. ]] SLAMing on 110.958241008 meters Centerline goodness : 0.853567 with order 1 Centerline is valid? [False, False] Translation: X:18.95, Y:0.76, Z:-0.05 [[ 0.97113246 0.11908715 0.20668818 18.95369803] [-0.14532443 0.98247231 0.11674322 0.76266402] [-0.18916279 -0.14340997 0.97141702 -0.04604819] [ 0. 0. 0. 1. ]] SLAMing on 111.018241008 meters Centerline goodness : 0.850345 with order 1 Centerline is valid? [False, False] Translation: X:18.97, Y:0.76, Z:-0.05 [[ 0.97238688 0.12507301 0.19702916 18.96840401] [-0.14911336 0.98242562 0.11227246 0.76315617] [-0.17952424 -0.13855195 0.97394784 -0.04595719] [ 0. 0. 0. 1. ]] SLAMing on 111.078241008 meters Centerline goodness : 0.852325 with order 1 Centerline is valid? [False, False] Translation: X:18.98, Y:0.76, Z:-0.04 [[ 0.97289137 0.12357134 0.19548021 18.98167067] [-0.14885226 0.98150526 0.12037619 0.76345463] [-0.17698981 -0.14621063 0.97329187 -0.03849297] [ 0. 0. 0. 1. ]] SLAMing on 111.138241008 meters Centerline goodness : 0.849588 with order 1 Centerline is valid? [False, False] Translation: X:19.02, Y:0.76, Z:-0.03 [[ 0.97151117 0.11385002 0.20785627 19.01967613] [-0.14483729 0.97942999 0.14049571 0.75696344] [-0.18758522 -0.16659849 0.9680169 -0.03157769] [ 0. 0. 0. 1. ]] SLAMing on 111.198241008 meters Centerline goodness : 0.847633 with order 1 Centerline is valid? [False, False] Translation: X:19.02, Y:0.76, Z:-0.03 [[ 0.97169422 0.11340652 0.20724212 19.02237553] [-0.14408052 0.97969181 0.13944449 0.75966582] [-0.18721949 -0.16535696 0.96830054 -0.03304399] [ 0. 0. 0. 1. ]] SLAMing on 111.258241008 meters Centerline goodness : 0.849312 with order 1 Centerline is valid? [False, False] Translation: X:19.04, Y:0.76, Z:-0.05 [[ 0.97083744 0.11663456 0.20945414 19.03806219] [-0.14505625 0.9813853 0.12586335 0.76240792] [-0.1908752 -0.15257549 0.96968416 -0.04882906] [ 0. 0. 0. 1. ]] SLAMing on 111.318241008 meters Centerline goodness : 0.859025 with order 1 Centerline is valid? [False, False] Translation: X:19.06, Y:0.76, Z:-0.06 [[ 0.97156626 0.11967462 0.20429631 19.06424436] [-0.14607539 0.98203932 0.1194184 0.75745193] [-0.18633566 -0.14586555 0.97159779 -0.05863698] [ 0. 0. 0. 1. ]] SLAMing on 111.378241008 meters Centerline goodness : 0.860540 with order 1 Centerline is valid? [False, False] Translation: X:19.09, Y:0.75, Z:-0.07 [[ 0.97246988 0.12102802 0.19913449 19.09112809] [-0.14573178 0.98268378 0.1144327 0.7522645 ] [-0.18183667 -0.14030258 0.97326801 -0.06511297] [ 0. 0. 0. 1. ]] SLAMing on 111.438241008 meters Centerline goodness : 0.860179 with order 1 Centerline is valid? [False, False] Translation: X:19.10, Y:0.74, Z:-0.04 [[ 0.97260348 0.1098365 0.20488635 19.09997465] [-0.14178745 0.97871048 0.14839852 0.742033 ] [-0.18422484 -0.17338323 0.96747065 -0.03710635] [ 0. 0. 0. 1. ]] SLAMing on 111.498241008 meters Centerline goodness : 0.859350 with order 1 Centerline is valid? [False, False] Translation: X:19.09, Y:0.75, Z:-0.03 [[ 0.97374607 0.10513343 0.2019048 19.08753577] [-0.137683 0.97833823 0.15458883 0.74687763] [-0.18127873 -0.17832912 0.96712809 -0.03119464] [ 0. 0. 0. 1. ]] SLAMing on 111.558241008 meters Centerline goodness : 0.855239 with order 1 Centerline is valid? [False, False] Translation: X:19.09, Y:0.75, Z:-0.03 [[ 0.97375145 0.10516881 0.20186044 19.08851408] [-0.13750013 0.97854047 0.15346745 0.75128058] [-0.18138862 -0.17719498 0.96731593 -0.03163151] [ 0. 0. 0. 1. ]] SLAMing on 111.618241008 meters Centerline goodness : 0.852886 with order 1 Centerline is valid? [False, False] Translation: X:19.10, Y:0.76, Z:-0.04 [[ 0.97462593 0.11200574 0.19380145 19.09809089] [-0.14071464 0.97991201 0.14132178 0.7574361 ] [-0.17407952 -0.16500657 0.9708085 -0.0362149 ] [ 0. 0. 0. 1. ]] SLAMing on 111.678241008 meters Centerline goodness : 0.853087 with order 1 Centerline is valid? [False, False] Translation: X:19.11, Y:0.76, Z:-0.06 [[ 0.97405798 0.11661843 0.19393607 19.11409701] [-0.14248644 0.98184092 0.12524388 0.7648858 ] [-0.17580862 -0.14962806 0.97298652 -0.05536918] [ 0. 0. 0. 1. ]] SLAMing on 111.738241008 meters Centerline goodness : 0.856747 with order 1 Centerline is valid? [False, False] Translation: X:19.13, Y:0.77, Z:-0.06 [[ 0.97535815 0.12261678 0.18341648 19.13331576] [-0.14593667 0.98204537 0.1195382 0.76572553] [-0.16546591 -0.14335975 0.97574024 -0.05924967] [ 0. 0. 0. 1. ]] SLAMing on 111.798241008 meters Centerline goodness : 0.853334 with order 1 Centerline is valid? [False, False] Translation: X:19.15, Y:0.77, Z:-0.06 [[ 0.97670377 0.1274206 0.17266653 19.15483166] [-0.14881864 0.98189347 0.11721017 0.76548526] [-0.15460515 -0.14017561 0.97798162 -0.06340826] [ 0. 0. 0. 1. ]] SLAMing on 111.858241008 meters Centerline goodness : 0.854314 with order 1 Centerline is valid? [False, False] Translation: X:19.18, Y:0.76, Z:-0.05 [[ 0.97705226 0.12214681 0.17449653 19.17886123] [-0.14648448 0.98007339 0.13415825 0.76278586] [-0.1546324 -0.15664066 0.97547554 -0.05068381] [ 0. 0. 0. 1. ]] SLAMing on 111.918241008 meters Centerline goodness : 0.852444 with order 1 Centerline is valid? [False, False] Translation: X:19.18, Y:0.77, Z:-0.06 [[ 0.97749465 0.11977529 0.17366085 19.17929827] [-0.1427609 0.98163698 0.12652335 0.77091649] [-0.15531754 -0.14846788 0.97664413 -0.05544071] [ 0. 0. 0. 1. ]] SLAMing on 111.978241008 meters Centerline goodness : 0.853850 with order 1 Centerline is valid? [False, False] Translation: X:19.18, Y:0.78, Z:-0.05 [[ 0.97755072 0.11859638 0.17415361 19.18210177] [-0.141857 0.98160177 0.12780668 0.77535943] [-0.15579209 -0.14964242 0.97638925 -0.05181301] [ 0. 0. 0. 1. ]] SLAMing on 112.038241008 meters Centerline goodness : 0.855991 with order 1 Centerline is valid? [False, False] Translation: X:19.19, Y:0.78, Z:-0.06 [[ 0.97683909 0.12070824 0.17667741 19.19257562] [-0.14155443 0.98373906 0.1105432 0.78109361] [-0.160461 -0.13299239 0.97804156 -0.0632419 ] [ 0. 0. 0. 1. ]] SLAMing on 112.098241008 meters Centerline goodness : 0.847606 with order 1 Centerline is valid? [False, False] Translation: X:19.19, Y:0.78, Z:-0.06 [[ 0.9769672 0.12035955 0.17620633 19.19472448] [-0.14100853 0.98390656 0.10974728 0.78363946] [-0.16016143 -0.13206609 0.97821616 -0.06410679] [ 0. 0. 0. 1. ]] SLAMing on 112.158241008 meters Centerline goodness : 0.853800 with order 1 Centerline is valid? [False, False] Translation: X:19.20, Y:0.79, Z:-0.06 [[ 0.97703449 0.12021809 0.17592958 19.19726202] [-0.14102737 0.9837673 0.11096473 0.78537258] [-0.1597338 -0.13322726 0.97812863 -0.06187576] [ 0. 0. 0. 1. ]] SLAMing on 112.218241008 meters Centerline goodness : 0.850295 with order 1 Centerline is valid? [False, False] Translation: X:19.20, Y:0.79, Z:-0.07 [[ 0.97748198 0.11982542 0.17369757 19.20309388] [-0.1400579 0.98409234 0.109298 0.78733466] [-0.15783777 -0.13116454 0.97871503 -0.06575792] [ 0. 0. 0. 1. ]] SLAMing on 112.278241008 meters Centerline goodness : 0.850595 with order 1 Centerline is valid? [False, False] Translation: X:19.21, Y:0.79, Z:-0.07 [[ 0.97777574 0.119004 0.17260549 19.20845292] [-0.13903877 0.98426802 0.10901686 0.78997155] [-0.15691662 -0.13059289 0.97893956 -0.0679241 ] [ 0. 0. 0. 1. ]] SLAMing on 112.338241008 meters Centerline goodness : 0.849377 with order 1 Centerline is valid? [False, False] Translation: X:19.21, Y:0.80, Z:-0.07 [[ 0.97818114 0.11783664 0.17110284 19.21451645] [-0.1372295 0.98481942 0.10629567 0.79634138] [-0.15597987 -0.12745677 0.97950245 -0.07253832] [ 0. 0. 0. 1. ]] SLAMing on 112.398241008 meters Centerline goodness : 0.849967 with order 1 Centerline is valid? [False, False] Translation: X:19.23, Y:0.80, Z:-0.07 [[ 0.97946097 0.12070044 0.16151658 19.2298569 ] [-0.13774652 0.98552355 0.09883943 0.79827992] [-0.14724843 -0.11905771 0.98190792 -0.07127246] [ 0. 0. 0. 1. ]] SLAMing on 112.458241008 meters Centerline goodness : 0.848552 with order 1 Centerline is valid? [False, False] Translation: X:19.23, Y:0.80, Z:-0.06 [[ 0.97945601 0.12011704 0.16198094 19.23056143] [-0.13745123 0.98540677 0.10040247 0.80181666] [-0.14755707 -0.12060428 0.98167282 -0.0641621 ] [ 0. 0. 0. 1. ]] SLAMing on 112.518241008 meters Centerline goodness : 0.844857 with order 1 Centerline is valid? [False, False] Translation: X:19.23, Y:0.81, Z:-0.07 [[ 0.97974377 0.11920357 0.16091193 19.23393764] [-0.13623568 0.9856872 0.09930049 0.80504194] [-0.14677186 -0.11921098 0.98196067 -0.06522065] [ 0. 0. 0. 1. ]] SLAMing on 112.578241008 meters Centerline goodness : 0.845471 with order 1 Centerline is valid? [False, False] Translation: X:19.24, Y:0.81, Z:-0.07 [[ 0.98016537 0.11801291 0.15921308 19.24060047] [-0.13462822 0.98604502 0.09793092 0.81242465] [-0.14543415 -0.11742307 0.98237505 -0.06669431] [ 0. 0. 0. 1. ]] SLAMing on 112.638241008 meters Centerline goodness : 0.842136 with order 1 Centerline is valid? [False, False] Translation: X:19.24, Y:0.82, Z:-0.06 [[ 0.98152849 0.10859706 0.15750716 19.24061344] [-0.12643417 0.98607621 0.10801901 0.81517343] [-0.14358351 -0.12593802 0.98159227 -0.06006587] [ 0. 0. 0. 1. ]] SLAMing on 112.698241008 meters Centerline goodness : 0.839510 with order 1 Centerline is valid? [False, False] Translation: X:19.24, Y:0.82, Z:-0.05 [[ 0.98224188 0.10240652 0.1572062 19.23982761] [-0.12207179 0.98511836 0.12099705 0.82180845] [-0.14247583 -0.13803882 0.98012546 -0.053244 ] [ 0. 0. 0. 1. ]] SLAMing on 112.758241008 meters Centerline goodness : 0.836074 with order 1 Centerline is valid? [False, False] Translation: X:19.23, Y:0.83, Z:-0.05 [[ 0.98353778 0.09833198 0.15160562 19.2319714 ] [-0.11731989 0.9855902 0.12185238 0.83478323] [-0.13743903 -0.13763277 0.98090149 -0.05370717] [ 0. 0. 0. 1. ]] SLAMing on 112.818241008 meters Centerline goodness : 0.834954 with order 1 Centerline is valid? [False, False] Translation: X:19.23, Y:0.84, Z:-0.06 [[ 0.98366272 0.09853292 0.1506616 19.23427909] [-0.11698788 0.98598109 0.11897536 0.84040499] [-0.1368265 -0.1346572 0.98139999 -0.05757341] [ 0. 0. 0. 1. ]] SLAMing on 112.878241008 meters Centerline goodness : 0.833124 with order 1 Centerline is valid? [False, False] Translation: X:19.25, Y:0.85, Z:-0.07 [[ 0.98243683 0.10682961 0.15298796 19.24642083] [-0.12421759 0.98625032 0.1089968 0.84705082] [-0.13924033 -0.12608627 0.98219875 -0.06943829] [ 0. 0. 0. 1. ]] SLAMing on 112.938241008 meters Centerline goodness : 0.828734 with order 1 Centerline is valid? [False, False] Translation: X:19.26, Y:0.85, Z:-0.08 [[ 0.98109211 0.11370707 0.15661727 19.25989388] [-0.13036521 0.98635633 0.10052912 0.85191039] [-0.14304957 -0.11904577 0.98252986 -0.07960078] [ 0. 0. 0. 1. ]] SLAMing on 112.998241008 meters Centerline goodness : 0.830401 with order 1 Centerline is valid? [False, False] Translation: X:19.27, Y:0.86, Z:-0.09 [[ 0.97962547 0.12181891 0.15966871 19.26776296] [-0.13721472 0.98651674 0.08920116 0.85731236] [-0.14664947 -0.10929262 0.98313227 -0.08943149] [ 0. 0. 0. 1. ]] SLAMing on 113.058241008 meters Centerline goodness : 0.830355 with order 1 Centerline is valid? [False, False] Translation: X:19.28, Y:0.86, Z:-0.10 [[ 0.97878483 0.12487531 0.16243893 19.28109971] [-0.13851127 0.98748037 0.0754795 0.86105403] [-0.15097973 -0.09637781 0.98382744 -0.10192743] [ 0. 0. 0. 1. ]] SLAMing on 113.118241008 meters Centerline goodness : 0.830214 with order 1 Centerline is valid? [False, False] Translation: X:19.30, Y:0.86, Z:-0.11 [[ 0.97825676 0.12702014 0.16394998 19.29842275] [-0.13884636 0.98832288 0.06276599 0.8629296 ] [-0.15406298 -0.08416511 0.98446982 -0.11435551] [ 0. 0. 0. 1. ]] SLAMing on 113.178241008 meters Centerline goodness : 0.836017 with order 1 Centerline is valid? [False, False] Translation: X:19.32, Y:0.86, Z:-0.12 [[ 0.97845934 0.12376073 0.16522894 19.32438626] [-0.13446067 0.98938123 0.0551825 0.85926794] [-0.15664499 -0.07621063 0.98471026 -0.11911923] [ 0. 0. 0. 1. ]] SLAMing on 113.238241008 meters Centerline goodness : 0.838700 with order 1 Centerline is valid? [False, False] Translation: X:19.37, Y:0.85, Z:-0.13 [[ 0.97977525 0.1221471 0.1584946 19.36538491] [-0.13254834 0.98954973 0.05676506 0.85486141] [-0.1499046 -0.0766252 0.98572673 -0.12525108] [ 0. 0. 0. 1. ]] SLAMing on 113.298241008 meters Centerline goodness : 0.841582 with order 1 Centerline is valid? [False, False] Translation: X:19.39, Y:0.85, Z:-0.13 [[ 0.9802795 0.11899364 0.15777394 19.39350124] [-0.13151737 0.98873677 0.0714338 0.85002061] [-0.14749673 -0.0907751 0.98488811 -0.12629669] [ 0. 0. 0. 1. ]] SLAMing on 113.358241008 meters Centerline goodness : 0.841976 with order 1 Centerline is valid? [False, False] Translation: X:19.40, Y:0.85, Z:-0.12 [[ 0.98060239 0.11817833 0.15637401 19.40388693] [-0.1315392 0.98823635 0.07801505 0.84573943] [-0.14531479 -0.09707105 0.98461202 -0.12328784] [ 0. 0. 0. 1. ]] SLAMing on 113.418241008 meters Centerline goodness : 0.839679 with order 1 Centerline is valid? [False, False] Translation: X:19.42, Y:0.85, Z:-0.13 [[ 0.98000545 0.11935515 0.15919697 19.42136478] [-0.13143699 0.98901561 0.06761976 0.84531057] [-0.14937752 -0.0871921 0.98492837 -0.13126052] [ 0. 0. 0. 1. ]] SLAMing on 113.478241008 meters Centerline goodness : 0.840577 with order 1 Centerline is valid? [False, False] Translation: X:19.45, Y:0.84, Z:-0.14 [[ 0.97950649 0.12129064 0.16079684 19.44564471] [-0.13302175 0.98902644 0.06427994 0.84196188] [-0.15123577 -0.0843521 0.98489211 -0.13608813] [ 0. 0. 0. 1. ]] SLAMing on 113.538241008 meters Centerline goodness : 0.852062 with order 1 Centerline is valid? [False, False] Translation: X:19.47, Y:0.84, Z:-0.14 [[ 0.97887407 0.12179674 0.16422885 19.47097343] [-0.13348868 0.98910261 0.06210316 0.8397121 ] [-0.15487522 -0.08271387 0.98446538 -0.1387805 ] [ 0. 0. 0. 1. ]] SLAMing on 113.598241008 meters Centerline goodness : 0.845289 with order 1 Centerline is valid? [False, False] Translation: X:19.50, Y:0.83, Z:-0.14 [[ 0.9792537 0.12530763 0.15924883 19.49748383] [-0.13633271 0.98882858 0.06026129 0.83389528] [-0.14991859 -0.08072191 0.98539758 -0.14297261] [ 0. 0. 0. 1. ]] SLAMing on 113.658241008 meters Centerline goodness : 0.846449 with order 1 Centerline is valid? [False, False] Translation: X:19.51, Y:0.83, Z:-0.14 [[ 0.97985213 0.13182188 0.15004262 19.51067885] [-0.14144757 0.98839698 0.05535329 0.83458351] [-0.14100489 -0.0754612 0.98712878 -0.14468162] [ 0. 0. 0. 1. ]] SLAMing on 113.718241008 meters Centerline goodness : 0.848579 with order 1 Centerline is valid? [False, False] Translation: X:19.53, Y:0.84, Z:-0.15 [[ 0.97883855 0.13665423 0.15231781 19.528341 ] [-0.14538243 0.98822658 0.04766734 0.83676721] [-0.14401056 -0.06880297 0.9871814 -0.15338166] [ 0. 0. 0. 1. ]] SLAMing on 113.778241008 meters Centerline goodness : 0.847007 with order 1 Centerline is valid? [False, False] Translation: X:19.53, Y:0.84, Z:-0.15 [[ 0.97858694 0.13903402 0.15177989 19.53153001] [-0.14827739 0.98761292 0.05132774 0.83784029] [-0.14276348 -0.07273418 0.98708071 -0.15343146] [ 0. 0. 0. 1. ]] SLAMing on 113.838241008 meters Centerline goodness : 0.845357 with order 1 Centerline is valid? [False, False] Translation: X:19.54, Y:0.84, Z:-0.15 [[ 0.97884329 0.138532 0.15058122 19.54083397] [-0.14857155 0.98722567 0.0575498 0.8356954 ] [-0.14068515 -0.07870432 0.98692113 -0.15042916] [ 0. 0. 0. 1. ]] SLAMing on 113.898241008 meters Centerline goodness : 0.848571 with order 1 Centerline is valid? [False, False] Translation: X:19.54, Y:0.84, Z:-0.15 [[ 0.97936497 0.1352163 0.15020258 19.54037176] [-0.14454418 0.98807922 0.05297576 0.83703432] [-0.14124886 -0.07359351 0.9872349 -0.15040558] [ 0. 0. 0. 1. ]] SLAMing on 113.958241008 meters Centerline goodness : 0.851792 with order 1 Centerline is valid? [False, False] Translation: X:19.56, Y:0.84, Z:-0.14 [[ 0.98047172 0.12764014 0.14961018 19.5577071 ] [-0.13762551 0.98876322 0.05836529 0.83570909] [-0.14047929 -0.0778157 0.98702091 -0.14378976] [ 0. 0. 0. 1. ]] SLAMing on 114.018241008 meters Centerline goodness : 0.849425 with order 1 Centerline is valid? [False, False] Translation: X:19.59, Y:0.82, Z:-0.12 [[ 0.97993051 0.11987899 0.15926462 19.58762947] [-0.13504793 0.98691699 0.08807338 0.82343144] [-0.14662281 -0.10781415 0.98329948 -0.12333599] [ 0. 0. 0. 1. ]] SLAMing on 114.078241008 meters Centerline goodness : 0.846503 with order 1 Centerline is valid? [False, False] Translation: X:19.57, Y:0.82, Z:-0.11 [[ 0.97982894 0.10634703 0.1691909 19.5703595 ] [-0.12657726 0.9854258 0.11364062 0.82413284] [-0.15463973 -0.13276409 0.97900983 -0.1092026 ] [ 0. 0. 0. 1. ]] SLAMing on 114.138241008 meters Centerline goodness : 0.851752 with order 1 Centerline is valid? [False, False] Translation: X:19.54, Y:0.83, Z:-0.10 [[ 0.97984445 0.09463066 0.17592579 19.5448423 ] [-0.11822133 0.98459369 0.12883707 0.82868331] [-0.16102348 -0.14703847 0.97593603 -0.10046503] [ 0. 0. 0. 1. ]] SLAMing on 114.198241008 meters Centerline goodness : 0.849757 with order 1 Centerline is valid? [False, False] Translation: X:19.50, Y:0.84, Z:-0.09 [[ 0.98025042 0.08565207 0.17824934 19.4995312 ] [-0.10984144 0.98533401 0.13058234 0.83853268] [-0.16445049 -0.14758256 0.97528223 -0.09030985] [ 0. 0. 0. 1. ]] SLAMing on 114.258241008 meters Centerline goodness : 0.852262 with order 1 Centerline is valid? [False, False] Translation: X:19.45, Y:0.86, Z:-0.09 [[ 0.97950402 0.08803731 0.18116652 19.4522175 ] [-0.10998777 0.98726869 0.11490525 0.85762206] [-0.16874409 -0.13247625 0.97671668 -0.09359161] [ 0. 0. 0. 1. ]] SLAMing on 114.318241008 meters Centerline goodness : 0.847357 with order 1 Centerline is valid? [False, False] Translation: X:19.43, Y:0.87, Z:-0.10 [[ 0.97905304 0.09514358 0.18000792 19.42787904] [-0.11476892 0.98814858 0.10193366 0.86843723] [-0.16817624 -0.12045777 0.9783694 -0.0966642 ] [ 0. 0. 0. 1. ]] SLAMing on 114.378241008 meters Centerline goodness : 0.855213 with order 1 Centerline is valid? [False, False] Translation: X:19.43, Y:0.88, Z:-0.10 [[ 0.97799469 0.10235666 0.18179519 19.42617377] [-0.12323038 0.98654039 0.10748182 0.87680777] [-0.16834682 -0.12751934 0.97744471 -0.09715719] [ 0. 0. 0. 1. ]] SLAMing on 114.438241008 meters Centerline goodness : 0.847414 with order 1 Centerline is valid? [False, False] Translation: X:19.43, Y:0.88, Z:-0.09 [[ 0.97743995 0.11164023 0.17929753 19.43445707] [-0.13163136 0.98585539 0.10374169 0.88301977] [-0.16517969 -0.12500245 0.9783098 -0.09361895] [ 0. 0. 0. 1. ]] SLAMing on 114.498241008 meters Centerline goodness : 0.852012 with order 1 Centerline is valid? [False, False] Translation: X:19.45, Y:0.88, Z:-0.08 [[ 0.97662094 0.11153529 0.18377003 19.45385544] [-0.13611557 0.98251213 0.12705302 0.87923641] [-0.16638539 -0.1490966 0.9747236 -0.08151583] [ 0. 0. 0. 1. ]] SLAMing on 114.558241008 meters Centerline goodness : 0.849945 with order 1 Centerline is valid? [False, False] Translation: X:19.49, Y:0.87, Z:-0.08 [[ 0.9762506 0.11260064 0.18508341 19.48546235] [-0.13858091 0.9812439 0.13399906 0.8745651 ] [-0.16652359 -0.15646569 0.97354424 -0.07909114] [ 0. 0. 0. 1. ]] SLAMing on 114.618241008 meters Centerline goodness : 0.850661 with order 1 Centerline is valid? [False, False] Translation: X:19.50, Y:0.87, Z:-0.07 [[ 0.9757621 0.10902272 0.18974293 19.49852089] [-0.13867506 0.97879793 0.15074426 0.86848368] [-0.16928544 -0.17340314 0.97019266 -0.06503971] [ 0. 0. 0. 1. ]] SLAMing on 114.678241008 meters Centerline goodness : 0.851570 with order 1 Centerline is valid? [False, False] Translation: X:19.51, Y:0.87, Z:-0.08 [[ 0.97455878 0.11327427 0.19340144 19.50670989] [-0.14099866 0.98060099 0.13616562 0.87093776] [-0.17422558 -0.15997074 0.97162483 -0.07557194] [ 0. 0. 0. 1. ]] SLAMing on 114.738241008 meters Centerline goodness : 0.846802 with order 1 Centerline is valid? [False, False] Translation: X:19.52, Y:0.87, Z:-0.08 [[ 0.97331109 0.11668329 0.1976121 19.52449299] [-0.14404137 0.98096508 0.13022904 0.87195122] [-0.17865501 -0.15521769 0.9715914 -0.08175426] [ 0. 0. 0. 1. ]] SLAMing on 114.798241008 meters Centerline goodness : 0.847473 with order 1 Centerline is valid? [False, False] Translation: X:19.54, Y:0.87, Z:-0.09 [[ 0.97190692 0.12241439 0.20102649 19.54109399] [-0.14911866 0.98107339 0.1235258 0.87339754] [-0.1821004 -0.15003238 0.97176629 -0.09207747] [ 0. 0. 0. 1. ]] SLAMing on 114.858241008 meters Centerline goodness : 0.849648 with order 1 Centerline is valid? [False, False] Translation: X:19.57, Y:0.87, Z:-0.10 [[ 0.97183059 0.13290987 0.19462855 19.56780144] [-0.15613505 0.98167567 0.1092462 0.87050575] [-0.17654222 -0.13655714 0.97477433 -0.10130811] [ 0. 0. 0. 1. ]] SLAMing on 114.918241008 meters Centerline goodness : 0.848572 with order 1 Centerline is valid? [False, False] Translation: X:19.58, Y:0.87, Z:-0.11 [[ 0.9707989 0.13627241 0.19743184 19.58218299] [-0.15770834 0.98269077 0.09719528 0.87199253] [-0.18076941 -0.12549372 0.97548642 -0.11334025] [ 0. 0. 0. 1. ]] SLAMing on 114.978241008 meters Centerline goodness : 0.844960 with order 1 Centerline is valid? [False, False] Translation: X:19.59, Y:0.87, Z:-0.13 [[ 0.97003829 0.13877409 0.19941784 19.59435902] [-0.15764188 0.98408555 0.08200412 0.87418032] [-0.18486417 -0.11098374 0.97647726 -0.12535214] [ 0. 0. 0. 1. ]] SLAMing on 115.038241008 meters Centerline goodness : 0.843073 with order 1 Centerline is valid? [False, False] Translation: X:19.64, Y:0.86, Z:-0.12 [[ 0.97117798 0.13371697 0.19731474 19.64204576] [-0.15469787 0.98338417 0.09499549 0.85959894] [-0.18133369 -0.1227817 0.97572678 -0.12337362] [ 0. 0. 0. 1. ]] SLAMing on 115.098241008 meters Centerline goodness : 0.846288 with order 1 Centerline is valid? [False, False] Translation: X:19.69, Y:0.85, Z:-0.11 [[ 0.9722472 0.12671771 0.19666725 19.6925845 ] [-0.15079223 0.98212611 0.11264994 0.8462052 ] [-0.1788773 -0.13917948 0.9739774 -0.1146675 ] [ 0. 0. 0. 1. ]] SLAMing on 115.158241008 meters Centerline goodness : 0.847271 with order 1 Centerline is valid? [False, False] Translation: X:19.73, Y:0.83, Z:-0.10 [[ 0.97270722 0.11121977 0.20364387 19.73306231] [-0.14089364 0.98042686 0.13752149 0.83067568] [-0.18436281 -0.16246027 0.96933844 -0.09785858] [ 0. 0. 0. 1. ]] SLAMing on 115.21824100799999 meters Centerline goodness : 0.851699 with order 1 Centerline is valid? [False, False] Translation: X:19.74, Y:0.83, Z:-0.10 [[ 0.9736528 0.10399687 0.20294058 19.73614776] [-0.13208949 0.98265388 0.13016804 0.833337 ] [-0.18588328 -0.1535448 0.97050059 -0.09742514] [ 0. 0. 0. 1. ]] SLAMing on 115.278241008 meters Centerline goodness : 0.851114 with order 1 Centerline is valid? [False, False] Translation: X:19.74, Y:0.83, Z:-0.08 [[ 0.97402701 0.09313175 0.20639247 19.7370332 ] [-0.12586394 0.98039585 0.15159899 0.83140055] [-0.18822764 -0.17363888 0.96665397 -0.08046785] [ 0. 0. 0. 1. ]] SLAMing on 115.338241008 meters Centerline goodness : 0.848613 with order 1 Centerline is valid? [False, False] Translation: X:19.71, Y:0.84, Z:-0.08 [[ 0.97423207 0.09160871 0.20610608 19.71207839] [-0.12375106 0.98108 0.14888827 0.84197758] [-0.18856709 -0.17055757 0.96713627 -0.08284635] [ 0. 0. 0. 1. ]] SLAMing on 115.398241008 meters Centerline goodness : 0.854556 with order 1 Centerline is valid? [False, False] Translation: X:19.68, Y:0.85, Z:-0.08 [[ 0.97436042 0.09259287 0.20505692 19.68407473] [-0.12483082 0.98072648 0.15030913 0.85043925] [-0.1871872 -0.17205269 0.96713951 -0.07671418] [ 0. 0. 0. 1. ]] SLAMing on 115.458241008 meters Centerline goodness : 0.853449 with order 1 Centerline is valid? [False, False] Translation: X:19.65, Y:0.86, Z:-0.07 [[ 0.97402496 0.09393317 0.20603868 19.64869868] [-0.12566111 0.98116135 0.14673682 0.86055163] [-0.18837373 -0.16881638 0.96747939 -0.06848544] [ 0. 0. 0. 1. ]] SLAMing on 115.518241008 meters Centerline goodness : 0.859697 with order 1 Centerline is valid? [False, False] Translation: X:19.63, Y:0.86, Z:-0.04 [[ 0.97290566 0.08276068 0.2158825 19.62780603] [-0.12217965 0.97674695 0.17617472 0.86258708] [-0.19628223 -0.19777783 0.9603943 -0.04469536] [ 0. 0. 0. 1. ]] SLAMing on 115.578241008 meters Centerline goodness : 0.850693 with order 1 Centerline is valid? [False, False] Translation: X:19.62, Y:0.87, Z:-0.05 [[ 0.97268589 0.0820618 0.21713594 19.62306574] [-0.11997765 0.97851977 0.16764371 0.87069683] [-0.19871467 -0.18911613 0.96163796 -0.0520851 ] [ 0. 0. 0. 1. ]] SLAMing on 115.638241008 meters Centerline goodness : 0.850760 with order 1 Centerline is valid? [False, False] Translation: X:19.61, Y:0.88, Z:-0.05 [[ 0.97193344 0.08304303 0.22011189 19.61317657] [-0.12077371 0.97905276 0.1639189 0.87609403] [-0.20188883 -0.18590199 0.96160353 -0.04902608] [ 0. 0. 0. 1. ]] SLAMing on 115.698241008 meters Centerline goodness : 0.855105 with order 1 Centerline is valid? [False, False] Translation: X:19.62, Y:0.88, Z:-0.06 [[ 0.970141 0.08736456 0.22626064 19.62421669] [-0.12454506 0.97993111 0.15563917 0.88010507] [-0.20812249 -0.17917159 0.96155217 -0.0561875 ] [ 0. 0. 0. 1. ]] SLAMing on 115.758241008 meters Centerline goodness : 0.849950 with order 1 Centerline is valid? [False, False] Translation: X:19.64, Y:0.88, Z:-0.06 [[ 0.96838747 0.09280112 0.23154625 19.63612132] [-0.12945377 0.98040666 0.1484739 0.88384257] [-0.21323095 -0.1737548 0.96142698 -0.06272131] [ 0. 0. 0. 1. ]] SLAMing on 115.818241008 meters Centerline goodness : 0.852102 with order 1 Centerline is valid? [False, False] Translation: X:19.65, Y:0.89, Z:-0.07 [[ 0.96680849 0.09821571 0.23587078 19.65299242] [-0.13464764 0.98042416 0.14366099 0.88711545] [-0.21714364 -0.17065211 0.96110691 -0.071276 ] [ 0. 0. 0. 1. ]] SLAMing on 115.878241008 meters Centerline goodness : 0.856763 with order 1 Centerline is valid? [False, False] Translation: X:19.64, Y:0.90, Z:-0.08 [[ 0.96639336 0.11049422 0.23210967 19.63727369] [-0.1406938 0.98301731 0.11782284 0.89714326] [-0.21514908 -0.1465196 0.96552725 -0.07824515] [ 0. 0. 0. 1. ]] SLAMing on 115.938241008 meters Centerline goodness : 0.849743 with order 1 Centerline is valid? [False, False] Translation: X:19.64, Y:0.90, Z:-0.09 [[ 0.96517649 0.11754052 0.23370617 19.64134085] [-0.14397447 0.98457531 0.09941236 0.90422149] [-0.21841634 -0.12959819 0.96721177 -0.09271026] [ 0. 0. 0. 1. ]] SLAMing on 115.998241008 meters Centerline goodness : 0.847145 with order 1 Centerline is valid? [False, False] Translation: X:19.65, Y:0.91, Z:-0.10 [[ 0.96578065 0.11633818 0.23180416 19.64739933] [-0.14161724 0.9853018 0.09552448 0.90890139] [-0.21728391 -0.12508316 0.9680609 -0.10224153] [ 0. 0. 0. 1. ]] SLAMing on 116.058241008 meters Centerline goodness : 0.848939 with order 1 Centerline is valid? [False, False] Translation: X:19.70, Y:0.89, Z:-0.08 [[ 0.96579329 0.10761472 0.23592881 19.70287344] [-0.14045896 0.98189368 0.12710661 0.89059807] [-0.21797846 -0.15589702 0.96342177 -0.08291214] [ 0. 0. 0. 1. ]] SLAMing on 116.118241008 meters Centerline goodness : 0.849791 with order 1 Centerline is valid? [False, False] Translation: X:19.73, Y:0.89, Z:-0.09 [[ 0.96512837 0.10563222 0.23951841 19.72998675] [-0.13802947 0.98279167 0.12275338 0.8911892 ] [-0.22242998 -0.15153336 0.96310048 -0.08717973] [ 0. 0. 0. 1. ]] SLAMing on 116.178241008 meters Centerline goodness : 0.852029 with order 1 Centerline is valid? [False, False] Translation: X:19.75, Y:0.89, Z:-0.09 [[ 0.96409892 0.10589064 0.24351683 19.75322696] [-0.1378549 0.98337837 0.11816513 0.89255347] [-0.22695661 -0.14749286 0.96267157 -0.09291833] [ 0. 0. 0. 1. ]] SLAMing on 116.238241008 meters Centerline goodness : 0.852418 with order 1 Centerline is valid? [False, False] Translation: X:19.76, Y:0.90, Z:-0.09 [[ 0.9645763 0.10591715 0.24160735 19.76298515] [-0.13863975 0.98271392 0.12268814 0.89534487] [-0.22443613 -0.15183846 0.96258688 -0.09292339] [ 0. 0. 0. 1. ]] SLAMing on 116.298241008 meters Centerline goodness : 0.849325 with order 1 Centerline is valid? [False, False] Translation: X:19.77, Y:0.90, Z:-0.10 [[ 0.96292704 0.11307199 0.24492088 19.7739386 ] [-0.14399983 0.98319189 0.11223977 0.90006142] [-0.22811305 -0.14334727 0.9630244 -0.10382763] [ 0. 0. 0. 1. ]] SLAMing on 116.358241008 meters Centerline goodness : 0.851902 with order 1 Centerline is valid? [False, False] Translation: X:19.78, Y:0.91, Z:-0.11 [[ 0.96168112 0.12467088 0.24418558 19.7795637 ] [-0.1527479 0.98323632 0.09957113 0.90682751] [-0.22767851 -0.13305451 0.96460302 -0.11397542] [ 0. 0. 0. 1. ]] SLAMing on 116.418241008 meters Centerline goodness : 0.852384 with order 1 Centerline is valid? [False, False] Translation: X:19.79, Y:0.91, Z:-0.13 [[ 0.96049612 0.13144832 0.24529277 19.79062573] [-0.15668632 0.9838709 0.08629863 0.9109371 ] [-0.22999261 -0.12132352 0.96560033 -0.12767652] [ 0. 0. 0. 1. ]] SLAMing on 116.478241008 meters Centerline goodness : 0.851647 with order 1 Centerline is valid? [False, False] Translation: X:19.80, Y:0.92, Z:-0.14 [[ 0.95939419 0.13570723 0.24727785 19.80490711] [-0.15818129 0.98468444 0.07331594 0.91513884] [-0.23354115 -0.10945362 0.96616688 -0.14171111] [ 0. 0. 0. 1. ]] SLAMing on 116.538241008 meters Centerline goodness : 0.850521 with order 1 Centerline is valid? [False, False] Translation: X:19.82, Y:0.91, Z:-0.14 [[ 0.96073404 0.1300009 0.24513236 19.8184656 ] [-0.15297229 0.98522271 0.07704343 0.91186472] [-0.23149425 -0.11151671 0.96642353 -0.13757156] [ 0. 0. 0. 1. ]] SLAMing on 116.598241008 meters Centerline goodness : 0.853474 with order 1 Centerline is valid? [False, False] Translation: X:19.86, Y:0.91, Z:-0.14 [[ 0.96122426 0.12554169 0.24553453 19.8552172 ] [-0.14913397 0.98558321 0.07990489 0.9054232 ] [-0.23196332 -0.11342406 0.96608902 -0.14025245] [ 0. 0. 0. 1. ]] SLAMing on 116.658241008 meters Centerline goodness : 0.857743 with order 1 Centerline is valid? [False, False] Translation: X:19.91, Y:0.89, Z:-0.13 [[ 0.96186215 0.11454583 0.24839576 19.91173341] [-0.14344516 0.98444005 0.10149517 0.89184655] [-0.23290489 -0.13325553 0.96332667 -0.1315163 ] [ 0. 0. 0. 1. ]] SLAMing on 116.71824100799999 meters Centerline goodness : 0.855286 with order 1 Centerline is valid? [False, False] Translation: X:19.93, Y:0.89, Z:-0.13 [[ 0.96256032 0.10960104 0.24792184 19.92528534] [-0.13974018 0.98434823 0.10738366 0.89031894] [-0.23227206 -0.1380079 0.96281022 -0.12881434] [ 0. 0. 0. 1. ]] SLAMing on 116.778241008 meters Centerline goodness : 0.860909 with order 1 Centerline is valid? [False, False] Translation: X:19.94, Y:0.88, Z:-0.11 [[ 0.96070428 0.08633179 0.26380697 19.94477362] [-0.12698482 0.98181202 0.1411383 0.8848412 ] [-0.24682413 -0.16909164 0.95419383 -0.11183573] [ 0. 0. 0. 1. ]] SLAMing on 116.838241008 meters Centerline goodness : 0.854418 with order 1 Centerline is valid? [False, False] Translation: X:19.89, Y:0.90, Z:-0.10 [[ 0.96088206 0.08221314 0.26447432 19.88819134] [-0.1210628 0.98354472 0.13410288 0.90123716] [-0.2490973 -0.16087505 0.95502343 -0.10278683] [ 0. 0. 0. 1. ]] SLAMing on 116.898241008 meters Centerline goodness : 0.854669 with order 1 Centerline is valid? [False, False] Translation: X:19.87, Y:0.91, Z:-0.10 [[ 0.96588179 0.0784717 0.24680876 19.86608486] [-0.11116361 0.98635566 0.12142968 0.91107834] [-0.23391242 -0.14472287 0.96142616 -0.09880755] [ 0. 0. 0. 1. ]] SLAMing on 116.958241008 meters Centerline goodness : 0.855739 with order 1 Centerline is valid? [False, False] Translation: X:19.80, Y:0.93, Z:-0.09 [[ 0.96719381 0.08409845 0.23971562 19.80353791] [-0.11160035 0.98834413 0.10354338 0.92789635] [-0.22821369 -0.12689887 0.96530575 -0.09013579] [ 0. 0. 0. 1. ]] SLAMing on 117.018241008 meters Centerline goodness : 0.857467 with order 1 Centerline is valid? [False, False] Translation: X:19.80, Y:0.94, Z:-0.09 [[ 0.97220068 0.08229665 0.21921018 19.79823498] [-0.10615012 0.98937514 0.09934281 0.9401958 ] [-0.20870552 -0.11985033 0.97060698 -0.08782603] [ 0. 0. 0. 1. ]] SLAMing on 117.078241008 meters Centerline goodness : 0.856941 with order 1 Centerline is valid? [False, False] Translation: X:19.76, Y:0.95, Z:-0.09 [[ 0.97200866 0.09363461 0.21548022 19.76480237] [-0.11436293 0.98972662 0.08580411 0.95077082] [-0.20523228 -0.10804529 0.97273117 -0.08547284] [ 0. 0. 0. 1. ]] SLAMing on 117.138241008 meters Centerline goodness : 0.859184 with order 1 Centerline is valid? [False, False] Translation: X:19.76, Y:0.96, Z:-0.08 [[ 0.9763078 0.0968098 0.19352244 19.76209436] [-0.11389409 0.99033317 0.07917288 0.96347736] [-0.18398699 -0.09933816 0.97789607 -0.08405584] [ 0. 0. 0. 1. ]] SLAMing on 117.198241008 meters Centerline goodness : 0.863510 with order 1 Centerline is valid? [False, False] Translation: X:19.77, Y:0.97, Z:-0.09 [[ 0.97414928 0.10741088 0.19873621 19.77044082] [-0.1244394 0.9893702 0.07524259 0.96560452] [-0.18854181 -0.09802813 0.97716041 -0.08834244] [ 0. 0. 0. 1. ]] SLAMing on 117.258241008 meters Centerline goodness : 0.869500 with order 1 Centerline is valid? [False, False] Translation: X:19.79, Y:0.96, Z:-0.09 [[ 0.9729802 0.11352872 0.20104916 19.79047114] [-0.13052155 0.98872887 0.07334405 0.96329635] [-0.19045645 -0.09760355 0.97683156 -0.09327215] [ 0. 0. 0. 1. ]] SLAMing on 117.318241008 meters Centerline goodness : 0.863540 with order 1 Centerline is valid? [False, False] Translation: X:19.79, Y:0.96, Z:-0.09 [[ 0.9724649 0.11995371 0.19980771 19.79431766] [-0.1383625 0.98707828 0.08082259 0.96296228] [-0.18753088 -0.10624303 0.97649608 -0.09414957] [ 0. 0. 0. 1. ]] SLAMing on 117.378241008 meters Centerline goodness : 0.862718 with order 1 Centerline is valid? [False, False] Translation: X:19.81, Y:0.96, Z:-0.10 [[ 0.97107418 0.12394893 0.20408725 19.80630322] [-0.14095368 0.98747038 0.07095291 0.96252484] [-0.19273558 -0.09766739 0.97637804 -0.10231475] [ 0. 0. 0. 1. ]] SLAMing on 117.438241008 meters Centerline goodness : 0.860878 with order 1 Centerline is valid? [False, False] Translation: X:19.82, Y:0.96, Z:-0.11 [[ 0.96998959 0.12622995 0.2078129 19.8203432 ] [-0.14132657 0.98817834 0.05941687 0.96357648] [-0.19785602 -0.08700323 0.97636235 -0.11239974] [ 0. 0. 0. 1. ]] SLAMing on 117.498241008 meters Centerline goodness : 0.861706 with order 1 Centerline is valid? [False, False] Translation: X:19.83, Y:0.96, Z:-0.12 [[ 0.96895649 0.12751672 0.21180842 19.83260626] [-0.14033186 0.98900952 0.04655253 0.96297122] [-0.20354432 -0.07483085 0.97620185 -0.12101934] [ 0. 0. 0. 1. ]] SLAMing on 117.558241008 meters Centerline goodness : 0.859268 with order 1 Centerline is valid? [False, False] Translation: X:19.83, Y:0.96, Z:-0.12 [[ 0.96911179 0.12726808 0.2112467 19.83438825] [-0.13997086 0.98907496 0.04624801 0.96196506] [-0.20305293 -0.07438787 0.97633803 -0.12300559] [ 0. 0. 0. 1. ]] SLAMing on 117.618241008 meters Centerline goodness : 0.854940 with order 1 Centerline is valid? [False, False] Translation: X:19.86, Y:0.96, Z:-0.13 [[ 0.97012318 0.12956377 0.2051201 19.86451391] [-0.14148044 0.98894154 0.04447373 0.95736289] [-0.1970896 -0.07216548 0.97772585 -0.13189426] [ 0. 0. 0. 1. ]] SLAMing on 117.678241008 meters Centerline goodness : 0.855416 with order 1 Centerline is valid? [False, False] Translation: X:19.87, Y:0.96, Z:-0.14 [[ 0.9708017 0.12661891 0.20374424 19.8694814 ] [-0.13785344 0.98956732 0.04186831 0.95500581] [-0.19631732 -0.06873267 0.97812848 -0.13640647] [ 0. 0. 0. 1. ]] SLAMing on 117.738241008 meters Centerline goodness : 0.856632 with order 1 Centerline is valid? [False, False] Translation: X:19.87, Y:0.95, Z:-0.14 [[ 0.97224676 0.11901167 0.20142608 19.8740279 ] [-0.12795693 0.99126528 0.03194011 0.95458435] [-0.19586543 -0.05682753 0.97898282 -0.14209612] [ 0. 0. 0. 1. ]] SLAMing on 117.798241008 meters Centerline goodness : 0.855979 with order 1 Centerline is valid? [False, False] Translation: X:19.90, Y:0.95, Z:-0.14 [[ 0.97315385 0.11042606 0.2019348 19.89734118] [-0.12133663 0.9917039 0.04243579 0.94817791] [-0.19557351 -0.06579864 0.9784792 -0.13720126] [ 0. 0. 0. 1. ]] SLAMing on 117.858241008 meters Centerline goodness : 0.854015 with order 1 Centerline is valid? [False, False] Translation: X:19.93, Y:0.94, Z:-0.13 [[ 0.97386656 0.10053171 0.20365975 19.93133299] [-0.11535982 0.99137034 0.0622652 0.93828598] [-0.1956426 -0.08413215 0.97705975 -0.12949642] [ 0. 0. 0. 1. ]] SLAMing on 117.918241008 meters Centerline goodness : 0.852226 with order 1 Centerline is valid? [False, False] Translation: X:19.96, Y:0.93, Z:-0.12 [[ 0.97408127 0.09260704 0.20637252 19.95730275] [-0.11083556 0.99072823 0.07856874 0.93062778] [-0.19718306 -0.09940575 0.97531397 -0.12062776] [ 0. 0. 0. 1. ]] SLAMing on 117.978241008 meters Centerline goodness : 0.849825 with order 1 Centerline is valid? [False, False] Translation: X:20.00, Y:0.92, Z:-0.12 [[ 0.97501947 0.09014836 0.2030032 19.99687735] [-0.10920876 0.99040231 0.08471549 0.92439125] [-0.19341788 -0.10476898 0.97550653 -0.12073154] [ 0. 0. 0. 1. ]] SLAMing on 118.038241008 meters Centerline goodness : 0.845625 with order 1 Centerline is valid? [False, False] Translation: X:20.02, Y:0.93, Z:-0.13 [[ 0.97473449 0.09112565 0.20393332 20.01870399] [-0.10834632 0.9912866 0.074913 0.92634883] [-0.19532987 -0.09511571 0.97611436 -0.13115645] [ 0. 0. 0. 1. ]] SLAMing on 118.098241008 meters Centerline goodness : 0.847788 with order 1 Centerline is valid? [False, False] Translation: X:20.04, Y:0.93, Z:-0.14 [[ 0.97426606 0.09335224 0.20516094 20.03645567] [-0.10801691 0.99224761 0.06145748 0.93195041] [-0.19783326 -0.08203679 0.97679679 -0.14379656] [ 0. 0. 0. 1. ]] SLAMing on 118.158241008 meters Centerline goodness : 0.839409 with order 1 Centerline is valid? [False, False] Translation: X:20.06, Y:0.94, Z:-0.16 [[ 0.97383198 0.09772606 0.20518501 20.06096361] [-0.11132233 0.99221811 0.05577246 0.93777542] [-0.19813786 -0.07715467 0.97713282 -0.15560509] [ 0. 0. 0. 1. ]] SLAMing on 118.21824100799999 meters Centerline goodness : 0.834113 with order 1 Centerline is valid? [False, False] Translation: X:20.07, Y:0.94, Z:-0.16 [[ 0.97414663 0.10722088 0.19885178 20.07363087] [-0.11879574 0.99179685 0.0471866 0.94398169] [-0.19216118 -0.06958941 0.97889294 -0.16031481] [ 0. 0. 0. 1. ]] SLAMing on 118.278241008 meters Centerline goodness : 0.831066 with order 1 Centerline is valid? [False, False] Translation: X:20.10, Y:0.95, Z:-0.17 [[ 0.97322124 0.11147473 0.20103182 20.09973601] [-0.12334385 0.99122773 0.0474751 0.94614403] [-0.19397604 -0.07099982 0.97843361 -0.16514563] [ 0. 0. 0. 1. ]] SLAMing on 118.338241008 meters Centerline goodness : 0.825598 with order 1 Centerline is valid? [False, False] Translation: X:20.10, Y:0.95, Z:-0.16 [[ 0.9728182 0.11426355 0.20141648 20.09837604] [-0.12658422 0.99072765 0.04934739 0.95451696] [-0.19391026 -0.07350218 0.97826185 -0.16178725] [ 0. 0. 0. 1. ]] SLAMing on 118.398241008 meters Centerline goodness : 0.824072 with order 1 Centerline is valid? [False, False] Translation: X:20.10, Y:0.96, Z:-0.16 [[ 0.97301489 0.11407602 0.2005709 20.10062254] [-0.12616827 0.99082083 0.04853501 0.95833262] [-0.19319314 -0.07253097 0.9784762 -0.16215908] [ 0. 0. 0. 1. ]] SLAMing on 118.458241008 meters Centerline goodness : 0.824201 with order 1 Centerline is valid? [False, False] Translation: X:20.13, Y:0.96, Z:-0.16 [[ 0.97351195 0.10813195 0.20144964 20.12555686] [-0.12279219 0.99051126 0.06172136 0.95989201] [-0.19286408 -0.08482293 0.97755231 -0.1585729 ] [ 0. 0. 0. 1. ]] SLAMing on 118.518241008 meters Centerline goodness : 0.821448 with order 1 Centerline is valid? [False, False] Translation: X:20.13, Y:0.96, Z:-0.16 [[ 0.97379271 0.10753457 0.20040976 20.12861249] [-0.12197473 0.99064954 0.06111996 0.9627836 ] [-0.19196333 -0.0839631 0.9778038 -0.15856884] [ 0. 0. 0. 1. ]] SLAMing on 118.578241008 meters Centerline goodness : 0.820492 with order 1 Centerline is valid? [False, False] Translation: X:20.17, Y:0.95, Z:-0.14 [[ 0.97333131 0.09916986 0.20686107 20.16744133] [-0.12066653 0.98823223 0.09400343 0.95217971] [-0.19510447 -0.11645769 0.97384385 -0.14274976] [ 0. 0. 0. 1. ]] SLAMing on 118.638241008 meters Centerline goodness : 0.817556 with order 1 Centerline is valid? [False, False] Translation: X:20.19, Y:0.95, Z:-0.13 [[ 0.97284451 0.09496391 0.21108152 20.19132001] [-0.12227408 0.9851761 0.12032079 0.946703 ] [-0.19652633 -0.14286322 0.97003479 -0.12601601] [ 0. 0. 0. 1. ]] SLAMing on 118.698241008 meters Centerline goodness : 0.816104 with order 1 Centerline is valid? [False, False] Translation: X:20.21, Y:0.94, Z:-0.10 [[ 0.97157018 0.08896295 0.2194014 20.21397379] [-0.12412393 0.98054579 0.15206313 0.93517677] [-0.20160513 -0.17497297 0.96371149 -0.1021855 ] [ 0. 0. 0. 1. ]] SLAMing on 118.758241008 meters Centerline goodness : 0.813589 with order 1 Centerline is valid? [False, False] Translation: X:20.22, Y:0.94, Z:-0.09 [[ 0.97022507 0.08852944 0.22544591 20.22319548] [-0.12934054 0.97635192 0.17322802 0.93525498] [-0.20477876 -0.19722947 0.95873156 -0.08596905] [ 0. 0. 0. 1. ]] SLAMing on 118.818241008 meters Centerline goodness : 0.815427 with order 1 Centerline is valid? [False, False] Translation: X:20.23, Y:0.93, Z:-0.07 [[ 0.96870395 0.08647573 0.23266846 20.23190355] [-0.13378071 0.97144918 0.19593166 0.93244047] [-0.20908225 -0.22092632 0.95261544 -0.06649232] [ 0. 0. 0. 1. ]] SLAMing on 118.878241008 meters Centerline goodness : 0.811239 with order 1 Centerline is valid? [False, False] Translation: X:20.23, Y:0.94, Z:-0.05 [[ 0.96757969 0.08904985 0.23634649 20.23073174] [-0.13979626 0.96819011 0.20752091 0.93754105] [-0.21034862 -0.23383337 0.94924992 -0.05336175] [ 0. 0. 0. 1. ]] SLAMing on 118.938241008 meters Centerline goodness : 0.812780 with order 1 Centerline is valid? [False, False] Translation: X:20.21, Y:0.95, Z:-0.05 [[ 0.97152064 0.08732651 0.22027649 20.20666104] [-0.13126537 0.97228157 0.19348891 0.94834094] [-0.19727406 -0.21689315 0.95605455 -0.05336685] [ 0. 0. 0. 1. ]] SLAMing on 118.998241008 meters Centerline goodness : 0.814669 with order 1 Centerline is valid? [False, False] Translation: X:20.18, Y:0.96, Z:-0.05 [[ 0.97666261 0.07866586 0.19985453 20.18276918] [-0.1166592 0.97558172 0.18609387 0.96112136] [-0.18033519 -0.2050658 0.96199129 -0.05410728] [ 0. 0. 0. 1. ]] SLAMing on 119.058241008 meters Centerline goodness : 0.813078 with order 1 Centerline is valid? [False, False] Translation: X:20.15, Y:0.97, Z:-0.06 [[ 0.97939974 0.07504284 0.18746927 20.15487224] [-0.10887695 0.97812083 0.17727223 0.96993791] [-0.17006459 -0.19403146 0.96614172 -0.05515879] [ 0. 0. 0. 1. ]] SLAMing on 119.118241008 meters Centerline goodness : 0.812299 with order 1 Centerline is valid? [False, False] Translation: X:20.13, Y:0.98, Z:-0.06 [[ 0.98239587 0.07238257 0.17221824 20.12959508] [-0.10059481 0.98178323 0.16119046 0.97801875] [-0.1574136 -0.17567711 0.9717811 -0.05692959] [ 0. 0. 0. 1. ]] SLAMing on 119.178241008 meters Centerline goodness : 0.813068 with order 1 Centerline is valid? [False, False] Translation: X:20.12, Y:0.99, Z:-0.06 [[ 0.98599785 0.06831372 0.15212321 20.1231547 ] [-0.0917028 0.98404358 0.15247565 0.98868672] [-0.13927969 -0.16429079 0.97652942 -0.05814276] [ 0. 0. 0. 1. ]] SLAMing on 119.238241008 meters Centerline goodness : 0.816573 with order 1 Centerline is valid? [False, False] Translation: X:20.12, Y:1.00, Z:-0.06 [[ 0.98910273 0.06356983 0.13279556 20.11577822] [-0.08240238 0.98650035 0.14151642 0.99860498] [-0.12200669 -0.15091695 0.9809885 -0.06015677] [ 0. 0. 0. 1. ]] SLAMing on 119.298241008 meters Centerline goodness : 0.817733 with order 1 Centerline is valid? [False, False] Translation: X:20.11, Y:1.01, Z:-0.06 [[ 0.99190523 0.05965591 0.11209457 20.10821658] [-0.07398426 0.98896491 0.12835393 1.00819909] [-0.10320052 -0.13560817 0.98537307 -0.05800911] [ 0. 0. 0. 1. ]] SLAMing on 119.358241008 meters Centerline goodness : 0.819398 with order 1 Centerline is valid? [False, False] Translation: X:20.10, Y:1.02, Z:-0.06 [[ 0.99419262 0.05548378 0.09220944 20.101046 ] [-0.06634081 0.99065271 0.11918939 1.01822929] [-0.08473445 -0.12461446 0.98858045 -0.05868725] [ 0. 0. 0. 1. ]] SLAMing on 119.418241008 meters Centerline goodness : 0.822112 with order 1 Centerline is valid? [False, False] Translation: X:20.09, Y:1.03, Z:-0.06 [[ 0.99609252 0.05191322 0.07144719 20.09440425] [-0.05958703 0.99216134 0.10984203 1.02688891] [-0.06518489 -0.11367015 0.99137784 -0.05836349] [ 0. 0. 0. 1. ]] SLAMing on 119.478241008 meters Centerline goodness : 0.816957 with order 1 Centerline is valid? [False, False] Translation: X:20.10, Y:1.03, Z:-0.06 [[ 0.99712473 0.04792653 0.05869681 20.09548003] [-0.05367564 0.9934734 0.10064556 1.03030776] [-0.05349012 -0.10350677 0.99318939 -0.05835958] [ 0. 0. 0. 1. ]] SLAMing on 119.538241008 meters Centerline goodness : 0.821758 with order 1 Centerline is valid? [False, False] Translation: X:20.10, Y:1.03, Z:-0.06 [[ 0.99798971 0.04301988 0.04653844 20.09703027] [-0.04730092 0.9943354 0.0951826 1.03268113] [-0.04218008 -0.09719256 0.99437138 -0.06166328] [ 0. 0. 0. 1. ]] SLAMing on 119.598241008 meters Centerline goodness : 0.820310 with order 1 Centerline is valid? [False, False] Translation: X:20.10, Y:1.04, Z:-0.06 [[ 0.9987041 0.03803083 0.03381984 20.09888506] [-0.04093799 0.99510992 0.08989065 1.03526357] [-0.03023584 -0.09115868 0.99537726 -0.06348597] [ 0. 0. 0. 1. ]] SLAMing on 119.658241008 meters Centerline goodness : 0.821613 with order 1 Centerline is valid? [False, False] Translation: X:20.11, Y:1.02, Z:-0.05 [[ 0.99853453 0.03554342 0.04081011 20.11309337] [-0.03988029 0.99303024 0.11090766 1.01978171] [-0.03658363 -0.11237264 0.99299246 -0.04837676] [ 0. 0. 0. 1. ]] SLAMing on 119.71824100799999 meters Centerline goodness : 0.819575 with order 1 Centerline is valid? [False, False] Translation: X:20.15, Y:1.02, Z:-0.05 [[ 0.99837999 0.03821862 0.0421514 20.14538514] [-0.04289223 0.99229788 0.1162118 1.01758285] [-0.03738529 -0.1178315 0.99232962 -0.04971376] [ 0. 0. 0. 1. ]] SLAMing on 119.778241008 meters Centerline goodness : 0.820316 with order 1 Centerline is valid? [False, False] Translation: X:20.17, Y:1.02, Z:-0.05 [[ 0.99823555 0.04476424 0.03901218 20.17347347] [-0.04870119 0.99310604 0.10662355 1.01590474] [-0.03397031 -0.10833535 0.99353383 -0.05030364] [ 0. 0. 0. 1. ]] SLAMing on 119.838241008 meters Centerline goodness : 0.819583 with order 1 Centerline is valid? [False, False] Translation: X:20.21, Y:1.01, Z:-0.06 [[ 0.99799612 0.04985003 0.03897078 20.20934814] [-0.05336589 0.99403601 0.09510249 1.01209096] [-0.0339975 -0.09699163 0.99470437 -0.05576141] [ 0. 0. 0. 1. ]] SLAMing on 119.898241008 meters Centerline goodness : 0.821205 with order 1 Centerline is valid? [False, False] Translation: X:20.23, Y:1.01, Z:-0.06 [[ 0.99790282 0.05055259 0.04042766 20.22911102] [-0.05383811 0.99494237 0.08480061 1.01347532] [-0.0359363 -0.08679931 0.99557745 -0.06427487] [ 0. 0. 0. 1. ]] SLAMing on 119.958241008 meters Centerline goodness : 0.818399 with order 1 Centerline is valid? [False, False] Translation: X:20.26, Y:1.00, Z:-0.05 [[ 0.99806762 0.04770505 0.03981535 20.26447665] [-0.05129988 0.99417597 0.09477583 1.00067378] [-0.03506218 -0.09663521 0.99470211 -0.05165493] [ 0. 0. 0. 1. ]] SLAMing on 120.018241008 meters Centerline goodness : 0.819470 with order 1 Centerline is valid? [False, False] Translation: X:20.29, Y:0.99, Z:-0.03 [[ 0.99802542 0.04046614 0.048039 20.29247157] [-0.04604239 0.99154679 0.12130563 0.9864867 ] [-0.04272414 -0.12327794 0.99145207 -0.0307226 ] [ 0. 0. 0. 1. ]] SLAMing on 120.078241008 meters Centerline goodness : 0.819470 with order 1 Centerline is valid? [False, False] Translation: X:20.29, Y:0.98, Z:-0.02 [[ 9.97755955e-01 3.99126704e-02 5.37590244e-02 2.02911495e+01] [-4.68458937e-02 9.89793286e-01 1.34590913e-01 9.78206447e-01] [-4.78384387e-02 -1.36807275e-01 9.89441890e-01 -1.54155862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.138241008 meters Centerline goodness : 0.819132 with order 1 Centerline is valid? [False, False] Translation: X:20.26, Y:0.97, Z:0.01 [[ 9.97275241e-01 2.72730104e-02 6.85439803e-02 2.02632282e+01] [-3.85900091e-02 9.84750383e-01 1.69639306e-01 9.66352794e-01] [-6.28721363e-02 -1.71822192e-01 9.83119641e-01 1.05316385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.198241008 meters Centerline goodness : 0.819772 with order 1 Centerline is valid? [False, False] Translation: X:20.25, Y:0.97, Z:0.01 [[ 9.98671328e-01 1.49316750e-02 4.93216425e-02 2.02537788e+01] [-2.25005344e-02 9.87394805e-01 1.56669159e-01 9.71629220e-01] [-4.63606006e-02 -1.57570760e-01 9.86418851e-01 1.15053237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.258241008 meters Centerline goodness : 0.822903 with order 1 Centerline is valid? [False, False] Translation: X:20.24, Y:0.98, Z:0.01 [[ 9.99517261e-01 8.30870052e-03 2.99367869e-02 2.02447762e+01] [-1.26954608e-02 9.88684780e-01 1.49469831e-01 9.81102382e-01] [-2.83561455e-02 -1.49777738e-01 9.88312986e-01 1.11532248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.318241008 meters Centerline goodness : 0.823163 with order 1 Centerline is valid? [False, False] Translation: X:20.27, Y:0.99, Z:-0.00 [[ 9.99403633e-01 1.58642417e-02 3.06709038e-02 2.02702705e+01] [-1.97015585e-02 9.91427571e-01 1.29163542e-01 9.85837423e-01] [-2.83588980e-02 -1.29690778e-01 9.91148866e-01 -8.50795259e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.378241008 meters Centerline goodness : 0.827958 with order 1 Centerline is valid? [False, False] Translation: X:20.30, Y:0.99, Z:-0.01 [[ 9.99203635e-01 2.36672166e-02 3.21241068e-02 2.02952501e+01] [-2.70227545e-02 9.93740302e-01 1.08397336e-01 9.90468515e-01] [-2.93575564e-02 -1.09179094e-01 9.93588476e-01 -1.17670931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.438241008 meters Centerline goodness : 0.827784 with order 1 Centerline is valid? [False, False] Translation: X:20.30, Y:1.00, Z:-0.01 [[ 9.99636114e-01 1.91544246e-02 1.89933688e-02 2.02964080e+01] [-2.10256564e-02 9.94377184e-01 1.03787942e-01 9.97057277e-01] [-1.68985743e-02 -1.04149523e-01 9.94418079e-01 -1.06626177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.498241008 meters Centerline goodness : 0.833481 with order 1 Centerline is valid? [False, False] Translation: X:20.33, Y:1.00, Z:-0.02 [[ 9.99507670e-01 2.53964192e-02 1.84238594e-02 2.03261024e+01] [-2.68911024e-02 9.95930561e-01 8.60185224e-02 1.00011415e+00] [-1.61643222e-02 -8.64716108e-02 9.96123173e-01 -1.87943701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.558241008 meters Centerline goodness : 0.837691 with order 1 Centerline is valid? [False, False] Translation: X:20.35, Y:1.03, Z:-0.06 [[ 9.98785917e-01 3.55748749e-02 3.40752113e-02 2.03512765e+01] [-3.55316403e-02 9.99366795e-01 -1.87370117e-03 1.02591231e+00] [-3.41202915e-02 6.60678191e-04 9.99417515e-01 -5.89928326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.618241008 meters Centerline goodness : 0.842120 with order 1 Centerline is valid? [False, False] Translation: X:20.36, Y:1.03, Z:-0.06 [[ 9.99367264e-01 3.01724888e-02 1.88332690e-02 2.03567538e+01] [-3.00312741e-02 9.99519019e-01 -7.73652898e-03 1.03267928e+00] [-1.90576409e-02 7.16604674e-03 9.99792706e-01 -5.58788620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.678241008 meters Centerline goodness : 0.841796 with order 1 Centerline is valid? [False, False] Translation: X:20.36, Y:1.04, Z:-0.05 [[ 9.99714219e-01 2.36787177e-02 3.28611042e-03 2.03631804e+01] [-2.36376895e-02 9.99648472e-01 -1.20079977e-02 1.03742634e+00] [-3.56928925e-03 1.19268900e-02 9.99922502e-01 -5.28576121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.738241008 meters Centerline goodness : 0.845633 with order 1 Centerline is valid? [False, False] Translation: X:20.37, Y:1.03, Z:-0.05 [[ 9.99753164e-01 2.21922396e-02 1.05632772e-03 2.03661145e+01] [-2.21720133e-02 9.99620403e-01 -1.63539315e-02 1.03492467e+00] [-1.41885711e-03 1.63264738e-02 9.99865708e-01 -5.06974940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.798241008 meters Centerline goodness : 0.844145 with order 1 Centerline is valid? [False, False] Translation: X:20.37, Y:1.03, Z:-0.05 [[ 9.99779479e-01 2.09949650e-02 4.52752415e-04 2.03671976e+01] [-2.09848682e-02 9.99648315e-01 -1.62136382e-02 1.03436753e+00] [-7.92997955e-04 1.62005618e-02 9.99868448e-01 -5.08840207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.858241008 meters Centerline goodness : 0.846213 with order 1 Centerline is valid? [False, False] Translation: X:20.37, Y:1.03, Z:-0.05 [[ 9.99846850e-01 1.75007394e-02 3.11266056e-05 2.03679982e+01] [-1.74976018e-02 9.99698255e-01 -1.72404686e-02 1.03117648e+00] [-3.32838162e-04 1.72372836e-02 9.99851372e-01 -5.15432906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.918241008 meters Centerline goodness : 0.848745 with order 1 Centerline is valid? [False, False] Translation: X:20.37, Y:1.03, Z:-0.05 [[ 9.99911902e-01 1.32232888e-02 -1.15426655e-03 2.03701978e+01] [-1.32433536e-02 9.99720746e-01 -1.95715192e-02 1.02603003e+00] [ 8.95144362e-04 1.95850814e-02 9.99807793e-01 -5.22714326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.978241008 meters Centerline goodness : 0.851185 with order 1 Centerline is valid? [False, False] Translation: X:20.37, Y:1.02, Z:-0.05 [[ 9.99940840e-01 1.08657269e-02 -5.02955245e-04 2.03689080e+01] [-1.08729530e-02 9.99782784e-01 -1.77810189e-02 1.02291481e+00] [ 3.09642300e-04 1.77854355e-02 9.99841779e-01 -5.28586422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.038241008 meters Centerline goodness : 0.856450 with order 1 Centerline is valid? [False, False] Translation: X:20.37, Y:1.02, Z:-0.05 [[ 9.99980378e-01 6.26415203e-03 6.96260027e-05 2.03683443e+01] [-6.26198733e-03 9.99828520e-01 -1.74274889e-02 1.01848659e+00] [-1.78782503e-04 1.74267109e-02 9.99848127e-01 -5.44957318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.098241008 meters Centerline goodness : 0.857910 with order 1 Centerline is valid? [False, False] Translation: X:20.37, Y:1.02, Z:-0.05 [[ 9.99995319e-01 2.60431906e-03 -1.60617490e-03 2.03713297e+01] [-2.63873343e-03 9.99758653e-01 -2.18099357e-02 1.01548824e+00] [ 1.54898723e-03 2.18140719e-02 9.99760845e-01 -5.43437935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.158241008 meters Centerline goodness : 0.856330 with order 1 Centerline is valid? [False, False] Translation: X:20.37, Y:1.01, Z:-0.05 [[ 9.99993055e-01 -3.72660101e-03 -5.50407484e-05 2.03685690e+01] [ 3.72409317e-03 9.99686056e-01 -2.47774221e-02 1.01387697e+00] [ 1.47359035e-04 2.47770450e-02 9.99692991e-01 -5.45383945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21824100799999 meters Centerline goodness : 0.858989 with order 1 Centerline is valid? [False, False] Translation: X:20.42, Y:1.01, Z:-0.06 [[ 9.99985820e-01 -4.87038769e-03 -2.15378683e-03 2.04162147e+01] [ 4.79477953e-03 9.99416542e-01 -3.38169403e-02 1.01012107e+00] [ 2.31723180e-03 3.38061338e-02 9.99425723e-01 -5.62317274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.278241008 meters Centerline goodness : 0.860768 with order 1 Centerline is valid? [False, False] Translation: X:20.45, Y:1.00, Z:-0.05 [[ 9.99976693e-01 -4.36015899e-03 -5.25389311e-03 2.04511695e+01] [ 4.20417967e-03 9.99560580e-01 -2.93423109e-02 1.00284149e+00] [ 5.37952159e-03 2.93195387e-02 9.99555614e-01 -5.24138487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.338241008 meters Centerline goodness : 0.863024 with order 1 Centerline is valid? [False, False] Translation: X:20.46, Y:1.00, Z:-0.05 [[ 9.99969258e-01 -1.48047214e-04 -7.83974975e-03 2.04577516e+01] [-9.03541419e-05 9.99537802e-01 -3.04002244e-02 1.00222494e+00] [ 7.84062691e-03 3.03999982e-02 9.99507061e-01 -5.45163028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.398241008 meters Centerline goodness : 0.866605 with order 1 Centerline is valid? [False, False] Translation: X:20.42, Y:0.99, Z:-0.04 [[ 9.99979713e-01 3.11330763e-03 -5.55709119e-03 2.04157509e+01] [-3.13829000e-03 9.99984984e-01 -4.49253886e-03 9.93316914e-01] [ 5.54302109e-03 4.50988749e-03 9.99974468e-01 -3.82711665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.458241008 meters Centerline goodness : 0.870717 with order 1 Centerline is valid? [False, False] Translation: X:20.39, Y:0.98, Z:-0.01 [[ 9.99810426e-01 1.88781230e-02 -4.76748652e-03 2.03909760e+01] [-1.87029106e-02 9.99231351e-01 3.44515439e-02 9.77153534e-01] [ 5.41420248e-03 -3.43558469e-02 9.99394998e-01 -9.52580997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.518241008 meters Centerline goodness : 0.872019 with order 1 Centerline is valid? [False, False] Translation: X:20.40, Y:0.97, Z:0.01 [[ 9.99680871e-01 2.52534698e-02 6.47113628e-04 2.04036423e+01] [-2.52432846e-02 9.97642442e-01 6.38148379e-02 9.69730093e-01] [ 9.65958059e-04 -6.38108080e-02 9.97961546e-01 1.02983509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.578241008 meters Centerline goodness : 0.875095 with order 1 Centerline is valid? [False, False] Translation: X:20.42, Y:0.96, Z:0.02 [[ 9.99450202e-01 2.91475142e-02 1.58023800e-02 2.04169786e+01] [-3.03618806e-02 9.96086096e-01 8.30099103e-02 9.63007906e-01] [-1.33209984e-02 -8.34440616e-02 9.96423424e-01 2.35995140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.638241008 meters Centerline goodness : 0.875904 with order 1 Centerline is valid? [False, False] Translation: X:20.45, Y:0.96, Z:0.03 [[ 9.99263025e-01 3.13466481e-02 2.21538961e-02 2.04477853e+01] [-3.33043135e-02 9.94980857e-01 9.43605648e-02 9.58558566e-01] [-1.90848151e-02 -9.50288437e-02 9.95291560e-01 3.41503200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.698241008 meters Centerline goodness : 0.876266 with order 1 Centerline is valid? [False, False] Translation: X:20.49, Y:0.95, Z:0.06 [[ 9.99093127e-01 3.54156231e-02 2.36359276e-02 2.04864391e+01] [-3.79679014e-02 9.92275530e-01 1.18100431e-01 9.46471600e-01] [-1.92707522e-02 -1.18890736e-01 9.92720319e-01 5.64904134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.758241008 meters Centerline goodness : 0.881356 with order 1 Centerline is valid? [False, False] Translation: X:20.53, Y:0.94, Z:0.06 [[ 9.98964135e-01 3.87294808e-02 2.38889872e-02 2.05267791e+01] [-4.11671207e-02 9.92877347e-01 1.11802691e-01 9.41737411e-01] [-1.93887740e-02 -1.12670319e-01 9.93443242e-01 5.77823866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.818241008 meters Centerline goodness : 0.879040 with order 1 Centerline is valid? [False, False] Translation: X:20.58, Y:0.93, Z:0.08 [[ 0.99904118 0.0342234 0.02730362 20.57660869] [-0.03759242 0.99022409 0.13432449 0.92617712] [-0.02243966 -0.1352221 0.99056118 0.08039525] [ 0. 0. 0. 1. ]] SLAMing on 121.878241008 meters Centerline goodness : 0.880487 with order 1 Centerline is valid? [False, False] Translation: X:20.62, Y:0.91, Z:0.10 [[ 0.99907873 0.03138897 0.02926476 20.62465275] [-0.03570072 0.98632878 0.16087571 0.90924441] [-0.02381496 -0.16177227 0.98654071 0.10448913] [ 0. 0. 0. 1. ]] SLAMing on 121.938241008 meters Centerline goodness : 0.885440 with order 1 Centerline is valid? [False, False] Translation: X:20.68, Y:0.89, Z:0.13 [[ 0.99910573 0.02819323 0.03150999 20.67819172] [-0.03370261 0.98103979 0.19085352 0.89237641] [-0.02553178 -0.19174481 0.98111266 0.13298611] [ 0. 0. 0. 1. ]] SLAMing on 121.998241008 meters Centerline goodness : 0.884769 with order 1 Centerline is valid? [False, False] Translation: X:20.73, Y:0.89, Z:0.14 [[ 0.99901557 0.03179837 0.03093142 20.72543258] [-0.03709035 0.98123895 0.18919414 0.88737246] [-0.02433505 -0.19015514 0.98145241 0.13521133] [ 0. 0. 0. 1. ]] SLAMing on 122.058241008 meters Centerline goodness : 0.885519 with order 1 Centerline is valid? [False, False] Translation: X:20.77, Y:0.88, Z:0.14 [[ 0.9989103 0.03481873 0.03107827 20.77346507] [-0.04009148 0.98106879 0.18946426 0.88167979] [-0.02389301 -0.19050378 0.98139566 0.14026184] [ 0. 0. 0. 1. ]] SLAMing on 122.118241008 meters Centerline goodness : 0.886609 with order 1 Centerline is valid? [False, False] Translation: X:20.83, Y:0.87, Z:0.14 [[ 0.9989649 0.03485539 0.02922715 20.82869898] [-0.03976155 0.98119451 0.18888184 0.8744945 ] [-0.02209397 -0.18984845 0.98156478 0.14451241] [ 0. 0. 0. 1. ]] SLAMing on 122.178241008 meters Centerline goodness : 0.887442 with order 1 Centerline is valid? [False, False] Translation: X:20.89, Y:0.87, Z:0.15 [[ 0.99894408 0.03555443 0.02909652 20.8889725 ] [-0.04054166 0.98011881 0.19422537 0.87217016] [-0.02161248 -0.1951999 0.98052532 0.15298952] [ 0. 0. 0. 1. ]] SLAMing on 122.238241008 meters Centerline goodness : 0.886203 with order 1 Centerline is valid? [False, False] Translation: X:20.94, Y:0.87, Z:0.18 [[ 0.99893553 0.02610868 0.0380282 20.9429597 ] [-0.03404468 0.97355813 0.22588833 0.86728345] [-0.03112501 -0.22694253 0.97341066 0.17769692] [ 0. 0. 0. 1. ]] SLAMing on 122.298241008 meters Centerline goodness : 0.885196 with order 1 Centerline is valid? [False, False] Translation: X:20.97, Y:0.87, Z:0.19 [[ 9.98939541e-01 1.87853183e-02 4.20345693e-02 2.09657928e+01] [-2.83810678e-02 9.70131232e-01 2.40914730e-01 8.71272727e-01] [-3.62533886e-02 -2.41852236e-01 9.69635595e-01 1.88876886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.358241008 meters Centerline goodness : 0.889361 with order 1 Centerline is valid? [False, False] Translation: X:20.97, Y:0.88, Z:0.18 [[ 9.99001678e-01 1.36308787e-02 4.25422799e-02 2.09676408e+01] [-2.32084695e-02 9.72071372e-01 2.33535039e-01 8.80994824e-01] [-3.81708446e-02 -2.34289237e-01 9.71417284e-01 1.83023271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.418241008 meters Centerline goodness : 0.885395 with order 1 Centerline is valid? [False, False] Translation: X:20.97, Y:0.89, Z:0.17 [[ 9.98973585e-01 8.78731031e-03 4.44360175e-02 2.09665906e+01] [-1.85315441e-02 9.74432524e-01 2.23914802e-01 8.92635084e-01] [-4.13322918e-02 -2.24508441e-01 9.73595194e-01 1.74083968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.478241008 meters Centerline goodness : 0.884838 with order 1 Centerline is valid? [False, False] Translation: X:20.94, Y:0.90, Z:0.16 [[ 9.98915322e-01 1.12987099e-02 4.51721028e-02 2.09417429e+01] [-2.02771679e-02 9.78851645e-01 2.03563979e-01 9.01473841e-01] [-4.19167768e-02 -2.04259140e-01 9.78019012e-01 1.59983149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.538241008 meters Centerline goodness : 0.884467 with order 1 Centerline is valid? [False, False] Translation: X:20.94, Y:0.91, Z:0.14 [[ 9.98732293e-01 1.95542925e-02 4.63835710e-02 2.09448390e+01] [-2.78265390e-02 9.82338965e-01 1.85029299e-01 9.14536258e-01] [-4.19462721e-02 -1.86085431e-01 9.81637776e-01 1.43100397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.598241008 meters Centerline goodness : 0.885853 with order 1 Centerline is valid? [False, False] Translation: X:20.96, Y:0.92, Z:0.13 [[ 0.99841512 0.024773 0.05053262 20.95574882] [-0.03311495 0.98461254 0.17158538 0.92383657] [-0.04550437 -0.17298682 0.98387241 0.12899623] [ 0. 0. 0. 1. ]] SLAMing on 122.658241008 meters Centerline goodness : 0.884516 with order 1 Centerline is valid? [False, False] Translation: X:20.96, Y:0.93, Z:0.12 [[ 0.99785027 0.0397195 0.05212683 20.95868828] [-0.04770092 0.9856198 0.1621056 0.93479941] [-0.04493849 -0.16424361 0.98539564 0.11662405] [ 0. 0. 0. 1. ]] SLAMing on 122.71824100799999 meters Centerline goodness : 0.885847 with order 1 Centerline is valid? [False, False] Translation: X:20.98, Y:0.94, Z:0.11 [[ 0.997617 0.04976691 0.04778673 20.98370111] [-0.05633832 0.98740844 0.14781938 0.9389012 ] [-0.0398285 -0.15015935 0.98785923 0.1123753 ] [ 0. 0. 0. 1. ]] SLAMing on 122.778241008 meters Centerline goodness : 0.888381 with order 1 Centerline is valid? [False, False] Translation: X:21.00, Y:0.94, Z:0.10 [[ 0.99728579 0.05219608 0.05192894 20.99922962] [-0.05887946 0.98884167 0.13684063 0.94392168] [-0.04420696 -0.13952677 0.98923103 0.10241034] [ 0. 0. 0. 1. ]] SLAMing on 122.838241008 meters Centerline goodness : 0.892453 with order 1 Centerline is valid? [False, False] Translation: X:21.04, Y:0.94, Z:0.12 [[ 0.99760977 0.04425425 0.05306883 21.04063435] [-0.05154956 0.98807439 0.14509181 0.93961784] [-0.04601502 -0.14748068 0.98799396 0.1178246 ] [ 0. 0. 0. 1. ]] SLAMing on 122.898241008 meters Centerline goodness : 0.894584 with order 1 Centerline is valid? [False, False] Translation: X:21.07, Y:0.94, Z:0.12 [[ 0.9977296 0.046099 0.04909712 21.07152598] [-0.05283746 0.98783974 0.14622189 0.93861515] [-0.0417594 -0.14848408 0.98803271 0.11823631] [ 0. 0. 0. 1. ]] SLAMing on 122.958241008 meters Centerline goodness : 0.890165 with order 1 Centerline is valid? [False, False] Translation: X:21.08, Y:0.93, Z:0.13 [[ 0.99742568 0.04803333 0.0532429 21.07881874] [-0.05624565 0.98462198 0.16539644 0.93433731] [-0.04447959 -0.16796534 0.98478892 0.13475018] [ 0. 0. 0. 1. ]] SLAMing on 123.018241008 meters Centerline goodness : 0.890857 with order 1 Centerline is valid? [False, False] Translation: X:21.09, Y:0.94, Z:0.13 [[ 0.99694097 0.05124213 0.05901645 21.0910078 ] [-0.05997076 0.98574961 0.15716622 0.93614816] [-0.05012191 -0.16022471 0.9858072 0.12996236] [ 0. 0. 0. 1. ]] SLAMing on 123.078241008 meters Centerline goodness : 0.890737 with order 1 Centerline is valid? [False, False] Translation: X:21.12, Y:0.94, Z:0.13 [[ 0.99663067 0.05973313 0.05620737 21.11953278] [-0.06733762 0.98715043 0.14491261 0.93652114] [-0.04682905 -0.14820922 0.98784668 0.12566808] [ 0. 0. 0. 1. ]] SLAMing on 123.138241008 meters Centerline goodness : 0.889005 with order 1 Centerline is valid? [False, False] Translation: X:21.13, Y:0.94, Z:0.12 [[ 0.996319 0.06108229 0.06014493 21.13185077] [-0.06851943 0.98906978 0.13056057 0.93910768] [-0.05151259 -0.13420107 0.98961433 0.11554319] [ 0. 0. 0. 1. ]] SLAMing on 123.198241008 meters Centerline goodness : 0.889846 with order 1 Centerline is valid? [False, False] Translation: X:21.15, Y:0.94, Z:0.10 [[ 0.99615383 0.06151955 0.06239303 21.14973222] [-0.06846643 0.99087264 0.11611962 0.94357625] [-0.05467992 -0.11994484 0.9912736 0.10243901] [ 0. 0. 0. 1. ]] SLAMing on 123.258241008 meters Centerline goodness : 0.888072 with order 1 Centerline is valid? [False, False] Translation: X:21.19, Y:0.94, Z:0.11 [[ 0.99627623 0.06323276 0.05861139 21.19035236] [-0.0703079 0.98930714 0.1277818 0.93723463] [-0.04990467 -0.13142681 0.99006895 0.1104354 ] [ 0. 0. 0. 1. ]] SLAMing on 123.318241008 meters Centerline goodness : 0.884568 with order 1 Centerline is valid? [False, False] Translation: X:21.23, Y:0.93, Z:0.12 [[ 0.99657242 0.0614734 0.05535724 21.23288172] [-0.06869993 0.9877861 0.13985325 0.93035202] [-0.04608386 -0.14317693 0.98862361 0.12208125] [ 0. 0. 0. 1. ]] SLAMing on 123.378241008 meters Centerline goodness : 0.885233 with order 1 Centerline is valid? [False, False] Translation: X:21.26, Y:0.93, Z:0.14 [[ 0.99693662 0.05252277 0.05795451 21.25670329] [-0.06088751 0.98626072 0.15356597 0.93000681] [-0.04909255 -0.15662425 0.98643741 0.1367547 ] [ 0. 0. 0. 1. ]] SLAMing on 123.438241008 meters Centerline goodness : 0.885843 with order 1 Centerline is valid? [False, False] Translation: X:21.27, Y:0.93, Z:0.14 [[ 0.99739453 0.04024696 0.05986931 21.27326964] [-0.04911922 0.98669224 0.15500232 0.93265196] [-0.05283421 -0.1575392 0.98609835 0.1415226 ] [ 0. 0. 0. 1. ]] SLAMing on 123.498241008 meters Centerline goodness : 0.889083 with order 1 Centerline is valid? [False, False] Translation: X:21.28, Y:0.94, Z:0.14 [[ 0.99758716 0.03473322 0.06011201 21.27543598] [-0.04339016 0.98783975 0.14929809 0.93603822] [-0.05419543 -0.15154613 0.98696334 0.13850676] [ 0. 0. 0. 1. ]] SLAMing on 123.558241008 meters Centerline goodness : 0.892432 with order 1 Centerline is valid? [False, False] Translation: X:21.25, Y:0.94, Z:0.14 [[ 0.99776686 0.02523045 0.06184422 21.25114812] [-0.03386168 0.98917847 0.14275623 0.94377574] [-0.05757317 -0.14453158 0.98782385 0.13740358] [ 0. 0. 0. 1. ]] SLAMing on 123.618241008 meters Centerline goodness : 0.892143 with order 1 Centerline is valid? [False, False] Translation: X:21.22, Y:0.95, Z:0.13 [[ 0.99767333 0.02187269 0.06457176 21.21687183] [-0.03038143 0.99053113 0.1338845 0.95476848] [-0.06103192 -0.13553477 0.98889101 0.13202756] [ 0. 0. 0. 1. ]] SLAMing on 123.678241008 meters Centerline goodness : 0.889372 with order 1 Centerline is valid? [False, False] Translation: X:21.19, Y:0.97, Z:0.12 [[ 0.99776624 0.02616539 0.06146458 21.18751994] [-0.03297997 0.99309151 0.11261254 0.96579953] [-0.0580934 -0.11438809 0.99173612 0.120689 ] [ 0. 0. 0. 1. ]] SLAMing on 123.738241008 meters Centerline goodness : 0.890189 with order 1 Centerline is valid? [False, False] Translation: X:21.18, Y:0.98, Z:0.11 [[ 0.99762523 0.02905963 0.06244547 21.18042575] [-0.03552377 0.99383383 0.10503511 0.97758638] [-0.05900814 -0.10700397 0.99250602 0.10929857] [ 0. 0. 0. 1. ]] SLAMing on 123.798241008 meters Centerline goodness : 0.890316 with order 1 Centerline is valid? [False, False] Translation: X:21.18, Y:0.98, Z:0.11 [[ 0.99753652 0.03232699 0.06225645 21.18168754] [-0.03893318 0.99338766 0.10800539 0.98261499] [-0.0583533 -0.11016316 0.99219906 0.11020235] [ 0. 0. 0. 1. ]] SLAMing on 123.858241008 meters Centerline goodness : 0.890134 with order 1 Centerline is valid? [False, False] Translation: X:21.19, Y:0.99, Z:0.11 [[ 0.9974831 0.03421562 0.06210276 21.18540314] [-0.0410578 0.99280596 0.11247481 0.99129215] [-0.0578076 -0.11474153 0.99171199 0.11400288] [ 0. 0. 0. 1. ]] SLAMing on 123.918241008 meters Centerline goodness : 0.889305 with order 1 Centerline is valid? [False, False] Translation: X:21.20, Y:1.00, Z:0.12 [[ 0.99743578 0.03432807 0.06279682 21.19951306] [-0.04196036 0.99132328 0.12456915 0.99612668] [-0.05797573 -0.12688471 0.99022174 0.1212201 ] [ 0. 0. 0. 1. ]] SLAMing on 123.978241008 meters Centerline goodness : 0.888160 with order 1 Centerline is valid? [False, False] Translation: X:21.22, Y:1.00, Z:0.12 [[ 0.99714173 0.03445762 0.06723874 21.21943361] [-0.04210218 0.99237885 0.11580859 1.00374937] [-0.06273581 -0.11830848 0.9909931 0.11535044] [ 0. 0. 0. 1. ]] SLAMing on 124.038241008 meters Centerline goodness : 0.891929 with order 1 Centerline is valid? [False, False] Translation: X:21.24, Y:1.01, Z:0.11 [[ 0.99679268 0.03508564 0.07192608 21.23850153] [-0.04289925 0.99298979 0.11014049 1.00741757] [-0.06755751 -0.1128728 0.9913101 0.11358383] [ 0. 0. 0. 1. ]] SLAMing on 124.098241008 meters Centerline goodness : 0.892234 with order 1 Centerline is valid? [False, False] Translation: X:21.27, Y:1.01, Z:0.11 [[ 0.99648774 0.03366058 0.07667556 21.26537352] [-0.04167667 0.99354893 0.10546841 1.01382418] [-0.07263079 -0.10829356 0.99146219 0.10935896] [ 0. 0. 0. 1. ]] SLAMing on 124.158241008 meters Centerline goodness : 0.893643 with order 1 Centerline is valid? [False, False] Translation: X:21.29, Y:1.01, Z:0.12 [[ 0.99642429 0.0313558 0.07845661 21.28776213] [-0.04089112 0.9915581 0.12304655 1.01434029] [-0.07393606 -0.12581476 0.98929475 0.11888651] [ 0. 0. 0. 1. ]] SLAMing on 124.21824100799999 meters Centerline goodness : 0.895126 with order 1 Centerline is valid? [False, False] Translation: X:21.30, Y:1.02, Z:0.12 [[ 0.9965868 0.03115447 0.07644699 21.29920517] [-0.04064349 0.99121094 0.1258927 1.02239733] [-0.07185297 -0.12857008 0.98909397 0.11757977] [ 0. 0. 0. 1. ]] SLAMing on 124.278241008 meters Centerline goodness : 0.896645 with order 1 Centerline is valid? [False, False] Translation: X:21.31, Y:1.03, Z:0.11 [[ 0.99607433 0.03536404 0.08114998 21.31291699] [-0.04473911 0.99214906 0.11678466 1.02874609] [-0.0763829 -0.11995678 0.98983636 0.11004933] [ 0. 0. 0. 1. ]] SLAMing on 124.338241008 meters Centerline goodness : 0.893520 with order 1 Centerline is valid? [False, False] Translation: X:21.33, Y:1.04, Z:0.10 [[ 0.99566299 0.03984784 0.08406759 21.33170127] [-0.04885462 0.99295449 0.10795654 1.0353696 ] [-0.07917346 -0.11159542 0.99059478 0.099171 ] [ 0. 0. 0. 1. ]] SLAMing on 124.398241008 meters Centerline goodness : 0.896887 with order 1 Centerline is valid? [False, False] Translation: X:21.34, Y:1.04, Z:0.09 [[ 0.99514309 0.04487477 0.08761555 21.34408371] [-0.05333465 0.99388018 0.0967347 1.04045598] [-0.08273841 -0.10093781 0.99144637 0.08882732] [ 0. 0. 0. 1. ]] SLAMing on 124.458241008 meters Centerline goodness : 0.896450 with order 1 Centerline is valid? [False, False] Translation: X:21.37, Y:1.04, Z:0.08 [[ 0.99511938 0.05079053 0.08460343 21.36623591] [-0.05790236 0.9947951 0.08384526 1.04367106] [-0.07990454 -0.08833478 0.99288077 0.08325969] [ 0. 0. 0. 1. ]] SLAMing on 124.518241008 meters Centerline goodness : 0.895381 with order 1 Centerline is valid? [False, False] Translation: X:21.38, Y:1.05, Z:0.07 [[ 0.99470506 0.05279272 0.0881747 21.38231408] [-0.05918826 0.9956782 0.07156585 1.04870801] [-0.08401547 -0.07640582 0.99353085 0.07174354] [ 0. 0. 0. 1. ]] SLAMing on 124.578241008 meters Centerline goodness : 0.895380 with order 1 Centerline is valid? [False, False] Translation: X:21.40, Y:1.05, Z:0.06 [[ 0.99432213 0.05559195 0.09073609 21.40000066] [-0.06121244 0.99629668 0.0603818 1.05303474] [-0.08704332 -0.06559313 0.99404276 0.05983316] [ 0. 0. 0. 1. ]] SLAMing on 124.638241008 meters Centerline goodness : 0.895052 with order 1 Centerline is valid? [False, False] Translation: X:21.43, Y:1.05, Z:0.06 [[ 0.99460217 0.05584661 0.08745099 21.43448399] [-0.06133042 0.99623161 0.06132825 1.0488804 ] [-0.08369647 -0.06636062 0.99427922 0.05905446] [ 0. 0. 0. 1. ]] SLAMing on 124.698241008 meters Centerline goodness : 0.895556 with order 1 Centerline is valid? [False, False] Translation: X:21.47, Y:1.04, Z:0.07 [[ 0.99480372 0.0558801 0.08510561 21.47309423] [-0.06214451 0.99540643 0.07282922 1.04035487] [-0.08064497 -0.07773962 0.99370667 0.07032743] [ 0. 0. 0. 1. ]] SLAMing on 124.758241008 meters Centerline goodness : 0.895346 with order 1 Centerline is valid? [False, False] Translation: X:21.50, Y:1.04, Z:0.06 [[ 0.99480372 0.05440926 0.08605347 21.49801942] [-0.06009747 0.99607705 0.06495235 1.03881859] [-0.08218187 -0.06978644 0.99417101 0.06497965] [ 0. 0. 0. 1. ]] SLAMing on 124.818241008 meters Centerline goodness : 0.894464 with order 1 Centerline is valid? [False, False] Translation: X:21.53, Y:1.03, Z:0.07 [[ 0.99507342 0.05440421 0.08287982 21.53449422] [-0.06034878 0.9956495 0.0709937 1.03374134] [-0.07865689 -0.07564564 0.99402758 0.06862434] [ 0. 0. 0. 1. ]] SLAMing on 124.878241008 meters Centerline goodness : 0.894956 with order 1 Centerline is valid? [False, False] Translation: X:21.57, Y:1.03, Z:0.07 [[ 0.99541657 0.05302103 0.07959032 21.56705837] [-0.05857403 0.9958861 0.06913723 1.02934576] [-0.07559716 -0.07348228 0.99442718 0.06793133] [ 0. 0. 0. 1. ]] SLAMing on 124.938241008 meters Centerline goodness : 0.894516 with order 1 Centerline is valid? [False, False] Translation: X:21.59, Y:1.03, Z:0.06 [[ 0.99532792 0.05255913 0.080993 21.59060015] [-0.05743636 0.99659759 0.05911261 1.03087008] [-0.07761052 -0.06348838 0.99496022 0.05951961] [ 0. 0. 0. 1. ]] SLAMing on 124.998241008 meters Centerline goodness : 0.895077 with order 1 Centerline is valid? [False, False] Translation: X:21.63, Y:1.02, Z:0.06 [[ 0.99563568 0.05360225 0.07639628 21.62766405] [-0.0585518 0.99622484 0.06409171 1.02478388] [-0.07267241 -0.06828513 0.99501551 0.06307713] [ 0. 0. 0. 1. ]] SLAMing on 125.058241008 meters Centerline goodness : 0.895072 with order 1 Centerline is valid? [False, False] Translation: X:21.67, Y:1.02, Z:0.07 [[ 0.99577462 0.05565666 0.07304274 21.66900305] [-0.06110289 0.99534149 0.0745772 1.0218095 ] [-0.06855176 -0.07872521 0.99453657 0.07012375] [ 0. 0. 0. 1. ]] SLAMing on 125.118241008 meters Centerline goodness : 0.893881 with order 1 Centerline is valid? [False, False] Translation: X:21.70, Y:1.02, Z:0.07 [[ 0.99584007 0.05722267 0.07090923 21.69784534] [-0.06224 0.99555444 0.07069323 1.02097937] [-0.06654874 -0.07481254 0.99497455 0.06657597] [ 0. 0. 0. 1. ]] SLAMing on 125.178241008 meters Centerline goodness : 0.896921 with order 1 Centerline is valid? [False, False] Translation: X:21.72, Y:1.03, Z:0.06 [[ 0.99553913 0.05830884 0.07417498 21.71708372] [-0.0628264 0.99621309 0.06010258 1.0259333 ] [-0.07038958 -0.06449461 0.99543244 0.05790885] [ 0. 0. 0. 1. ]] SLAMing on 125.238241008 meters Centerline goodness : 0.894713 with order 1 Centerline is valid? [False, False] Translation: X:21.73, Y:1.03, Z:0.05 [[ 0.99516737 0.05941621 0.07817685 21.73259779] [-0.06327884 0.99684599 0.04789433 1.03059742] [-0.07508458 -0.05260981 0.99578839 0.04889709] [ 0. 0. 0. 1. ]] SLAMing on 125.298241008 meters Centerline goodness : 0.896246 with order 1 Centerline is valid? [False, False] Translation: X:21.75, Y:1.04, Z:0.04 [[ 0.99465822 0.06178048 0.08269343 21.74634156] [-0.06495531 0.99722891 0.03626714 1.03548416] [-0.08022367 -0.04144479 0.9959149 0.03977535] [ 0. 0. 0. 1. ]] SLAMing on 125.358241008 meters Centerline goodness : 0.894855 with order 1 Centerline is valid? [False, False] Translation: X:21.78, Y:1.03, Z:0.04 [[ 0.99446595 0.06508096 0.08247384 21.77608052] [-0.06846201 0.99689699 0.03885029 1.03339383] [-0.07968951 -0.04428162 0.99583569 0.04039936] [ 0. 0. 0. 1. ]] SLAMing on 125.418241008 meters Centerline goodness : 0.893071 with order 1 Centerline is valid? [False, False] Translation: X:21.81, Y:1.03, Z:0.04 [[ 0.99441344 0.06792317 0.08079824 21.80799166] [-0.07140449 0.99660426 0.04100416 1.03159117] [-0.07773874 -0.04654445 0.99588669 0.04047952] [ 0. 0. 0. 1. ]] SLAMing on 125.478241008 meters Centerline goodness : 0.894178 with order 1 Centerline is valid? [False, False] Translation: X:21.83, Y:1.03, Z:0.04 [[ 0.99457718 0.0712144 0.07579408 21.83388593] [-0.07412227 0.99658949 0.03626667 1.03119665] [-0.07295287 -0.04168803 0.99646374 0.03696743] [ 0. 0. 0. 1. ]] SLAMing on 125.538241008 meters Centerline goodness : 0.896403 with order 1 Centerline is valid? [False, False] Translation: X:21.85, Y:1.03, Z:0.04 [[ 0.9947974 0.07015115 0.07387112 21.8456165 ] [-0.07334897 0.99644244 0.0415018 1.03052168] [-0.07069692 -0.04670425 0.99640386 0.03845226] [ 0. 0. 0. 1. ]] SLAMing on 125.598241008 meters Centerline goodness : 0.894537 with order 1 Centerline is valid? [False, False] Translation: X:21.89, Y:1.02, Z:0.05 [[ 0.99515754 0.06176107 0.07646596 21.88863232] [-0.06689302 0.99554309 0.06647773 1.02117403] [-0.07201943 -0.07127085 0.99485359 0.05169095] [ 0. 0. 0. 1. ]] SLAMing on 125.658241008 meters Centerline goodness : 0.893319 with order 1 Centerline is valid? [False, False] Translation: X:21.92, Y:1.02, Z:0.06 [[ 0.99544856 0.05985048 0.07416254 21.92451332] [-0.06499693 0.99549419 0.06904148 1.01686887] [-0.06969621 -0.07354758 0.99485335 0.05553366] [ 0. 0. 0. 1. ]] SLAMing on 125.71824100799999 meters Centerline goodness : 0.895090 with order 1 Centerline is valid? [False, False] Translation: X:21.96, Y:1.01, Z:0.06 [[ 0.99584399 0.05609018 0.07175395 21.96210761] [-0.06121596 0.99557093 0.07135218 1.011712 ] [-0.06743399 -0.07544812 0.99486694 0.0604026 ] [ 0. 0. 0. 1. ]] SLAMing on 125.778241008 meters Centerline goodness : 0.895179 with order 1 Centerline is valid? [False, False] Translation: X:22.00, Y:1.00, Z:0.09 [[ 0.99551636 0.05063815 0.07989343 22.00102509] [-0.05909713 0.99246466 0.10733791 1.0007769 ] [-0.07385601 -0.11157812 0.99100737 0.08701601] [ 0. 0. 0. 1. ]] SLAMing on 125.838241008 meters Centerline goodness : 0.896849 with order 1 Centerline is valid? [False, False] Translation: X:22.01, Y:1.01, Z:0.08 [[ 0.99502679 0.0530054 0.08433333 22.01498652] [-0.06105281 0.99351703 0.09589817 1.00518635] [-0.07870347 -0.10057004 0.9918122 0.07821851] [ 0. 0. 0. 1. ]] SLAMing on 125.898241008 meters Centerline goodness : 0.896266 with order 1 Centerline is valid? [False, False] Translation: X:22.03, Y:1.01, Z:0.07 [[ 0.99449831 0.05619717 0.08840238 22.03176421] [-0.06396471 0.99409665 0.08763767 1.00935848] [-0.08295552 -0.09281015 0.99222208 0.07092174] [ 0. 0. 0. 1. ]] SLAMing on 125.958241008 meters Centerline goodness : 0.891244 with order 1 Centerline is valid? [False, False] Translation: X:22.04, Y:1.02, Z:0.06 [[ 0.99383337 0.06200387 0.09192795 22.04317386] [-0.06910388 0.99469688 0.07617585 1.01573578] [-0.08671725 -0.08205868 0.99284767 0.05983587] [ 0. 0. 0. 1. ]] SLAMing on 126.018241008 meters Centerline goodness : 0.890387 with order 1 Centerline is valid? [False, False] Translation: X:22.06, Y:1.02, Z:0.05 [[ 0.99332907 0.06704488 0.09382083 22.05720921] [-0.07322475 0.99525648 0.06405209 1.02121388] [-0.08908142 -0.07049481 0.99352654 0.04768296] [ 0. 0. 0. 1. ]] SLAMing on 126.078241008 meters Centerline goodness : 0.889170 with order 1 Centerline is valid? [False, False] Translation: X:22.07, Y:1.03, Z:0.04 [[ 0.99299415 0.07016146 0.0950789 22.0733658 ] [-0.07520435 0.99588691 0.05053275 1.02748633] [-0.09114238 -0.05732907 0.99418632 0.03540019] [ 0. 0. 0. 1. ]] SLAMing on 126.138241008 meters Centerline goodness : 0.889719 with order 1 Centerline is valid? [False, False] Translation: X:22.10, Y:1.03, Z:0.03 [[ 0.99339501 0.07107511 0.09008154 22.09715296] [-0.07516584 0.99624956 0.0428593 1.02545923] [-0.08669746 -0.04934727 0.99501176 0.03178075] [ 0. 0. 0. 1. ]] SLAMing on 126.198241008 meters Centerline goodness : 0.890320 with order 1 Centerline is valid? [False, False] Translation: X:22.14, Y:1.02, Z:0.04 [[ 0.99377571 0.06119288 0.09308746 22.13633516] [-0.06737563 0.99562168 0.06479191 1.0195067 ] [-0.08871509 -0.07066046 0.99354755 0.04384139] [ 0. 0. 0. 1. ]] SLAMing on 126.258241008 meters Centerline goodness : 0.890988 with order 1 Centerline is valid? [False, False] Translation: X:22.18, Y:1.01, Z:0.05 [[ 0.99414587 0.05889392 0.09058417 22.17601798] [-0.0656533 0.99512859 0.07354411 1.0125545 ] [-0.0858116 -0.07906072 0.99316956 0.0530591 ] [ 0. 0. 0. 1. ]] SLAMing on 126.318241008 meters Centerline goodness : 0.889981 with order 1 Centerline is valid? [False, False] Translation: X:22.21, Y:1.01, Z:0.07 [[ 0.99419792 0.05847837 0.09028161 22.21086618] [-0.06615283 0.99422555 0.08449472 1.00673295] [-0.08481917 -0.08997686 0.99232549 0.06611217] [ 0. 0. 0. 1. ]] SLAMing on 126.378241008 meters Centerline goodness : 0.888678 with order 1 Centerline is valid? [False, False] Translation: X:22.23, Y:1.00, Z:0.08 [[ 0.99425791 0.05470822 0.09196854 22.23209681] [-0.06402823 0.99275764 0.10164971 1.00346126] [-0.08574139 -0.10695461 0.99056001 0.07965279] [ 0. 0. 0. 1. ]] SLAMing on 126.438241008 meters Centerline goodness : 0.888855 with order 1 Centerline is valid? [False, False] Translation: X:22.25, Y:1.01, Z:0.08 [[ 0.99369856 0.05786837 0.09599176 22.25430273] [-0.06753388 0.99262154 0.10070579 1.00535587] [-0.08945581 -0.10655389 0.99027467 0.07843801] [ 0. 0. 0. 1. ]] SLAMing on 126.498241008 meters Centerline goodness : 0.889206 with order 1 Centerline is valid? [False, False] Translation: X:22.28, Y:1.01, Z:0.08 [[ 0.99341313 0.0583371 0.09862628 22.28288277] [-0.06810791 0.9927744 0.09879421 1.00837963] [-0.09215028 -0.1048607 0.99020834 0.07586061] [ 0. 0. 0. 1. ]] SLAMing on 126.558241008 meters Centerline goodness : 0.886643 with order 1 Centerline is valid? [False, False] Translation: X:22.31, Y:1.01, Z:0.08 [[ 0.99289621 0.06086456 0.1022381 22.31077609] [-0.07128802 0.99226755 0.10160276 1.01164103] [-0.09526354 -0.10816934 0.9895576 0.07723753] [ 0. 0. 0. 1. ]] SLAMing on 126.618241008 meters Centerline goodness : 0.886715 with order 1 Centerline is valid? [False, False] Translation: X:22.33, Y:1.02, Z:0.07 [[ 0.99235596 0.06487631 0.10497956 22.32639591] [-0.07449933 0.9931059 0.09050154 1.01838158] [-0.09838441 -0.09763065 0.9903478 0.06654172] [ 0. 0. 0. 1. ]] SLAMing on 126.678241008 meters Centerline goodness : 0.889621 with order 1 Centerline is valid? [False, False] Translation: X:22.35, Y:1.02, Z:0.07 [[ 0.99193428 0.06685019 0.10769138 22.35273081] [-0.07665439 0.99302084 0.08963098 1.02195616] [-0.10094794 -0.09716306 0.99013578 0.06628986] [ 0. 0. 0. 1. ]] SLAMing on 126.738241008 meters Centerline goodness : 0.883477 with order 1 Centerline is valid? [False, False] Translation: X:22.37, Y:1.03, Z:0.06 [[ 0.99136058 0.06927566 0.11137807 22.36782749] [-0.07828425 0.99382363 0.07865223 1.02800895] [-0.10524147 -0.08669187 0.99066077 0.05812546] [ 0. 0. 0. 1. ]] SLAMing on 126.798241008 meters Centerline goodness : 0.881122 with order 1 Centerline is valid? [False, False] Translation: X:22.40, Y:1.03, Z:0.06 [[ 0.9910628 0.06839084 0.11453043 22.40375265] [-0.07833497 0.99332249 0.08469982 1.02730025] [-0.10797296 -0.09291458 0.98980236 0.06187467] [ 0. 0. 0. 1. ]] SLAMing on 126.858241008 meters Centerline goodness : 0.881246 with order 1 Centerline is valid? [False, False] Translation: X:22.42, Y:1.03, Z:0.07 [[ 0.99141774 0.06692277 0.11230409 22.42386889] [-0.07784081 0.99234955 0.09582895 1.02947178] [-0.10503177 -0.10374836 0.98904227 0.06593807] [ 0. 0. 0. 1. ]] SLAMing on 126.918241008 meters Centerline goodness : 0.877978 with order 1 Centerline is valid? [False, False] Translation: X:22.44, Y:1.03, Z:0.06 [[ 0.99105652 0.06867623 0.11441395 22.4417792 ] [-0.07853138 0.99336828 0.08397789 1.0349851 ] [-0.1078879 -0.09221192 0.98987735 0.05588708] [ 0. 0. 0. 1. ]] SLAMing on 126.978241008 meters Centerline goodness : 0.878123 with order 1 Centerline is valid? [False, False] Translation: X:22.48, Y:1.02, Z:0.09 [[ 0.99074709 0.06006453 0.12170641 22.48213973] [-0.07491891 0.98977194 0.1214029 1.02377843] [-0.11316958 -0.12939769 0.98511364 0.08534581] [ 0. 0. 0. 1. ]] SLAMing on 127.038241008 meters Centerline goodness : 0.874791 with order 1 Centerline is valid? [False, False] Translation: X:22.51, Y:1.02, Z:0.11 [[ 0.99035404 0.05159195 0.12859685 22.5082246 ] [-0.07061231 0.98645677 0.14804371 1.01859895] [-0.11921737 -0.1556962 0.98058447 0.1077514 ] [ 0. 0. 0. 1. ]] SLAMing on 127.098241008 meters Centerline goodness : 0.875239 with order 1 Centerline is valid? [False, False] Translation: X:22.53, Y:1.02, Z:0.12 [[ 0.98985472 0.04425617 0.13501493 22.53237274] [-0.06738359 0.98281314 0.17186558 1.01720073] [-0.12508833 -0.17921974 0.97582437 0.12469274] [ 0. 0. 0. 1. ]] SLAMing on 127.158241008 meters Centerline goodness : 0.877269 with order 1 Centerline is valid? [False, False] Translation: X:22.51, Y:1.03, Z:0.12 [[ 0.9902546 0.03758446 0.13410158 22.51031962] [-0.05995864 0.98414366 0.16693178 1.02827828] [-0.12570118 -0.17334551 0.9768063 0.1222179 ] [ 0. 0. 0. 1. ]] SLAMing on 127.21824100799999 meters Centerline goodness : 0.873986 with order 1 Centerline is valid? [False, False] Translation: X:22.47, Y:1.04, Z:0.12 [[ 0.99050144 0.03700341 0.13242977 22.47042341] [-0.05747729 0.98635192 0.15429274 1.03956216] [-0.124913 -0.16043889 0.97910985 0.11915605] [ 0. 0. 0. 1. ]] SLAMing on 127.278241008 meters Centerline goodness : 0.877405 with order 1 Centerline is valid? [False, False] Translation: X:22.47, Y:1.05, Z:0.12 [[ 0.99203894 0.03152588 0.12192152 22.46646485] [-0.04983467 0.98740311 0.15017192 1.04713579] [-0.11565138 -0.15505231 0.98111342 0.12080403] [ 0. 0. 0. 1. ]] SLAMing on 127.338241008 meters Centerline goodness : 0.871249 with order 1 Centerline is valid? [False, False] Translation: X:22.46, Y:1.06, Z:0.12 [[ 0.99448594 0.02335441 0.1022364 22.45906608] [-0.0378367 0.98912926 0.14209746 1.05923716] [-0.09780641 -0.14518222 0.9845588 0.1195958 ] [ 0. 0. 0. 1. ]] SLAMing on 127.398241008 meters Centerline goodness : 0.870988 with order 1 Centerline is valid? [False, False] Translation: X:22.45, Y:1.07, Z:0.12 [[ 9.96416401e-01 1.67682777e-02 8.29046506e-02 2.24512344e+01] [-2.77540823e-02 9.90701525e-01 1.33192340e-01 1.07023834e+00] [-7.99003577e-02 -1.35015975e-01 9.87616636e-01 1.19286193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.458241008 meters Centerline goodness : 0.871647 with order 1 Centerline is valid? [False, False] Translation: X:22.45, Y:1.08, Z:0.12 [[ 9.97262421e-01 1.40085879e-02 7.26045607e-02 2.24468730e+01] [-2.33157123e-02 9.91373772e-01 1.28974503e-01 1.08108813e+00] [-7.01715065e-02 -1.30314252e-01 9.88986428e-01 1.21427819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.518241008 meters Centerline goodness : 0.877561 with order 1 Centerline is valid? [False, False] Translation: X:22.45, Y:1.09, Z:0.12 [[ 9.98041608e-01 1.49093404e-02 6.07508032e-02 2.24473028e+01] [-2.22729134e-02 9.92231134e-01 1.22398094e-01 1.09271953e+00] [-5.84539635e-02 -1.23511488e-01 9.90620031e-01 1.20859763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.578241008 meters Centerline goodness : 0.876024 with order 1 Centerline is valid? [False, False] Translation: X:22.45, Y:1.10, Z:0.12 [[ 9.98696886e-01 1.68011235e-02 4.81897543e-02 2.24485809e+01] [-2.23479735e-02 9.92882624e-01 1.16981464e-01 1.10264356e+00] [-4.58813497e-02 -1.17905967e-01 9.91964256e-01 1.21209665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.638241008 meters Centerline goodness : 0.886065 with order 1 Centerline is valid? [False, False] Translation: X:22.45, Y:1.11, Z:0.12 [[ 9.99204476e-01 1.93093018e-02 3.48936486e-02 2.24508666e+01] [-2.30810346e-02 9.93536378e-01 1.11142842e-01 1.11186876e+00] [-3.25220185e-02 -1.11859807e-01 9.93191674e-01 1.21667593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.698241008 meters Centerline goodness : 0.880321 with order 1 Centerline is valid? [False, False] Translation: X:22.48, Y:1.12, Z:0.12 [[ 0.99910942 0.02994116 0.02973045 22.48056511] [-0.03275147 0.99454438 0.09903943 1.11552735] [-0.0266029 -0.09992494 0.99463928 0.11574875] [ 0. 0. 0. 1. ]] SLAMing on 127.758241008 meters Centerline goodness : 0.882281 with order 1 Centerline is valid? [False, False] Translation: X:22.48, Y:1.12, Z:0.11 [[ 9.99414343e-01 3.02212676e-02 1.60513376e-02 2.24846679e+01] [-3.16399530e-02 9.94774714e-01 9.70679191e-02 1.12088218e+00] [-1.30339492e-02 -9.75189342e-02 9.95148317e-01 1.14271972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.818241008 meters Centerline goodness : 0.884675 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:1.12, Z:0.11 [[ 9.99618592e-01 2.74232116e-02 3.26163959e-03 2.24862861e+01] [-2.76046467e-02 9.95655836e-01 8.89237885e-02 1.12404913e+00] [-8.08894622e-04 -8.89799086e-02 9.96033093e-01 1.13938120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.878241008 meters Centerline goodness : 0.884040 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:1.13, Z:0.11 [[ 9.99666952e-01 2.40626384e-02 -9.32600207e-03 2.24882785e+01] [-2.32293527e-02 9.96443127e-01 8.10030310e-02 1.12652812e+00] [ 1.12419773e-02 -8.07594161e-02 9.96670224e-01 1.12613971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.938241008 meters Centerline goodness : 0.883197 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:1.12, Z:0.11 [[ 9.99635317e-01 2.45036771e-02 -1.13491338e-02 2.24935153e+01] [-2.35287316e-02 9.96575669e-01 7.92674918e-02 1.12372608e+00] [ 1.32526156e-02 -7.89715536e-02 9.96788775e-01 1.11133686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.998241008 meters Centerline goodness : 0.880681 with order 1 Centerline is valid? [False, False] Translation: X:22.50, Y:1.12, Z:0.11 [[ 9.99694034e-01 2.09768104e-02 -1.31076957e-02 2.24981839e+01] [-1.99363959e-02 9.96983322e-01 7.50119683e-02 1.11851814e+00] [ 1.46416659e-02 -7.47276970e-02 9.97096481e-01 1.09125714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.05824100799998 meters Centerline goodness : 0.876140 with order 1 Centerline is valid? [False, False] Translation: X:22.50, Y:1.11, Z:0.11 [[ 9.99755333e-01 1.58025628e-02 -1.54774979e-02 2.25042997e+01] [-1.47162332e-02 9.97580208e-01 6.79496945e-02 1.11421468e+00] [ 1.65138249e-02 -6.77052990e-02 9.97568687e-01 1.06926052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.11824100799998 meters Centerline goodness : 0.874652 with order 1 Centerline is valid? [False, False] Translation: X:22.51, Y:1.11, Z:0.10 [[ 9.99819449e-01 1.07042422e-02 -1.56999369e-02 2.25067675e+01] [-9.63669620e-03 9.97735633e-01 6.65638063e-02 1.10716948e+00] [ 1.63769016e-02 -6.64004926e-02 9.97658645e-01 1.03250536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.178241008 meters Centerline goodness : 0.875036 with order 1 Centerline is valid? [False, False] Translation: X:22.50, Y:1.08, Z:0.14 [[ 9.99983459e-01 5.31801533e-03 2.19079521e-03 2.25045245e+01] [-5.55417488e-03 9.91803675e-01 1.27650391e-01 1.08447688e+00] [-1.49399201e-03 -1.27660448e-01 9.91816807e-01 1.43037005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.238241008 meters Centerline goodness : 0.875543 with order 1 Centerline is valid? [False, False] Translation: X:22.51, Y:1.07, Z:0.17 [[ 9.99913322e-01 6.73306209e-03 1.13143861e-02 2.25107932e+01] [-8.46856416e-03 9.86898371e-01 1.61120727e-01 1.06650153e+00] [-1.00813133e-02 -1.61202578e-01 9.86869848e-01 1.72602261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.298241008 meters Centerline goodness : 0.873845 with order 1 Centerline is valid? [False, False] Translation: X:22.54, Y:1.06, Z:0.20 [[ 9.99783933e-01 4.64506822e-03 2.02610823e-02 2.25381854e+01] [-8.53843941e-03 9.80456719e-01 1.96549529e-01 1.05691338e+00] [-1.89521283e-02 -1.96680059e-01 9.80284536e-01 1.99047458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.358241008 meters Centerline goodness : 0.875131 with order 1 Centerline is valid? [False, False] Translation: X:22.57, Y:1.05, Z:0.22 [[ 9.99592043e-01 6.61040920e-03 2.77857970e-02 2.25651734e+01] [-1.25710136e-02 9.75375171e-01 2.20193654e-01 1.04782865e+00] [-2.56460063e-02 -2.20453120e-01 9.75060359e-01 2.17081765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.418241008 meters Centerline goodness : 0.873527 with order 1 Centerline is valid? [False, False] Translation: X:22.60, Y:1.04, Z:0.24 [[ 9.99252445e-01 6.57671009e-03 3.80959151e-02 2.25950876e+01] [-1.61515586e-02 9.66320940e-01 2.56832569e-01 1.03546477e+00] [-3.51237671e-02 -2.57255880e-01 9.65704786e-01 2.41488720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.478241008 meters Centerline goodness : 0.872609 with order 1 Centerline is valid? [False, False] Translation: X:22.60, Y:1.04, Z:0.23 [[ 9.99119109e-01 1.11531508e-02 4.04550766e-02 2.26005381e+01] [-2.06140659e-02 9.70146014e-01 2.41643896e-01 1.03583050e+00] [-3.65522404e-02 -2.42264978e-01 9.69521332e-01 2.33549468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53824100799997 meters Centerline goodness : 0.873773 with order 1 Centerline is valid? [False, False] Translation: X:22.62, Y:1.03, Z:0.23 [[ 9.99070448e-01 2.03390083e-02 3.80074343e-02 2.26160450e+01] [-2.83160111e-02 9.74437573e-01 2.22866820e-01 1.03449053e+00] [-3.25029820e-02 -2.23735872e-01 9.74107702e-01 2.28241033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59824100799997 meters Centerline goodness : 0.872230 with order 1 Centerline is valid? [False, False] Translation: X:22.62, Y:1.04, Z:0.21 [[ 0.99887271 0.02322626 0.04139861 22.62222624] [-0.03121563 0.97842255 0.20424224 1.03660951] [-0.03576155 -0.20530429 0.97804461 0.21394332] [ 0. 0. 0. 1. ]] SLAMing on 128.65824100799998 meters Centerline goodness : 0.875840 with order 1 Centerline is valid? [False, False] Translation: X:22.64, Y:1.04, Z:0.20 [[ 0.99894986 0.02634967 0.03748155 22.63625797] [-0.03276622 0.9826673 0.18245919 1.03554671] [-0.03202416 -0.18349571 0.98249874 0.20414162] [ 0. 0. 0. 1. ]] SLAMing on 128.71824100799998 meters Centerline goodness : 0.873963 with order 1 Centerline is valid? [False, False] Translation: X:22.65, Y:1.04, Z:0.19 [[ 0.99885752 0.02457103 0.04098692 22.64775775] [-0.03095006 0.98612554 0.16309048 1.0362322 ] [-0.03641094 -0.1641727 0.98575939 0.19079986] [ 0. 0. 0. 1. ]] SLAMing on 128.77824100799998 meters Centerline goodness : 0.876415 with order 1 Centerline is valid? [False, False] Translation: X:22.69, Y:1.03, Z:0.19 [[ 0.99892059 0.02340172 0.04012498 22.69392995] [-0.029327 0.9876196 0.15410209 1.02857523] [-0.03602196 -0.15511249 0.98723986 0.19068539] [ 0. 0. 0. 1. ]] SLAMing on 128.83824100799998 meters Centerline goodness : 0.875246 with order 1 Centerline is valid? [False, False] Translation: X:22.73, Y:1.03, Z:0.19 [[ 0.99894283 0.02427063 0.03904058 22.73306626] [-0.02953284 0.98965118 0.14042203 1.02533559] [-0.03522843 -0.14142656 0.98932173 0.18564456] [ 0. 0. 0. 1. ]] SLAMing on 128.89824100799999 meters Centerline goodness : 0.880309 with order 1 Centerline is valid? [False, False] Translation: X:22.77, Y:1.02, Z:0.18 [[ 0.99897584 0.02581976 0.03715662 22.77382146] [-0.03034703 0.99144458 0.12695158 1.02041789] [-0.03356088 -0.12794916 0.99121273 0.17849503] [ 0. 0. 0. 1. ]] SLAMing on 128.958241008 meters Centerline goodness : 0.880808 with order 1 Centerline is valid? [False, False] Translation: X:22.79, Y:1.02, Z:0.17 [[ 0.99888488 0.02591075 0.03946679 22.78656082] [-0.03010835 0.99350044 0.10977414 1.01956662] [-0.03636595 -0.11084001 0.9931727 0.16550441] [ 0. 0. 0. 1. ]] SLAMing on 129.018241008 meters Centerline goodness : 0.880828 with order 1 Centerline is valid? [False, False] Translation: X:22.80, Y:1.02, Z:0.15 [[ 0.9987117 0.02725223 0.04280496 22.79718796] [-0.0311557 0.99514629 0.09334442 1.02281903] [-0.04005336 -0.09455779 0.9947133 0.15444565] [ 0. 0. 0. 1. ]] SLAMing on 129.078241008 meters Centerline goodness : 0.881032 with order 1 Centerline is valid? [False, False] Translation: X:22.84, Y:1.02, Z:0.15 [[ 0.99868559 0.03124551 0.04063019 22.84138489] [-0.03455427 0.99591166 0.08346234 1.02227866] [-0.03785626 -0.08475658 0.99568229 0.14898525] [ 0. 0. 0. 1. ]] SLAMing on 129.138241008 meters Centerline goodness : 0.883664 with order 1 Centerline is valid? [False, False] Translation: X:22.86, Y:1.03, Z:0.14 [[ 0.99856388 0.03134112 0.04345015 22.85943017] [-0.03429323 0.99703046 0.06895091 1.02898753] [-0.04116012 -0.07034193 0.9966734 0.13558162] [ 0. 0. 0. 1. ]] SLAMing on 129.198241008 meters Centerline goodness : 0.883560 with order 1 Centerline is valid? [False, False] Translation: X:22.88, Y:1.04, Z:0.12 [[ 0.99846175 0.03146248 0.04565351 22.87841959] [-0.03395389 0.99791636 0.05486418 1.03526288] [-0.04383222 -0.0563299 0.99744959 0.12334053] [ 0. 0. 0. 1. ]] SLAMing on 129.258241008 meters Centerline goodness : 0.885483 with order 1 Centerline is valid? [False, False] Translation: X:22.92, Y:1.03, Z:0.13 [[ 0.99870697 0.02792402 0.04248101 22.92391469] [-0.03064106 0.99743335 0.0647135 1.02919332] [-0.04056491 -0.06593149 0.99699926 0.13393393] [ 0. 0. 0. 1. ]] SLAMing on 129.31824100799997 meters Centerline goodness : 0.886272 with order 1 Centerline is valid? [False, False] Translation: X:22.95, Y:1.03, Z:0.13 [[ 0.99880366 0.02430779 0.04243089 22.95308655] [-0.02670252 0.99802754 0.05681547 1.03055233] [-0.04096614 -0.05788052 0.99748264 0.12966671] [ 0. 0. 0. 1. ]] SLAMing on 129.37824100799997 meters Centerline goodness : 0.885623 with order 1 Centerline is valid? [False, False] Translation: X:23.00, Y:1.02, Z:0.16 [[ 0.99882733 0.02341941 0.04237331 22.99598234] [-0.02679873 0.99635166 0.08102587 1.02079076] [-0.04032114 -0.0820664 0.99581088 0.15577556] [ 0. 0. 0. 1. ]] SLAMing on 129.43824100799998 meters Centerline goodness : 0.884701 with order 1 Centerline is valid? [False, False] Translation: X:23.02, Y:1.02, Z:0.17 [[ 9.98727785e-01 2.18145884e-02 4.54635539e-02 2.30243555e+01] [-2.65311307e-02 9.94026265e-01 1.05867295e-01 1.01589537e+00] [-4.28825151e-02 -1.06938809e-01 9.93340415e-01 1.70701703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49824100799998 meters Centerline goodness : 0.881461 with order 1 Centerline is valid? [False, False] Translation: X:23.04, Y:1.02, Z:0.16 [[ 9.98582753e-01 2.26080314e-02 4.81805282e-02 2.30423395e+01] [-2.69754951e-02 9.95392014e-01 9.20166376e-02 1.02271674e+00] [-4.58781980e-02 -9.31859208e-02 9.94591160e-01 1.57955062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.55824100799998 meters Centerline goodness : 0.887244 with order 1 Centerline is valid? [False, False] Translation: X:23.08, Y:1.02, Z:0.16 [[ 0.99858209 0.02622517 0.04632551 23.07698022] [-0.03060899 0.99485169 0.09660847 1.02369031] [-0.04355344 -0.09788946 0.99424381 0.16028581] [ 0. 0. 0. 1. ]] SLAMing on 129.61824100799998 meters Centerline goodness : 0.889444 with order 1 Centerline is valid? [False, False] Translation: X:23.11, Y:1.02, Z:0.16 [[ 0.99857942 0.02775482 0.04548409 23.11107094] [-0.03216342 0.99454239 0.09925193 1.02332144] [-0.04248114 -0.10057386 0.99402226 0.16186703] [ 0. 0. 0. 1. ]] SLAMing on 129.678241008 meters Centerline goodness : 0.889582 with order 1 Centerline is valid? [False, False] Translation: X:23.14, Y:1.02, Z:0.18 [[ 0.99837958 0.02525582 0.05099371 23.14111085] [-0.03151903 0.99152709 0.12601817 1.01594641] [-0.04737895 -0.12742124 0.99071644 0.18068382] [ 0. 0. 0. 1. ]] SLAMing on 129.738241008 meters Centerline goodness : 0.885181 with order 1 Centerline is valid? [False, False] Translation: X:23.16, Y:1.02, Z:0.17 [[ 0.99808826 0.02557585 0.05626457 23.15658726] [-0.03190971 0.9928849 0.11472287 1.02066347] [-0.05293011 -0.11629894 0.99180288 0.17231453] [ 0. 0. 0. 1. ]] SLAMing on 129.798241008 meters Centerline goodness : 0.888270 with order 1 Centerline is valid? [False, False] Translation: X:23.19, Y:1.02, Z:0.18 [[ 0.99782368 0.02447891 0.06122647 23.19123137] [-0.03205597 0.991511 0.12600932 1.01719613] [-0.05762215 -0.12769776 0.99013785 0.18486903] [ 0. 0. 0. 1. ]] SLAMing on 129.858241008 meters Centerline goodness : 0.889442 with order 1 Centerline is valid? [False, False] Translation: X:23.22, Y:1.02, Z:0.18 [[ 0.99764067 0.0239276 0.06434721 23.21538742] [-0.03153215 0.99228604 0.11989223 1.02050121] [-0.06098211 -0.12163837 0.99069939 0.18202758] [ 0. 0. 0. 1. ]] SLAMing on 129.918241008 meters Centerline goodness : 0.892686 with order 1 Centerline is valid? [False, False] Translation: X:23.24, Y:1.03, Z:0.17 [[ 0.99738606 0.02446761 0.06798813 23.23623263] [-0.03187384 0.99341155 0.11007972 1.02516065] [-0.0648468 -0.11195902 0.99159471 0.17282484] [ 0. 0. 0. 1. ]] SLAMing on 129.978241008 meters Centerline goodness : 0.884611 with order 1 Centerline is valid? [False, False] Translation: X:23.25, Y:1.03, Z:0.16 [[ 0.99708191 0.02758226 0.071182 23.25380819] [-0.03457025 0.99449815 0.09888545 1.03170159] [-0.06806288 -0.10105767 0.99254964 0.16043483] [ 0. 0. 0. 1. ]] SLAMing on 130.03824100799997 meters Centerline goodness : 0.888144 with order 1 Centerline is valid? [False, False] Translation: X:23.28, Y:1.03, Z:0.16 [[ 0.99689608 0.03049084 0.07258452 23.28022722] [-0.037452 0.99462214 0.09656164 1.03367965] [-0.06924992 -0.09898036 0.99267685 0.15667601] [ 0. 0. 0. 1. ]] SLAMing on 130.09824100799997 meters Centerline goodness : 0.889847 with order 1 Centerline is valid? [False, False] Translation: X:23.31, Y:1.03, Z:0.16 [[ 0.99697486 0.03597905 0.06889588 23.31355697] [-0.04290843 0.99386934 0.10189508 1.03348925] [-0.06480742 -0.10454304 0.99240655 0.15821992] [ 0. 0. 0. 1. ]] SLAMing on 130.15824100799998 meters Centerline goodness : 0.887660 with order 1 Centerline is valid? [False, False] Translation: X:23.34, Y:1.03, Z:0.16 [[ 0.99700248 0.04114482 0.06552223 23.34256366] [-0.04796014 0.99319903 0.10609197 1.03266135] [-0.06071148 -0.10891642 0.99219521 0.16195252] [ 0. 0. 0. 1. ]] SLAMing on 130.21824100799998 meters Centerline goodness : 0.888000 with order 1 Centerline is valid? [False, False] Translation: X:23.36, Y:1.04, Z:0.15 [[ 0.99676926 0.04252822 0.06813516 23.35961551] [-0.0487473 0.99453001 0.09237839 1.03797271] [-0.06383378 -0.09540134 0.99339007 0.15031832] [ 0. 0. 0. 1. ]] SLAMing on 130.27824100799998 meters Centerline goodness : 0.890505 with order 1 Centerline is valid? [False, False] Translation: X:23.39, Y:1.04, Z:0.15 [[ 0.99669111 0.04305726 0.06894138 23.38757369] [-0.04912742 0.99482636 0.08892135 1.0401874 ] [-0.06475599 -0.09201403 0.99364988 0.14805968] [ 0. 0. 0. 1. ]] SLAMing on 130.33824100799998 meters Centerline goodness : 0.891623 with order 1 Centerline is valid? [False, False] Translation: X:23.41, Y:1.04, Z:0.16 [[ 0.99662535 0.03914015 0.07215236 23.41456515] [-0.04683537 0.99302003 0.10824821 1.03525874] [-0.06741189 -0.11126219 0.99150207 0.158863 ] [ 0. 0. 0. 1. ]] SLAMing on 130.39824100799999 meters Centerline goodness : 0.891281 with order 1 Centerline is valid? [False, False] Translation: X:23.44, Y:1.03, Z:0.16 [[ 0.99659215 0.04179511 0.07111436 23.43892017] [-0.04910642 0.99332432 0.10438078 1.03495646] [-0.06627702 -0.10751724 0.99199163 0.15563827] [ 0. 0. 0. 1. ]] SLAMing on 130.458241008 meters Centerline goodness : 0.893209 with order 1 Centerline is valid? [False, False] Translation: X:23.46, Y:1.04, Z:0.15 [[ 0.99628463 0.04304507 0.07459262 23.45697538] [-0.04994803 0.9943849 0.09329455 1.0378233 ] [-0.07015791 -0.09667369 0.9928404 0.14604887] [ 0. 0. 0. 1. ]] SLAMing on 130.518241008 meters Centerline goodness : 0.893488 with order 1 Centerline is valid? [False, False] Translation: X:23.50, Y:1.04, Z:0.15 [[ 0.99614288 0.04678227 0.07423469 23.50149299] [-0.05339456 0.99453257 0.08974407 1.03641355] [-0.06963039 -0.09336164 0.99319445 0.14850623] [ 0. 0. 0. 1. ]] SLAMing on 130.578241008 meters Centerline goodness : 0.893181 with order 1 Centerline is valid? [False, False] Translation: X:23.53, Y:1.04, Z:0.15 [[ 0.99616022 0.04871838 0.07274162 23.53386929] [-0.05523625 0.99436712 0.09045991 1.03734438] [-0.06792481 -0.09413054 0.99323998 0.14591097] [ 0. 0. 0. 1. ]] SLAMing on 130.638241008 meters Centerline goodness : 0.896207 with order 1 Centerline is valid? [False, False] Translation: X:23.57, Y:1.03, Z:0.15 [[ 0.99621858 0.05085624 0.07044283 23.56991006] [-0.05771029 0.99341714 0.09895403 1.03449309] [-0.06494668 -0.10264512 0.99259554 0.15286172] [ 0. 0. 0. 1. ]] SLAMing on 130.698241008 meters Centerline goodness : 0.892012 with order 1 Centerline is valid? [False, False] Translation: X:23.59, Y:1.04, Z:0.14 [[ 0.99606559 0.05202398 0.07174149 23.5883614 ] [-0.05817704 0.9945492 0.08652934 1.03890538] [-0.06684884 -0.09036261 0.99366284 0.14375115] [ 0. 0. 0. 1. ]] SLAMing on 130.758241008 meters Centerline goodness : 0.894815 with order 1 Centerline is valid? [False, False] Translation: X:23.62, Y:1.03, Z:0.15 [[ 0.99614747 0.05375325 0.06928782 23.62173851] [-0.06014162 0.99378434 0.09367859 1.0341042 ] [-0.06382162 -0.09748477 0.99318856 0.15147881] [ 0. 0. 0. 1. ]] SLAMing on 130.81824100799997 meters Centerline goodness : 0.891585 with order 1 Centerline is valid? [False, False] Translation: X:23.64, Y:1.03, Z:0.16 [[ 0.99632681 0.05016129 0.06940266 23.643769 ] [-0.0575408 0.99239943 0.10877699 1.03285951] [-0.06341877 -0.11237091 0.99164048 0.16288969] [ 0. 0. 0. 1. ]] SLAMing on 130.87824100799997 meters Centerline goodness : 0.893827 with order 1 Centerline is valid? [False, False] Translation: X:23.66, Y:1.03, Z:0.18 [[ 0.99637964 0.04751397 0.0704985 23.66216556] [-0.05602007 0.99069309 0.12405224 1.0293498 ] [-0.06394817 -0.12755245 0.98976816 0.17514598] [ 0. 0. 0. 1. ]] SLAMing on 130.93824100799998 meters Centerline goodness : 0.895047 with order 1 Centerline is valid? [False, False] Translation: X:23.68, Y:1.03, Z:0.19 [[ 0.9963776 0.04103557 0.07448329 23.6842198 ] [-0.05146755 0.98823285 0.14403792 1.02693204] [-0.06769615 -0.14734963 0.98676508 0.19481386] [ 0. 0. 0. 1. ]] SLAMing on 130.99824100799998 meters Centerline goodness : 0.896984 with order 1 Centerline is valid? [False, False] Translation: X:23.68, Y:1.03, Z:0.20 [[ 0.99638389 0.04002877 0.0749456 23.68495978] [-0.05056871 0.98821326 0.14448997 1.02858509] [-0.06827848 -0.14775738 0.98666398 0.1970152 ] [ 0. 0. 0. 1. ]] SLAMing on 131.05824100799998 meters Centerline goodness : 0.899423 with order 1 Centerline is valid? [False, False] Translation: X:23.72, Y:1.03, Z:0.21 [[ 0.99638363 0.03219877 0.07863148 23.71800979] [-0.04494545 0.98507552 0.16615092 1.02935674] [-0.07210809 -0.16908418 0.98296031 0.21215187] [ 0. 0. 0. 1. ]] SLAMing on 131.11824100799998 meters Centerline goodness : 0.899426 with order 1 Centerline is valid? [False, False] Translation: X:23.75, Y:1.03, Z:0.23 [[ 0.99625555 0.02614154 0.08241057 23.74763227] [-0.04155513 0.98065499 0.19128242 1.02832488] [-0.07581592 -0.19399075 0.97806929 0.2312668 ] [ 0. 0. 0. 1. ]] SLAMing on 131.178241008 meters Centerline goodness : 0.898717 with order 1 Centerline is valid? [False, False] Translation: X:23.75, Y:1.04, Z:0.23 [[ 0.99635606 0.02408343 0.0818205 23.75340711] [-0.0392341 0.98120155 0.18895555 1.03597201] [-0.0757317 -0.19147716 0.978571 0.22679344] [ 0. 0. 0. 1. ]] SLAMing on 131.238241008 meters Centerline goodness : 0.900141 with order 1 Centerline is valid? [False, False] Translation: X:23.77, Y:1.04, Z:0.22 [[ 0.99601078 0.02718407 0.0849915 23.76821192] [-0.04195677 0.98328158 0.17719188 1.04031138] [-0.07875378 -0.18005099 0.98049961 0.21683319] [ 0. 0. 0. 1. ]] SLAMing on 131.298241008 meters Centerline goodness : 0.898308 with order 1 Centerline is valid? [False, False] Translation: X:23.78, Y:1.05, Z:0.21 [[ 0.99545667 0.03271124 0.0894203 23.78104101] [-0.04741449 0.98471219 0.16761198 1.04509402] [-0.08257047 -0.17109028 0.9817893 0.20654967] [ 0. 0. 0. 1. ]] SLAMing on 131.358241008 meters Centerline goodness : 0.901798 with order 1 Centerline is valid? [False, False] Translation: X:23.80, Y:1.05, Z:0.20 [[ 0.99550907 0.04187043 0.0849032 23.80041245] [-0.0544534 0.98691366 0.15177697 1.04785959] [-0.07743716 -0.15571862 0.98476149 0.19946437] [ 0. 0. 0. 1. ]] SLAMing on 131.418241008 meters Centerline goodness : 0.901351 with order 1 Centerline is valid? [False, False] Translation: X:23.81, Y:1.05, Z:0.19 [[ 0.99503745 0.04636711 0.08803729 23.80548024] [-0.05790743 0.98936626 0.13342086 1.05176221] [-0.08091479 -0.13785677 0.98714148 0.18501565] [ 0. 0. 0. 1. ]] SLAMing on 131.478241008 meters Centerline goodness : 0.903116 with order 1 Centerline is valid? [False, False] Translation: X:23.82, Y:1.05, Z:0.17 [[ 0.99472729 0.04622612 0.09154649 23.81841577] [-0.05676191 0.99162026 0.11604886 1.05438931] [-0.08541486 -0.12063332 0.98901562 0.1710632 ] [ 0. 0. 0. 1. ]] SLAMing on 131.53824100799997 meters Centerline goodness : 0.905579 with order 1 Centerline is valid? [False, False] Translation: X:23.84, Y:1.06, Z:0.16 [[ 0.99434736 0.04649588 0.09545399 23.83597625] [-0.05648695 0.99288911 0.10478762 1.05704061] [-0.08990303 -0.1095872 0.98990307 0.16218737] [ 0. 0. 0. 1. ]] SLAMing on 131.59824100799997 meters Centerline goodness : 0.904816 with order 1 Centerline is valid? [False, False] Translation: X:23.85, Y:1.06, Z:0.15 [[ 0.99385451 0.04811787 0.09968895 23.85189977] [-0.05743693 0.99402442 0.09282488 1.06183448] [-0.09462671 -0.09798026 0.99067939 0.15089047] [ 0. 0. 0. 1. ]] SLAMing on 131.65824100799998 meters Centerline goodness : 0.904162 with order 1 Centerline is valid? [False, False] Translation: X:23.87, Y:1.07, Z:0.14 [[ 0.99343296 0.0493131 0.10324328 23.86526864] [-0.05738079 0.99540258 0.07668859 1.06756643] [-0.09898687 -0.08210915 0.99169536 0.13664833] [ 0. 0. 0. 1. ]] SLAMing on 131.71824100799998 meters Centerline goodness : 0.905340 with order 1 Centerline is valid? [False, False] Translation: X:23.89, Y:1.07, Z:0.13 [[ 0.99343993 0.05110753 0.10229921 23.88540228] [-0.057924 0.99621513 0.0648091 1.06959689] [-0.09859979 -0.07030952 0.99264024 0.12637059] [ 0. 0. 0. 1. ]] SLAMing on 131.77824100799998 meters Centerline goodness : 0.905617 with order 1 Centerline is valid? [False, False] Translation: X:23.89, Y:1.07, Z:0.12 [[ 0.99361209 0.05009055 0.10112348 23.88981058] [-0.05665891 0.99639372 0.06316115 1.07126044] [-0.09759503 -0.06848723 0.99286691 0.12218947] [ 0. 0. 0. 1. ]] SLAMing on 131.83824100799998 meters Centerline goodness : 0.904119 with order 1 Centerline is valid? [False, False] Translation: X:23.89, Y:1.07, Z:0.12 [[ 0.99377601 0.04906214 0.10001078 23.89399791] [-0.05544099 0.99653315 0.0620321 1.07272304] [-0.09662063 -0.06719071 0.99305079 0.11950035] [ 0. 0. 0. 1. ]] SLAMing on 131.89824100799999 meters Centerline goodness : 0.902403 with order 1 Centerline is valid? [False, False] Translation: X:23.90, Y:1.07, Z:0.12 [[ 0.99392953 0.04811755 0.09893828 23.89759121] [-0.05435512 0.99663542 0.0613463 1.07287286] [-0.09565356 -0.0663517 0.99320081 0.11764712] [ 0. 0. 0. 1. ]] SLAMing on 131.958241008 meters Centerline goodness : 0.900949 with order 1 Centerline is valid? [False, False] Translation: X:23.93, Y:1.07, Z:0.11 [[ 0.99418904 0.04490467 0.09783519 23.92760015] [-0.05043942 0.99721967 0.05485242 1.07234246] [-0.09510004 -0.05946842 0.99368984 0.11414842] [ 0. 0. 0. 1. ]] SLAMing on 132.018241008 meters Centerline goodness : 0.902819 with order 1 Centerline is valid? [False, False] Translation: X:23.97, Y:1.07, Z:0.13 [[ 0.9945132 0.04253537 0.09557321 23.96553645] [-0.04879995 0.99674347 0.0641952 1.06564744] [-0.09253141 -0.06850694 0.99335026 0.12527113] [ 0. 0. 0. 1. ]] SLAMing on 132.078241008 meters Centerline goodness : 0.903534 with order 1 Centerline is valid? [False, False] Translation: X:23.99, Y:1.06, Z:0.14 [[ 0.99467917 0.0353523 0.09676548 23.98846359] [-0.04310342 0.99592477 0.07922082 1.06229292] [-0.09357051 -0.08297022 0.99214944 0.13903357] [ 0. 0. 0. 1. ]] SLAMing on 132.138241008 meters Centerline goodness : 0.903486 with order 1 Centerline is valid? [False, False] Translation: X:24.00, Y:1.05, Z:0.18 [[ 0.99421084 0.02727979 0.103926 24.00126786] [-0.04027664 0.99132733 0.12509166 1.05045849] [-0.09961221 -0.12855328 0.98668711 0.17596686] [ 0. 0. 0. 1. ]] SLAMing on 132.198241008 meters Centerline goodness : 0.903436 with order 1 Centerline is valid? [False, False] Translation: X:24.00, Y:1.05, Z:0.20 [[ 9.94116701e-01 1.83694014e-02 1.06745254e-01 2.40040205e+01] [-3.45816430e-02 9.87763382e-01 1.52077646e-01 1.05083002e+00] [-1.02645477e-01 -1.54874354e-01 9.82587320e-01 1.98225545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.258241008 meters Centerline goodness : 0.906677 with order 1 Centerline is valid? [False, False] Translation: X:24.00, Y:1.06, Z:0.19 [[ 9.94093202e-01 1.83016026e-02 1.06975496e-01 2.40042747e+01] [-3.42388484e-02 9.88228616e-01 1.49103671e-01 1.05874304e+00] [-1.02987410e-01 -1.51885663e-01 9.83017975e-01 1.94763390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31824100799997 meters Centerline goodness : 0.902604 with order 1 Centerline is valid? [False, False] Translation: X:24.00, Y:1.07, Z:0.19 [[ 9.93872168e-01 2.20795505e-02 1.08307930e-01 2.40024863e+01] [-3.83687676e-02 9.87833659e-01 1.50706666e-01 1.06774534e+00] [-1.03662683e-01 -1.53938803e-01 9.82627545e-01 1.92830833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37824100799997 meters Centerline goodness : 0.903426 with order 1 Centerline is valid? [False, False] Translation: X:24.00, Y:1.07, Z:0.19 [[ 9.93637772e-01 2.34684971e-02 1.10150845e-01 2.39980144e+01] [-3.98715518e-02 9.88007897e-01 1.49166531e-01 1.07462306e+00] [-1.05329190e-01 -1.52609384e-01 9.82657691e-01 1.92086197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43824100799998 meters Centerline goodness : 0.903402 with order 1 Centerline is valid? [False, False] Translation: X:24.00, Y:1.08, Z:0.20 [[ 0.99346821 0.02500336 0.11133622 23.99532229] [-0.0419471 0.9874047 0.15255295 1.07955989] [-0.10611957 -0.15622674 0.98200399 0.19937266] [ 0. 0. 0. 1. ]] SLAMing on 132.49824100799998 meters Centerline goodness : 0.903795 with order 1 Centerline is valid? [False, False] Translation: X:24.01, Y:1.09, Z:0.19 [[ 0.99285435 0.02602095 0.1164609 24.01213977] [-0.04272522 0.98875316 0.14332388 1.08528047] [-0.11142166 -0.14727556 0.98279964 0.1927176 ] [ 0. 0. 0. 1. ]] SLAMing on 132.55824100799998 meters Centerline goodness : 0.902457 with order 1 Centerline is valid? [False, False] Translation: X:24.05, Y:1.09, Z:0.20 [[ 9.92320548e-01 2.21390288e-02 1.21695494e-01 2.40518737e+01] [-4.07610754e-02 9.87425922e-01 1.52736976e-01 1.08575626e+00] [-1.16783837e-01 -1.56524479e-01 9.80745442e-01 1.97615401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61824100799998 meters Centerline goodness : 0.904280 with order 1 Centerline is valid? [False, False] Translation: X:24.08, Y:1.09, Z:0.21 [[ 9.91229302e-01 1.86424910e-02 1.30831676e-01 2.40810323e+01] [-3.97606049e-02 9.86199609e-01 1.60715355e-01 1.08531666e+00] [-1.26030014e-01 -1.64507716e-01 9.78291187e-01 2.07890292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.678241008 meters Centerline goodness : 0.899792 with order 1 Centerline is valid? [False, False] Translation: X:24.09, Y:1.09, Z:0.20 [[ 9.91705497e-01 2.35460847e-02 1.26355802e-01 2.40908414e+01] [-4.24245451e-02 9.87946541e-01 1.48868366e-01 1.09292280e+00] [-1.21327510e-01 -1.52994164e-01 9.80750948e-01 2.04961152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.738241008 meters Centerline goodness : 0.904027 with order 1 Centerline is valid? [False, False] Translation: X:24.11, Y:1.10, Z:0.20 [[ 0.99095204 0.02995358 0.13083136 24.10580921] [-0.04871552 0.98857322 0.14265268 1.09841905] [-0.12506342 -0.14773548 0.98108785 0.19600612] [ 0. 0. 0. 1. ]] SLAMing on 132.798241008 meters Centerline goodness : 0.906697 with order 1 Centerline is valid? [False, False] Translation: X:24.11, Y:1.11, Z:0.18 [[ 0.99039098 0.03831913 0.13288099 24.10816206] [-0.05522694 0.99049331 0.12598805 1.10511235] [-0.12678997 -0.13211604 0.98309188 0.18313043] [ 0. 0. 0. 1. ]] SLAMing on 132.858241008 meters Centerline goodness : 0.901842 with order 1 Centerline is valid? [False, False] Translation: X:24.13, Y:1.11, Z:0.18 [[ 0.9904517 0.05053106 0.12826555 24.13173437] [-0.06515072 0.99151676 0.11247176 1.10688297] [-0.12149412 -0.11975444 0.98534159 0.17601467] [ 0. 0. 0. 1. ]] SLAMing on 132.918241008 meters Centerline goodness : 0.905050 with order 1 Centerline is valid? [False, False] Translation: X:24.15, Y:1.11, Z:0.16 [[ 0.98982984 0.05483385 0.13126359 24.14854747] [-0.06865088 0.99229258 0.10316242 1.10901917] [-0.12459509 -0.1111246 0.98596521 0.16495216] [ 0. 0. 0. 1. ]] SLAMing on 132.978241008 meters Centerline goodness : 0.898509 with order 1 Centerline is valid? [False, False] Translation: X:24.16, Y:1.11, Z:0.15 [[ 0.98950043 0.05911505 0.13188746 24.16289401] [-0.07123588 0.99346662 0.08916009 1.11163057] [-0.12575508 -0.09761907 0.98724677 0.15087202] [ 0. 0. 0. 1. ]] SLAMing on 133.03824100799997 meters Centerline goodness : 0.900234 with order 1 Centerline is valid? [False, False] Translation: X:24.19, Y:1.11, Z:0.14 [[ 0.98975798 0.06615387 0.1265022 24.19093304] [-0.07565305 0.99454445 0.07181883 1.11181469] [-0.12106097 -0.08065354 0.98936305 0.14120846] [ 0. 0. 0. 1. ]] SLAMing on 133.09824100799997 meters Centerline goodness : 0.901956 with order 1 Centerline is valid? [False, False] Translation: X:24.24, Y:1.10, Z:0.15 [[ 0.99027241 0.06418072 0.12345601 24.2352332 ] [-0.07472513 0.99376366 0.08276441 1.10130958] [-0.11737422 -0.09118457 0.98889265 0.14866619] [ 0. 0. 0. 1. ]] SLAMing on 133.15824100799998 meters Centerline goodness : 0.900091 with order 1 Centerline is valid? [False, False] Translation: X:24.28, Y:1.10, Z:0.15 [[ 0.99107153 0.06089395 0.11861346 24.27833523] [-0.07140091 0.99369481 0.08644387 1.09735868] [-0.11260167 -0.09414117 0.98917051 0.14829394] [ 0. 0. 0. 1. ]] SLAMing on 133.21824100799998 meters Centerline goodness : 0.901723 with order 1 Centerline is valid? [False, False] Translation: X:24.34, Y:1.09, Z:0.16 [[ 0.99156822 0.0539087 0.1178402 24.33683063] [-0.06684327 0.99182233 0.10872186 1.08633805] [-0.11101548 -0.11568197 0.98706294 0.16204655] [ 0. 0. 0. 1. ]] SLAMing on 133.27824100799998 meters Centerline goodness : 0.900927 with order 1 Centerline is valid? [False, False] Translation: X:24.36, Y:1.08, Z:0.18 [[ 0.99140886 0.04917454 0.12120372 24.36286883] [-0.06524156 0.98904952 0.13238047 1.07876646] [-0.11336673 -0.13915069 0.98376068 0.17972537] [ 0. 0. 0. 1. ]] SLAMing on 133.33824100799998 meters Centerline goodness : 0.904427 with order 1 Centerline is valid? [False, False] Translation: X:24.38, Y:1.08, Z:0.18 [[ 0.99049613 0.05233349 0.12719525 24.37576708] [-0.0685896 0.98953004 0.12698731 1.08028249] [-0.11921783 -0.13450471 0.9837152 0.17938218] [ 0. 0. 0. 1. ]] SLAMing on 133.39824100799999 meters Centerline goodness : 0.902102 with order 1 Centerline is valid? [False, False] Translation: X:24.40, Y:1.08, Z:0.17 [[ 0.99000604 0.0523544 0.1309468 24.40237498] [-0.06874071 0.98990762 0.12392583 1.08284884] [-0.12313717 -0.1316887 0.9836134 0.17461636] [ 0. 0. 0. 1. ]] SLAMing on 133.458241008 meters Centerline goodness : 0.903692 with order 1 Centerline is valid? [False, False] Translation: X:24.44, Y:1.08, Z:0.18 [[ 0.99008476 0.05286301 0.1301448 24.44145549] [-0.07071252 0.98809961 0.13659755 1.07769467] [-0.12137506 -0.14444602 0.98204045 0.18278999] [ 0. 0. 0. 1. ]] SLAMing on 133.518241008 meters Centerline goodness : 0.902151 with order 1 Centerline is valid? [False, False] Translation: X:24.46, Y:1.08, Z:0.17 [[ 0.98982914 0.05453848 0.13139187 24.45969564] [-0.07082973 0.98991386 0.12269355 1.08318016] [-0.12337512 -0.1307521 0.98370853 0.16913337] [ 0. 0. 0. 1. ]] SLAMing on 133.578241008 meters Centerline goodness : 0.898554 with order 1 Centerline is valid? [False, False] Translation: X:24.49, Y:1.08, Z:0.17 [[ 0.99017587 0.05576124 0.12822807 24.48990944] [-0.07148729 0.99001291 0.12150726 1.08231163] [-0.12017205 -0.12948023 0.98427311 0.16694536] [ 0. 0. 0. 1. ]] SLAMing on 133.638241008 meters Centerline goodness : 0.902170 with order 1 Centerline is valid? [False, False] Translation: X:24.51, Y:1.08, Z:0.19 [[ 0.99006775 0.04958279 0.13155757 24.51074874] [-0.0682102 0.98764288 0.14109895 1.07879529] [-0.12293582 -0.14867109 0.98121542 0.18531916] [ 0. 0. 0. 1. ]] SLAMing on 133.698241008 meters Centerline goodness : 0.903120 with order 1 Centerline is valid? [False, False] Translation: X:24.51, Y:1.08, Z:0.18 [[ 0.99007697 0.04885806 0.13175922 24.51221688] [-0.06737657 0.98785993 0.13997557 1.08429322] [-0.12332072 -0.14746408 0.98134925 0.18499002] [ 0. 0. 0. 1. ]] SLAMing on 133.758241008 meters Centerline goodness : 0.903959 with order 1 Centerline is valid? [False, False] Translation: X:24.51, Y:1.09, Z:0.18 [[ 0.98958818 0.05575421 0.13269024 24.51448662] [-0.072476 0.98954021 0.12472928 1.09163427] [-0.12434815 -0.13304748 0.98327814 0.17853791] [ 0. 0. 0. 1. ]] SLAMing on 133.81824100799997 meters Centerline goodness : 0.902537 with order 1 Centerline is valid? [False, False] Translation: X:24.53, Y:1.10, Z:0.17 [[ 0.98876292 0.06043564 0.13673123 24.52555697] [-0.07593964 0.99089536 0.11117356 1.09879495] [-0.1287675 -0.12030762 0.98435004 0.16501795] [ 0. 0. 0. 1. ]] SLAMing on 133.87824100799997 meters Centerline goodness : 0.902746 with order 1 Centerline is valid? [False, False] Translation: X:24.55, Y:1.10, Z:0.16 [[ 0.98873168 0.0654112 0.13465156 24.55401512] [-0.08100577 0.99019599 0.11379788 1.09708656] [-0.12588778 -0.12342312 0.98433683 0.16468495] [ 0. 0. 0. 1. ]] SLAMing on 133.93824100799998 meters Centerline goodness : 0.900645 with order 1 Centerline is valid? [False, False] Translation: X:24.57, Y:1.10, Z:0.15 [[ 0.98817531 0.06874963 0.13705127 24.57029559] [-0.08294838 0.99144954 0.10073416 1.102954 ] [-0.12895398 -0.11091119 0.98542863 0.15115589] [ 0. 0. 0. 1. ]] SLAMing on 133.99824100799998 meters Centerline goodness : 0.898093 with order 1 Centerline is valid? [False, False] Translation: X:24.59, Y:1.11, Z:0.14 [[ 0.98754084 0.07180232 0.14002681 24.58533801] [-0.08460072 0.99254857 0.08769301 1.10827369] [-0.13268685 -0.09844679 0.98625678 0.13828892] [ 0. 0. 0. 1. ]] SLAMing on 134.05824100799998 meters Centerline goodness : 0.895058 with order 1 Centerline is valid? [False, False] Translation: X:24.61, Y:1.11, Z:0.13 [[ 0.98736148 0.07471915 0.13976533 24.6094177 ] [-0.0870624 0.99262241 0.0843854 1.108094 ] [-0.132429 -0.0954872 0.98658236 0.13431299] [ 0. 0. 0. 1. ]] SLAMing on 134.11824100799998 meters Centerline goodness : 0.893678 with order 1 Centerline is valid? [False, False] Translation: X:24.61, Y:1.11, Z:0.13 [[ 0.98758507 0.07373852 0.13870241 24.6128511 ] [-0.08589485 0.99277399 0.0837966 1.10807844] [-0.13152111 -0.09467009 0.98678254 0.13293573] [ 0. 0. 0. 1. ]] SLAMing on 134.178241008 meters Centerline goodness : 0.893279 with order 1 Centerline is valid? [False, False] Translation: X:24.64, Y:1.11, Z:0.13 [[ 0.98826845 0.07371114 0.13376152 24.63925056] [-0.08439407 0.99352756 0.0760304 1.10574464] [-0.12729146 -0.08642712 0.98809273 0.12682082] [ 0. 0. 0. 1. ]] SLAMing on 134.238241008 meters Centerline goodness : 0.887376 with order 1 Centerline is valid? [False, False] Translation: X:24.67, Y:1.10, Z:0.12 [[ 0.98904494 0.07364913 0.12792935 24.66750538] [-0.08308602 0.99407649 0.07006167 1.10199362] [-0.12201158 -0.07992328 0.98930554 0.12097347] [ 0. 0. 0. 1. ]] SLAMing on 134.298241008 meters Centerline goodness : 0.888332 with order 1 Centerline is valid? [False, False] Translation: X:24.71, Y:1.09, Z:0.14 [[ 0.9893955 0.07189237 0.12620631 24.71423613] [-0.0836403 0.99238768 0.09039354 1.08855203] [-0.11874699 -0.09999089 0.987877 0.13616208] [ 0. 0. 0. 1. ]] SLAMing on 134.358241008 meters Centerline goodness : 0.888263 with order 1 Centerline is valid? [False, False] Translation: X:24.75, Y:1.08, Z:0.14 [[ 0.98951886 0.074672 0.1235982 24.74794845] [-0.08716158 0.99126944 0.09893313 1.07969604] [-0.11513158 -0.10866921 0.98738833 0.14132978] [ 0. 0. 0. 1. ]] SLAMing on 134.418241008 meters Centerline goodness : 0.889802 with order 1 Centerline is valid? [False, False] Translation: X:24.76, Y:1.08, Z:0.13 [[ 0.9887683 0.07797643 0.12750269 24.76340392] [-0.08961878 0.99205653 0.0882741 1.0843251 ] [-0.11960657 -0.09870927 0.9879022 0.13059395] [ 0. 0. 0. 1. ]] SLAMing on 134.478241008 meters Centerline goodness : 0.888525 with order 1 Centerline is valid? [False, False] Translation: X:24.78, Y:1.09, Z:0.12 [[ 0.9882746 0.07957433 0.13031209 24.78140485] [-0.08992391 0.99307848 0.07555677 1.089846 ] [-0.12339775 -0.086389 0.98858987 0.11777687] [ 0. 0. 0. 1. ]] SLAMing on 134.53824100799997 meters Centerline goodness : 0.885259 with order 1 Centerline is valid? [False, False] Translation: X:24.78, Y:1.09, Z:0.12 [[ 0.98839947 0.07909806 0.12965333 24.78328065] [-0.08932345 0.99317179 0.07504079 1.09049343] [-0.12283245 -0.08575136 0.98871578 0.11686656] [ 0. 0. 0. 1. ]] SLAMing on 134.59824100799997 meters Centerline goodness : 0.888803 with order 1 Centerline is valid? [False, False] Translation: X:24.81, Y:1.09, Z:0.11 [[ 0.98830883 0.08163565 0.12876831 24.80887123] [-0.09114307 0.99339228 0.06974759 1.09189385] [-0.12222356 -0.0806685 0.98921888 0.11032098] [ 0. 0. 0. 1. ]] SLAMing on 134.65824100799998 meters Centerline goodness : 0.887497 with order 1 Centerline is valid? [False, False] Translation: X:24.84, Y:1.09, Z:0.11 [[ 0.98861694 0.08320687 0.12535217 24.84378568] [-0.09285561 0.99298541 0.07319712 1.08772 ] [-0.11838237 -0.08400356 0.98940842 0.10992412] [ 0. 0. 0. 1. ]] SLAMing on 134.71824100799998 meters Centerline goodness : 0.885789 with order 1 Centerline is valid? [False, False] Translation: X:24.87, Y:1.09, Z:0.10 [[ 0.98891252 0.08233569 0.12358345 24.87228399] [-0.0911458 0.99355364 0.06740625 1.08633876] [-0.11723685 -0.07792299 0.99004218 0.10477456] [ 0. 0. 0. 1. ]] SLAMing on 134.77824100799998 meters Centerline goodness : 0.883373 with order 1 Centerline is valid? [False, False] Translation: X:24.89, Y:1.09, Z:0.09 [[ 0.98861243 0.08292467 0.12557454 24.89207197] [-0.09054484 0.9943035 0.05623325 1.08756928] [-0.12019608 -0.06696302 0.9904892 0.09495128] [ 0. 0. 0. 1. ]] SLAMing on 134.83824100799998 meters Centerline goodness : 0.878509 with order 1 Centerline is valid? [False, False] Translation: X:24.93, Y:1.08, Z:0.10 [[ 0.98893581 0.08356141 0.12257022 24.92949561] [-0.09171521 0.99382482 0.06245435 1.08096076] [-0.11659456 -0.0730049 0.9904928 0.0975715 ] [ 0. 0. 0. 1. ]] SLAMing on 134.89824100799999 meters Centerline goodness : 0.887789 with order 1 Centerline is valid? [False, False] Translation: X:24.96, Y:1.08, Z:0.10 [[ 0.98899163 0.08554947 0.12073459 24.96328089] [-0.09418876 0.99324615 0.06775367 1.07634187] [-0.11412288 -0.07837966 0.99036993 0.09991022] [ 0. 0. 0. 1. ]] SLAMing on 134.958241008 meters Centerline goodness : 0.880523 with order 1 Centerline is valid? [False, False] Translation: X:24.97, Y:1.08, Z:0.09 [[ 0.98899542 0.09104028 0.11661786 24.97162087] [-0.09768318 0.99382852 0.05256307 1.07955781] [-0.1111128 -0.06337624 0.99178496 0.09248611] [ 0. 0. 0. 1. ]] SLAMing on 135.018241008 meters Centerline goodness : 0.877257 with order 1 Centerline is valid? [False, False] Translation: X:24.99, Y:1.08, Z:0.08 [[ 0.98841885 0.09326288 0.1197089 24.98981049] [-0.09902821 0.9941491 0.04313913 1.08177807] [-0.11498521 -0.05449409 0.99187136 0.08335499] [ 0. 0. 0. 1. ]] SLAMing on 135.078241008 meters Centerline goodness : 0.876488 with order 1 Centerline is valid? [False, False] Translation: X:24.99, Y:1.08, Z:0.08 [[ 0.9884125 0.09346666 0.11960232 24.98942046] [-0.09928925 0.99409969 0.04367439 1.08084788] [-0.11481453 -0.05504354 0.99186079 0.08496412] [ 0. 0. 0. 1. ]] SLAMing on 135.138241008 meters Centerline goodness : 0.876325 with order 1 Centerline is valid? [False, False] Translation: X:24.99, Y:1.08, Z:0.09 [[ 0.9884242 0.09355754 0.11943447 24.98950973] [-0.09942021 0.99406791 0.04409781 1.08043368] [-0.11460029 -0.05546154 0.99186228 0.08624409] [ 0. 0. 0. 1. ]] SLAMing on 135.198241008 meters Centerline goodness : 0.878599 with order 1 Centerline is valid? [False, False] Translation: X:24.99, Y:1.08, Z:0.09 [[ 0.98850834 0.09294999 0.11921228 24.99165146] [-0.09873586 0.99415937 0.04357035 1.08367983] [-0.11446614 -0.05484018 0.99191232 0.0855384 ] [ 0. 0. 0. 1. ]] SLAMing on 135.258241008 meters Centerline goodness : 0.875258 with order 1 Centerline is valid? [False, False] Translation: X:25.00, Y:1.08, Z:0.09 [[ 0.98839937 0.09527571 0.11827604 24.9958579 ] [-0.10151358 0.99368162 0.04787307 1.08227854] [-0.11296759 -0.05932434 0.99182607 0.08569117] [ 0. 0. 0. 1. ]] SLAMing on 135.31824100799997 meters Centerline goodness : 0.880404 with order 1 Centerline is valid? [False, False] Translation: X:25.01, Y:1.08, Z:0.09 [[ 0.98860651 0.09549047 0.11635608 25.00599925] [-0.10232159 0.99327315 0.05421011 1.0801505 ] [-0.11039682 -0.06549821 0.99172704 0.08850058] [ 0. 0. 0. 1. ]] SLAMing on 135.37824100799997 meters Centerline goodness : 0.880629 with order 1 Centerline is valid? [False, False] Translation: X:25.02, Y:1.08, Z:0.09 [[ 0.98884761 0.09561088 0.11418832 25.01606077] [-0.10302903 0.99281098 0.06092108 1.07652456] [-0.1075427 -0.07200638 0.99158946 0.09216743] [ 0. 0. 0. 1. ]] SLAMing on 135.43824100799998 meters Centerline goodness : 0.874569 with order 1 Centerline is valid? [False, False] Translation: X:25.03, Y:1.07, Z:0.10 [[ 0.98924056 0.09331866 0.11267098 25.03002613] [-0.10145523 0.99246022 0.06877169 1.07493262] [-0.10540379 -0.07946281 0.99124957 0.09748958] [ 0. 0. 0. 1. ]] SLAMing on 135.49824100799998 meters Centerline goodness : 0.879272 with order 1 Centerline is valid? [False, False] Translation: X:25.04, Y:1.08, Z:0.09 [[ 0.98875354 0.09386365 0.11643046 25.04318712] [-0.10070438 0.99343236 0.05432103 1.07805258] [-0.11056702 -0.06543517 0.99171224 0.0877203 ] [ 0. 0. 0. 1. ]] SLAMing on 135.55824100799998 meters Centerline goodness : 0.883965 with order 1 Centerline is valid? [False, False] Translation: X:25.06, Y:1.07, Z:0.10 [[ 0.98857816 0.09138448 0.11984195 25.05996421] [-0.10039191 0.99238264 0.0714014 1.07198096] [-0.11240409 -0.08261703 0.99022207 0.10100908] [ 0. 0. 0. 1. ]] SLAMing on 135.61824100799998 meters Centerline goodness : 0.881504 with order 1 Centerline is valid? [False, False] Translation: X:25.08, Y:1.07, Z:0.10 [[ 0.98801196 0.09426832 0.12225324 25.08283624] [-0.10303518 0.99238625 0.06747801 1.0717612 ] [-0.11496139 -0.07926546 0.99020244 0.0953084 ] [ 0. 0. 0. 1. ]] SLAMing on 135.678241008 meters Centerline goodness : 0.882621 with order 1 Centerline is valid? [False, False] Translation: X:25.11, Y:1.07, Z:0.09 [[ 0.98791273 0.09539409 0.12218188 25.10750433] [-0.10351752 0.99269664 0.06194767 1.06926023] [-0.1153801 -0.07384685 0.9905726 0.09022232] [ 0. 0. 0. 1. ]] SLAMing on 135.738241008 meters Centerline goodness : 0.887284 with order 1 Centerline is valid? [False, False] Translation: X:25.14, Y:1.06, Z:0.09 [[ 0.98806258 0.09684008 0.11980959 25.1359538 ] [-0.10492792 0.99247377 0.06313442 1.06315506] [-0.11279393 -0.07495213 0.99078742 0.09201699] [ 0. 0. 0. 1. ]] SLAMing on 135.798241008 meters Centerline goodness : 0.883874 with order 1 Centerline is valid? [False, False] Translation: X:25.14, Y:1.06, Z:0.09 [[ 0.98831979 0.0957083 0.11859139 25.14052516] [-0.10349104 0.99274006 0.06129263 1.06418403] [-0.11186421 -0.07284986 0.99104959 0.08692474] [ 0. 0. 0. 1. ]] SLAMing on 135.858241008 meters Centerline goodness : 0.881928 with order 1 Centerline is valid? [False, False] Translation: X:25.14, Y:1.07, Z:0.08 [[ 0.98845263 0.09524929 0.11785152 25.14314053] [-0.10286875 0.99286296 0.060342 1.06560693] [-0.11126288 -0.07176845 0.99119618 0.08466664] [ 0. 0. 0. 1. ]] SLAMing on 135.918241008 meters Centerline goodness : 0.880923 with order 1 Centerline is valid? [False, False] Translation: X:25.17, Y:1.06, Z:0.08 [[ 0.98834258 0.09772438 0.11674286 25.16840558] [-0.10503925 0.99276193 0.05822813 1.06250813] [-0.11020756 -0.06981192 0.99145378 0.08238284] [ 0. 0. 0. 1. ]] SLAMing on 135.978241008 meters Centerline goodness : 0.882397 with order 1 Centerline is valid? [False, False] Translation: X:25.19, Y:1.06, Z:0.09 [[ 0.98860614 0.09359543 0.1178889 25.18931467] [-0.10259606 0.99206022 0.07273626 1.05785982] [-0.11014511 -0.08400245 0.99035935 0.09248099] [ 0. 0. 0. 1. ]] SLAMing on 136.03824100799997 meters Centerline goodness : 0.885642 with order 1 Centerline is valid? [False, False] Translation: X:25.19, Y:1.06, Z:0.09 [[ 0.9887219 0.09311282 0.11729879 25.19099208] [-0.10205771 0.99211832 0.07270113 1.05818862] [-0.10960487 -0.08385244 0.990432 0.09282533] [ 0. 0. 0. 1. ]] SLAMing on 136.09824100799997 meters Centerline goodness : 0.884843 with order 1 Centerline is valid? [False, False] Translation: X:25.23, Y:1.05, Z:0.10 [[ 0.98875203 0.0917924 0.11808294 25.22938482] [-0.1018212 0.99142596 0.0818963 1.05145327] [-0.10955303 -0.09299848 0.98962084 0.10056113] [ 0. 0. 0. 1. ]] SLAMing on 136.15824100799998 meters Centerline goodness : 0.880308 with order 1 Centerline is valid? [False, False] Translation: X:25.27, Y:1.05, Z:0.10 [[ 0.98910147 0.09039392 0.11622058 25.26808933] [-0.10083512 0.99106249 0.0873351 1.04741935] [-0.1072873 -0.09810239 0.98937625 0.10390975] [ 0. 0. 0. 1. ]] SLAMing on 136.21824100799998 meters Centerline goodness : 0.883939 with order 1 Centerline is valid? [False, False] Translation: X:25.28, Y:1.05, Z:0.11 [[ 0.98941331 0.08537484 0.11735604 25.28413591] [-0.09700792 0.99051879 0.09727275 1.04640524] [-0.10793871 -0.10762742 0.98831451 0.11263393] [ 0. 0. 0. 1. ]] SLAMing on 136.27824100799998 meters Centerline goodness : 0.884918 with order 1 Centerline is valid? [False, False] Translation: X:25.32, Y:1.04, Z:0.13 [[ 0.98946782 0.07692252 0.12262284 25.31774872] [-0.09169042 0.98856307 0.11973269 1.04124721] [-0.11201027 -0.12971499 0.98520441 0.12552359] [ 0. 0. 0. 1. ]] SLAMing on 136.33824100799998 meters Centerline goodness : 0.885387 with order 1 Centerline is valid? [False, False] Translation: X:25.34, Y:1.04, Z:0.13 [[ 0.98988252 0.072085 0.12221435 25.33657348] [-0.08783285 0.98777397 0.12879434 1.04439479] [-0.11143601 -0.1382257 0.98411162 0.13242704] [ 0. 0. 0. 1. ]] SLAMing on 136.39824100799999 meters Centerline goodness : 0.887777 with order 1 Centerline is valid? [False, False] Translation: X:25.34, Y:1.05, Z:0.12 [[ 0.98929339 0.0773751 0.12374042 25.34266195] [-0.09111503 0.98979815 0.10953388 1.05225078] [-0.11400285 -0.11963575 0.9862508 0.11633595] [ 0. 0. 0. 1. ]] SLAMing on 136.458241008 meters Centerline goodness : 0.889023 with order 1 Centerline is valid? [False, False] Translation: X:25.38, Y:1.05, Z:0.12 [[ 0.98896714 0.07630134 0.12697285 25.38415179] [-0.09171585 0.98848576 0.12034993 1.04951862] [-0.116328 -0.13066755 0.98457798 0.12147277] [ 0. 0. 0. 1. ]] SLAMing on 136.518241008 meters Centerline goodness : 0.885671 with order 1 Centerline is valid? [False, False] Translation: X:25.41, Y:1.04, Z:0.13 [[ 0.98877974 0.07918411 0.12666692 25.41491029] [-0.09546786 0.98715162 0.12813108 1.04383457] [-0.11489351 -0.13878604 0.98363505 0.12609246] [ 0. 0. 0. 1. ]] SLAMing on 136.578241008 meters Centerline goodness : 0.885805 with order 1 Centerline is valid? [False, False] Translation: X:25.45, Y:1.04, Z:0.14 [[ 0.98848831 0.07774518 0.12979424 25.45207758] [-0.09586701 0.98553026 0.13978421 1.03663186] [-0.1170486 -0.15061804 0.98163834 0.13535821] [ 0. 0. 0. 1. ]] SLAMing on 136.638241008 meters Centerline goodness : 0.887599 with order 1 Centerline is valid? [False, False] Translation: X:25.48, Y:1.03, Z:0.15 [[ 0.98738402 0.07671952 0.13851683 25.47930197] [-0.09735125 0.98404594 0.14891718 1.03158233] [-0.12488207 -0.16052323 0.97909997 0.14573334] [ 0. 0. 0. 1. ]] SLAMing on 136.698241008 meters Centerline goodness : 0.885003 with order 1 Centerline is valid? [False, False] Translation: X:25.50, Y:1.03, Z:0.14 [[ 0.98669242 0.07775434 0.14280175 25.5002262 ] [-0.09835715 0.98476431 0.14340545 1.03398407] [-0.12947567 -0.15554264 0.97930717 0.14129314] [ 0. 0. 0. 1. ]] SLAMing on 136.758241008 meters Centerline goodness : 0.887058 with order 1 Centerline is valid? [False, False] Translation: X:25.54, Y:1.03, Z:0.15 [[ 0.98651276 0.07791224 0.14395229 25.53957823] [-0.10082232 0.98204895 0.15941997 1.0270272 ] [-0.12894743 -0.17178343 0.97665911 0.15259178] [ 0. 0. 0. 1. ]] SLAMing on 136.81824100799997 meters Centerline goodness : 0.891250 with order 1 Centerline is valid? [False, False] Translation: X:25.55, Y:1.03, Z:0.14 [[ 0.98572108 0.08050099 0.14789705 25.55413559] [-0.10246786 0.98374219 0.14748439 1.03184936] [-0.13361993 -0.16053317 0.97794418 0.14138578] [ 0. 0. 0. 1. ]] SLAMing on 136.87824100799997 meters Centerline goodness : 0.890091 with order 1 Centerline is valid? [False, False] Translation: X:25.60, Y:1.02, Z:0.16 [[ 0.98579533 0.07797804 0.14875147 25.60188773] [-0.10341442 0.97969438 0.17176838 1.02176473] [-0.13233682 -0.18471152 0.9738422 0.16001194] [ 0. 0. 0. 1. ]] SLAMing on 136.93824100799998 meters Centerline goodness : 0.887789 with order 1 Centerline is valid? [False, False] Translation: X:25.64, Y:1.02, Z:0.17 [[ 0.98544995 0.07637288 0.15184063 25.64283689] [-0.10403178 0.97749818 0.18350664 1.01970925] [-0.13440901 -0.19663286 0.97122075 0.16612677] [ 0. 0. 0. 1. ]] SLAMing on 136.99824100799998 meters Centerline goodness : 0.891399 with order 1 Centerline is valid? [False, False] Translation: X:25.69, Y:1.01, Z:0.19 [[ 0.98442184 0.06779331 0.16222734 25.68829851] [-0.10197627 0.97177923 0.21271099 1.01201654] [-0.14322877 -0.22594068 0.96355401 0.18600218] [ 0. 0. 0. 1. ]] SLAMing on 137.05824100799998 meters Centerline goodness : 0.896303 with order 1 Centerline is valid? [False, False] Translation: X:25.71, Y:1.01, Z:0.19 [[ 0.98349644 0.06526144 0.16874741 25.71480784] [-0.10098063 0.97189288 0.21266673 1.01400092] [-0.15012547 -0.22619719 0.96244334 0.18719795] [ 0. 0. 0. 1. ]] SLAMing on 137.11824100799998 meters Centerline goodness : 0.897891 with order 1 Centerline is valid? [False, False] Translation: X:25.74, Y:1.02, Z:0.18 [[ 0.98263992 0.06488068 0.17380818 25.74325577] [-0.10179731 0.97178665 0.21276283 1.01546278] [-0.15510027 -0.22676246 0.96152103 0.1834079 ] [ 0. 0. 0. 1. ]] SLAMing on 137.178241008 meters Centerline goodness : 0.899684 with order 1 Centerline is valid? [False, False] Translation: X:25.79, Y:1.01, Z:0.20 [[ 0.98240526 0.06325605 0.17572299 25.78847161] [-0.1040791 0.96667644 0.23388928 1.00955821] [-0.15507237 -0.24806315 0.95625166 0.19812611] [ 0. 0. 0. 1. ]] SLAMing on 137.238241008 meters Centerline goodness : 0.898178 with order 1 Centerline is valid? [False, False] Translation: X:25.81, Y:1.01, Z:0.20 [[ 0.98112236 0.06463466 0.18226703 25.8064923 ] [-0.10682809 0.96678195 0.2322077 1.01028454] [-0.16120381 -0.2472954 0.95543619 0.19948893] [ 0. 0. 0. 1. ]] SLAMing on 137.298241008 meters Centerline goodness : 0.898862 with order 1 Centerline is valid? [False, False] Translation: X:25.83, Y:1.01, Z:0.20 [[ 0.97998157 0.06647846 0.18766123 25.8298777 ] [-0.11010687 0.96630108 0.23267725 1.01134004] [-0.16586923 -0.24868221 0.95427698 0.19805076] [ 0. 0. 0. 1. ]] SLAMing on 137.358241008 meters Centerline goodness : 0.900477 with order 1 Centerline is valid? [False, False] Translation: X:25.86, Y:1.01, Z:0.20 [[ 0.97956438 0.06835866 0.18915794 25.85672157] [-0.11308602 0.96492688 0.23691277 1.00821369] [-0.16632855 -0.25346243 0.95293841 0.20032374] [ 0. 0. 0. 1. ]] SLAMing on 137.418241008 meters Centerline goodness : 0.903433 with order 1 Centerline is valid? [False, False] Translation: X:25.90, Y:1.00, Z:0.23 [[ 0.97828051 0.05638073 0.19947046 25.89766066] [-0.11068077 0.95571536 0.2726865 0.9987192 ] [-0.17526272 -0.28884143 0.94119796 0.22956346] [ 0. 0. 0. 1. ]] SLAMing on 137.478241008 meters Centerline goodness : 0.903589 with order 1 Centerline is valid? [False, False] Translation: X:25.90, Y:1.00, Z:0.24 [[ 0.97781864 0.05582829 0.20187598 25.89527039] [-0.11153771 0.95458828 0.27626176 1.00051465] [-0.17728522 -0.29265068 0.93964117 0.23772801] [ 0. 0. 0. 1. ]] SLAMing on 137.53824100799997 meters Centerline goodness : 0.905845 with order 1 Centerline is valid? [False, False] Translation: X:25.92, Y:1.00, Z:0.24 [[ 0.97669034 0.05484954 0.20752712 25.92061491] [-0.11257081 0.95406874 0.27763404 1.00155742] [-0.18276704 -0.29452398 0.93800418 0.23893418] [ 0. 0. 0. 1. ]] SLAMing on 137.59824100799997 meters Centerline goodness : 0.901230 with order 1 Centerline is valid? [False, False] Translation: X:25.95, Y:1.00, Z:0.26 [[ 0.97603529 0.04707732 0.21245901 25.9460422 ] [-0.11192199 0.94588956 0.30457577 0.99948426] [-0.18662415 -0.32105554 0.92849059 0.2624437 ] [ 0. 0. 0. 1. ]] SLAMing on 137.65824100799998 meters Centerline goodness : 0.900180 with order 1 Centerline is valid? [False, False] Translation: X:25.95, Y:1.00, Z:0.28 [[ 0.97501756 0.04158145 0.21820116 25.95347966] [-0.11184629 0.94061189 0.32053032 0.99999138] [-0.19191448 -0.33692768 0.92176384 0.28200335] [ 0. 0. 0. 1. ]] SLAMing on 137.71824100799998 meters Centerline goodness : 0.901140 with order 1 Centerline is valid? [False, False] Translation: X:25.91, Y:1.01, Z:0.28 [[ 0.97549418 0.04756771 0.21482183 25.91439984] [-0.11149297 0.94858383 0.29623983 1.01497129] [-0.18968507 -0.31293136 0.93064147 0.27765854] [ 0. 0. 0. 1. ]] SLAMing on 137.77824100799998 meters Centerline goodness : 0.901693 with order 1 Centerline is valid? [False, False] Translation: X:25.86, Y:1.03, Z:0.28 [[ 0.9755844 0.05047001 0.21374716 25.85755311] [-0.11051962 0.95384844 0.27921063 1.03154951] [-0.18979063 -0.29601679 0.93613758 0.27940554] [ 0. 0. 0. 1. ]] SLAMing on 137.83824100799998 meters Centerline goodness : 0.896962 with order 1 Centerline is valid? [False, False] Translation: X:25.81, Y:1.05, Z:0.27 [[ 0.97666625 0.05856021 0.20662463 25.80662743] [-0.11041283 0.96213379 0.24921393 1.04980271] [-0.18420651 -0.26621285 0.9461494 0.26876645] [ 0. 0. 0. 1. ]] SLAMing on 137.89824100799999 meters Centerline goodness : 0.897627 with order 1 Centerline is valid? [False, False] Translation: X:25.75, Y:1.07, Z:0.26 [[ 0.97674269 0.06211797 0.20521959 25.75252338] [-0.1091575 0.96785787 0.22657401 1.06794545] [-0.18454908 -0.24370576 0.95212874 0.25870701] [ 0. 0. 0. 1. ]] SLAMing on 137.958241008 meters Centerline goodness : 0.897310 with order 1 Centerline is valid? [False, False] Translation: X:25.71, Y:1.08, Z:0.25 [[ 0.97747691 0.07025003 0.19900707 25.71216956] [-0.11083472 0.97334171 0.20080235 1.0837823 ] [-0.17959551 -0.21833656 0.95920519 0.25180186] [ 0. 0. 0. 1. ]] SLAMing on 138.018241008 meters Centerline goodness : 0.890757 with order 1 Centerline is valid? [False, False] Translation: X:25.69, Y:1.10, Z:0.24 [[ 0.97682238 0.07466363 0.20060753 25.69266273] [-0.11250621 0.97638506 0.18443038 1.09687007] [-0.18209996 -0.20272532 0.9621549 0.24076099] [ 0. 0. 0. 1. ]] SLAMing on 138.078241008 meters Centerline goodness : 0.887308 with order 1 Centerline is valid? [False, False] Translation: X:25.66, Y:1.11, Z:0.23 [[ 0.97675991 0.08388934 0.19723758 25.66063015] [-0.11730556 0.9794003 0.16436078 1.1113919 ] [-0.17938643 -0.18367808 0.96647963 0.23216796] [ 0. 0. 0. 1. ]] SLAMing on 138.138241008 meters Centerline goodness : 0.888166 with order 1 Centerline is valid? [False, False] Translation: X:25.66, Y:1.12, Z:0.23 [[ 0.97636916 0.08729408 0.19769422 25.66100771] [-0.12124175 0.97852367 0.1667089 1.11822423] [-0.17889578 -0.18673822 0.96598403 0.23188497] [ 0. 0. 0. 1. ]] SLAMing on 138.198241008 meters Centerline goodness : 0.890311 with order 1 Centerline is valid? [False, False] Translation: X:25.66, Y:1.13, Z:0.23 [[ 0.97607659 0.08872665 0.19849956 25.65893097] [-0.12239724 0.97877708 0.16436041 1.12636846] [-0.17970367 -0.18472415 0.96622129 0.2298435 ] [ 0. 0. 0. 1. ]] SLAMing on 138.258241008 meters Centerline goodness : 0.893485 with order 1 Centerline is valid? [False, False] Translation: X:25.67, Y:1.13, Z:0.22 [[ 0.97441907 0.09732359 0.20257242 25.67350285] [-0.13064122 0.97872726 0.1581955 1.13410705] [-0.182867 -0.18061302 0.96640499 0.21793241] [ 0. 0. 0. 1. ]] SLAMing on 138.31824100799997 meters Centerline goodness : 0.889183 with order 1 Centerline is valid? [False, False] Translation: X:25.66, Y:1.14, Z:0.21 [[ 0.97455396 0.11145828 0.19447785 25.65711648] [-0.13945467 0.98074075 0.13674785 1.14448721] [-0.17549068 -0.16038901 0.97132816 0.20878953] [ 0. 0. 0. 1. ]] SLAMing on 138.37824100799997 meters Centerline goodness : 0.889187 with order 1 Centerline is valid? [False, False] Translation: X:25.65, Y:1.15, Z:0.20 [[ 0.97296768 0.12562861 0.1937817 25.64631312] [-0.15024739 0.98157793 0.11802753 1.15237798] [-0.17538421 -0.14395217 0.97391897 0.19947435] [ 0. 0. 0. 1. ]] SLAMing on 138.43824100799998 meters Centerline goodness : 0.894431 with order 1 Centerline is valid? [False, False] Translation: X:25.65, Y:1.16, Z:0.19 [[ 0.97184187 0.13203647 0.19516596 25.64777333] [-0.15347811 0.98316955 0.09910651 1.15630526] [-0.17879556 -0.12626955 0.97575004 0.18864214] [ 0. 0. 0. 1. ]] SLAMing on 138.49824100799998 meters Centerline goodness : 0.896267 with order 1 Centerline is valid? [False, False] Translation: X:25.66, Y:1.16, Z:0.18 [[ 0.97094979 0.1346654 0.19779217 25.66224438] [-0.1540174 0.98432803 0.08588933 1.15749855] [-0.18312606 -0.11385766 0.9764739 0.17557856] [ 0. 0. 0. 1. ]] SLAMing on 138.55824100799998 meters Centerline goodness : 0.891486 with order 1 Centerline is valid? [False, False] Translation: X:25.67, Y:1.16, Z:0.17 [[ 0.97171915 0.13089409 0.19654169 25.66501313] [-0.14913289 0.98549395 0.08100037 1.15562946] [-0.18308818 -0.10802044 0.97714395 0.1714365 ] [ 0. 0. 0. 1. ]] SLAMing on 138.61824100799998 meters Centerline goodness : 0.890876 with order 1 Centerline is valid? [False, False] Translation: X:25.72, Y:1.14, Z:0.18 [[ 0.97281321 0.12232154 0.1966517 25.71815705] [-0.14391167 0.984577 0.09948651 1.13737555] [-0.18144939 -0.12508227 0.97541301 0.17991018] [ 0. 0. 0. 1. ]] SLAMing on 138.678241008 meters Centerline goodness : 0.890892 with order 1 Centerline is valid? [False, False] Translation: X:25.72, Y:1.14, Z:0.18 [[ 0.97341634 0.11857241 0.19596229 25.71980855] [-0.13939252 0.98556601 0.09606961 1.13503463] [-0.18174257 -0.1208314 0.97589416 0.18021506] [ 0. 0. 0. 1. ]] SLAMing on 138.738241008 meters Centerline goodness : 0.891511 with order 1 Centerline is valid? [False, False] Translation: X:25.76, Y:1.12, Z:0.20 [[ 0.97341979 0.10456231 0.20376613 25.75738753] [-0.13185372 0.98331871 0.12529533 1.11718965] [-0.18726588 -0.14883228 0.97096882 0.20338894] [ 0. 0. 0. 1. ]] SLAMing on 138.798241008 meters Centerline goodness : 0.892972 with order 1 Centerline is valid? [False, False] Translation: X:25.77, Y:1.12, Z:0.20 [[ 0.97430528 0.10130768 0.20116156 25.76775374] [-0.12816421 0.98380685 0.12529175 1.11731931] [-0.1852111 -0.14785413 0.97151223 0.20184216] [ 0. 0. 0. 1. ]] SLAMing on 138.858241008 meters Centerline goodness : 0.888779 with order 1 Centerline is valid? [False, False] Translation: X:25.79, Y:1.11, Z:0.21 [[ 0.97433747 0.09328805 0.20485077 25.79170349] [-0.12414401 0.98185683 0.14333675 1.1117733 ] [-0.18776252 -0.16508937 0.96824105 0.21474358] [ 0. 0. 0. 1. ]] SLAMing on 138.918241008 meters Centerline goodness : 0.889192 with order 1 Centerline is valid? [False, False] Translation: X:25.80, Y:1.11, Z:0.22 [[ 0.97480666 0.09047136 0.20387966 25.79876333] [-0.12132655 0.98206708 0.14430566 1.11435525] [-0.18716797 -0.16540613 0.9683021 0.21696429] [ 0. 0. 0. 1. ]] SLAMing on 138.978241008 meters Centerline goodness : 0.888960 with order 1 Centerline is valid? [False, False] Translation: X:25.81, Y:1.12, Z:0.21 [[ 0.9754432 0.08715996 0.20227134 25.80797155] [-0.11743526 0.98275247 0.14285147 1.12179486] [-0.18633173 -0.16309728 0.96885487 0.2139319 ] [ 0. 0. 0. 1. ]] SLAMing on 139.03824100799997 meters Centerline goodness : 0.886474 with order 1 Centerline is valid? [False, False] Translation: X:25.82, Y:1.12, Z:0.22 [[ 0.9752287 0.08290469 0.20507511 25.82467469] [-0.11625378 0.98084072 0.1563219 1.12422394] [-0.1881862 -0.17629036 0.966182 0.22224581] [ 0. 0. 0. 1. ]] SLAMing on 139.09824100799997 meters Centerline goodness : 0.883854 with order 1 Centerline is valid? [False, False] Translation: X:25.82, Y:1.13, Z:0.21 [[ 0.97532782 0.08069649 0.20548411 25.82312578] [-0.11223022 0.98278698 0.14674513 1.13480409] [-0.19010529 -0.16618613 0.96759607 0.21326219] [ 0. 0. 0. 1. ]] SLAMing on 139.15824100799998 meters Centerline goodness : 0.880337 with order 1 Centerline is valid? [False, False] Translation: X:25.84, Y:1.14, Z:0.22 [[ 0.97565739 0.07297591 0.20680226 25.84220236] [-0.10662315 0.98189969 0.15653913 1.13721503] [-0.19163549 -0.17477847 0.96577861 0.22186942] [ 0. 0. 0. 1. ]] SLAMing on 139.21824100799998 meters Centerline goodness : 0.884544 with order 1 Centerline is valid? [False, False] Translation: X:25.83, Y:1.15, Z:0.23 [[ 0.97391661 0.06565467 0.21720016 25.82996936] [-0.10238255 0.98139475 0.16242583 1.14526207] [-0.20249508 -0.18042672 0.96251854 0.22601433] [ 0. 0. 0. 1. ]] SLAMing on 139.27824100799998 meters Centerline goodness : 0.882353 with order 1 Centerline is valid? [False, False] Translation: X:25.83, Y:1.15, Z:0.22 [[ 0.9737465 0.06614303 0.2178138 25.82857341] [-0.10249762 0.98176658 0.16008942 1.15202613] [-0.20325351 -0.17821191 0.96277127 0.22465904] [ 0. 0. 0. 1. ]] SLAMing on 139.33824100799998 meters Centerline goodness : 0.882125 with order 1 Centerline is valid? [False, False] Translation: X:25.83, Y:1.16, Z:0.23 [[ 0.97358649 0.06828533 0.21786801 25.83164485] [-0.10584216 0.98048538 0.16566788 1.15812323] [-0.20230371 -0.18435163 0.96181479 0.23004105] [ 0. 0. 0. 1. ]] SLAMing on 139.39824100799999 meters Centerline goodness : 0.886725 with order 1 Centerline is valid? [False, False] Translation: X:25.83, Y:1.17, Z:0.22 [[ 0.97255564 0.07932755 0.21872967 25.83465193] [-0.11419721 0.98180947 0.15168769 1.16797962] [-0.20271785 -0.17250303 0.96392333 0.22043347] [ 0. 0. 0. 1. ]] SLAMing on 139.458241008 meters Centerline goodness : 0.883241 with order 1 Centerline is valid? [False, False] Translation: X:25.84, Y:1.17, Z:0.22 [[ 0.97237443 0.08222314 0.21846584 25.83634201] [-0.11797343 0.98068777 0.15599286 1.16973336] [-0.20142056 -0.17745664 0.96329585 0.22242134] [ 0. 0. 0. 1. ]] SLAMing on 139.518241008 meters Centerline goodness : 0.881113 with order 1 Centerline is valid? [False, False] Translation: X:25.85, Y:1.18, Z:0.21 [[ 0.9714482 0.08549247 0.22131298 25.85050676] [-0.11885829 0.98268793 0.14211663 1.17736849] [-0.20533169 -0.16436382 0.96479191 0.20882419] [ 0. 0. 0. 1. ]] SLAMing on 139.578241008 meters Centerline goodness : 0.884161 with order 1 Centerline is valid? [False, False] Translation: X:25.86, Y:1.18, Z:0.21 [[ 0.97196487 0.08355706 0.21977831 25.85720866] [-0.11674919 0.98286378 0.14264786 1.18274225] [-0.2040929 -0.16430765 0.96506429 0.21076128] [ 0. 0. 0. 1. ]] SLAMing on 139.638241008 meters Centerline goodness : 0.885231 with order 1 Centerline is valid? [False, False] Translation: X:25.86, Y:1.19, Z:0.21 [[ 0.97172989 0.08301442 0.22101952 25.8562685 ] [-0.11651167 0.98282538 0.14310589 1.18740794] [-0.20534374 -0.16481162 0.96471295 0.21397024] [ 0. 0. 0. 1. ]] SLAMing on 139.698241008 meters Centerline goodness : 0.882082 with order 1 Centerline is valid? [False, False] Translation: X:25.86, Y:1.19, Z:0.21 [[ 0.97193213 0.08022789 0.22115924 25.85605761] [-0.11242719 0.98416041 0.13707084 1.19445321] [-0.20665927 -0.15808786 0.96555692 0.2113113 ] [ 0. 0. 0. 1. ]] SLAMing on 139.75824100799997 meters Centerline goodness : 0.881491 with order 1 Centerline is valid? [False, False] Translation: X:25.85, Y:1.19, Z:0.24 [[ 0.97177549 0.07187108 0.22469301 25.8547763 ] [-0.11047179 0.98021401 0.16424517 1.19351579] [-0.20844276 -0.18443167 0.96048768 0.23638433] [ 0. 0. 0. 1. ]] SLAMing on 139.81824100799997 meters Centerline goodness : 0.881730 with order 1 Centerline is valid? [False, False] Translation: X:25.83, Y:1.21, Z:0.24 [[ 0.97243217 0.06837786 0.22293529 25.83124058] [-0.10531688 0.98176419 0.15826379 1.20831291] [-0.20804815 -0.17737965 0.96190042 0.23610808] [ 0. 0. 0. 1. ]] SLAMing on 139.87824100799997 meters Centerline goodness : 0.880331 with order 1 Centerline is valid? [False, False] Translation: X:25.83, Y:1.22, Z:0.23 [[ 0.9722048 0.07149283 0.22294979 25.83219457] [-0.10874245 0.98118178 0.15955376 1.21606402] [-0.20734732 -0.17936304 0.96168393 0.23343115] [ 0. 0. 0. 1. ]] SLAMing on 139.93824100799998 meters Centerline goodness : 0.881036 with order 1 Centerline is valid? [False, False] Translation: X:25.83, Y:1.22, Z:0.24 [[ 0.97177 0.07485562 0.22374025 25.83170122] [-0.11316484 0.98000938 0.16363168 1.22173317] [-0.20701879 -0.18433189 0.96081475 0.23641497] [ 0. 0. 0. 1. ]] SLAMing on 139.99824100799998 meters Centerline goodness : 0.877387 with order 1 Centerline is valid? [False, False] Translation: X:25.84, Y:1.23, Z:0.24 [[ 0.972743 0.08261909 0.21666828 25.84114963] [-0.11890009 0.97990475 0.16015445 1.22991642] [-0.19908246 -0.18155099 0.9630189 0.23649752] [ 0. 0. 0. 1. ]] SLAMing on 140.05824100799998 meters Centerline goodness : 0.877266 with order 1 Centerline is valid? [False, False] Translation: X:25.86, Y:1.23, Z:0.25 [[ 0.97241367 0.08133462 0.21862375 25.85517812] [-0.12203406 0.97613329 0.17964269 1.23004629] [-0.19879475 -0.20136655 0.95913094 0.25378138] [ 0. 0. 0. 1. ]] SLAMing on 140.11824100799998 meters Centerline goodness : 0.879760 with order 1 Centerline is valid? [False, False] Translation: X:25.86, Y:1.23, Z:0.26 [[ 0.97212606 0.08404884 0.21887605 25.85612904] [-0.12614088 0.97440483 0.18607444 1.23220134] [-0.19763454 -0.20849703 0.95784632 0.26096351] [ 0. 0. 0. 1. ]] SLAMing on 140.178241008 meters Centerline goodness : 0.872846 with order 1 Centerline is valid? [False, False] Translation: X:25.86, Y:1.24, Z:0.25 [[ 0.97089268 0.09383222 0.22036998 25.86090151] [-0.13349451 0.9759024 0.17260858 1.24296039] [-0.19886334 -0.19700259 0.96002258 0.24975548] [ 0. 0. 0. 1. ]] SLAMing on 140.238241008 meters Centerline goodness : 0.871668 with order 1 Centerline is valid? [False, False] Translation: X:25.86, Y:1.25, Z:0.24 [[ 0.96988248 0.10087122 0.22170469 25.86437892] [-0.1371669 0.9783575 0.15492528 1.25046826] [-0.20127894 -0.18066986 0.96272799 0.23886746] [ 0. 0. 0. 1. ]] SLAMing on 140.298241008 meters Centerline goodness : 0.871449 with order 1 Centerline is valid? [False, False] Translation: X:25.88, Y:1.26, Z:0.23 [[ 0.96885726 0.1046605 0.22441435 25.87608055] [-0.13840238 0.98038877 0.14029486 1.25718063] [-0.20532998 -0.16698517 0.96434203 0.22695895] [ 0. 0. 0. 1. ]] SLAMing on 140.358241008 meters Centerline goodness : 0.871615 with order 1 Centerline is valid? [False, False] Translation: X:25.92, Y:1.25, Z:0.23 [[ 0.96905212 0.10233669 0.22464457 25.91736699] [-0.13848845 0.97869939 0.1515535 1.25077134] [-0.20435002 -0.17797392 0.96258317 0.22997962] [ 0. 0. 0. 1. ]] SLAMing on 140.418241008 meters Centerline goodness : 0.872930 with order 1 Centerline is valid? [False, False] Translation: X:25.93, Y:1.25, Z:0.22 [[ 0.96802156 0.10537265 0.22766392 25.93384809] [-0.14000793 0.97995189 0.1417465 1.25461119] [-0.20816348 -0.16908843 0.96336757 0.22028594] [ 0. 0. 0. 1. ]] SLAMing on 140.478241008 meters Centerline goodness : 0.873888 with order 1 Centerline is valid? [False, False] Translation: X:25.97, Y:1.25, Z:0.24 [[ 0.96709203 0.09784788 0.23485909 25.96593137] [-0.14122985 0.97427037 0.17564561 1.24521952] [-0.2116297 -0.20303459 0.95602815 0.24126135] [ 0. 0. 0. 1. ]] SLAMing on 140.53824100799997 meters Centerline goodness : 0.873862 with order 1 Centerline is valid? [False, False] Translation: X:26.00, Y:1.23, Z:0.26 [[ 0.96666374 0.09639268 0.23721227 26.00378849] [-0.14484689 0.96981136 0.1961767 1.2347876 ] [-0.21114116 -0.22399636 0.95144366 0.25567011] [ 0. 0. 0. 1. ]] SLAMing on 140.59824100799997 meters Centerline goodness : 0.870658 with order 1 Centerline is valid? [False, False] Translation: X:26.03, Y:1.24, Z:0.25 [[ 0.96514819 0.10001199 0.24183996 26.02518249] [-0.14956702 0.96910386 0.1961311 1.23637608] [-0.21475258 -0.22546686 0.95028734 0.25192134] [ 0. 0. 0. 1. ]] SLAMing on 140.65824100799998 meters Centerline goodness : 0.871867 with order 1 Centerline is valid? [False, False] Translation: X:26.03, Y:1.24, Z:0.24 [[ 0.96426882 0.10761459 0.24208417 26.02751341] [-0.15292415 0.97227254 0.17691897 1.24269196] [-0.21633273 -0.20761796 0.95398896 0.2394833 ] [ 0. 0. 0. 1. ]] SLAMing on 140.71824100799998 meters Centerline goodness : 0.867674 with order 1 Centerline is valid? [False, False] Translation: X:26.04, Y:1.25, Z:0.23 [[ 0.96278819 0.11243493 0.24575858 26.03800787] [-0.155762 0.97398104 0.16461815 1.24516716] [-0.22085537 -0.19677226 0.95525053 0.22853406] [ 0. 0. 0. 1. ]] SLAMing on 140.77824100799998 meters Centerline goodness : 0.871824 with order 1 Centerline is valid? [False, False] Translation: X:26.06, Y:1.25, Z:0.22 [[ 0.96198106 0.11566737 0.2474136 26.05516366] [-0.15690008 0.9755368 0.15398157 1.24667986] [-0.22355043 -0.18694657 0.95659614 0.21671813] [ 0. 0. 0. 1. ]] SLAMing on 140.83824100799998 meters Centerline goodness : 0.868040 with order 1 Centerline is valid? [False, False] Translation: X:26.09, Y:1.24, Z:0.22 [[ 0.96213724 0.11371206 0.24771253 26.09271889] [-0.15679438 0.97429514 0.16175446 1.23922894] [-0.22295168 -0.19446992 0.95523505 0.21646756] [ 0. 0. 0. 1. ]] SLAMing on 140.89824100799999 meters Centerline goodness : 0.866158 with order 1 Centerline is valid? [False, False] Translation: X:26.14, Y:1.22, Z:0.23 [[ 0.96282942 0.10760539 0.24775105 26.13851863] [-0.15455214 0.97170919 0.17859139 1.22462228] [-0.22152457 -0.2102435 0.95222084 0.22533342] [ 0. 0. 0. 1. ]] SLAMing on 140.958241008 meters Centerline goodness : 0.868181 with order 1 Centerline is valid? [False, False] Translation: X:26.18, Y:1.22, Z:0.22 [[ 0.96283983 0.10225468 0.24996689 26.17628098] [-0.15080868 0.97137684 0.18353142 1.21816348] [-0.2240451 -0.21440853 0.9507012 0.22486073] [ 0. 0. 0. 1. ]] SLAMing on 141.018241008 meters Centerline goodness : 0.867312 with order 1 Centerline is valid? [False, False] Translation: X:26.22, Y:1.20, Z:0.25 [[ 0.96138061 0.0881694 0.26071723 26.21649863] [-0.14747531 0.96485177 0.21751342 1.20098335] [-0.23237545 -0.24756254 0.9405926 0.24582275] [ 0. 0. 0. 1. ]] SLAMing on 141.078241008 meters Centerline goodness : 0.869044 with order 1 Centerline is valid? [False, False] Translation: X:26.26, Y:1.18, Z:0.26 [[ 0.96072364 0.07839765 0.26620273 26.26045164] [-0.14494569 0.95977845 0.24044973 1.18453512] [-0.23664495 -0.26959067 0.93344525 0.26325302] [ 0. 0. 0. 1. ]] SLAMing on 141.138241008 meters Centerline goodness : 0.868134 with order 1 Centerline is valid? [False, False] Translation: X:26.30, Y:1.17, Z:0.27 [[ 0.96078561 0.07376048 0.26730207 26.30413224] [-0.14487964 0.95546351 0.25709798 1.17377032] [-0.2364337 -0.28574267 0.92868199 0.27135647] [ 0. 0. 0. 1. ]] SLAMing on 141.198241008 meters Centerline goodness : 0.867268 with order 1 Centerline is valid? [False, False] Translation: X:26.30, Y:1.18, Z:0.26 [[ 0.96096794 0.08481093 0.26333958 26.29694509] [-0.14915304 0.96049651 0.23494641 1.17866857] [-0.23301072 -0.26505387 0.93565616 0.26048745] [ 0. 0. 0. 1. ]] SLAMing on 141.25824100799997 meters Centerline goodness : 0.868516 with order 1 Centerline is valid? [False, False] Translation: X:26.28, Y:1.18, Z:0.25 [[ 0.96243472 0.09834118 0.2530779 26.2768702 ] [-0.15434037 0.96501444 0.21195798 1.18399462] [-0.22337963 -0.24305586 0.94394141 0.25226832] [ 0. 0. 0. 1. ]] SLAMing on 141.31824100799997 meters Centerline goodness : 0.869485 with order 1 Centerline is valid? [False, False] Translation: X:26.29, Y:1.18, Z:0.24 [[ 0.96142757 0.10404622 0.25462012 26.28778805] [-0.15719763 0.96746821 0.19822755 1.18336865] [-0.22571205 -0.23060711 0.94650643 0.23842109] [ 0. 0. 0. 1. ]] SLAMing on 141.37824100799997 meters Centerline goodness : 0.870710 with order 1 Centerline is valid? [False, False] Translation: X:26.28, Y:1.19, Z:0.23 [[ 0.96074144 0.11152286 0.25404437 26.28321487] [-0.15869971 0.97196563 0.17348547 1.18712013] [-0.2275748 -0.20699144 0.95150631 0.22578934] [ 0. 0. 0. 1. ]] SLAMing on 141.43824100799998 meters Centerline goodness : 0.876578 with order 1 Centerline is valid? [False, False] Translation: X:26.34, Y:1.17, Z:0.23 [[ 0.95994933 0.10810363 0.25847804 26.33740596] [-0.1590185 0.96979273 0.18497348 1.16782875] [-0.23067382 -0.21866796 0.94814235 0.23132069] [ 0. 0. 0. 1. ]] SLAMing on 141.49824100799998 meters Centerline goodness : 0.874085 with order 1 Centerline is valid? [False, False] Translation: X:26.35, Y:1.17, Z:0.22 [[ 0.95927989 0.10806518 0.26096746 26.35439011] [-0.15610842 0.97282703 0.17099041 1.16625124] [-0.23539809 -0.20476688 0.95008329 0.21737392] [ 0. 0. 0. 1. ]] SLAMing on 141.55824100799998 meters Centerline goodness : 0.873705 with order 1 Centerline is valid? [False, False] Translation: X:26.41, Y:1.15, Z:0.23 [[ 0.9599472 0.09459212 0.26373037 26.41219595] [-0.14870079 0.96978144 0.19342189 1.14528307] [-0.23746463 -0.22489172 0.9450049 0.22933769] [ 0. 0. 0. 1. ]] SLAMing on 141.61824100799998 meters Centerline goodness : 0.874235 with order 1 Centerline is valid? [False, False] Translation: X:26.45, Y:1.13, Z:0.25 [[ 0.95873061 0.07754615 0.27353648 26.4521481 ] [-0.14202179 0.96407671 0.22446806 1.12782305] [-0.24630351 -0.25405255 0.9353031 0.25097222] [ 0. 0. 0. 1. ]] SLAMing on 141.678241008 meters Centerline goodness : 0.872990 with order 1 Centerline is valid? [False, False] Translation: X:26.47, Y:1.12, Z:0.27 [[ 0.95779237 0.06891857 0.27907707 26.46976087] [-0.14013418 0.95960615 0.24396402 1.12182625] [-0.25099042 -0.27277511 0.9287613 0.26863889] [ 0. 0. 0. 1. ]] SLAMing on 141.738241008 meters Centerline goodness : 0.875094 with order 1 Centerline is valid? [False, False] Translation: X:26.50, Y:1.11, Z:0.28 [[ 0.95741442 0.0554964 0.28333335 26.49574123] [-0.13214728 0.95675664 0.25914057 1.11372538] [-0.25669969 -0.28554665 0.92334629 0.27730773] [ 0. 0. 0. 1. ]] SLAMing on 141.798241008 meters Centerline goodness : 0.871058 with order 1 Centerline is valid? [False, False] Translation: X:26.50, Y:1.11, Z:0.28 [[ 0.95688373 0.0541546 0.28537837 26.4954508 ] [-0.13176791 0.95649014 0.26031486 1.11413568] [-0.25886435 -0.28669477 0.92238569 0.27939425] [ 0. 0. 0. 1. ]] SLAMing on 141.858241008 meters Centerline goodness : 0.874931 with order 1 Centerline is valid? [False, False] Translation: X:26.49, Y:1.12, Z:0.28 [[ 0.95627599 0.05330803 0.28756649 26.49476196] [-0.13229221 0.95575111 0.26275195 1.11551941] [-0.2608352 -0.28930619 0.92101408 0.28425214] [ 0. 0. 0. 1. ]] SLAMing on 141.918241008 meters Centerline goodness : 0.874718 with order 1 Centerline is valid? [False, False] Translation: X:26.52, Y:1.12, Z:0.28 [[ 0.95468236 0.0538773 0.29270947 26.51668617] [-0.1332748 0.95675281 0.25857667 1.11677451] [-0.26611919 -0.28586938 0.92057551 0.2762125 ] [ 0. 0. 0. 1. ]] SLAMing on 141.978241008 meters Centerline goodness : 0.876109 with order 1 Centerline is valid? [False, False] Translation: X:26.52, Y:1.12, Z:0.27 [[ 0.95361326 0.06282674 0.29440541 26.51724405] [-0.13830785 0.96008764 0.24311041 1.12228625] [-0.26738116 -0.27255189 0.92424173 0.26862388] [ 0. 0. 0. 1. ]] SLAMing on 142.03824100799997 meters Centerline goodness : 0.877419 with order 1 Centerline is valid? [False, False] Translation: X:26.54, Y:1.12, Z:0.27 [[ 0.95182993 0.0637441 0.29992745 26.5418227 ] [-0.1414744 0.95911169 0.24513214 1.12205396] [-0.27203819 -0.27575616 0.92192937 0.26552124] [ 0. 0. 0. 1. ]] SLAMing on 142.09824100799997 meters Centerline goodness : 0.876418 with order 1 Centerline is valid? [False, False] Translation: X:26.54, Y:1.13, Z:0.25 [[ 0.95101312 0.07161749 0.30074071 26.54217683] [-0.14301925 0.96435983 0.22261088 1.12895814] [-0.27407943 -0.25471758 0.92736154 0.24817871] [ 0. 0. 0. 1. ]] SLAMing on 142.15824100799998 meters Centerline goodness : 0.874921 with order 1 Centerline is valid? [False, False] Translation: X:26.56, Y:1.13, Z:0.24 [[ 0.94956362 0.07249095 0.30508031 26.56228603] [-0.1436995 0.96533664 0.21788903 1.12841821] [-0.27871022 -0.25073938 0.92706547 0.24387702] [ 0. 0. 0. 1. ]] SLAMing on 142.21824100799998 meters Centerline goodness : 0.874797 with order 1 Centerline is valid? [False, False] Translation: X:26.55, Y:1.14, Z:0.23 [[ 0.94967718 0.07669547 0.30369566 26.54550621] [-0.14292767 0.96884342 0.20227238 1.13590764] [-0.27872017 -0.23549998 0.93105039 0.23457885] [ 0. 0. 0. 1. ]] SLAMing on 142.27824100799998 meters Centerline goodness : 0.877294 with order 1 Centerline is valid? [False, False] Translation: X:26.58, Y:1.14, Z:0.23 [[ 0.94924632 0.07659832 0.30506412 26.57556035] [-0.14289106 0.9690501 0.20130586 1.13565631] [-0.28020273 -0.23467978 0.93081246 0.22551583] [ 0. 0. 0. 1. ]] SLAMing on 142.33824100799998 meters Centerline goodness : 0.872766 with order 1 Centerline is valid? [False, False] Translation: X:26.58, Y:1.14, Z:0.21 [[ 0.94797049 0.08239301 0.30751152 26.58391843] [-0.14447855 0.97207267 0.18493424 1.14059516] [-0.28368626 -0.21974102 0.93340023 0.21022648] [ 0. 0. 0. 1. ]] SLAMing on 142.39824100799999 meters Centerline goodness : 0.869674 with order 1 Centerline is valid? [False, False] Translation: X:26.59, Y:1.15, Z:0.20 [[ 0.94634978 0.08914779 0.31060387 26.5948819 ] [-0.14834069 0.9737797 0.1724765 1.14674983] [-0.28708384 -0.20929829 0.93476045 0.19514525] [ 0. 0. 0. 1. ]] SLAMing on 142.458241008 meters Centerline goodness : 0.872368 with order 1 Centerline is valid? [False, False] Translation: X:26.59, Y:1.15, Z:0.18 [[ 0.94494909 0.09959598 0.31169192 26.59420919] [-0.15357457 0.97611211 0.153688 1.15434103] [-0.28893955 -0.19309529 0.93767166 0.18091481] [ 0. 0. 0. 1. ]] SLAMing on 142.518241008 meters Centerline goodness : 0.873730 with order 1 Centerline is valid? [False, False] Translation: X:26.60, Y:1.16, Z:0.17 [[ 0.9433579 0.10680935 0.31411405 26.60282047] [-0.15702416 0.97774791 0.13911304 1.15966458] [-0.29226578 -0.18055688 0.93913786 0.16523706] [ 0. 0. 0. 1. ]] SLAMing on 142.578241008 meters Centerline goodness : 0.872548 with order 1 Centerline is valid? [False, False] Translation: X:26.60, Y:1.17, Z:0.15 [[ 0.94238105 0.12136948 0.31174894 26.59713773] [-0.16594538 0.97873333 0.12059522 1.16978352] [-0.2904825 -0.16537995 0.94248045 0.15239896] [ 0. 0. 0. 1. ]] SLAMing on 142.638241008 meters Centerline goodness : 0.874271 with order 1 Centerline is valid? [False, False] Translation: X:26.59, Y:1.18, Z:0.15 [[ 0.94325458 0.13416925 0.30375881 26.58762013] [-0.17196804 0.97989127 0.10119332 1.17721841] [-0.28407357 -0.14768787 0.94735975 0.1461838 ] [ 0. 0. 0. 1. ]] SLAMing on 142.698241008 meters Centerline goodness : 0.873177 with order 1 Centerline is valid? [False, False] Translation: X:26.59, Y:1.18, Z:0.13 [[ 0.94157599 0.14077506 0.305969 26.59320877] [-0.17400692 0.98115024 0.08405836 1.18269067] [-0.28836824 -0.13238806 0.94832334 0.13178862] [ 0. 0. 0. 1. ]] SLAMing on 142.75824100799997 meters Centerline goodness : 0.867229 with order 1 Centerline is valid? [False, False] Translation: X:26.59, Y:1.18, Z:0.13 [[ 0.9419379 0.13819557 0.30603101 26.59216924] [-0.17011208 0.9821663 0.08007027 1.18349608] [-0.28950798 -0.1274808 0.94864839 0.13272068] [ 0. 0. 0. 1. ]] SLAMing on 142.81824100799997 meters Centerline goodness : 0.866014 with order 1 Centerline is valid? [False, False] Translation: X:26.60, Y:1.18, Z:0.14 [[ 0.94303316 0.13360336 0.30469428 26.60280662] [-0.16625679 0.98251964 0.08374869 1.18018583] [-0.288179 -0.12963529 0.94876106 0.13619707] [ 0. 0. 0. 1. ]] SLAMing on 142.87824100799997 meters Centerline goodness : 0.871406 with order 1 Centerline is valid? [False, False] Translation: X:26.64, Y:1.17, Z:0.15 [[ 0.94298231 0.11927794 0.31073645 26.64079226] [-0.16106634 0.98052176 0.11240424 1.16654018] [-0.2912765 -0.1560444 0.94382633 0.15400181] [ 0. 0. 0. 1. ]] SLAMing on 142.93824100799998 meters Centerline goodness : 0.871062 with order 1 Centerline is valid? [False, False] Translation: X:26.64, Y:1.17, Z:0.15 [[ 0.94306734 0.11768444 0.31108578 26.63917461] [-0.15761598 0.98174942 0.10642033 1.17125142] [-0.29288427 -0.14939363 0.94440476 0.15046442] [ 0. 0. 0. 1. ]] SLAMing on 142.99824100799998 meters Centerline goodness : 0.870743 with order 1 Centerline is valid? [False, False] Translation: X:26.66, Y:1.16, Z:0.16 [[ 0.94287413 0.10881498 0.31487723 26.6621717 ] [-0.15524608 0.97977098 0.12628334 1.16368388] [-0.29476606 -0.16795275 0.94069381 0.16498889] [ 0. 0. 0. 1. ]] SLAMing on 143.05824100799998 meters Centerline goodness : 0.869794 with order 1 Centerline is valid? [False, False] Translation: X:26.67, Y:1.17, Z:0.16 [[ 0.94354702 0.10653108 0.31364017 26.66951963] [-0.15262668 0.98018973 0.12622674 1.16917505] [-0.2939798 -0.16697073 0.94111458 0.16423972] [ 0. 0. 0. 1. ]] SLAMing on 143.11824100799998 meters Centerline goodness : 0.874186 with order 1 Centerline is valid? [False, False] Translation: X:26.70, Y:1.16, Z:0.17 [[ 0.9430256 0.09626912 0.31848856 26.69920567] [-0.14978664 0.97757578 0.14801874 1.16380792] [-0.29709707 -0.1872908 0.93629882 0.17289265] [ 0. 0. 0. 1. ]] SLAMing on 143.178241008 meters Centerline goodness : 0.873225 with order 1 Centerline is valid? [False, False] Translation: X:26.73, Y:1.16, Z:0.19 [[ 0.94193583 0.08533828 0.32476803 26.72800911] [-0.14731576 0.97414428 0.1712921 1.15878276] [-0.30175314 -0.20918961 0.93015308 0.18502527] [ 0. 0. 0. 1. ]] SLAMing on 143.238241008 meters Centerline goodness : 0.872877 with order 1 Centerline is valid? [False, False] Translation: X:26.73, Y:1.17, Z:0.18 [[ 0.94204297 0.08403539 0.32479701 26.7321698 ] [-0.14567437 0.97455334 0.17036655 1.16603346] [-0.30221519 -0.20780721 0.93031293 0.18244411] [ 0. 0. 0. 1. ]] SLAMing on 143.298241008 meters Centerline goodness : 0.873696 with order 1 Centerline is valid? [False, False] Translation: X:26.73, Y:1.17, Z:0.18 [[ 0.94223802 0.08353685 0.32435954 26.734692 ] [-0.14497937 0.9746991 0.17012536 1.16939083] [-0.30194121 -0.20732403 0.93050967 0.18322115] [ 0. 0. 0. 1. ]] SLAMing on 143.358241008 meters Centerline goodness : 0.879125 with order 1 Centerline is valid? [False, False] Translation: X:26.73, Y:1.17, Z:0.20 [[ 0.94087934 0.08252778 0.32853499 26.73255712] [-0.14806198 0.97250845 0.1797358 1.16873516] [-0.30466986 -0.21775325 0.92723233 0.20199495] [ 0. 0. 0. 1. ]] SLAMing on 143.418241008 meters Centerline goodness : 0.873770 with order 1 Centerline is valid? [False, False] Translation: X:26.75, Y:1.17, Z:0.19 [[ 0.93924373 0.08579762 0.33235521 26.74937062] [-0.14936247 0.97394024 0.17067884 1.17188203] [-0.30905028 -0.20995042 0.9275822 0.18917754] [ 0. 0. 0. 1. ]] SLAMing on 143.478241008 meters Centerline goodness : 0.874128 with order 1 Centerline is valid? [False, False] Translation: X:26.76, Y:1.17, Z:0.19 [[ 0.93986617 0.08333346 0.33122065 26.7566412 ] [-0.14721072 0.97391315 0.17269098 1.17419599] [-0.30818921 -0.21106564 0.9276156 0.19171388] [ 0. 0. 0. 1. ]] SLAMing on 143.53824100799997 meters Centerline goodness : 0.880076 with order 1 Centerline is valid? [False, False] Translation: X:26.77, Y:1.17, Z:0.21 [[ 0.93934157 0.07842995 0.33389543 26.76910424] [-0.1480258 0.97087551 0.18838553 1.17124389] [-0.30939583 -0.2263835 0.92359338 0.207785 ] [ 0. 0. 0. 1. ]] SLAMing on 143.59824100799997 meters Centerline goodness : 0.877981 with order 1 Centerline is valid? [False, False] Translation: X:26.77, Y:1.17, Z:0.21 [[ 0.93928115 0.07856069 0.33403465 26.76983729] [-0.14842837 0.97067934 0.18907839 1.17313743] [-0.3093864 -0.22717798 0.92340144 0.20942922] [ 0. 0. 0. 1. ]] SLAMing on 143.65824100799998 meters Centerline goodness : 0.878425 with order 1 Centerline is valid? [False, False] Translation: X:26.78, Y:1.17, Z:0.21 [[ 0.93953912 0.07918401 0.33316083 26.77595044] [-0.15057364 0.96932801 0.19424416 1.17365662] [-0.30756109 -0.23266522 0.9226446 0.20956593] [ 0. 0. 0. 1. ]] SLAMing on 143.71824100799998 meters Centerline goodness : 0.880402 with order 1 Centerline is valid? [False, False] Translation: X:26.81, Y:1.17, Z:0.20 [[ 0.93804272 0.08097177 0.33692644 26.80508525] [-0.15463386 0.96794901 0.19789667 1.17273745] [-0.31010357 -0.23773576 0.9204985 0.20165205] [ 0. 0. 0. 1. ]] SLAMing on 143.77824100799998 meters Centerline goodness : 0.882914 with order 1 Centerline is valid? [False, False] Translation: X:26.80, Y:1.18, Z:0.19 [[ 0.93649479 0.09164276 0.33849535 26.80314008] [-0.15981451 0.97071941 0.17934089 1.17843755] [-0.31214872 -0.22204828 0.92371951 0.19088748] [ 0. 0. 0. 1. ]] SLAMing on 143.83824100799998 meters Centerline goodness : 0.883531 with order 1 Centerline is valid? [False, False] Translation: X:26.81, Y:1.18, Z:0.18 [[ 0.9347229 0.09734406 0.34178536 26.81396246] [-0.16213467 0.97263868 0.16639212 1.18218699] [-0.31623638 -0.21094578 0.9249305 0.17761317] [ 0. 0. 0. 1. ]] SLAMing on 143.89824100799999 meters Centerline goodness : 0.881777 with order 1 Centerline is valid? [False, False] Translation: X:26.81, Y:1.19, Z:0.17 [[ 0.93399274 0.11092219 0.33963779 26.80670273] [-0.16832215 0.97509445 0.14442461 1.18964759] [-0.31515903 -0.1920601 0.9294018 0.16545099] [ 0. 0. 0. 1. ]] SLAMing on 143.958241008 meters Centerline goodness : 0.882925 with order 1 Centerline is valid? [False, False] Translation: X:26.81, Y:1.19, Z:0.16 [[ 0.93581971 0.12078623 0.33113766 26.81029044] [-0.17229623 0.97632275 0.13079717 1.19349046] [-0.30749873 -0.17945634 0.93447309 0.15717596] [ 0. 0. 0. 1. ]] SLAMing on 144.018241008 meters Centerline goodness : 0.883051 with order 1 Centerline is valid? [False, False] Translation: X:26.82, Y:1.19, Z:0.15 [[ 0.93702147 0.11758978 0.32888206 26.81944605] [-0.16867281 0.97688961 0.13128662 1.19157924] [-0.3058435 -0.17849184 0.93520074 0.15499393] [ 0. 0. 0. 1. ]] SLAMing on 144.078241008 meters Centerline goodness : 0.880840 with order 1 Centerline is valid? [False, False] Translation: X:26.82, Y:1.19, Z:0.15 [[ 0.93760422 0.11532803 0.32802099 26.82027725] [-0.16465585 0.97817549 0.12673263 1.19281906] [-0.30624626 -0.17283562 0.93613091 0.15377555] [ 0. 0. 0. 1. ]] SLAMing on 144.138241008 meters Centerline goodness : 0.884563 with order 1 Centerline is valid? [False, False] Translation: X:26.85, Y:1.19, Z:0.15 [[ 0.93823896 0.11445279 0.32650913 26.85445639] [-0.16445343 0.97780599 0.12980953 1.18599716] [-0.30440552 -0.1754879 0.93623783 0.14740124] [ 0. 0. 0. 1. ]] SLAMing on 144.198241008 meters Centerline goodness : 0.886618 with order 1 Centerline is valid? [False, False] Translation: X:26.86, Y:1.19, Z:0.13 [[ 0.93697565 0.11876493 0.32859021 26.86123127] [-0.16284126 0.98050688 0.10994993 1.18962961] [-0.30912676 -0.15652845 0.9380509 0.13244772] [ 0. 0. 0. 1. ]] SLAMing on 144.25824100799997 meters Centerline goodness : 0.886307 with order 1 Centerline is valid? [False, False] Translation: X:26.86, Y:1.19, Z:0.13 [[ 0.93762109 0.11660433 0.32752117 26.86257749] [-0.15846751 0.9818617 0.10409448 1.19322096] [-0.30944263 -0.14950264 0.93909223 0.1278444 ] [ 0. 0. 0. 1. ]] SLAMing on 144.31824100799997 meters Centerline goodness : 0.886247 with order 1 Centerline is valid? [False, False] Translation: X:26.87, Y:1.19, Z:0.13 [[ 0.9379956 0.1157265 0.32675929 26.86583213] [-0.1575867 0.98195007 0.10459682 1.19318835] [-0.30875668 -0.14960427 0.9393018 0.12805274] [ 0. 0. 0. 1. ]] SLAMing on 144.37824100799997 meters Centerline goodness : 0.885414 with order 1 Centerline is valid? [False, False] Translation: X:26.87, Y:1.19, Z:0.13 [[ 0.93897326 0.11322892 0.3248206 26.87414218] [-0.15501776 0.98223877 0.10571894 1.19384799] [-0.30708094 -0.14962022 0.93984844 0.1281965 ] [ 0. 0. 0. 1. ]] SLAMing on 144.43824100799998 meters Centerline goodness : 0.881897 with order 1 Centerline is valid? [False, False] Translation: X:26.88, Y:1.19, Z:0.13 [[ 0.93939518 0.11269648 0.32378418 26.87716814] [-0.15403065 0.98247894 0.10492708 1.19462576] [-0.30628623 -0.14844068 0.94029469 0.12583144] [ 0. 0. 0. 1. ]] SLAMing on 144.49824100799998 meters Centerline goodness : 0.883173 with order 1 Centerline is valid? [False, False] Translation: X:26.88, Y:1.19, Z:0.12 [[ 0.9398783 0.11172499 0.32271706 26.8808155 ] [-0.1528466 0.98266132 0.10495067 1.19388847] [-0.30539596 -0.14796706 0.94065884 0.12468158] [ 0. 0. 0. 1. ]] SLAMing on 144.55824100799998 meters Centerline goodness : 0.883195 with order 1 Centerline is valid? [False, False] Translation: X:26.88, Y:1.19, Z:0.12 [[ 0.94020105 0.11111311 0.32198737 26.88326175] [-0.15184382 0.98289667 0.1041998 1.19434373] [-0.30490235 -0.14686055 0.94099231 0.12238845] [ 0. 0. 0. 1. ]] SLAMing on 144.61824100799998 meters Centerline goodness : 0.884162 with order 1 Centerline is valid? [False, False] Translation: X:26.90, Y:1.19, Z:0.13 [[ 0.94136841 0.10593571 0.32031725 26.89707079] [-0.14765513 0.98303326 0.1088282 1.19478606] [-0.30335371 -0.14974391 0.94103841 0.12647107] [ 0. 0. 0. 1. ]] SLAMing on 144.678241008 meters Centerline goodness : 0.886940 with order 1 Centerline is valid? [False, False] Translation: X:26.94, Y:1.18, Z:0.15 [[ 0.93990089 0.09059225 0.32921021 26.94046606] [-0.1462796 0.97803456 0.14849472 1.17823197] [-0.30852649 -0.18772706 0.93250735 0.15290693] [ 0. 0. 0. 1. ]] SLAMing on 144.738241008 meters Centerline goodness : 0.889016 with order 1 Centerline is valid? [False, False] Translation: X:26.94, Y:1.18, Z:0.16 [[ 0.93987542 0.08772679 0.33005789 26.94480692] [-0.14489932 0.97757935 0.15278353 1.17910708] [-0.30925457 -0.19142265 0.93151435 0.16073412] [ 0. 0. 0. 1. ]] SLAMing on 144.798241008 meters Centerline goodness : 0.884235 with order 1 Centerline is valid? [False, False] Translation: X:26.94, Y:1.19, Z:0.15 [[ 0.94016725 0.08671836 0.32949274 26.94421714] [-0.14099755 0.9793998 0.14455352 1.18680424] [-0.31016968 -0.18236216 0.9330267 0.15238615] [ 0. 0. 0. 1. ]] SLAMing on 144.858241008 meters Centerline goodness : 0.885405 with order 1 Centerline is valid? [False, False] Translation: X:26.96, Y:1.18, Z:0.17 [[ 0.93965566 0.08148448 0.33227626 26.96100634] [-0.14256742 0.97613871 0.16379181 1.18315312] [-0.31100123 -0.20127967 0.9288513 0.16794485] [ 0. 0. 0. 1. ]] SLAMing on 144.918241008 meters Centerline goodness : 0.886690 with order 1 Centerline is valid? [False, False] Translation: X:26.96, Y:1.19, Z:0.16 [[ 0.94012697 0.08045024 0.33119337 26.96122552] [-0.13909145 0.9777015 0.15733195 1.18851353] [-0.31115086 -0.19397818 0.93035349 0.16349592] [ 0. 0. 0. 1. ]] SLAMing on 144.978241008 meters Centerline goodness : 0.885603 with order 1 Centerline is valid? [False, False] Translation: X:26.99, Y:1.18, Z:0.18 [[ 0.93941438 0.06969379 0.33562388 26.99455726] [-0.13804649 0.97312348 0.18432001 1.18257059] [-0.31375752 -0.21948457 0.92378717 0.17688588] [ 0. 0. 0. 1. ]] SLAMing on 145.03824100799997 meters Centerline goodness : 0.888186 with order 1 Centerline is valid? [False, False] Translation: X:27.00, Y:1.19, Z:0.17 [[ 0.93889418 0.07676929 0.33553568 27.00081422] [-0.13965781 0.97592992 0.16750069 1.18780222] [-0.3146004 -0.2041256 0.92701636 0.16579474] [ 0. 0. 0. 1. ]] SLAMing on 145.09824100799997 meters Centerline goodness : 0.887111 with order 1 Centerline is valid? [False, False] Translation: X:27.03, Y:1.19, Z:0.16 [[ 0.93766852 0.07644149 0.33901982 27.02688701] [-0.13912556 0.97649625 0.16461818 1.18898522] [-0.31846792 -0.20152361 0.92626477 0.15837613] [ 0. 0. 0. 1. ]] SLAMing on 145.15824100799998 meters Centerline goodness : 0.884602 with order 1 Centerline is valid? [False, False] Translation: X:27.03, Y:1.19, Z:0.16 [[ 0.93802538 0.07376772 0.33862473 27.02837159] [-0.13488574 0.97775135 0.16064911 1.19346202] [-0.31924006 -0.19636859 0.9271058 0.15938304] [ 0. 0. 0. 1. ]] SLAMing on 145.21824100799998 meters Centerline goodness : 0.884551 with order 1 Centerline is valid? [False, False] Translation: X:27.03, Y:1.19, Z:0.19 [[ 0.93747817 0.06238791 0.34240683 27.02763573] [-0.13292788 0.97340425 0.18658602 1.19308168] [-0.32165955 -0.22043573 0.92083832 0.18516039] [ 0. 0. 0. 1. ]] SLAMing on 145.27824100799998 meters Centerline goodness : 0.883830 with order 1 Centerline is valid? [False, False] Translation: X:27.03, Y:1.20, Z:0.18 [[ 0.9374274 0.0589928 0.3431468 27.02924528] [-0.12762075 0.97516891 0.18099322 1.20167378] [-0.32394879 -0.21346065 0.92167876 0.18275961] [ 0. 0. 0. 1. ]] SLAMing on 145.33824100799998 meters Centerline goodness : 0.879109 with order 1 Centerline is valid? [False, False] Translation: X:26.98, Y:1.22, Z:0.19 [[ 0.93915364 0.06383704 0.33751338 26.97513346] [-0.12499737 0.97872623 0.16269798 1.2224423 ] [-0.31994703 -0.19498668 0.92715376 0.1901836 ] [ 0. 0. 0. 1. ]] SLAMing on 145.39824100799999 meters Centerline goodness : 0.878648 with order 1 Centerline is valid? [False, False] Translation: X:26.93, Y:1.24, Z:0.19 [[ 0.93923916 0.06896024 0.3362652 26.93075789] [-0.12555632 0.98074702 0.14956901 1.23834856] [-0.31947678 -0.18270129 0.9298144 0.19469811] [ 0. 0. 0. 1. ]] SLAMing on 145.458241008 meters Centerline goodness : 0.882038 with order 1 Centerline is valid? [False, False] Translation: X:26.87, Y:1.26, Z:0.21 [[ 0.94050241 0.07745522 0.3308412 26.86860603] [-0.12724118 0.98310886 0.13155471 1.25676869] [-0.31506332 -0.16582415 0.93447175 0.20617002] [ 0. 0. 0. 1. ]] SLAMing on 145.518241008 meters Centerline goodness : 0.883137 with order 1 Centerline is valid? [False, False] Translation: X:26.83, Y:1.28, Z:0.21 [[ 0.94093196 0.09084179 0.32618217 26.82694554] [-0.13438523 0.9844075 0.11350104 1.27691497] [-0.31078554 -0.15063082 0.93846828 0.21013942] [ 0. 0. 0. 1. ]] SLAMing on 145.578241008 meters Centerline goodness : 0.882251 with order 1 Centerline is valid? [False, False] Translation: X:26.79, Y:1.29, Z:0.22 [[ 0.93962001 0.09486311 0.32880881 26.7942042 ] [-0.13872398 0.98391356 0.11256004 1.29256173] [-0.31284165 -0.15137734 0.93766465 0.21761572] [ 0. 0. 0. 1. ]] SLAMing on 145.638241008 meters Centerline goodness : 0.883364 with order 1 Centerline is valid? [False, False] Translation: X:26.76, Y:1.30, Z:0.23 [[ 0.93945827 0.09819671 0.32829189 26.76441487] [-0.14340974 0.98279166 0.11642249 1.30163514] [-0.31121023 -0.15645432 0.93737412 0.22995248] [ 0. 0. 0. 1. ]] SLAMing on 145.698241008 meters Centerline goodness : 0.885175 with order 1 Centerline is valid? [False, False] Translation: X:26.76, Y:1.31, Z:0.23 [[ 0.93873648 0.10224255 0.32912046 26.76230872] [-0.14890186 0.98157095 0.11977772 1.30550312] [-0.31080871 -0.16144637 0.93666057 0.23111728] [ 0. 0. 0. 1. ]] SLAMing on 145.75824100799997 meters Centerline goodness : 0.886706 with order 1 Centerline is valid? [False, False] Translation: X:26.76, Y:1.31, Z:0.22 [[ 0.93700479 0.11206949 0.33085111 26.76437734] [-0.15395049 0.98268077 0.10313948 1.3115412 ] [-0.31356223 -0.14757687 0.93802974 0.21898575] [ 0. 0. 0. 1. ]] SLAMing on 145.81824100799997 meters Centerline goodness : 0.887814 with order 1 Centerline is valid? [False, False] Translation: X:26.77, Y:1.32, Z:0.21 [[ 0.93468546 0.12181913 0.33395089 26.76733943] [-0.16015221 0.98301181 0.08966078 1.31565181] [-0.31735527 -0.1372876 0.93831644 0.20799846] [ 0. 0. 0. 1. ]] SLAMing on 145.87824100799997 meters Centerline goodness : 0.888155 with order 1 Centerline is valid? [False, False] Translation: X:26.76, Y:1.32, Z:0.20 [[ 0.9339845 0.12354898 0.33527391 26.75698382] [-0.15964083 0.98374649 0.08220498 1.31613905] [-0.31966819 -0.13030158 0.93852744 0.20464143] [ 0. 0. 0. 1. ]] SLAMing on 145.93824100799998 meters Centerline goodness : 0.887641 with order 1 Centerline is valid? [False, False] Translation: X:26.76, Y:1.31, Z:0.20 [[ 0.93435284 0.12277949 0.33452947 26.75947254] [-0.1588305 0.98385086 0.08252494 1.31264005] [-0.31899473 -0.13024089 0.93876497 0.20297239] [ 0. 0. 0. 1. ]] SLAMing on 145.99824100799998 meters Centerline goodness : 0.888313 with order 1 Centerline is valid? [False, False] Translation: X:26.76, Y:1.31, Z:0.20 [[ 0.93574612 0.12185293 0.33095478 26.76452178] [-0.15675098 0.98432876 0.08078378 1.30770358] [-0.31592457 -0.1274706 0.94018238 0.2031809 ] [ 0. 0. 0. 1. ]] SLAMing on 146.05824100799998 meters Centerline goodness : 0.888155 with order 1 Centerline is valid? [False, False] Translation: X:26.77, Y:1.30, Z:0.20 [[ 0.93816845 0.12383416 0.32327243 26.77494497] [-0.15600419 0.98486891 0.07547132 1.29919586] [-0.30903503 -0.12123666 0.94329159 0.19978707] [ 0. 0. 0. 1. ]] SLAMing on 146.11824100799998 meters Centerline goodness : 0.889887 with order 1 Centerline is valid? [False, False] Translation: X:26.78, Y:1.29, Z:0.20 [[ 0.93864655 0.12272055 0.32230782 26.77851823] [-0.15466886 0.98508809 0.07535913 1.29451103] [-0.30825348 -0.12058657 0.94363058 0.19548407] [ 0. 0. 0. 1. ]] SLAMing on 146.178241008 meters Centerline goodness : 0.889368 with order 1 Centerline is valid? [False, False] Translation: X:26.78, Y:1.29, Z:0.19 [[ 0.93922827 0.12013839 0.32158517 26.77922335] [-0.15066337 0.98598264 0.07168531 1.29178441] [-0.30846523 -0.11577997 0.94416323 0.19476209] [ 0. 0. 0. 1. ]] SLAMing on 146.238241008 meters Centerline goodness : 0.893302 with order 1 Centerline is valid? [False, False] Translation: X:26.78, Y:1.29, Z:0.20 [[ 0.93993128 0.11726763 0.32058929 26.78083335] [-0.14653996 0.98681819 0.06867248 1.28890861] [-0.30831028 -0.11152656 0.94472567 0.19613596] [ 0. 0. 0. 1. ]] SLAMing on 146.298241008 meters Centerline goodness : 0.895061 with order 1 Centerline is valid? [False, False] Translation: X:26.78, Y:1.29, Z:0.20 [[ 0.94007475 0.11761207 0.32004197 26.78168406] [-0.14652125 0.98688725 0.06771325 1.29219955] [-0.30788145 -0.11054847 0.94498045 0.19523214] [ 0. 0. 0. 1. ]] SLAMing on 146.358241008 meters Centerline goodness : 0.892543 with order 1 Centerline is valid? [False, False] Translation: X:26.78, Y:1.30, Z:0.19 [[ 0.9403555 0.11756915 0.31923194 26.78414139] [-0.14536534 0.98726668 0.06460193 1.29877126] [-0.30757187 -0.10715404 0.94547214 0.18884542] [ 0. 0. 0. 1. ]] SLAMing on 146.418241008 meters Centerline goodness : 0.890482 with order 1 Centerline is valid? [False, False] Translation: X:26.78, Y:1.30, Z:0.18 [[ 0.94090936 0.11558782 0.31832223 26.7845722 ] [-0.14101109 0.98831141 0.05793466 1.30396435] [-0.30790495 -0.09939823 0.94621062 0.18423623] [ 0. 0. 0. 1. ]] SLAMing on 146.478241008 meters Centerline goodness : 0.894450 with order 1 Centerline is valid? [False, False] Translation: X:26.79, Y:1.30, Z:0.19 [[ 0.94152328 0.11349666 0.31725765 26.79015613] [-0.13956368 0.98835675 0.06060456 1.30218565] [-0.30668533 -0.10133825 0.9464009 0.18835895] [ 0. 0. 0. 1. ]] SLAMing on 146.53824100799997 meters Centerline goodness : 0.894961 with order 1 Centerline is valid? [False, False] Translation: X:26.82, Y:1.29, Z:0.20 [[ 0.94200419 0.10497445 0.31876084 26.81615474] [-0.1373443 0.98722498 0.08076745 1.29352624] [-0.30621015 -0.11986326 0.94438771 0.20229166] [ 0. 0. 0. 1. ]] SLAMing on 146.59824100799997 meters Centerline goodness : 0.894793 with order 1 Centerline is valid? [False, False] Translation: X:26.85, Y:1.29, Z:0.21 [[ 0.9425231 0.09502554 0.32034412 26.84560233] [-0.13316891 0.98610648 0.09929781 1.28975026] [-0.30645759 -0.13625036 0.94208258 0.21189165] [ 0. 0. 0. 1. ]] SLAMing on 146.65824100799998 meters Centerline goodness : 0.895245 with order 1 Centerline is valid? [False, False] Translation: X:26.85, Y:1.29, Z:0.23 [[ 0.94269467 0.08293626 0.32318467 26.85069779] [-0.12967278 0.98353865 0.12584392 1.28858004] [-0.30742759 -0.16054065 0.93793122 0.23343017] [ 0. 0. 0. 1. ]] SLAMing on 146.71824100799998 meters Centerline goodness : 0.894002 with order 1 Centerline is valid? [False, False] Translation: X:26.88, Y:1.29, Z:0.24 [[ 0.9420378 0.07113634 0.32787866 26.88192119] [-0.12492657 0.98136291 0.14601435 1.28880701] [-0.31138103 -0.17851179 0.93336777 0.24073192] [ 0. 0. 0. 1. ]] SLAMing on 146.77824100799998 meters Centerline goodness : 0.896688 with order 1 Centerline is valid? [False, False] Translation: X:26.88, Y:1.30, Z:0.23 [[ 0.94205331 0.0712538 0.32780856 26.8827814 ] [-0.12364045 0.98213838 0.14183526 1.29732765] [-0.31184706 -0.17414677 0.93403657 0.23475466] [ 0. 0. 0. 1. ]] SLAMing on 146.83824100799998 meters Centerline goodness : 0.896642 with order 1 Centerline is valid? [False, False] Translation: X:26.89, Y:1.31, Z:0.23 [[ 0.94211377 0.07286037 0.32728123 26.8871225 ] [-0.12569718 0.98166586 0.14329115 1.30635522] [-0.31084056 -0.17613489 0.93399927 0.23118983] [ 0. 0. 0. 1. ]] SLAMing on 146.89824100799999 meters Centerline goodness : 0.895904 with order 1 Centerline is valid? [False, False] Translation: X:26.89, Y:1.31, Z:0.23 [[ 0.94182991 0.07605745 0.32737086 26.88726688] [-0.12929527 0.98108853 0.14404173 1.31391608] [-0.31022435 -0.17799032 0.9338524 0.22655798] [ 0. 0. 0. 1. ]] SLAMing on 146.958241008 meters Centerline goodness : 0.896287 with order 1 Centerline is valid? [False, False] Translation: X:26.89, Y:1.32, Z:0.23 [[ 0.94189995 0.07827422 0.32664605 26.88979051] [-0.13273235 0.98005658 0.14788922 1.31593972] [-0.30855569 -0.18265334 0.93350476 0.22774117] [ 0. 0. 0. 1. ]] SLAMing on 147.018241008 meters Centerline goodness : 0.899352 with order 1 Centerline is valid? [False, False] Translation: X:26.90, Y:1.32, Z:0.22 [[ 0.94041649 0.08356835 0.32959545 26.90305846] [-0.13488475 0.9814828 0.13600596 1.3227318 ] [-0.31212647 -0.17235965 0.9342747 0.21541111] [ 0. 0. 0. 1. ]] SLAMing on 147.078241008 meters Centerline goodness : 0.900541 with order 1 Centerline is valid? [False, False] Translation: X:26.91, Y:1.32, Z:0.22 [[ 0.94075544 0.08271436 0.32884271 26.90642807] [-0.13417733 0.9814427 0.13699147 1.32483034] [-0.31140912 -0.1729987 0.93439596 0.21823551] [ 0. 0. 0. 1. ]] SLAMing on 147.138241008 meters Centerline goodness : 0.900108 with order 1 Centerline is valid? [False, False] Translation: X:26.91, Y:1.33, Z:0.22 [[ 0.94110013 0.07942311 0.3286678 26.9083364 ] [-0.12888221 0.98289984 0.13151913 1.32988889] [-0.31260187 -0.16613211 0.93524339 0.21530404] [ 0. 0. 0. 1. ]] SLAMing on 147.198241008 meters Centerline goodness : 0.901811 with order 1 Centerline is valid? [False, False] Translation: X:26.93, Y:1.32, Z:0.23 [[ 0.93774792 0.06034174 0.34203465 26.9258698 ] [-0.12289673 0.97872872 0.16427563 1.32419373] [-0.32484646 -0.19608407 0.92521663 0.23383112] [ 0. 0. 0. 1. ]] SLAMing on 147.25824100799997 meters Centerline goodness : 0.900339 with order 1 Centerline is valid? [False, False] Translation: X:26.92, Y:1.33, Z:0.23 [[ 0.93752583 0.05821877 0.34301005 26.92438317] [-0.11852343 0.98037177 0.15755442 1.32982454] [-0.32710474 -0.18836606 0.92602414 0.23089465] [ 0. 0. 0. 1. ]] SLAMing on 147.31824100799997 meters Centerline goodness : 0.901835 with order 1 Centerline is valid? [False, False] Translation: X:26.89, Y:1.34, Z:0.24 [[ 0.93684657 0.05767327 0.3449526 26.89109541] [-0.11575355 0.98185384 0.15021366 1.34240813] [-0.33002973 -0.18065665 0.92652229 0.23586614] [ 0. 0. 0. 1. ]] SLAMing on 147.37824100799997 meters Centerline goodness : 0.900901 with order 1 Centerline is valid? [False, False] Translation: X:26.88, Y:1.35, Z:0.24 [[ 0.93448588 0.05512728 0.35170601 26.88375978] [-0.11570155 0.98133545 0.15360303 1.34812434] [-0.33667386 -0.18423279 0.92342244 0.23860605] [ 0. 0. 0. 1. ]] SLAMing on 147.43824100799998 meters Centerline goodness : 0.905482 with order 1 Centerline is valid? [False, False] Translation: X:26.86, Y:1.35, Z:0.26 [[ 0.93301506 0.05497329 0.35561333 26.85511709] [-0.11943064 0.97954974 0.16192169 1.35460775] [-0.33943957 -0.1935465 0.92050015 0.25521978] [ 0. 0. 0. 1. ]] SLAMing on 147.49824100799998 meters Centerline goodness : 0.901450 with order 1 Centerline is valid? [False, False] Translation: X:26.85, Y:1.36, Z:0.25 [[ 0.93253627 0.05713345 0.35652752 26.85201841] [-0.12050026 0.98003795 0.15813062 1.36301347] [-0.34037595 -0.1904242 0.92080554 0.2502068 ] [ 0. 0. 0. 1. ]] SLAMing on 147.55824100799998 meters Centerline goodness : 0.902885 with order 1 Centerline is valid? [False, False] Translation: X:26.86, Y:1.37, Z:0.24 [[ 0.93066344 0.06554071 0.3599583 26.85540969] [-0.12428903 0.98195248 0.1425537 1.36909392] [-0.34411887 -0.17740839 0.92201327 0.23877544] [ 0. 0. 0. 1. ]] SLAMing on 147.61824100799998 meters Centerline goodness : 0.901621 with order 1 Centerline is valid? [False, False] Translation: X:26.86, Y:1.37, Z:0.25 [[ 0.93041096 0.06257421 0.36113697 26.86481024] [-0.12506435 0.98038378 0.15233695 1.37025725] [-0.34452047 -0.18690133 0.91998562 0.24656826] [ 0. 0. 0. 1. ]] SLAMing on 147.678241008 meters Centerline goodness : 0.904910 with order 1 Centerline is valid? [False, False] Translation: X:26.87, Y:1.37, Z:0.24 [[ 0.93040426 0.062781 0.36111833 26.86515472] [-0.12447291 0.98079075 0.15018652 1.37420459] [-0.34475266 -0.18468363 0.92034643 0.24243993] [ 0. 0. 0. 1. ]] SLAMing on 147.738241008 meters Centerline goodness : 0.904608 with order 1 Centerline is valid? [False, False] Translation: X:26.87, Y:1.37, Z:0.27 [[ 0.93016124 0.04928818 0.3638279 26.86593833] [-0.11984177 0.97743092 0.1739734 1.37025108] [-0.3470418 -0.2054251 0.91507514 0.26532581] [ 0. 0. 0. 1. ]] SLAMing on 147.798241008 meters Centerline goodness : 0.901729 with order 1 Centerline is valid? [False, False] Translation: X:26.87, Y:1.37, Z:0.27 [[ 0.92956224 0.04575969 0.36581429 26.86537807] [-0.11659116 0.97782804 0.17395064 1.3721606 ] [-0.34974355 -0.20434866 0.9142872 0.27413085] [ 0. 0. 0. 1. ]] SLAMing on 147.858241008 meters Centerline goodness : 0.902438 with order 1 Centerline is valid? [False, False] Translation: X:26.84, Y:1.38, Z:0.30 [[ 0.92926098 0.04506521 0.36666492 26.83527479] [-0.11875757 0.97628984 0.18098286 1.37696389] [-0.3498152 -0.21172455 0.91257988 0.29776064] [ 0. 0. 0. 1. ]] SLAMing on 147.918241008 meters Centerline goodness : 0.899212 with order 1 Centerline is valid? [False, False] Translation: X:26.79, Y:1.39, Z:0.30 [[ 0.93039074 0.04973902 0.36317916 26.7932182 ] [-0.11841555 0.97841484 0.1693581 1.38915479] [-0.34691617 -0.20057527 0.91619798 0.30467196] [ 0. 0. 0. 1. ]] SLAMing on 147.978241008 meters Centerline goodness : 0.896410 with order 1 Centerline is valid? [False, False] Translation: X:26.74, Y:1.41, Z:0.32 [[ 0.93140603 0.05638442 0.3595881 26.73931981] [-0.12008083 0.98021783 0.15733278 1.4054939 ] [-0.34360355 -0.18972034 0.91975148 0.31637158] [ 0. 0. 0. 1. ]] SLAMing on 148.03824100799997 meters Centerline goodness : 0.893996 with order 1 Centerline is valid? [False, False] Translation: X:26.69, Y:1.42, Z:0.34 [[ 0.93262518 0.06334463 0.3552432 26.68802982] [-0.1248645 0.9803049 0.15300709 1.41517611] [-0.33855448 -0.18705553 0.92216652 0.3390402 ] [ 0. 0. 0. 1. ]] SLAMing on 148.09824100799997 meters Centerline goodness : 0.893709 with order 1 Centerline is valid? [False, False] Translation: X:26.66, Y:1.42, Z:0.34 [[ 0.93649231 0.07137536 0.34334779 26.66283759] [-0.12692867 0.98167612 0.14213062 1.42474867] [-0.3269117 -0.17668491 0.92839172 0.34289301] [ 0. 0. 0. 1. ]] SLAMing on 148.15824100799998 meters Centerline goodness : 0.894128 with order 1 Centerline is valid? [False, False] Translation: X:26.64, Y:1.43, Z:0.34 [[ 0.93433656 0.08178062 0.34688199 26.64157274] [-0.13701728 0.98093773 0.13779487 1.43307317] [-0.32900068 -0.17627561 0.92773135 0.34398665] [ 0. 0. 0. 1. ]] SLAMing on 148.21824100799998 meters Centerline goodness : 0.892456 with order 1 Centerline is valid? [False, False] Translation: X:26.62, Y:1.44, Z:0.34 [[ 0.93373744 0.09310802 0.34563752 26.61938336] [-0.14501889 0.98118533 0.12745534 1.44193069] [-0.32726735 -0.1691338 0.9296719 0.34136238] [ 0. 0. 0. 1. ]] SLAMing on 148.27824100799998 meters Centerline goodness : 0.893287 with order 1 Centerline is valid? [False, False] Translation: X:26.62, Y:1.45, Z:0.33 [[ 0.93230148 0.10271351 0.34679084 26.62138523] [-0.1492489 0.98264026 0.11019479 1.44607283] [-0.32945215 -0.15449292 0.93144684 0.32974061] [ 0. 0. 0. 1. ]] SLAMing on 148.33824100799998 meters Centerline goodness : 0.893525 with order 1 Centerline is valid? [False, False] Translation: X:26.62, Y:1.44, Z:0.33 [[ 0.9322499 0.10329522 0.34675671 26.62091194] [-0.15002082 0.98247032 0.11066089 1.44476285] [-0.32924743 -0.15518433 0.93140429 0.33081507] [ 0. 0. 0. 1. ]] SLAMing on 148.39824100799999 meters Centerline goodness : 0.891375 with order 1 Centerline is valid? [False, False] Translation: X:26.62, Y:1.44, Z:0.33 [[ 0.9326738 0.10109205 0.34626578 26.62103124] [-0.14579192 0.9836728 0.10551086 1.44464998] [-0.32994591 -0.14888997 0.93218425 0.32762232] [ 0. 0. 0. 1. ]] SLAMing on 148.458241008 meters Centerline goodness : 0.890276 with order 1 Centerline is valid? [False, False] Translation: X:26.67, Y:1.42, Z:0.33 [[ 0.93353992 0.08988586 0.34702125 26.67140239] [-0.14079548 0.98219827 0.12435106 1.4243202 ] [-0.32966627 -0.1649457 0.92957682 0.33162332] [ 0. 0. 0. 1. ]] SLAMing on 148.518241008 meters Centerline goodness : 0.889457 with order 1 Centerline is valid? [False, False] Translation: X:26.71, Y:1.41, Z:0.33 [[ 0.93481881 0.0855982 0.34465452 26.70726644] [-0.13770616 0.981954 0.1296278 1.41157082] [-0.32733897 -0.16863955 0.92973647 0.32751088] [ 0. 0. 0. 1. ]] SLAMing on 148.578241008 meters Centerline goodness : 0.889324 with order 1 Centerline is valid? [False, False] Translation: X:26.75, Y:1.40, Z:0.34 [[ 0.9347499 0.08066605 0.34602835 26.74571789] [-0.13837647 0.97964363 0.14543146 1.3975151 ] [-0.32725309 -0.18382422 0.92688407 0.33544507] [ 0. 0. 0. 1. ]] SLAMing on 148.638241008 meters Centerline goodness : 0.887794 with order 1 Centerline is valid? [False, False] Translation: X:26.75, Y:1.39, Z:0.33 [[ 0.9350707 0.07964175 0.34539829 26.74879871] [-0.13739669 0.97968683 0.14606802 1.39382239] [-0.32674904 -0.1840405 0.92701896 0.33438584] [ 0. 0. 0. 1. ]] SLAMing on 148.698241008 meters Centerline goodness : 0.886869 with order 1 Centerline is valid? [False, False] Translation: X:26.75, Y:1.39, Z:0.33 [[ 0.93552322 0.07873886 0.34437842 26.75289846] [-0.13647997 0.97971253 0.14675347 1.39158815] [-0.32583666 -0.18429203 0.9272901 0.3333655 ] [ 0. 0. 0. 1. ]] SLAMing on 148.75824100799997 meters Centerline goodness : 0.887574 with order 1 Centerline is valid? [False, False] Translation: X:26.79, Y:1.38, Z:0.33 [[ 0.93740669 0.07794945 0.33940032 26.78705055] [-0.1358547 0.9792587 0.15031933 1.38097377] [-0.32064341 -0.18701947 0.92855346 0.32575624] [ 0. 0. 0. 1. ]] SLAMing on 148.81824100799997 meters Centerline goodness : 0.887100 with order 1 Centerline is valid? [False, False] Translation: X:26.83, Y:1.37, Z:0.32 [[ 0.93868339 0.07488812 0.33654904 26.82712727] [-0.13522751 0.97788032 0.15957317 1.37029544] [-0.31715455 -0.19529937 0.92804695 0.32486945] [ 0. 0. 0. 1. ]] SLAMing on 148.87824100799997 meters Centerline goodness : 0.889592 with order 1 Centerline is valid? [False, False] Translation: X:26.83, Y:1.37, Z:0.33 [[ 0.93935134 0.07368473 0.3349472 26.83324824] [-0.13407951 0.97781879 0.1609133 1.36909306] [-0.31566081 -0.19606368 0.92839501 0.3251333 ] [ 0. 0. 0. 1. ]] SLAMing on 148.93824100799998 meters Centerline goodness : 0.890123 with order 1 Centerline is valid? [False, False] Translation: X:26.84, Y:1.37, Z:0.31 [[ 0.93751543 0.08090509 0.33840683 26.83970928] [-0.13734326 0.97966288 0.14627872 1.37378046] [-0.31968991 -0.18361645 0.92956084 0.31304303] [ 0. 0. 0. 1. ]] SLAMing on 148.99824100799998 meters Centerline goodness : 0.888924 with order 1 Centerline is valid? [False, False] Translation: X:26.84, Y:1.38, Z:0.30 [[ 0.93565223 0.08814645 0.34173836 26.84399092] [-0.1393959 0.98187771 0.1283937 1.38102443] [-0.32422783 -0.16776878 0.93098332 0.29717674] [ 0. 0. 0. 1. ]] SLAMing on 149.05824100799998 meters Centerline goodness : 0.887647 with order 1 Centerline is valid? [False, False] Translation: X:26.85, Y:1.39, Z:0.28 [[ 0.93415449 0.09470635 0.34407282 26.84709963] [-0.13923243 0.98445739 0.10704197 1.38829884] [-0.32858747 -0.14789983 0.93282148 0.279572 ] [ 0. 0. 0. 1. ]] SLAMing on 149.11824100799998 meters Centerline goodness : 0.887295 with order 1 Centerline is valid? [False, False] Translation: X:26.85, Y:1.39, Z:0.27 [[ 0.93570632 0.10373729 0.33718283 26.85250489] [-0.14338891 0.98511206 0.09483596 1.3936013 ] [-0.32232485 -0.13708688 0.93665035 0.27395451] [ 0. 0. 0. 1. ]] SLAMing on 149.178241008 meters Centerline goodness : 0.887158 with order 1 Centerline is valid? [False, False] Translation: X:26.86, Y:1.40, Z:0.26 [[ 0.93490383 0.1119732 0.33677415 26.85659948] [-0.14543967 0.98646205 0.07576231 1.39903909] [-0.32373157 -0.1198108 0.9385325 0.26030897] [ 0. 0. 0. 1. ]] SLAMing on 149.238241008 meters Centerline goodness : 0.888322 with order 1 Centerline is valid? [False, False] Translation: X:26.86, Y:1.40, Z:0.25 [[ 0.93537598 0.110461 0.33596152 26.85627481] [-0.14121859 0.98760843 0.06846101 1.40327154] [-0.32423616 -0.11148079 0.93938435 0.25397889] [ 0. 0. 0. 1. ]] SLAMing on 149.298241008 meters Centerline goodness : 0.887195 with order 1 Centerline is valid? [False, False] Translation: X:26.86, Y:1.40, Z:0.25 [[ 0.93576565 0.10982732 0.33508299 26.85904512] [-0.14023469 0.98778972 0.06786528 1.40368006] [-0.32353807 -0.11049626 0.93974129 0.25173983] [ 0. 0. 0. 1. ]] SLAMing on 149.358241008 meters Centerline goodness : 0.885623 with order 1 Centerline is valid? [False, False] Translation: X:26.90, Y:1.39, Z:0.25 [[ 0.93727112 0.10377625 0.33279624 26.90415223] [-0.13720744 0.98742576 0.07851419 1.39275119] [-0.32046367 -0.1192512 0.93972453 0.25003306] [ 0. 0. 0. 1. ]] SLAMing on 149.418241008 meters Centerline goodness : 0.886186 with order 1 Centerline is valid? [False, False] Translation: X:26.95, Y:1.38, Z:0.25 [[ 0.93817723 0.09756978 0.33211989 26.94877462] [-0.13496454 0.98662587 0.09140009 1.38178451] [-0.31876018 -0.13057389 0.93879838 0.25327883] [ 0. 0. 0. 1. ]] SLAMing on 149.478241008 meters Centerline goodness : 0.886453 with order 1 Centerline is valid? [False, False] Translation: X:26.97, Y:1.38, Z:0.27 [[ 0.93835084 0.08974273 0.33383221 26.96829205] [-0.1322521 0.98544264 0.1068278 1.37768771] [-0.31938548 -0.14439197 0.93655959 0.2669754 ] [ 0. 0. 0. 1. ]] SLAMing on 149.53824100799997 meters Centerline goodness : 0.885467 with order 1 Centerline is valid? [False, False] Translation: X:26.97, Y:1.38, Z:0.27 [[ 0.93876642 0.08902887 0.33285351 26.97203123] [-0.13124291 0.98560985 0.10652945 1.38130796] [-0.3185795 -0.14369093 0.93694184 0.26689416] [ 0. 0. 0. 1. ]] SLAMing on 149.59824100799997 meters Centerline goodness : 0.883483 with order 1 Centerline is valid? [False, False] Translation: X:26.97, Y:1.38, Z:0.27 [[ 0.9389225 0.08847181 0.3325617 26.97383425] [-0.13054228 0.98572477 0.10632682 1.38309455] [-0.31840738 -0.14324601 0.93706847 0.26681227] [ 0. 0. 0. 1. ]] SLAMing on 149.65824100799998 meters Centerline goodness : 0.887971 with order 1 Centerline is valid? [False, False] Translation: X:27.02, Y:1.37, Z:0.28 [[ 0.93883135 0.08335668 0.33413674 27.0214083 ] [-0.13409663 0.98217063 0.13175336 1.36974622] [-0.31719677 -0.1685008 0.93327043 0.27799061] [ 0. 0. 0. 1. ]] SLAMing on 149.71824100799998 meters Centerline goodness : 0.885607 with order 1 Centerline is valid? [False, False] Translation: X:27.04, Y:1.37, Z:0.28 [[ 0.94152856 0.08705551 0.3254924 27.03739843] [-0.13577428 0.98216631 0.13005642 1.37068763] [-0.30836554 -0.16664534 0.93655754 0.27747557] [ 0. 0. 0. 1. ]] SLAMing on 149.77824100799998 meters Centerline goodness : 0.885739 with order 1 Centerline is valid? [False, False] Translation: X:27.04, Y:1.37, Z:0.27 [[ 0.94207556 0.0884781 0.32352011 27.0432304 ] [-0.1376297 0.98160608 0.13231616 1.37250939] [-0.30586223 -0.1691778 0.93692431 0.27390142] [ 0. 0. 0. 1. ]] SLAMing on 149.83824100799998 meters Centerline goodness : 0.885662 with order 1 Centerline is valid? [False, False] Translation: X:27.05, Y:1.37, Z:0.27 [[ 0.94246257 0.08932812 0.32215646 27.04960205] [-0.13984388 0.98062189 0.13720202 1.37248739] [-0.30365768 -0.17435937 0.93669142 0.27410612] [ 0. 0. 0. 1. ]] SLAMing on 149.89824100799999 meters Centerline goodness : 0.884566 with order 1 Centerline is valid? [False, False] Translation: X:27.06, Y:1.38, Z:0.26 [[ 0.94113865 0.09648765 0.32395704 27.05707242] [-0.14231102 0.98241956 0.12082791 1.37754619] [-0.30660334 -0.15981847 0.93832428 0.25788167] [ 0. 0. 0. 1. ]] SLAMing on 149.958241008 meters Centerline goodness : 0.886879 with order 1 Centerline is valid? [False, False] Translation: X:27.07, Y:1.38, Z:0.26 [[ 0.94203246 0.09453166 0.32192951 27.06981668] [-0.14225409 0.98151222 0.12805286 1.37682489] [-0.3038727 -0.16642574 0.93806389 0.26070145] [ 0. 0. 0. 1. ]] SLAMing on 150.018241008 meters Centerline goodness : 0.888541 with order 1 Centerline is valid? [False, False] Translation: X:27.07, Y:1.38, Z:0.27 [[ 0.94230769 0.09342172 0.32144766 27.073027 ] [-0.14181882 0.98124523 0.13055735 1.37570628] [-0.30322209 -0.16861252 0.93788388 0.26601754] [ 0. 0. 0. 1. ]] SLAMing on 150.078241008 meters Centerline goodness : 0.888136 with order 1 Centerline is valid? [False, False] Translation: X:27.08, Y:1.38, Z:0.27 [[ 0.94246581 0.09289038 0.32113794 27.07531755] [-0.14132287 0.98126925 0.13091414 1.37747189] [-0.30296212 -0.16876624 0.93794025 0.26664473] [ 0. 0. 0. 1. ]] SLAMing on 150.138241008 meters Centerline goodness : 0.887007 with order 1 Centerline is valid? [False, False] Translation: X:27.09, Y:1.38, Z:0.28 [[ 0.94295852 0.08944197 0.32067018 27.08912421] [-0.14127407 0.97970935 0.14216617 1.37565889] [-0.30144795 -0.17935918 0.93646111 0.2756666 ] [ 0. 0. 0. 1. ]] SLAMing on 150.198241008 meters Centerline goodness : 0.887127 with order 1 Centerline is valid? [False, False] Translation: X:27.09, Y:1.38, Z:0.28 [[ 0.94320886 0.08865196 0.32015289 27.09291506] [-0.14068142 0.97964469 0.14319577 1.37929181] [-0.30094149 -0.18010308 0.93648123 0.2771021 ] [ 0. 0. 0. 1. ]] SLAMing on 150.25824100799997 meters Centerline goodness : 0.891893 with order 1 Centerline is valid? [False, False] Translation: X:27.09, Y:1.39, Z:0.26 [[ 0.94197654 0.09650287 0.32150799 27.09349841] [-0.14218207 0.9823278 0.12172241 1.38565689] [-0.30407968 -0.16037233 0.93905073 0.26331869] [ 0. 0. 0. 1. ]] SLAMing on 150.31824100799997 meters Centerline goodness : 0.889738 with order 1 Centerline is valid? [False, False] Translation: X:27.09, Y:1.39, Z:0.26 [[ 0.9420914 0.09663598 0.32113124 27.09483038] [-0.14191365 0.98249636 0.1206707 1.39112164] [-0.30384914 -0.15925574 0.93931534 0.26228766] [ 0. 0. 0. 1. ]] SLAMing on 150.37824100799997 meters Centerline goodness : 0.889888 with order 1 Centerline is valid? [False, False] Translation: X:27.10, Y:1.39, Z:0.26 [[ 0.94249274 0.09602273 0.32013603 27.09800231] [-0.14093794 0.98269781 0.12017286 1.39391676] [-0.30305765 -0.15838136 0.93971879 0.26208102] [ 0. 0. 0. 1. ]] SLAMing on 150.43824100799998 meters Centerline goodness : 0.889673 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:1.39, Z:0.27 [[ 0.94252592 0.09477342 0.3204105 27.11244937] [-0.14460102 0.9801772 0.13543709 1.39455628] [-0.30122323 -0.17398465 0.93754675 0.27130659] [ 0. 0. 0. 1. ]] SLAMing on 150.49824100799998 meters Centerline goodness : 0.887494 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:1.40, Z:0.27 [[ 0.94439112 0.10170128 0.31270156 27.1076907 ] [-0.14592105 0.98182245 0.12137435 1.40014498] [-0.29467349 -0.1602546 0.94206475 0.26528933] [ 0. 0. 0. 1. ]] SLAMing on 150.55824100799998 meters Centerline goodness : 0.889465 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:1.40, Z:0.26 [[ 0.94510027 0.10069628 0.31087897 27.11294082] [-0.14397859 0.98233644 0.11952106 1.40253764] [-0.29335242 -0.15771931 0.94290454 0.25992489] [ 0. 0. 0. 1. ]] SLAMing on 150.61824100799998 meters Centerline goodness : 0.886089 with order 1 Centerline is valid? [False, False] Translation: X:27.13, Y:1.40, Z:0.27 [[ 0.94592073 0.09502113 0.31016925 27.1256629 ] [-0.14000449 0.98208764 0.12610558 1.40100599] [-0.2926307 -0.16271097 0.94228043 0.26822073] [ 0. 0. 0. 1. ]] SLAMing on 150.678241008 meters Centerline goodness : 0.888527 with order 1 Centerline is valid? [False, False] Translation: X:27.17, Y:1.39, Z:0.27 [[ 0.94649337 0.08609859 0.31102627 27.17459098] [-0.13549978 0.98071292 0.14086158 1.39089114] [-0.2928995 -0.17546854 0.93990461 0.27314767] [ 0. 0. 0. 1. ]] SLAMing on 150.738241008 meters Centerline goodness : 0.885821 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:1.38, Z:0.29 [[ 0.94436142 0.06932442 0.32152082 27.21023099] [-0.12898355 0.97729004 0.16812917 1.38229924] [-0.30256363 -0.20024559 0.93185672 0.28977955] [ 0. 0. 0. 1. ]] SLAMing on 150.798241008 meters Centerline goodness : 0.883015 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:1.39, Z:0.29 [[ 0.94454305 0.06668397 0.32154576 27.21053962] [-0.12427903 0.97892423 0.16205577 1.38757554] [-0.30396241 -0.19303005 0.9329235 0.28721691] [ 0. 0. 0. 1. ]] SLAMing on 150.858241008 meters Centerline goodness : 0.888055 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:1.39, Z:0.29 [[ 0.94389803 0.06600483 0.32357359 27.20981892] [-0.12425811 0.97880156 0.16281104 1.39177511] [-0.30596802 -0.19388366 0.9320905 0.29067478] [ 0. 0. 0. 1. ]] SLAMing on 150.918241008 meters Centerline goodness : 0.890703 with order 1 Centerline is valid? [False, False] Translation: X:27.25, Y:1.39, Z:0.30 [[ 0.94266392 0.05203773 0.32966164 27.24719821] [-0.11985254 0.97466171 0.1888648 1.3881965 ] [-0.31148049 -0.21754682 0.92501529 0.29865735] [ 0. 0. 0. 1. ]] SLAMing on 150.978241008 meters Centerline goodness : 0.888194 with order 1 Centerline is valid? [False, False] Translation: X:27.26, Y:1.39, Z:0.30 [[ 0.94268941 0.04651233 0.33041381 27.26241318] [-0.11717794 0.97331459 0.19730188 1.39325964] [-0.31241962 -0.22471161 0.92298357 0.30097447] [ 0. 0. 0. 1. ]] SLAMing on 151.03824100799997 meters Centerline goodness : 0.890026 with order 1 Centerline is valid? [False, False] Translation: X:27.27, Y:1.40, Z:0.31 [[ 0.9422819 0.04261936 0.332097 27.26820353] [-0.11525351 0.97253736 0.20220712 1.39801426] [-0.3143588 -0.22881145 0.92131638 0.3077734 ] [ 0. 0. 0. 1. ]] SLAMing on 151.09824100799997 meters Centerline goodness : 0.888460 with order 1 Centerline is valid? [False, False] Translation: X:27.25, Y:1.41, Z:0.31 [[ 0.94061454 0.04768201 0.33611115 27.25098375] [-0.11921524 0.97342418 0.19553284 1.40725618] [-0.31785532 -0.2239906 0.92130136 0.30972276] [ 0. 0. 0. 1. ]] SLAMing on 151.15824100799998 meters Centerline goodness : 0.891987 with order 1 Centerline is valid? [False, False] Translation: X:27.25, Y:1.41, Z:0.31 [[ 0.9396146 0.04713702 0.33897271 27.24841262] [-0.1194523 0.97334883 0.19576315 1.413978 ] [-0.320711 -0.22443298 0.9202034 0.31203008] [ 0. 0. 0. 1. ]] SLAMing on 151.21824100799998 meters Centerline goodness : 0.893164 with order 1 Centerline is valid? [False, False] Translation: X:27.24, Y:1.42, Z:0.32 [[ 0.93804277 0.04813635 0.34315982 27.24238647] [-0.12237111 0.97251544 0.19808845 1.42263506] [-0.32419297 -0.22780828 0.91815157 0.31913463] [ 0. 0. 0. 1. ]] SLAMing on 151.27824100799998 meters Centerline goodness : 0.896079 with order 1 Centerline is valid? [False, False] Translation: X:27.24, Y:1.43, Z:0.32 [[ 0.93730324 0.04871388 0.3450936 27.23920737] [-0.12231194 0.97318008 0.19483407 1.43236151] [-0.32634709 -0.22482767 0.91812314 0.31711146] [ 0. 0. 0. 1. ]] SLAMing on 151.33824100799998 meters Centerline goodness : 0.890047 with order 1 Centerline is valid? [False, False] Translation: X:27.22, Y:1.44, Z:0.32 [[ 0.93524485 0.05546012 0.34963016 27.21909312] [-0.12749908 0.97414072 0.18653109 1.44423005] [-0.33024394 -0.21902977 0.9181312 0.31574386] [ 0. 0. 0. 1. ]] SLAMing on 151.39824100799999 meters Centerline goodness : 0.893957 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:1.45, Z:0.32 [[ 0.93396794 0.05770043 0.35266775 27.21136937] [-0.13042762 0.97383932 0.18607959 1.44930288] [-0.33270485 -0.21978999 0.91706044 0.31868479] [ 0. 0. 0. 1. ]] SLAMing on 151.458241008 meters Centerline goodness : 0.894554 with order 1 Centerline is valid? [False, False] Translation: X:27.20, Y:1.45, Z:0.33 [[ 0.93270053 0.0598373 0.35565323 27.20429956] [-0.13424011 0.97288219 0.18836095 1.45254019] [-0.33473768 -0.22342728 0.9154403 0.32733766] [ 0. 0. 0. 1. ]] SLAMing on 151.518241008 meters Centerline goodness : 0.892914 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:1.46, Z:0.33 [[ 0.93275743 0.06954463 0.35373313 27.20637618] [-0.14036059 0.97384857 0.17865571 1.45718472] [-0.33205796 -0.21629263 0.91812582 0.32845792] [ 0. 0. 0. 1. ]] SLAMing on 151.578241008 meters Centerline goodness : 0.892469 with order 1 Centerline is valid? [False, False] Translation: X:27.20, Y:1.47, Z:0.32 [[ 0.93381033 0.08145139 0.34837327 27.20328831] [-0.14593475 0.97576736 0.16303711 1.46564045] [-0.32665167 -0.20308551 0.92306824 0.32252701] [ 0. 0. 0. 1. ]] SLAMing on 151.638241008 meters Centerline goodness : 0.895677 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:1.47, Z:0.32 [[ 0.93379479 0.08323731 0.34799259 27.20629419] [-0.14919102 0.97456519 0.16722658 1.46695565] [-0.32522197 -0.20807267 0.92246216 0.3234733 ] [ 0. 0. 0. 1. ]] SLAMing on 151.698241008 meters Centerline goodness : 0.897100 with order 1 Centerline is valid? [False, False] Translation: X:27.20, Y:1.47, Z:0.32 [[ 0.93342686 0.08432606 0.3487168 27.20051531] [-0.14766529 0.97613811 0.15921478 1.47384626] [-0.32696981 -0.20010872 0.92360557 0.31726868] [ 0. 0. 0. 1. ]] SLAMing on 151.75824100799997 meters Centerline goodness : 0.896131 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:1.47, Z:0.32 [[ 0.9338589 0.08425299 0.34757588 27.20813076] [-0.14918249 0.97503552 0.16446979 1.47494474] [-0.32504176 -0.20544381 0.92311467 0.3172215 ] [ 0. 0. 0. 1. ]] SLAMing on 151.81824100799997 meters Centerline goodness : 0.897280 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:1.48, Z:0.32 [[ 0.93396282 0.08432415 0.34727927 27.20954302] [-0.14885313 0.97524588 0.16351827 1.47855242] [-0.32489414 -0.20441359 0.9233953 0.31572787] [ 0. 0. 0. 1. ]] SLAMing on 151.87824100799997 meters Centerline goodness : 0.898048 with order 1 Centerline is valid? [False, False] Translation: X:27.22, Y:1.48, Z:0.32 [[ 0.93489386 0.08016882 0.34575487 27.2205806 ] [-0.14551986 0.97509325 0.16738318 1.48105009] [-0.32372432 -0.20679971 0.92327485 0.31947914] [ 0. 0. 0. 1. ]] SLAMing on 151.93824100799998 meters Centerline goodness : 0.897028 with order 1 Centerline is valid? [False, False] Translation: X:27.23, Y:1.48, Z:0.33 [[ 0.9346802 0.07533608 0.34741531 27.23280057] [-0.14518343 0.97296481 0.17961419 1.48147684] [-0.32449144 -0.21832078 0.92034849 0.33059865] [ 0. 0. 0. 1. ]] SLAMing on 151.99824100799998 meters Centerline goodness : 0.893769 with order 1 Centerline is valid? [False, False] Translation: X:27.23, Y:1.48, Z:0.34 [[ 0.93367159 0.07390094 0.35042262 27.23211648] [-0.14663598 0.97158422 0.18580097 1.48235423] [-0.32673422 -0.22486165 0.91797712 0.34238736] [ 0. 0. 0. 1. ]] SLAMing on 152.05824100799998 meters Centerline goodness : 0.895723 with order 1 Centerline is valid? [False, False] Translation: X:27.23, Y:1.49, Z:0.35 [[ 0.93307441 0.07300195 0.3521972 27.23188108] [-0.1468535 0.97117521 0.1877572 1.4859639 ] [-0.32833855 -0.22691283 0.91689932 0.34714263] [ 0. 0. 0. 1. ]] SLAMing on 152.11824100799998 meters Centerline goodness : 0.895195 with order 1 Centerline is valid? [False, False] Translation: X:27.23, Y:1.49, Z:0.35 [[ 0.9319343 0.07298315 0.35520686 27.22933303] [-0.14858471 0.97038716 0.19045037 1.49227654] [-0.33078851 -0.23026554 0.91518126 0.35228021] [ 0. 0. 0. 1. ]] SLAMing on 152.178241008 meters Centerline goodness : 0.893422 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:1.50, Z:0.37 [[ 0.93299271 0.0779975 0.35134171 27.21195327] [-0.15204144 0.97026144 0.18835108 1.49925823] [-0.3262024 -0.22914869 0.9171057 0.36714601] [ 0. 0. 0. 1. ]] SLAMing on 152.238241008 meters Centerline goodness : 0.895005 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:1.51, Z:0.37 [[ 0.932315 0.077752 0.35319028 27.21041514] [-0.15247807 0.97007824 0.18894084 1.50504495] [-0.32793167 -0.23000615 0.91627397 0.37071295] [ 0. 0. 0. 1. ]] SLAMing on 152.298241008 meters Centerline goodness : 0.892668 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:1.51, Z:0.38 [[ 0.93185633 0.07498241 0.35499497 27.21427262] [-0.15260944 0.96865661 0.19599675 1.50708466] [-0.32917191 -0.23681639 0.91409182 0.38226208] [ 0. 0. 0. 1. ]] SLAMing on 152.358241008 meters Centerline goodness : 0.894280 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:1.51, Z:0.40 [[ 0.9297063 0.07296132 0.36100256 27.21475072] [-0.15716446 0.96504999 0.20970894 1.50732492] [-0.33308488 -0.2517045 0.90867998 0.40030003] [ 0. 0. 0. 1. ]] SLAMing on 152.418241008 meters Centerline goodness : 0.892140 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:1.52, Z:0.40 [[ 0.9289388 0.0737143 0.36282077 27.2112029 ] [-0.15760043 0.96548854 0.2073499 1.51535147] [-0.33501464 -0.24979608 0.90849717 0.39949058] [ 0. 0. 0. 1. ]] SLAMing on 152.478241008 meters Centerline goodness : 0.895768 with order 1 Centerline is valid? [False, False] Translation: X:27.23, Y:1.51, Z:0.42 [[ 0.92736437 0.06666986 0.36817178 27.2258924 ] [-0.15956385 0.96050121 0.2279842 1.51227281] [-0.33842976 -0.27017134 0.9013727 0.41701871] [ 0. 0. 0. 1. ]] SLAMing on 152.53824100799997 meters Centerline goodness : 0.897723 with order 1 Centerline is valid? [False, False] Translation: X:27.25, Y:1.51, Z:0.43 [[ 0.92417802 0.05317001 0.37824322 27.24880593] [-0.15896543 0.95396965 0.25430669 1.50941252] [-0.34731107 -0.29515225 0.89008998 0.43443448] [ 0. 0. 0. 1. ]] SLAMing on 152.59824100799997 meters Centerline goodness : 0.897276 with order 1 Centerline is valid? [False, False] Translation: X:27.23, Y:1.51, Z:0.47 [[ 0.91983454 0.03371013 0.39085552 27.23445871] [-0.15829802 0.94348577 0.29116376 1.51198219] [-0.35895146 -0.32969414 0.87318705 0.46947641] [ 0. 0. 0. 1. ]] SLAMing on 152.65824100799998 meters Centerline goodness : 0.898553 with order 1 Centerline is valid? [False, False] Translation: X:27.18, Y:1.53, Z:0.50 [[ 0.9174122 0.03127219 0.39670758 27.17826882] [-0.16105212 0.94079241 0.29828152 1.52677595] [-0.36389156 -0.3375377 0.86813088 0.49914747] [ 0. 0. 0. 1. ]] SLAMing on 152.71824100799998 meters Centerline goodness : 0.896455 with order 1 Centerline is valid? [False, False] Translation: X:27.12, Y:1.55, Z:0.51 [[ 0.91792442 0.04279535 0.39444051 27.11961206] [-0.16487165 0.94540744 0.28110873 1.54591992] [-0.36087685 -0.32306863 0.87486831 0.50690645] [ 0. 0. 0. 1. ]] SLAMing on 152.77824100799998 meters Centerline goodness : 0.897718 with order 1 Centerline is valid? [False, False] Translation: X:27.08, Y:1.56, Z:0.53 [[ 0.91480346 0.04557494 0.40131978 27.0780231 ] [-0.17079881 0.94405157 0.28212478 1.5580771 ] [-0.36600875 -0.32663367 0.87140579 0.52666336] [ 0. 0. 0. 1. ]] SLAMing on 152.83824100799998 meters Centerline goodness : 0.898603 with order 1 Centerline is valid? [False, False] Translation: X:27.07, Y:1.56, Z:0.54 [[ 0.91276029 0.04719326 0.40576032 27.07326501] [-0.17701823 0.94089123 0.28877021 1.56351554] [-0.36814833 -0.33540496 0.86716223 0.53501814] [ 0. 0. 0. 1. ]] SLAMing on 152.89824100799999 meters Centerline goodness : 0.897752 with order 1 Centerline is valid? [False, False] Translation: X:27.07, Y:1.57, Z:0.54 [[ 0.91169588 0.04585463 0.40829888 27.07351055] [-0.17909205 0.93872921 0.29447156 1.56716513] [-0.36977921 -0.34159159 0.86404776 0.54467976] [ 0. 0. 0. 1. ]] SLAMing on 152.958241008 meters Centerline goodness : 0.898113 with order 1 Centerline is valid? [False, False] Translation: X:27.09, Y:1.57, Z:0.54 [[ 0.90851465 0.04794642 0.41509308 27.09083295] [-0.18499347 0.93688836 0.29667763 1.56630959] [-0.37467125 -0.34632548 0.86004658 0.54487538] [ 0. 0. 0. 1. ]] SLAMing on 153.018241008 meters Centerline goodness : 0.899014 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:1.57, Z:0.54 [[ 0.90559817 0.04695582 0.42152948 27.11429566] [-0.18714029 0.93611589 0.2977676 1.56585319] [-0.38061852 -0.34854295 0.85653217 0.53916423] [ 0. 0. 0. 1. ]] SLAMing on 153.078241008 meters Centerline goodness : 0.899325 with order 1 Centerline is valid? [False, False] Translation: X:27.13, Y:1.57, Z:0.53 [[ 0.90272563 0.04773989 0.42755974 27.13100168] [-0.18668003 0.93885385 0.28931645 1.56847966] [-0.38760417 -0.34099025 0.85643952 0.52747998] [ 0. 0. 0. 1. ]] SLAMing on 153.138241008 meters Centerline goodness : 0.899018 with order 1 Centerline is valid? [False, False] Translation: X:27.18, Y:1.56, Z:0.53 [[ 8.97629360e-01 2.63043866e-02 4.39965466e-01 2.71751491e+01] [-1.82734492e-01 9.30593161e-01 3.17182083e-01 1.55940854e+00] [-4.01085574e-01 -3.65108817e-01 8.40134462e-01 5.33555277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.198241008 meters Centerline goodness : 0.902344 with order 1 Centerline is valid? [False, False] Translation: X:27.14, Y:1.56, Z:0.54 [[ 9.04983040e-01 2.23899550e-02 4.24858079e-01 2.71436164e+01] [-1.66123726e-01 9.37937299e-01 3.04428201e-01 1.56495779e+00] [-3.91674106e-01 -3.46081366e-01 8.52536851e-01 5.39073625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25824100799997 meters Centerline goodness : 0.902594 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:1.58, Z:0.55 [[ 9.02819048e-01 2.04583532e-02 4.29533728e-01 2.71090340e+01] [-1.62502908e-01 9.41031163e-01 2.96737520e-01 1.57779409e+00] [-3.98133862e-01 -3.37700765e-01 8.52905400e-01 5.49427605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31824100799997 meters Centerline goodness : 0.901792 with order 1 Centerline is valid? [False, False] Translation: X:27.08, Y:1.58, Z:0.56 [[ 9.10711834e-01 1.74653328e-02 4.12672894e-01 2.70782280e+01] [-1.47862606e-01 9.46678184e-01 2.86246510e-01 1.58413600e+00] [-3.85669036e-01 -3.21706974e-01 8.64733495e-01 5.56829433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37824100799997 meters Centerline goodness : 0.900546 with order 1 Centerline is valid? [False, False] Translation: X:27.02, Y:1.60, Z:0.57 [[ 9.11307058e-01 2.52877263e-02 4.10950090e-01 2.70189854e+01] [-1.47924898e-01 9.51577716e-01 2.69477411e-01 1.59996554e+00] [-3.84236477e-01 -3.06366417e-01 8.70920173e-01 5.72158519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43824100799998 meters Centerline goodness : 0.899701 with order 1 Centerline is valid? [False, False] Translation: X:26.99, Y:1.61, Z:0.58 [[ 9.17830643e-01 2.24198748e-02 3.96338567e-01 2.69866886e+01] [-1.35425053e-01 9.56194104e-01 2.59524356e-01 1.60528377e+00] [-3.73158097e-01 -2.91873578e-01 8.80660462e-01 5.78923071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49824100799998 meters Centerline goodness : 0.901412 with order 1 Centerline is valid? [False, False] Translation: X:26.93, Y:1.62, Z:0.58 [[ 0.91864084 0.03118875 0.39386071 26.92692113] [-0.13302246 0.96309424 0.23399684 1.62157538] [-0.37202691 -0.26735137 0.88888651 0.58417255] [ 0. 0. 0. 1. ]] SLAMing on 153.55824100799998 meters Centerline goodness : 0.901031 with order 1 Centerline is valid? [False, False] Translation: X:26.90, Y:1.63, Z:0.59 [[ 0.92562617 0.03116101 0.37715405 26.90119399] [-0.12391649 0.96661959 0.22425718 1.62559083] [-0.35757641 -0.25431392 0.89858975 0.59015103] [ 0. 0. 0. 1. ]] SLAMing on 153.61824100799998 meters Centerline goodness : 0.898722 with order 1 Centerline is valid? [False, False] Translation: X:26.84, Y:1.64, Z:0.60 [[ 0.92592858 0.04253495 0.37529595 26.83709533] [-0.12678964 0.97098414 0.20276636 1.64132636] [-0.35578175 -0.2353308 0.90445495 0.59827941] [ 0. 0. 0. 1. ]] SLAMing on 153.678241008 meters Centerline goodness : 0.900533 with order 1 Centerline is valid? [False, False] Translation: X:26.79, Y:1.65, Z:0.60 [[ 0.92649426 0.05710662 0.37195056 26.79484727] [-0.13386394 0.97378038 0.18393537 1.65205558] [-0.35169423 -0.22020583 0.90984645 0.603704 ] [ 0. 0. 0. 1. ]] SLAMing on 153.738241008 meters Centerline goodness : 0.901139 with order 1 Centerline is valid? [False, False] Translation: X:26.78, Y:1.66, Z:0.60 [[ 0.92549205 0.06365639 0.37337959 26.77626644] [-0.13676381 0.97543412 0.1726961 1.66089567] [-0.35321398 -0.21089368 0.91146242 0.60248333] [ 0. 0. 0. 1. ]] SLAMing on 153.798241008 meters Centerline goodness : 0.903488 with order 1 Centerline is valid? [False, False] Translation: X:26.76, Y:1.67, Z:0.59 [[ 0.92393355 0.07858288 0.37439489 26.76396367] [-0.14441177 0.97790944 0.15112371 1.66821323] [-0.35424856 -0.19369529 0.91487163 0.59409064] [ 0. 0. 0. 1. ]] SLAMing on 153.858241008 meters Centerline goodness : 0.903387 with order 1 Centerline is valid? [False, False] Translation: X:26.76, Y:1.67, Z:0.58 [[ 0.92147837 0.08871498 0.378163 26.76494738] [-0.15006393 0.97928761 0.13592863 1.67178755] [-0.35827144 -0.18200392 0.91570527 0.58160303] [ 0. 0. 0. 1. ]] SLAMing on 153.918241008 meters Centerline goodness : 0.904399 with order 1 Centerline is valid? [False, False] Translation: X:26.76, Y:1.68, Z:0.57 [[ 0.9202694 0.09863451 0.37864953 26.76390525] [-0.15233628 0.9816712 0.11452214 1.67635396] [-0.3604135 -0.16307328 0.91842758 0.56721536] [ 0. 0. 0. 1. ]] SLAMing on 153.978241008 meters Centerline goodness : 0.905269 with order 1 Centerline is valid? [False, False] Translation: X:26.77, Y:1.68, Z:0.56 [[ 0.92105206 0.09562235 0.3775175 26.76712915] [-0.14716168 0.98297009 0.11006021 1.67625974] [-0.36056419 -0.15692729 0.91943857 0.56428056] [ 0. 0. 0. 1. ]] SLAMing on 154.03824100799997 meters Centerline goodness : 0.901841 with order 1 Centerline is valid? [False, False] Translation: X:26.80, Y:1.66, Z:0.58 [[ 0.92023036 0.08066663 0.38297385 26.80093313] [-0.14268477 0.98032982 0.13636167 1.66290327] [-0.36444085 -0.18012869 0.91363917 0.57796992] [ 0. 0. 0. 1. ]] SLAMing on 154.09824100799997 meters Centerline goodness : 0.900060 with order 1 Centerline is valid? [False, False] Translation: X:26.85, Y:1.65, Z:0.60 [[ 0.91942633 0.05850765 0.38888568 26.84732059] [-0.13357378 0.97654326 0.16888255 1.64539401] [-0.36988277 -0.20722 0.90567467 0.59677191] [ 0. 0. 0. 1. ]] SLAMing on 154.15824100799998 meters Centerline goodness : 0.899596 with order 1 Centerline is valid? [False, False] Translation: X:26.85, Y:1.65, Z:0.61 [[ 0.91894812 0.05406678 0.39065474 26.85391489] [-0.13260973 0.97524207 0.17696769 1.64547374] [-0.37141487 -0.21442875 0.90336665 0.61051002] [ 0. 0. 0. 1. ]] SLAMing on 154.21824100799998 meters Centerline goodness : 0.900798 with order 1 Centerline is valid? [False, False] Translation: X:26.85, Y:1.65, Z:0.60 [[ 0.91878795 0.05167827 0.39135413 26.8548863 ] [-0.12745536 0.97713231 0.17019864 1.65460559] [-0.3736092 -0.20625664 0.90436407 0.60495086] [ 0. 0. 0. 1. ]] SLAMing on 154.27824100799998 meters Centerline goodness : 0.901436 with order 1 Centerline is valid? [False, False] Translation: X:26.84, Y:1.67, Z:0.61 [[ 0.91860546 0.04628978 0.39245543 26.83655943] [-0.12103652 0.97834357 0.16791077 1.66900325] [-0.37618369 -0.20174519 0.9043145 0.60753771] [ 0. 0. 0. 1. ]] SLAMing on 154.33824100799998 meters Centerline goodness : 0.898667 with order 1 Centerline is valid? [False, False] Translation: X:26.84, Y:1.68, Z:0.60 [[ 0.91836035 0.04764509 0.39286666 26.83551878] [-0.12046171 0.97927321 0.16282802 1.68013186] [-0.37696583 -0.19686019 0.9050651 0.60042606] [ 0. 0. 0. 1. ]] SLAMing on 154.39824100799999 meters Centerline goodness : 0.900977 with order 1 Centerline is valid? [False, False] Translation: X:26.84, Y:1.69, Z:0.59 [[ 0.91813682 0.04863096 0.3932681 26.83506764] [-0.11978972 0.98007008 0.15847104 1.6900954 ] [-0.3777237 -0.19260757 0.90566392 0.59402156] [ 0. 0. 0. 1. ]] SLAMing on 154.458241008 meters Centerline goodness : 0.896160 with order 1 Centerline is valid? [False, False] Translation: X:26.81, Y:1.70, Z:0.60 [[ 0.91881876 0.06000688 0.39009135 26.80724652] [-0.12621233 0.98114808 0.14635193 1.70347966] [-0.37395526 -0.18370524 0.90907087 0.59822996] [ 0. 0. 0. 1. ]] SLAMing on 154.518241008 meters Centerline goodness : 0.894464 with order 1 Centerline is valid? [False, False] Translation: X:26.80, Y:1.71, Z:0.60 [[ 0.9176771 0.06233806 0.3924063 26.80452273] [-0.13148732 0.9796152 0.15187216 1.70610162] [-0.37493976 -0.19096605 0.9071671 0.60426209] [ 0. 0. 0. 1. ]] SLAMing on 154.578241008 meters Centerline goodness : 0.893448 with order 1 Centerline is valid? [False, False] Translation: X:26.80, Y:1.71, Z:0.60 [[ 0.91698597 0.06476831 0.39362648 26.79641713] [-0.13150924 0.9806526 0.14500274 1.71386024] [-0.37661925 -0.18473099 0.9077623 0.60188949] [ 0. 0. 0. 1. ]] SLAMing on 154.638241008 meters Centerline goodness : 0.900011 with order 1 Centerline is valid? [False, False] Translation: X:26.80, Y:1.72, Z:0.60 [[ 0.91722932 0.06411074 0.39316686 26.79962587] [-0.13081014 0.98070897 0.14525364 1.71760773] [-0.37626995 -0.18466111 0.90792136 0.60263769] [ 0. 0. 0. 1. ]] SLAMing on 154.698241008 meters Centerline goodness : 0.896825 with order 1 Centerline is valid? [False, False] Translation: X:26.80, Y:1.72, Z:0.60 [[ 0.91773542 0.06359711 0.39206773 26.80363053] [-0.12978194 0.98093158 0.14467162 1.72132527] [-0.37539092 -0.18365359 0.90848941 0.60132163] [ 0. 0. 0. 1. ]] SLAMing on 154.75824100799997 meters Centerline goodness : 0.895171 with order 1 Centerline is valid? [False, False] Translation: X:26.80, Y:1.73, Z:0.60 [[ 0.91740573 0.06472512 0.39265429 26.80259713] [-0.13077039 0.98092269 0.14383941 1.72749964] [-0.37585348 -0.18330665 0.90836823 0.60106285] [ 0. 0. 0. 1. ]] SLAMing on 154.81824100799997 meters Centerline goodness : 0.896618 with order 1 Centerline is valid? [False, False] Translation: X:26.80, Y:1.73, Z:0.61 [[ 0.91711911 0.06574808 0.39315357 26.80128248] [-0.13232653 0.98058809 0.14469513 1.72998568] [-0.37600829 -0.18472732 0.90801629 0.60509119] [ 0. 0. 0. 1. ]] SLAMing on 154.87824100799997 meters Centerline goodness : 0.897204 with order 1 Centerline is valid? [False, False] Translation: X:26.80, Y:1.74, Z:0.59 [[ 0.91632011 0.07652258 0.3930671 26.80252935] [-0.13655622 0.98244789 0.12707692 1.7370584 ] [-0.37644369 -0.1701189 0.9106864 0.59305863] [ 0. 0. 0. 1. ]] SLAMing on 154.93824100799998 meters Centerline goodness : 0.895434 with order 1 Centerline is valid? [False, False] Translation: X:26.81, Y:1.74, Z:0.59 [[ 0.91891902 0.08407844 0.38538117 26.81374448] [-0.13984846 0.98299605 0.11900072 1.73719653] [-0.36882277 -0.16324699 0.91505201 0.58948178] [ 0. 0. 0. 1. ]] SLAMing on 154.99824100799998 meters Centerline goodness : 0.901923 with order 1 Centerline is valid? [False, False] Translation: X:26.83, Y:1.73, Z:0.60 [[ 0.91946884 0.0785814 0.38522982 26.83028268] [-0.1387432 0.98163746 0.13091302 1.73433805] [-0.36786869 -0.17381846 0.91348769 0.59748448] [ 0. 0. 0. 1. ]] SLAMing on 155.05824100799998 meters Centerline goodness : 0.900494 with order 1 Centerline is valid? [False, False] Translation: X:26.83, Y:1.74, Z:0.60 [[ 0.91987011 0.078249 0.3843385 26.83295795] [-0.13786374 0.9818751 0.1300572 1.73586966] [-0.36719556 -0.17262207 0.91398525 0.59548196] [ 0. 0. 0. 1. ]] SLAMing on 155.11824100799998 meters Centerline goodness : 0.900595 with order 1 Centerline is valid? [False, False] Translation: X:26.86, Y:1.72, Z:0.62 [[ 0.91848028 0.06664183 0.3898113 26.85949558] [-0.13820627 0.97763707 0.15850801 1.72320363] [-0.37053072 -0.19946084 0.90715068 0.61779679] [ 0. 0. 0. 1. ]] SLAMing on 155.178241008 meters Centerline goodness : 0.902740 with order 1 Centerline is valid? [False, False] Translation: X:26.86, Y:1.73, Z:0.62 [[ 0.91850298 0.06577452 0.3899051 26.85845896] [-0.13506441 0.9789481 0.15303012 1.72780398] [-0.37163137 -0.19322092 0.90805055 0.61547161] [ 0. 0. 0. 1. ]] SLAMing on 155.238241008 meters Centerline goodness : 0.904538 with order 1 Centerline is valid? [False, False] Translation: X:26.87, Y:1.73, Z:0.60 [[ 0.9166804 0.07013048 0.39341931 26.86931088] [-0.13463142 0.98112617 0.13880138 1.73013275] [-0.37625978 -0.1802031 0.9088209 0.60210061] [ 0. 0. 0. 1. ]] SLAMing on 155.298241008 meters Centerline goodness : 0.905357 with order 1 Centerline is valid? [False, False] Translation: X:26.89, Y:1.73, Z:0.61 [[ 0.91652801 0.06175492 0.39517432 26.89239985] [-0.13387201 0.97838762 0.15759425 1.72504724] [-0.37690144 -0.19734233 0.90498691 0.61266658] [ 0. 0. 0. 1. ]] SLAMing on 155.358241008 meters Centerline goodness : 0.901793 with order 1 Centerline is valid? [False, False] Translation: X:26.89, Y:1.73, Z:0.61 [[ 0.91671474 0.06247494 0.39462763 26.89332673] [-0.1343714 0.97837407 0.15725301 1.72507917] [-0.37626907 -0.19718282 0.90528478 0.61100085] [ 0. 0. 0. 1. ]] SLAMing on 155.418241008 meters Centerline goodness : 0.903006 with order 1 Centerline is valid? [False, False] Translation: X:26.90, Y:1.73, Z:0.60 [[ 0.9169293 0.0730413 0.39230808 26.89747913] [-0.13875444 0.98011889 0.14182439 1.72840422] [-0.37414953 -0.18447743 0.90883453 0.60092245] [ 0. 0. 0. 1. ]] SLAMing on 155.478241008 meters Centerline goodness : 0.904085 with order 1 Centerline is valid? [False, False] Translation: X:26.90, Y:1.73, Z:0.59 [[ 0.91561309 0.08380212 0.39323006 26.89859364] [-0.1429489 0.98198513 0.12357512 1.73432277] [-0.37579022 -0.16935881 0.91109786 0.58540167] [ 0. 0. 0. 1. ]] SLAMing on 155.53824100799997 meters Centerline goodness : 0.902388 with order 1 Centerline is valid? [False, False] Translation: X:26.91, Y:1.74, Z:0.58 [[ 0.91652233 0.08220173 0.39144565 26.90537747] [-0.14107871 0.98219412 0.12406252 1.73670324] [-0.37427746 -0.16893072 0.91179976 0.58462493] [ 0. 0. 0. 1. ]] SLAMing on 155.59824100799997 meters Centerline goodness : 0.902471 with order 1 Centerline is valid? [False, False] Translation: X:26.92, Y:1.74, Z:0.59 [[ 0.91771837 0.07560309 0.38997073 26.92068575] [-0.13586829 0.98225172 0.12931113 1.73619009] [-0.3732731 -0.17165585 0.91170251 0.58802466] [ 0. 0. 0. 1. ]] SLAMing on 155.65824100799998 meters Centerline goodness : 0.900654 with order 1 Centerline is valid? [False, False] Translation: X:26.96, Y:1.73, Z:0.60 [[ 0.91661169 0.05813892 0.3955286 26.96454046] [-0.13115779 0.97834141 0.1601428 1.72616924] [-0.37765148 -0.19866542 0.90438455 0.60106852] [ 0. 0. 0. 1. ]] SLAMing on 155.71824100799998 meters Centerline goodness : 0.902464 with order 1 Centerline is valid? [False, False] Translation: X:26.98, Y:1.73, Z:0.61 [[ 0.91738458 0.05196063 0.39459553 26.97789266] [-0.12660087 0.97804305 0.16554154 1.72684778] [-0.37732978 -0.2018214 0.90381987 0.60715692] [ 0. 0. 0. 1. ]] SLAMing on 155.77824100799998 meters Centerline goodness : 0.902449 with order 1 Centerline is valid? [False, False] Translation: X:26.98, Y:1.73, Z:0.60 [[ 0.91746046 0.05208987 0.39440202 26.97882341] [-0.12600363 0.97839819 0.16389043 1.73120166] [-0.37734519 -0.20005907 0.90420516 0.6037539 ] [ 0. 0. 0. 1. ]] SLAMing on 155.83824100799998 meters Centerline goodness : 0.899200 with order 1 Centerline is valid? [False, False] Translation: X:26.98, Y:1.73, Z:0.60 [[ 0.91788535 0.05228092 0.39338681 26.98487362] [-0.12817936 0.9772095 0.1692089 1.73251257] [-0.37557493 -0.20573844 0.90366762 0.60467507] [ 0. 0. 0. 1. ]] SLAMing on 155.89824100799999 meters Centerline goodness : 0.900106 with order 1 Centerline is valid? [False, False] Translation: X:26.99, Y:1.74, Z:0.59 [[ 0.91632059 0.06212792 0.39559663 26.98772453] [-0.13263636 0.97921571 0.15344114 1.73681755] [-0.37784146 -0.19307177 0.90551594 0.59288794] [ 0. 0. 0. 1. ]] SLAMing on 155.958241008 meters Centerline goodness : 0.899311 with order 1 Centerline is valid? [False, False] Translation: X:26.98, Y:1.74, Z:0.58 [[ 0.91489895 0.07387537 0.39686564 26.98378294] [-0.13672371 0.98171499 0.1324474 1.74439612] [-0.37982434 -0.17543693 0.90827053 0.57980321] [ 0. 0. 0. 1. ]] SLAMing on 156.018241008 meters Centerline goodness : 0.902191 with order 1 Centerline is valid? [False, False] Translation: X:26.99, Y:1.75, Z:0.56 [[ 0.91310871 0.08392659 0.39898473 26.98580185] [-0.14074117 0.98331469 0.11525687 1.75015458] [-0.38265443 -0.16139563 0.90968513 0.56435652] [ 0. 0. 0. 1. ]] SLAMing on 156.078241008 meters Centerline goodness : 0.901305 with order 1 Centerline is valid? [False, False] Translation: X:26.99, Y:1.75, Z:0.56 [[ 0.9153036 0.08684053 0.39329128 26.99454714] [-0.14260673 0.98309757 0.114815 1.74895956] [-0.37667311 -0.16117657 0.9122168 0.56421565] [ 0. 0. 0. 1. ]] SLAMing on 156.138241008 meters Centerline goodness : 0.903523 with order 1 Centerline is valid? [False, False] Translation: X:27.00, Y:1.75, Z:0.55 [[ 0.91339101 0.09261443 0.39640816 27.00281909] [-0.14317366 0.9846479 0.09984895 1.75061012] [-0.38107501 -0.14795634 0.91262849 0.5508284 ] [ 0. 0. 0. 1. ]] SLAMing on 156.198241008 meters Centerline goodness : 0.900607 with order 1 Centerline is valid? [False, False] Translation: X:27.01, Y:1.75, Z:0.55 [[ 0.91432871 0.09048595 0.39473447 27.00975467] [-0.14078999 0.98494237 0.10033297 1.74997529] [-0.37971198 -0.14731197 0.91330061 0.54883063] [ 0. 0. 0. 1. ]] SLAMing on 156.25824100799997 meters Centerline goodness : 0.897271 with order 1 Centerline is valid? [False, False] Translation: X:27.02, Y:1.75, Z:0.55 [[ 0.91521291 0.08886572 0.3930499 27.0163328 ] [-0.13868855 0.98525648 0.10017564 1.75149292] [-0.37835277 -0.14619356 0.9140441 0.54588297] [ 0. 0. 0. 1. ]] SLAMing on 156.31824100799997 meters Centerline goodness : 0.896460 with order 1 Centerline is valid? [False, False] Translation: X:27.04, Y:1.75, Z:0.55 [[ 0.91596042 0.08079505 0.39305047 27.04143492] [-0.13578187 0.98414367 0.11412498 1.74941445] [-0.3775974 -0.1579031 0.91240715 0.54776068] [ 0. 0. 0. 1. ]] SLAMing on 156.37824100799997 meters Centerline goodness : 0.898495 with order 1 Centerline is valid? [False, False] Translation: X:27.04, Y:1.76, Z:0.54 [[ 0.91603732 0.08068265 0.3928943 27.03876648] [-0.13244372 0.98546048 0.10642511 1.7558909 ] [-0.37859514 -0.14952576 0.91340449 0.54122238] [ 0. 0. 0. 1. ]] SLAMing on 156.43824100799998 meters Centerline goodness : 0.899381 with order 1 Centerline is valid? [False, False] Translation: X:27.06, Y:1.75, Z:0.55 [[ 0.91659116 0.07351144 0.39300982 27.05731754] [-0.12939844 0.98459182 0.11762227 1.75417745] [-0.37830767 -0.15866639 0.91198042 0.54819825] [ 0. 0. 0. 1. ]] SLAMing on 156.49824100799998 meters Centerline goodness : 0.900662 with order 1 Centerline is valid? [False, False] Translation: X:27.06, Y:1.76, Z:0.55 [[ 0.9169081 0.07172721 0.39259998 27.05778952] [-0.12520965 0.98575078 0.1123296 1.75895492] [-0.37894865 -0.15215322 0.91282382 0.5466868 ] [ 0. 0. 0. 1. ]] SLAMing on 156.55824100799998 meters Centerline goodness : 0.898450 with order 1 Centerline is valid? [False, False] Translation: X:27.07, Y:1.76, Z:0.55 [[ 0.91776442 0.06850058 0.39117277 27.06624042] [-0.12187114 0.986063 0.11325713 1.76093322] [-0.37796282 -0.15161603 0.91332179 0.5464908 ] [ 0. 0. 0. 1. ]] SLAMing on 156.61824100799998 meters Centerline goodness : 0.898059 with order 1 Centerline is valid? [False, False] Translation: X:27.06, Y:1.76, Z:0.57 [[ 0.91841748 0.0608458 0.39090552 27.0575392 ] [-0.12025345 0.98428375 0.12932368 1.76323234] [-0.37689315 -0.16578086 0.91130031 0.56657167] [ 0. 0. 0. 1. ]] SLAMing on 156.678241008 meters Centerline goodness : 0.897920 with order 1 Centerline is valid? [False, False] Translation: X:27.06, Y:1.77, Z:0.57 [[ 0.91813388 0.06162414 0.39144942 27.05658959] [-0.12063025 0.9844155 0.12796278 1.76969491] [-0.37746327 -0.16470761 0.91125895 0.56665328] [ 0. 0. 0. 1. ]] SLAMing on 156.738241008 meters Centerline goodness : 0.897217 with order 1 Centerline is valid? [False, False] Translation: X:27.06, Y:1.78, Z:0.57 [[ 0.91772721 0.06087023 0.39251952 27.05769899] [-0.12007896 0.98446729 0.12808275 1.77838304] [-0.37862621 -0.16467836 0.91078166 0.57041153] [ 0. 0. 0. 1. ]] SLAMing on 156.798241008 meters Centerline goodness : 0.900700 with order 1 Centerline is valid? [False, False] Translation: X:27.05, Y:1.79, Z:0.57 [[ 0.91684134 0.06154318 0.39447989 27.05466971] [-0.12078593 0.98450371 0.12713459 1.7863918 ] [-0.38054265 -0.16420987 0.91006725 0.57374 ] [ 0. 0. 0. 1. ]] SLAMing on 156.858241008 meters Centerline goodness : 0.903329 with order 1 Centerline is valid? [False, False] Translation: X:27.05, Y:1.79, Z:0.57 [[ 0.91653723 0.0618322 0.39514084 27.05462986] [-0.1205951 0.98471992 0.12563243 1.79388094] [-0.38133493 -0.16279885 0.90998913 0.57391248] [ 0. 0. 0. 1. ]] SLAMing on 156.918241008 meters Centerline goodness : 0.900536 with order 1 Centerline is valid? [False, False] Translation: X:27.04, Y:1.80, Z:0.59 [[ 0.91783367 0.05644395 0.39293184 27.04368112] [-0.11941845 0.98324826 0.13770291 1.79752062] [-0.37857705 -0.17331168 0.90919881 0.59007869] [ 0. 0. 0. 1. ]] SLAMing on 156.978241008 meters Centerline goodness : 0.900212 with order 1 Centerline is valid? [False, False] Translation: X:27.04, Y:1.80, Z:0.59 [[ 0.91739387 0.05700214 0.39387719 27.04262311] [-0.12002261 0.98323741 0.13725439 1.8037662 ] [-0.379451 -0.17319051 0.90885752 0.59047766] [ 0. 0. 0. 1. ]] SLAMing on 157.03824100799997 meters Centerline goodness : 0.901385 with order 1 Centerline is valid? [False, False] Translation: X:27.04, Y:1.81, Z:0.59 [[ 0.9170999 0.05830434 0.39437086 27.04098441] [-0.12109297 0.98324809 0.13623398 1.80938771] [-0.37982136 -0.17269571 0.90879697 0.59159703] [ 0. 0. 0. 1. ]] SLAMing on 157.09824100799997 meters Centerline goodness : 0.903777 with order 1 Centerline is valid? [False, False] Translation: X:27.04, Y:1.82, Z:0.59 [[ 0.91679046 0.05924064 0.39495036 27.04019027] [-0.12195717 0.98322649 0.13561755 1.81601769] [-0.38029159 -0.17249991 0.90863749 0.59320008] [ 0. 0. 0. 1. ]] SLAMing on 157.15824100799998 meters Centerline goodness : 0.901960 with order 1 Centerline is valid? [False, False] Translation: X:27.04, Y:1.82, Z:0.59 [[ 0.91708976 0.06142919 0.39391981 27.04368777] [-0.12491869 0.98257931 0.13759805 1.8226865 ] [-0.37860492 -0.17539771 0.90878708 0.58996983] [ 0. 0. 0. 1. ]] SLAMing on 157.21824100799998 meters Centerline goodness : 0.900793 with order 1 Centerline is valid? [False, False] Translation: X:27.04, Y:1.83, Z:0.59 [[ 0.91724943 0.06252336 0.39337553 27.04440525] [-0.12504444 0.98287519 0.1353523 1.83015021] [-0.37817637 -0.17334125 0.90935991 0.58749384] [ 0. 0. 0. 1. ]] SLAMing on 157.27824100799998 meters Centerline goodness : 0.903851 with order 1 Centerline is valid? [False, False] Translation: X:27.06, Y:1.83, Z:0.60 [[ 0.91733157 0.05652098 0.39409156 27.05997257] [-0.12539228 0.98050996 0.15125143 1.82717807] [-0.37786182 -0.18816375 0.90654004 0.60334891] [ 0. 0. 0. 1. ]] SLAMing on 157.33824100799998 meters Centerline goodness : 0.902911 with order 1 Centerline is valid? [False, False] Translation: X:27.09, Y:1.82, Z:0.62 [[ 0.91387612 0.0356832 0.40442198 27.08747187] [-0.12083135 0.97489538 0.18702617 1.82347462] [-0.38759543 -0.2197856 0.89524526 0.61998946] [ 0. 0. 0. 1. ]] SLAMing on 157.39824100799999 meters Centerline goodness : 0.900462 with order 1 Centerline is valid? [False, False] Translation: X:27.08, Y:1.83, Z:0.62 [[ 0.91320027 0.03649583 0.40587353 27.08486884] [-0.12118885 0.97524183 0.1849774 1.82973481] [-0.38907394 -0.21810876 0.89501399 0.61872777] [ 0. 0. 0. 1. ]] SLAMing on 157.458241008 meters Centerline goodness : 0.903259 with order 1 Centerline is valid? [False, False] Translation: X:27.07, Y:1.84, Z:0.62 [[ 0.91330354 0.05112311 0.40405824 27.07455881] [-0.12927879 0.97717402 0.1685762 1.83906887] [-0.38621708 -0.2061974 0.89906563 0.61824868] [ 0. 0. 0. 1. ]] SLAMing on 157.518241008 meters Centerline goodness : 0.903971 with order 1 Centerline is valid? [False, False] Translation: X:27.08, Y:1.84, Z:0.61 [[ 0.91060399 0.05934077 0.40899762 27.08084355] [-0.13508989 0.97801389 0.15886962 1.84293602] [-0.3905779 -0.19991875 0.89859969 0.61007476] [ 0. 0. 0. 1. ]] SLAMing on 157.578241008 meters Centerline goodness : 0.903884 with order 1 Centerline is valid? [False, False] Translation: X:27.09, Y:1.84, Z:0.61 [[ 0.90728343 0.06503482 0.41546029 27.09337918] [-0.14352255 0.97653539 0.16056126 1.84260909] [-0.39526961 -0.20530249 0.89532833 0.61139651] [ 0. 0. 0. 1. ]] SLAMing on 157.638241008 meters Centerline goodness : 0.902898 with order 1 Centerline is valid? [False, False] Translation: X:27.10, Y:1.85, Z:0.60 [[ 0.90784345 0.06441993 0.41433121 27.09701723] [-0.1415788 0.97719115 0.15828109 1.84613047] [-0.39468433 -0.20235497 0.89625708 0.60486886] [ 0. 0. 0. 1. ]] SLAMing on 157.698241008 meters Centerline goodness : 0.902160 with order 1 Centerline is valid? [False, False] Translation: X:27.12, Y:1.84, Z:0.61 [[ 0.90829849 0.05640501 0.41450251 27.11710044] [-0.13910878 0.97520357 0.17212422 1.84392691] [-0.39451565 -0.21400111 0.89362236 0.61348054] [ 0. 0. 0. 1. ]] SLAMing on 157.75824100799997 meters Centerline goodness : 0.900916 with order 1 Centerline is valid? [False, False] Translation: X:27.14, Y:1.84, Z:0.63 [[ 0.90920773 0.03610078 0.41477467 27.13673031] [-0.13047158 0.97075819 0.20150854 1.83721038] [-0.3953713 -0.23732943 0.88733098 0.63202224] [ 0. 0. 0. 1. ]] SLAMing on 157.81824100799997 meters Centerline goodness : 0.897383 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:1.84, Z:0.64 [[ 0.91653176 0.03216552 0.39866641 27.10679753] [-0.11770342 0.97431313 0.19198915 1.84428719] [-0.38225049 -0.22288856 0.89677492 0.639 ] [ 0. 0. 0. 1. ]] SLAMing on 157.87824100799997 meters Centerline goodness : 0.894800 with order 1 Centerline is valid? [False, False] Translation: X:27.04, Y:1.86, Z:0.66 [[ 0.91614645 0.03081784 0.39965728 27.0435444 ] [-0.11196083 0.97703166 0.18131164 1.85934627] [-0.38489018 -0.21085397 0.89855448 0.65804574] [ 0. 0. 0. 1. ]] SLAMing on 157.93824100799998 meters Centerline goodness : 0.896315 with order 1 Centerline is valid? [False, False] Translation: X:26.99, Y:1.87, Z:0.67 [[ 0.91486536 0.03693008 0.40206658 26.98840291] [-0.11021943 0.98082914 0.16070433 1.87461431] [-0.3884238 -0.19133837 0.90139702 0.66920669] [ 0. 0. 0. 1. ]] SLAMing on 157.99824100799998 meters Centerline goodness : 0.895199 with order 1 Centerline is valid? [False, False] Translation: X:26.93, Y:1.89, Z:0.68 [[ 0.91565887 0.04575983 0.39934305 26.92777009] [-0.1097101 0.98422819 0.1387752 1.89208667] [-0.38669436 -0.17088271 0.90623759 0.68243819] [ 0. 0. 0. 1. ]] SLAMing on 158.05824100799998 meters Centerline goodness : 0.894350 with order 1 Centerline is valid? [False, False] Translation: X:26.88, Y:1.91, Z:0.69 [[ 0.91485472 0.05151896 0.400483 26.87631637] [-0.10805527 0.98689006 0.11988356 1.90882888] [-0.38905641 -0.15295034 0.90842793 0.69290876] [ 0. 0. 0. 1. ]] SLAMing on 158.11824100799998 meters Centerline goodness : 0.893710 with order 1 Centerline is valid? [False, False] Translation: X:26.81, Y:1.92, Z:0.72 [[ 0.91515301 0.05383659 0.39949542 26.8113654 ] [-0.10859291 0.98732939 0.11570766 1.92380812] [-0.38820426 -0.14927258 0.90940373 0.71761114] [ 0. 0. 0. 1. ]] SLAMing on 158.178241008 meters Centerline goodness : 0.891748 with order 1 Centerline is valid? [False, False] Translation: X:26.75, Y:1.94, Z:0.73 [[ 0.91763242 0.06313973 0.39238262 26.74884056] [-0.10946043 0.98926654 0.09679945 1.94232157] [-0.3820591 -0.13177668 0.91469435 0.73407878] [ 0. 0. 0. 1. ]] SLAMing on 158.238241008 meters Centerline goodness : 0.891180 with order 1 Centerline is valid? [False, False] Translation: X:26.68, Y:1.96, Z:0.76 [[ 0.9189662 0.06544106 0.38886835 26.68307984] [-0.1115956 0.98897989 0.09728921 1.95748822] [-0.37821627 -0.13280149 0.91614203 0.76323981] [ 0. 0. 0. 1. ]] SLAMing on 158.298241008 meters Centerline goodness : 0.892949 with order 1 Centerline is valid? [False, False] Translation: X:26.64, Y:1.97, Z:0.78 [[ 0.91980663 0.07160703 0.38578258 26.63572147] [-0.11357552 0.989705 0.0870897 1.97128967] [-0.37557471 -0.12392114 0.91847003 0.77842049] [ 0. 0. 0. 1. ]] SLAMing on 158.358241008 meters Centerline goodness : 0.892030 with order 1 Centerline is valid? [False, False] Translation: X:26.59, Y:1.99, Z:0.79 [[ 0.92017883 0.08667239 0.38178372 26.59146812] [-0.12094392 0.99041889 0.06665569 1.98653734] [-0.3723486 -0.10750958 0.921845 0.78931712] [ 0. 0. 0. 1. ]] SLAMing on 158.418241008 meters Centerline goodness : 0.892065 with order 1 Centerline is valid? [False, False] Translation: X:26.56, Y:1.99, Z:0.81 [[ 0.91784605 0.09022906 0.38654541 26.56005431] [-0.13055049 0.98826477 0.07930519 1.99291038] [-0.37485358 -0.12325365 0.91885436 0.81306902] [ 0. 0. 0. 1. ]] SLAMing on 158.478241008 meters Centerline goodness : 0.890622 with order 1 Centerline is valid? [False, False] Translation: X:26.56, Y:1.99, Z:0.82 [[ 0.91636617 0.094186 0.38910414 26.55625609] [-0.13905464 0.98630064 0.08874039 1.99384714] [-0.37541556 -0.13542543 0.91690954 0.82459462] [ 0. 0. 0. 1. ]] SLAMing on 158.53824100799997 meters Centerline goodness : 0.890108 with order 1 Centerline is valid? [False, False] Translation: X:26.55, Y:2.00, Z:0.82 [[ 0.91726063 0.11081636 0.38256068 26.54807608] [-0.15094897 0.98558213 0.07643473 2.00081862] [-0.36857475 -0.1278577 0.9207633 0.82198184] [ 0. 0. 0. 1. ]] SLAMing on 158.59824100799997 meters Centerline goodness : 0.892148 with order 1 Centerline is valid? [False, False] Translation: X:26.55, Y:2.00, Z:0.82 [[ 0.91840466 0.12197643 0.37637035 26.55274023] [-0.15797469 0.98522246 0.06618686 2.00278614] [-0.36273528 -0.12024331 0.92410208 0.81798998] [ 0. 0. 0. 1. ]] SLAMing on 158.65824100799998 meters Centerline goodness : 0.894975 with order 1 Centerline is valid? [False, False] Translation: X:26.55, Y:2.00, Z:0.82 [[ 0.91854288 0.1224969 0.37586366 26.55343501] [-0.15834607 0.98518271 0.06589046 2.00261681] [-0.362223 -0.12003974 0.92432946 0.81617981] [ 0. 0. 0. 1. ]] SLAMing on 158.71824100799998 meters Centerline goodness : 0.889902 with order 1 Centerline is valid? [False, False] Translation: X:26.56, Y:2.00, Z:0.81 [[ 0.91904059 0.12187338 0.37484834 26.55615393] [-0.15726591 0.98540175 0.0651984 2.00109086] [-0.36143026 -0.11887084 0.92479073 0.81238775] [ 0. 0. 0. 1. ]] SLAMing on 158.77824100799998 meters Centerline goodness : 0.891848 with order 1 Centerline is valid? [False, False] Translation: X:26.60, Y:1.99, Z:0.81 [[ 0.92073806 0.11755098 0.37205268 26.59537799] [-0.15514767 0.98521477 0.07267089 1.98879387] [-0.35800926 -0.12463396 0.92536249 0.80771769] [ 0. 0. 0. 1. ]] SLAMing on 158.83824100799998 meters Centerline goodness : 0.890373 with order 1 Centerline is valid? [False, False] Translation: X:26.64, Y:1.97, Z:0.82 [[ 0.92026344 0.09934286 0.37847879 26.6399082 ] [-0.14943363 0.98315003 0.10528824 1.97028531] [-0.3616418 -0.15345038 0.91960219 0.82278584] [ 0. 0. 0. 1. ]] SLAMing on 158.89824100799999 meters Centerline goodness : 0.893475 with order 1 Centerline is valid? [False, False] Translation: X:26.68, Y:1.96, Z:0.83 [[ 0.92008464 0.08213565 0.38301174 26.67528088] [-0.14099616 0.98167598 0.12818877 1.95555875] [-0.36546455 -0.1719477 0.9148058 0.83450023] [ 0. 0. 0. 1. ]] SLAMing on 158.958241008 meters Centerline goodness : 0.891270 with order 1 Centerline is valid? [False, False] Translation: X:26.71, Y:1.94, Z:0.85 [[ 0.91690821 0.05865559 0.39476431 26.70875784] [-0.13365858 0.97715188 0.16525615 1.94156855] [-0.37605149 -0.20428835 0.9037984 0.85423763] [ 0. 0. 0. 1. ]] SLAMing on 159.018241008 meters Centerline goodness : 0.893749 with order 1 Centerline is valid? [False, False] Translation: X:26.74, Y:1.93, Z:0.87 [[ 0.91503607 0.04102611 0.40128027 26.74498772] [-0.12746475 0.97324867 0.19115378 1.93212266] [-0.38270319 -0.22606169 0.89578702 0.86682383] [ 0. 0. 0. 1. ]] SLAMing on 159.078241008 meters Centerline goodness : 0.894333 with order 1 Centerline is valid? [False, False] Translation: X:26.74, Y:1.94, Z:0.87 [[ 0.91645114 0.02982545 0.39903353 26.73742677] [-0.11587184 0.97427371 0.19329885 1.93890015] [-0.38300265 -0.2233857 0.89633018 0.87417286] [ 0. 0. 0. 1. ]] SLAMing on 159.138241008 meters Centerline goodness : 0.892186 with order 1 Centerline is valid? [False, False] Translation: X:26.68, Y:1.95, Z:0.88 [[ 0.91885857 0.0363989 0.39290464 26.68441371] [-0.11320749 0.97819364 0.17413005 1.95481536] [-0.37799867 -0.20448063 0.90294223 0.88252824] [ 0. 0. 0. 1. ]] SLAMing on 159.198241008 meters Centerline goodness : 0.889774 with order 1 Centerline is valid? [False, False] Translation: X:26.63, Y:1.97, Z:0.89 [[ 0.92205163 0.04851382 0.38401458 26.62833026] [-0.11332024 0.98247791 0.14797188 1.97339536] [-0.37010716 -0.17995434 0.91139296 0.88694773] [ 0. 0. 0. 1. ]] SLAMing on 159.25824100799997 meters Centerline goodness : 0.890739 with order 1 Centerline is valid? [False, False] Translation: X:26.57, Y:1.99, Z:0.90 [[ 0.92383384 0.06276888 0.37761237 26.57410858] [-0.11727137 0.98544087 0.12310042 1.99251471] [-0.36438779 -0.15800746 0.91774462 0.89605787] [ 0. 0. 0. 1. ]] SLAMing on 159.31824100799997 meters Centerline goodness : 0.890104 with order 1 Centerline is valid? [False, False] Translation: X:26.51, Y:2.01, Z:0.91 [[ 0.92329019 0.07580583 0.37654841 26.50656199] [-0.12300549 0.98705735 0.10289529 2.01499949] [-0.36387481 -0.14131973 0.9206649 0.91176109] [ 0. 0. 0. 1. ]] SLAMing on 159.37824100799997 meters Centerline goodness : 0.891561 with order 1 Centerline is valid? [False, False] Translation: X:26.45, Y:2.03, Z:0.93 [[ 0.9232038 0.08645043 0.37446104 26.4455425 ] [-0.12847234 0.98773815 0.08870286 2.03425445] [-0.36220105 -0.1299987 0.92299011 0.92972947] [ 0. 0. 0. 1. ]] SLAMing on 159.43824100799998 meters Centerline goodness : 0.893981 with order 1 Centerline is valid? [False, False] Translation: X:26.40, Y:2.05, Z:0.95 [[ 0.92273477 0.09412469 0.37376608 26.3974184 ] [-0.13450656 0.98739601 0.08340921 2.04826629] [-0.36120427 -0.12723857 0.92376503 0.9512124 ] [ 0. 0. 0. 1. ]] SLAMing on 159.49824100799998 meters Centerline goodness : 0.891240 with order 1 Centerline is valid? [False, False] Translation: X:26.35, Y:2.06, Z:0.97 [[ 0.92221931 0.09060286 0.37590247 26.3474143 ] [-0.13225098 0.98743848 0.08645769 2.06142884] [-0.36334725 -0.12944642 0.92261715 0.9731952 ] [ 0. 0. 0. 1. ]] SLAMing on 159.55824100799998 meters Centerline goodness : 0.889848 with order 1 Centerline is valid? [False, False] Translation: X:26.31, Y:2.07, Z:0.99 [[ 0.92251959 0.09279017 0.37462995 26.31457206] [-0.13427193 0.98719442 0.0861291 2.07067003] [-0.36184066 -0.12975807 0.9231653 0.98695098] [ 0. 0. 0. 1. ]] SLAMing on 159.61824100799998 meters Centerline goodness : 0.889693 with order 1 Centerline is valid? [False, False] Translation: X:26.28, Y:2.08, Z:1.01 [[ 0.92244245 0.09758972 0.37359895 26.27698291] [-0.1417608 0.98556279 0.09257356 2.07703589] [-0.35917099 -0.13835546 0.92295935 1.01192734] [ 0. 0. 0. 1. ]] SLAMing on 159.678241008 meters Centerline goodness : 0.888395 with order 1 Centerline is valid? [False, False] Translation: X:26.24, Y:2.09, Z:1.03 [[ 0.92033197 0.09989663 0.37816626 26.23973133] [-0.14410531 0.98542505 0.09039433 2.08779868] [-0.36362442 -0.13768856 0.92131381 1.02530119] [ 0. 0. 0. 1. ]] SLAMing on 159.738241008 meters Centerline goodness : 0.888081 with order 1 Centerline is valid? [False, False] Translation: X:26.24, Y:2.09, Z:1.03 [[ 0.91937914 0.10311283 0.37961789 26.23686605] [-0.14934893 0.98427277 0.0943505 2.09157023] [-0.3639188 -0.14343941 0.92031964 1.02886872] [ 0. 0. 0. 1. ]] SLAMing on 159.798241008 meters Centerline goodness : 0.892878 with order 1 Centerline is valid? [False, False] Translation: X:26.25, Y:2.09, Z:1.04 [[ 0.91944961 0.10246812 0.37962179 26.24834927] [-0.15446862 0.98195846 0.10907351 2.08900778] [-0.36159627 -0.15892725 0.91868943 1.03836364] [ 0. 0. 0. 1. ]] SLAMing on 159.858241008 meters Centerline goodness : 0.890768 with order 1 Centerline is valid? [False, False] Translation: X:26.22, Y:2.10, Z:1.04 [[ 0.91922667 0.11428897 0.37677626 26.22400888] [-0.16166018 0.98211742 0.09649535 2.10006276] [-0.35901018 -0.14961082 0.92126451 1.03601795] [ 0. 0. 0. 1. ]] SLAMing on 159.918241008 meters Centerline goodness : 0.890943 with order 1 Centerline is valid? [False, False] Translation: X:26.21, Y:2.11, Z:1.03 [[ 0.91886289 0.12271401 0.37500967 26.20760576] [-0.16606188 0.98240884 0.08541852 2.11046271] [-0.35793077 -0.14076272 0.92307715 1.02963211] [ 0. 0. 0. 1. ]] SLAMing on 159.978241008 meters Centerline goodness : 0.889771 with order 1 Centerline is valid? [False, False] Translation: X:26.21, Y:2.11, Z:1.03 [[ 0.91910368 0.12267529 0.37443185 26.20897223] [-0.1655657 0.98257313 0.08448695 2.11146888] [-0.35754221 -0.13964534 0.92339739 1.02772304] [ 0. 0. 0. 1. ]] SLAMing on 160.03824100799997 meters Centerline goodness : 0.889372 with order 1 Centerline is valid? [False, False] Translation: X:26.22, Y:2.11, Z:1.03 [[ 0.92039572 0.11856264 0.37257834 26.21996657] [-0.16159052 0.98307298 0.08634825 2.11360198] [-0.35603402 -0.13967969 0.92397476 1.02690362] [ 0. 0. 0. 1. ]] SLAMing on 160.09824100799997 meters Centerline goodness : 0.888738 with order 1 Centerline is valid? [False, False] Translation: X:26.26, Y:2.10, Z:1.04 [[ 0.92051515 0.10520797 0.37627534 26.25503971] [-0.15747097 0.98128069 0.11086526 2.10427373] [-0.35756782 -0.16130559 0.91985095 1.03543175] [ 0. 0. 0. 1. ]] SLAMing on 160.15824100799998 meters Centerline goodness : 0.885546 with order 1 Centerline is valid? [False, False] Translation: X:26.29, Y:2.09, Z:1.06 [[ 0.91919002 0.08001076 0.38560081 26.28572799] [-0.1499554 0.97649219 0.1548431 2.09027333] [-0.36414706 -0.20015315 0.90957992 1.05997014] [ 0. 0. 0. 1. ]] SLAMing on 160.21824100799998 meters Centerline goodness : 0.889668 with order 1 Centerline is valid? [False, False] Translation: X:26.30, Y:2.08, Z:1.08 [[ 0.91860431 0.06050111 0.39051983 26.29832912] [-0.14297832 0.97214603 0.18571295 2.0827412 ] [-0.36840646 -0.22643259 0.90166788 1.08435219] [ 0. 0. 0. 1. ]] SLAMing on 160.27824100799998 meters Centerline goodness : 0.889477 with order 1 Centerline is valid? [False, False] Translation: X:26.26, Y:2.09, Z:1.09 [[ 0.92605641 0.05010563 0.37404406 26.26330094] [-0.12371639 0.97668151 0.17546361 2.09389246] [-0.3565302 -0.20876458 0.91066106 1.09363392] [ 0. 0. 0. 1. ]] SLAMing on 160.33824100799998 meters Centerline goodness : 0.887835 with order 1 Centerline is valid? [False, False] Translation: X:26.23, Y:2.10, Z:1.10 [[ 0.93241646 0.04357087 0.35874938 26.22954257] [-0.1093876 0.98016444 0.16526351 2.10338858] [-0.34443271 -0.19333715 0.91868757 1.10132031] [ 0. 0. 0. 1. ]] SLAMing on 160.39824100799999 meters Centerline goodness : 0.892972 with order 1 Centerline is valid? [False, False] Translation: X:26.20, Y:2.11, Z:1.11 [[ 0.94006983 0.03342846 0.33933945 26.1953616 ] [-0.09117551 0.9835893 0.15568916 2.11476402] [-0.3285662 -0.17729813 0.92769048 1.11120593] [ 0. 0. 0. 1. ]] SLAMing on 160.458241008 meters Centerline goodness : 0.889567 with order 1 Centerline is valid? [False, False] Translation: X:26.17, Y:2.12, Z:1.12 [[ 0.94543333 0.03024061 0.32440918 26.17023834] [-0.08176962 0.98583929 0.14640567 2.12348488] [-0.31538792 -0.16494361 0.93451809 1.11725357] [ 0. 0. 0. 1. ]] SLAMing on 160.518241008 meters Centerline goodness : 0.891753 with order 1 Centerline is valid? [False, False] Translation: X:26.15, Y:2.13, Z:1.12 [[ 0.95058539 0.03045805 0.30896557 26.14724066] [-0.07610807 0.98767147 0.13679413 2.13225385] [-0.30098999 -0.15354928 0.94118417 1.12179702] [ 0. 0. 0. 1. ]] SLAMing on 160.578241008 meters Centerline goodness : 0.889403 with order 1 Centerline is valid? [False, False] Translation: X:26.12, Y:2.14, Z:1.13 [[ 0.95400617 0.03425076 0.29782397 26.1203973 ] [-0.07611211 0.98857293 0.13011728 2.14090539] [-0.2899641 -0.1468007 0.94571157 1.12507513] [ 0. 0. 0. 1. ]] SLAMing on 160.638241008 meters Centerline goodness : 0.886236 with order 1 Centerline is valid? [False, False] Translation: X:26.10, Y:2.15, Z:1.13 [[ 0.95851297 0.03694892 0.28264407 26.09805357] [-0.07275032 0.99043559 0.1172379 2.15011763] [-0.27560893 -0.13293649 0.95203341 1.1269665 ] [ 0. 0. 0. 1. ]] SLAMing on 160.698241008 meters Centerline goodness : 0.885539 with order 1 Centerline is valid? [False, False] Translation: X:26.09, Y:2.16, Z:1.13 [[ 0.96365721 0.0344334 0.26491342 26.08775569] [-0.06594739 0.9916299 0.11100035 2.16075987] [-0.25887395 -0.12443664 0.9578621 1.13135534] [ 0. 0. 0. 1. ]] SLAMing on 160.75824100799997 meters Centerline goodness : 0.886477 with order 1 Centerline is valid? [False, False] Translation: X:26.08, Y:2.17, Z:1.14 [[ 0.969262 0.03240278 0.24388774 26.08276826] [-0.05827969 0.99331486 0.09964473 2.17056314] [-0.23902855 -0.11079555 0.96467077 1.1350521 ] [ 0. 0. 0. 1. ]] SLAMing on 160.81824100799997 meters Centerline goodness : 0.888643 with order 1 Centerline is valid? [False, False] Translation: X:26.07, Y:2.18, Z:1.14 [[ 0.97403733 0.02866202 0.22456574 26.07486926] [-0.04957115 0.99488352 0.08803113 2.18159519] [-0.22089361 -0.09687759 0.9704745 1.13862005] [ 0. 0. 0. 1. ]] SLAMing on 160.87824100799997 meters Centerline goodness : 0.885562 with order 1 Centerline is valid? [False, False] Translation: X:26.06, Y:2.19, Z:1.14 [[ 9.77873063e-01 2.12941212e-02 2.08112550e-01 2.60628549e+01] [-3.93162026e-02 9.95786284e-01 8.28487357e-02 2.18932380e+00] [-2.05471432e-01 -8.91977421e-02 9.74589787e-01 1.14021147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.93824100799998 meters Centerline goodness : 0.886325 with order 1 Centerline is valid? [False, False] Translation: X:26.05, Y:2.20, Z:1.14 [[ 9.81947072e-01 1.18266923e-02 1.88785798e-01 2.60543180e+01] [-2.60738406e-02 9.96979090e-01 7.31631648e-02 2.19540737e+00] [-1.87350215e-01 -7.67647263e-02 9.79289065e-01 1.14350743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99824100799998 meters Centerline goodness : 0.884664 with order 1 Centerline is valid? [False, False] Translation: X:26.05, Y:2.20, Z:1.15 [[ 9.85544727e-01 3.74644417e-03 1.69374012e-01 2.60458267e+01] [-1.47310702e-02 9.97863919e-01 6.36442803e-02 2.20129972e+00] [-1.68773776e-01 -6.52193453e-02 9.83494713e-01 1.14568689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05824100799998 meters Centerline goodness : 0.882195 with order 1 Centerline is valid? [False, False] Translation: X:26.05, Y:2.21, Z:1.15 [[ 9.87744355e-01 -3.42340384e-03 1.56042843e-01 2.60480852e+01] [-6.27733002e-03 9.98079204e-01 6.16319549e-02 2.20623130e+00] [-1.55954108e-01 -6.18561480e-02 9.85825610e-01 1.14765256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11824100799998 meters Centerline goodness : 0.878774 with order 1 Centerline is valid? [False, False] Translation: X:26.04, Y:2.21, Z:1.15 [[ 9.90670460e-01 -9.89032519e-03 1.35919905e-01 2.60412652e+01] [ 2.93630013e-03 9.98680604e-01 5.12682091e-02 2.21368055e+00] [-1.36247632e-01 -5.03907987e-02 9.89392415e-01 1.14882584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.178241008 meters Centerline goodness : 0.878370 with order 1 Centerline is valid? [False, False] Translation: X:26.06, Y:2.22, Z:1.14 [[ 9.90293176e-01 -8.65934538e-03 1.38724338e-01 2.60582872e+01] [ 3.37864325e-03 9.99262240e-01 3.82565135e-02 2.21865224e+00] [-1.38953269e-01 -3.74164642e-02 9.89591834e-01 1.13696970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.238241008 meters Centerline goodness : 0.879818 with order 1 Centerline is valid? [False, False] Translation: X:26.08, Y:2.22, Z:1.12 [[ 9.90379453e-01 -9.01416057e-03 1.38084336e-01 2.60824555e+01] [ 5.41167857e-03 9.99635694e-01 2.64422562e-02 2.22360914e+00] [-1.38272386e-01 -2.54405991e-02 9.90067434e-01 1.12430569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.298241008 meters Centerline goodness : 0.875919 with order 1 Centerline is valid? [False, False] Translation: X:26.09, Y:2.23, Z:1.13 [[ 9.92367082e-01 -1.54822736e-02 1.22343262e-01 2.60875098e+01] [ 1.29679305e-02 9.99688571e-01 2.13211958e-02 2.22649063e+00] [-1.22635262e-01 -1.95719140e-02 9.92258803e-01 1.13094014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.358241008 meters Centerline goodness : 0.877641 with order 1 Centerline is valid? [False, False] Translation: X:26.11, Y:2.23, Z:1.12 [[ 9.91958143e-01 -1.35280656e-02 1.25841308e-01 2.61053345e+01] [ 1.22392670e-02 9.99864492e-01 1.10090393e-02 2.23157132e+00] [-1.25973187e-01 -9.38030076e-03 9.91989297e-01 1.12064498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.418241008 meters Centerline goodness : 0.875120 with order 1 Centerline is valid? [False, False] Translation: X:26.11, Y:2.24, Z:1.12 [[ 9.93932005e-01 -9.97584493e-03 1.09542923e-01 2.61148927e+01] [ 9.32411572e-03 9.99935661e-01 6.46017146e-03 2.23826866e+00] [-1.09600321e-01 -5.39958028e-03 9.93961073e-01 1.12035759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.478241008 meters Centerline goodness : 0.874689 with order 1 Centerline is valid? [False, False] Translation: X:26.05, Y:2.23, Z:1.15 [[ 9.93534792e-01 -3.49683406e-03 1.13474178e-01 2.60501479e+01] [ 3.52490379e-04 9.99615720e-01 2.77180139e-02 2.22957579e+00] [-1.13527498e-01 -2.74988126e-02 9.93154229e-01 1.14747766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53824100799997 meters Centerline goodness : 0.879226 with order 1 Centerline is valid? [False, False] Translation: X:26.06, Y:2.23, Z:1.15 [[ 9.95233293e-01 -8.61882361e-03 9.71411818e-02 2.60562230e+01] [ 6.32998966e-03 9.99695614e-01 2.38455377e-02 2.23477662e+00] [-9.73171339e-02 -2.31169703e-02 9.94984915e-01 1.15488076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59824100799997 meters Centerline goodness : 0.877855 with order 1 Centerline is valid? [False, False] Translation: X:26.07, Y:2.24, Z:1.16 [[ 9.96629098e-01 -1.64084788e-02 8.03816015e-02 2.60651524e+01] [ 1.49820442e-02 9.99719975e-01 1.83169136e-02 2.23696768e+00] [-8.06596453e-02 -1.70508884e-02 9.96595850e-01 1.15794055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65824100799998 meters Centerline goodness : 0.875502 with order 1 Centerline is valid? [False, False] Translation: X:26.07, Y:2.24, Z:1.16 [[ 9.97706842e-01 -2.32788367e-02 6.35543248e-02 2.60741753e+01] [ 2.25012247e-02 9.99663277e-01 1.29239405e-02 2.23913167e+00] [-6.38337789e-02 -1.14642537e-02 9.97894694e-01 1.16218185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.71824100799998 meters Centerline goodness : 0.876911 with order 1 Centerline is valid? [False, False] Translation: X:26.08, Y:2.24, Z:1.17 [[ 9.98379651e-01 -3.10804238e-02 4.76663454e-02 2.60809902e+01] [ 3.05563883e-02 9.99464758e-01 1.16835462e-02 2.23967637e+00] [-4.80039620e-02 -1.02081034e-02 9.98794981e-01 1.16614365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77824100799998 meters Centerline goodness : 0.875623 with order 1 Centerline is valid? [False, False] Translation: X:26.09, Y:2.24, Z:1.17 [[ 9.98790760e-01 -3.83272363e-02 3.07902623e-02 2.60892561e+01] [ 3.82094357e-02 9.99260042e-01 4.40543146e-03 2.24133502e+00] [-3.09363268e-02 -3.22362569e-03 9.99516159e-01 1.17104673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83824100799998 meters Centerline goodness : 0.871215 with order 1 Centerline is valid? [False, False] Translation: X:26.09, Y:2.24, Z:1.17 [[ 9.98643608e-01 -4.20410957e-02 3.07162987e-02 2.60892421e+01] [ 4.19625563e-02 9.99114068e-01 3.19737569e-03 2.23807758e+00] [-3.08235073e-02 -1.90410438e-03 9.99523029e-01 1.17130395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89824100799999 meters Centerline goodness : 0.878369 with order 1 Centerline is valid? [False, False] Translation: X:26.09, Y:2.24, Z:1.17 [[ 9.98607708e-01 -4.35133943e-02 2.98199489e-02 2.60918351e+01] [ 4.33903568e-02 9.99046850e-01 4.76106519e-03 2.23601457e+00] [-2.99986961e-02 -3.46053817e-03 9.99543947e-01 1.16918877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.958241008 meters Centerline goodness : 0.876361 with order 1 Centerline is valid? [False, False] Translation: X:26.12, Y:2.24, Z:1.16 [[ 9.98580021e-01 -4.53959818e-02 2.78773490e-02 2.61196521e+01] [ 4.54960029e-02 9.98960124e-01 -2.96383745e-03 2.23604606e+00] [-2.77138137e-02 4.22793681e-03 9.99606957e-01 1.16491801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.018241008 meters Centerline goodness : 0.876786 with order 1 Centerline is valid? [False, False] Translation: X:26.12, Y:2.23, Z:1.17 [[ 9.98575168e-01 -4.60131866e-02 2.70262959e-02 2.61202979e+01] [ 4.61021243e-02 9.98933146e-01 -2.67662578e-03 2.23425179e+00] [-2.68743027e-02 3.91878169e-03 9.99631139e-01 1.16661731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.078241008 meters Centerline goodness : 0.877129 with order 1 Centerline is valid? [False, False] Translation: X:26.12, Y:2.23, Z:1.17 [[ 9.98643547e-01 -4.54883071e-02 2.53353373e-02 2.61236819e+01] [ 4.55570704e-02 9.98959438e-01 -2.14327591e-03 2.23324783e+00] [-2.52114804e-02 3.29457240e-03 9.99676711e-01 1.16603556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.138241008 meters Centerline goodness : 0.874132 with order 1 Centerline is valid? [False, False] Translation: X:26.13, Y:2.23, Z:1.17 [[ 9.98818042e-01 -4.27082303e-02 2.32061649e-02 2.61281418e+01] [ 4.27846249e-02 9.99080380e-01 -2.80530189e-03 2.23283305e+00] [-2.30650146e-02 3.79485320e-03 9.99726765e-01 1.16596139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.198241008 meters Centerline goodness : 0.876450 with order 1 Centerline is valid? [False, False] Translation: X:26.14, Y:2.23, Z:1.16 [[ 9.99192025e-01 -3.51965140e-02 1.94036496e-02 2.61368168e+01] [ 3.52958227e-02 9.99365384e-01 -4.79945246e-03 2.23213822e+00] [-1.92224117e-02 5.48044240e-03 9.99800212e-01 1.16446177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25824100799997 meters Centerline goodness : 0.880819 with order 1 Centerline is valid? [False, False] Translation: X:26.15, Y:2.23, Z:1.17 [[ 9.99635072e-01 -2.30525977e-02 1.40819300e-02 2.61466737e+01] [ 2.31213972e-02 9.99721416e-01 -4.74253102e-03 2.23207906e+00] [-1.39686794e-02 5.06639423e-03 9.99889598e-01 1.16501585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31824100799997 meters Centerline goodness : 0.879316 with order 1 Centerline is valid? [False, False] Translation: X:26.15, Y:2.23, Z:1.17 [[ 9.99825539e-01 -1.53787704e-02 1.06011357e-02 2.61522280e+01] [ 1.54247259e-02 9.99871927e-01 -4.26690648e-03 2.23095814e+00] [-1.05341582e-02 4.42968169e-03 9.99934703e-01 1.16797360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37824100799997 meters Centerline goodness : 0.878027 with order 1 Centerline is valid? [False, False] Translation: X:26.16, Y:2.23, Z:1.17 [[ 9.99951812e-01 -7.33155282e-03 6.52856231e-03 2.61583834e+01] [ 7.35522750e-03 9.99966435e-01 -3.60972731e-03 2.22807762e+00] [-6.50187827e-03 3.65757242e-03 9.99972173e-01 1.17162599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.43824100799998 meters Centerline goodness : 0.877873 with order 1 Centerline is valid? [False, False] Translation: X:26.19, Y:2.22, Z:1.18 [[ 9.99994844e-01 -1.69539711e-03 2.72729365e-03 2.61914749e+01] [ 1.68131679e-03 9.99985290e-01 5.15677916e-03 2.21999273e+00] [-2.73599632e-03 -5.15216713e-03 9.99982985e-01 1.17846150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49824100799998 meters Centerline goodness : 0.881803 with order 1 Centerline is valid? [False, False] Translation: X:26.23, Y:2.21, Z:1.19 [[ 9.99996277e-01 2.21834636e-03 -1.58906212e-03 2.62300485e+01] [-2.19209060e-03 9.99864119e-01 1.63382480e-02 2.21014520e+00] [ 1.62509009e-03 -1.63347038e-02 9.99865259e-01 1.18601898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55824100799998 meters Centerline goodness : 0.880419 with order 1 Centerline is valid? [False, False] Translation: X:26.27, Y:2.20, Z:1.19 [[ 9.99984163e-01 1.73611792e-03 -5.35340991e-03 2.62731328e+01] [-1.59462077e-03 9.99652214e-01 2.63231485e-02 2.19841351e+00] [ 5.39724815e-03 -2.63141949e-02 9.99639151e-01 1.19294560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61824100799998 meters Centerline goodness : 0.878865 with order 1 Centerline is valid? [False, False] Translation: X:26.30, Y:2.19, Z:1.20 [[ 9.99961676e-01 3.54985458e-03 -8.00277817e-03 2.63044108e+01] [-3.30094185e-03 9.99516882e-01 3.09047975e-02 2.19164046e+00] [ 8.10861942e-03 -3.08771965e-02 9.99490295e-01 1.19873663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.678241008 meters Centerline goodness : 0.880055 with order 1 Centerline is valid? [False, False] Translation: X:26.34, Y:2.18, Z:1.21 [[ 9.99936353e-01 2.76487715e-03 -1.09382812e-02 2.63430606e+01] [-2.32028452e-03 9.99178809e-01 4.04514946e-02 2.18267468e+00] [ 1.10411422e-02 -4.04235401e-02 9.99121630e-01 1.21056476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.738241008 meters Centerline goodness : 0.880893 with order 1 Centerline is valid? [False, False] Translation: X:26.39, Y:2.17, Z:1.23 [[ 9.99965670e-01 -5.79651794e-03 -5.92099812e-03 2.63861926e+01] [ 6.15399213e-03 9.98041249e-01 6.22558648e-02 2.16738662e+00] [ 5.54853312e-03 -6.22901654e-02 9.98042659e-01 1.22722103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.798241008 meters Centerline goodness : 0.882152 with order 1 Centerline is valid? [False, False] Translation: X:26.42, Y:2.16, Z:1.24 [[ 9.99956197e-01 -4.67377359e-03 -8.10920895e-03 2.64197925e+01] [ 5.24579664e-03 9.97389677e-01 7.20160660e-02 2.16028653e+00] [ 7.75145450e-03 -7.20554508e-02 9.97370506e-01 1.24044517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.858241008 meters Centerline goodness : 0.879078 with order 1 Centerline is valid? [False, False] Translation: X:26.45, Y:2.16, Z:1.26 [[ 9.99940284e-01 -9.33544559e-03 -5.68136444e-03 2.64495164e+01] [ 9.82569404e-03 9.95574649e-01 9.34589447e-02 2.15769103e+00] [ 4.78374152e-03 -9.35091870e-02 9.95606924e-01 1.25724912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.918241008 meters Centerline goodness : 0.876658 with order 1 Centerline is valid? [False, False] Translation: X:26.46, Y:2.16, Z:1.27 [[ 9.99922922e-01 -1.15045827e-02 -4.66848101e-03 2.64554112e+01] [ 1.19846496e-02 9.92594365e-01 1.20883392e-01 2.15659504e+00] [ 3.24319496e-03 -1.20930024e-01 9.92655736e-01 1.27072681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.978241008 meters Centerline goodness : 0.876393 with order 1 Centerline is valid? [False, False] Translation: X:26.46, Y:2.16, Z:1.27 [[ 9.99930726e-01 -1.02846049e-02 -5.72448276e-03 2.64596579e+01] [ 1.09013876e-02 9.92604994e-01 1.20898659e-01 2.15651001e+00] [ 4.43875524e-03 -1.20952688e-01 9.92648349e-01 1.26740614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03824100799997 meters Centerline goodness : 0.874713 with order 1 Centerline is valid? [False, False] Translation: X:26.47, Y:2.16, Z:1.26 [[ 9.99923773e-01 -9.29440439e-03 -8.12789460e-03 2.64658523e+01] [ 1.01708957e-02 9.93261492e-01 1.15447660e-01 2.15665336e+00] [ 7.00010748e-03 -1.15521528e-01 9.93280310e-01 1.26495334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09824100799997 meters Centerline goodness : 0.874272 with order 1 Centerline is valid? [False, False] Translation: X:26.47, Y:2.16, Z:1.26 [[ 9.99913080e-01 -8.84119991e-03 -9.78085749e-03 2.64701214e+01] [ 9.88191137e-03 9.93653193e-01 1.12052130e-01 2.15772495e+00] [ 8.72810499e-03 -1.12139044e-01 9.93654193e-01 1.26340113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15824100799998 meters Centerline goodness : 0.872964 with order 1 Centerline is valid? [False, False] Translation: X:26.51, Y:2.16, Z:1.26 [[ 9.99950223e-01 -2.91839929e-03 -9.54120744e-03 2.65069049e+01] [ 3.86760177e-03 9.94875686e-01 1.01031737e-01 2.16441850e+00] [ 9.19746435e-03 -1.01063609e-01 9.94837451e-01 1.25958254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.21824100799998 meters Centerline goodness : 0.871881 with order 1 Centerline is valid? [False, False] Translation: X:26.54, Y:2.17, Z:1.25 [[ 9.99931164e-01 1.24512248e-03 -1.16669260e-02 2.65404888e+01] [-2.52862553e-04 9.96409251e-01 8.46672386e-02 2.16966129e+00] [ 1.17304541e-02 -8.46584603e-02 9.96340977e-01 1.25368893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27824100799998 meters Centerline goodness : 0.867318 with order 1 Centerline is valid? [False, False] Translation: X:26.58, Y:2.17, Z:1.25 [[ 9.99912083e-01 4.23468561e-03 -1.25655403e-02 2.65832526e+01] [-3.29772663e-03 9.97277133e-01 7.36711989e-02 2.17377032e+00] [ 1.28433004e-02 -7.36232843e-02 9.97203420e-01 1.25121870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33824100799998 meters Centerline goodness : 0.868675 with order 1 Centerline is valid? [False, False] Translation: X:26.62, Y:2.18, Z:1.25 [[ 9.99941158e-01 4.13940631e-03 -1.00272828e-02 2.66155313e+01] [-3.40163590e-03 9.97362081e-01 7.25072956e-02 2.17769175e+00] [ 1.03009688e-02 -7.24689200e-02 9.97317475e-01 1.24968075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39824100799999 meters Centerline goodness : 0.867445 with order 1 Centerline is valid? [False, False] Translation: X:26.63, Y:2.18, Z:1.24 [[ 9.99971918e-01 4.61393814e-03 -5.90540442e-03 2.66325529e+01] [-4.24744137e-03 9.98150865e-01 6.06367020e-02 2.18286848e+00] [ 6.17425852e-03 -6.06099164e-02 9.98142433e-01 1.24119745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.458241008 meters Centerline goodness : 0.867491 with order 1 Centerline is valid? [False, False] Translation: X:26.66, Y:2.19, Z:1.24 [[ 9.99964673e-01 7.93741786e-03 -2.76582060e-03 2.66623695e+01] [-7.74957147e-03 9.98024470e-01 6.23466168e-02 2.18598103e+00] [ 3.25522779e-03 -6.23229803e-02 9.98050725e-01 1.24085867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.518241008 meters Centerline goodness : 0.866841 with order 1 Centerline is valid? [False, False] Translation: X:26.68, Y:2.19, Z:1.23 [[ 9.99958354e-01 9.10367444e-03 6.43708668e-04 2.66800868e+01] [-9.12437074e-03 9.98734467e-01 4.94591722e-02 2.19296484e+00] [-1.92633831e-04 -4.94629858e-02 9.98775939e-01 1.22940034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.578241008 meters Centerline goodness : 0.864446 with order 1 Centerline is valid? [False, False] Translation: X:26.70, Y:2.20, Z:1.22 [[ 9.99941683e-01 1.00901658e-02 3.84965466e-03 2.67006471e+01] [-1.02371527e-02 9.99135476e-01 4.02927070e-02 2.19763985e+00] [-3.43976645e-03 -4.03297668e-02 9.99180503e-01 1.22282087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.638241008 meters Centerline goodness : 0.865935 with order 1 Centerline is valid? [False, False] Translation: X:26.72, Y:2.20, Z:1.22 [[ 9.99925031e-01 9.71409849e-03 7.45444296e-03 2.67248117e+01] [-9.95739772e-03 9.99394914e-01 3.33265148e-02 2.20011935e+00] [-7.12619533e-03 -3.33982432e-02 9.99416717e-01 1.21783597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.698241008 meters Centerline goodness : 0.865945 with order 1 Centerline is valid? [False, False] Translation: X:26.76, Y:2.19, Z:1.23 [[ 9.99920619e-01 1.07545552e-02 6.56468083e-03 2.67643058e+01] [-1.10406722e-02 9.98915718e-01 4.52271096e-02 2.19385196e+00] [-6.07116542e-03 -4.52959979e-02 9.98955161e-01 1.22953732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75824100799997 meters Centerline goodness : 0.868690 with order 1 Centerline is valid? [False, False] Translation: X:26.81, Y:2.18, Z:1.24 [[ 9.99945356e-01 9.82164866e-03 3.58051940e-03 2.68064423e+01] [-1.00069634e-02 9.98377585e-01 5.60540743e-02 2.18460773e+00] [-3.02416688e-03 -5.60868414e-02 9.98421314e-01 1.23977485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81824100799997 meters Centerline goodness : 0.868090 with order 1 Centerline is valid? [False, False] Translation: X:26.84, Y:2.18, Z:1.25 [[ 9.99955246e-01 9.34588890e-03 1.46986289e-03 2.68413168e+01] [-9.41668026e-03 9.98191304e-01 5.93754685e-02 2.18069659e+00] [-9.12287819e-04 -5.93866524e-02 9.98234638e-01 1.24573045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87824100799997 meters Centerline goodness : 0.872777 with order 1 Centerline is valid? [False, False] Translation: X:26.87, Y:2.17, Z:1.27 [[ 9.99971095e-01 6.20132493e-03 4.39921630e-03 2.68732982e+01] [-6.56575054e-03 9.96069015e-01 8.83369031e-02 2.17065155e+00] [-3.83411721e-03 -8.83632339e-02 9.96080940e-01 1.26966606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.93824100799998 meters Centerline goodness : 0.869974 with order 1 Centerline is valid? [False, False] Translation: X:26.90, Y:2.17, Z:1.28 [[ 9.99965262e-01 3.47852819e-03 7.57462502e-03 2.68961831e+01] [-4.28561910e-03 9.94000973e-01 1.09287234e-01 2.16882140e+00] [-7.14902591e-03 -1.09315900e-01 9.93981351e-01 1.28462684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99824100799998 meters Centerline goodness : 0.865940 with order 1 Centerline is valid? [False, False] Translation: X:26.89, Y:2.17, Z:1.30 [[ 9.99981204e-01 -8.01575513e-04 6.07856056e-03 2.68949113e+01] [-2.73058772e-07 9.91411200e-01 1.30781620e-01 2.17086840e+00] [-6.13118436e-03 -1.30779163e-01 9.91392566e-01 1.29998996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05824100799998 meters Centerline goodness : 0.866967 with order 1 Centerline is valid? [False, False] Translation: X:26.88, Y:2.17, Z:1.31 [[ 9.99985021e-01 -3.39474237e-03 4.29338681e-03 2.68814582e+01] [ 2.74240942e-03 9.89612386e-01 1.43735187e-01 2.17114420e+00] [-4.73673269e-03 -1.43721260e-01 9.89606873e-01 1.31095592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11824100799998 meters Centerline goodness : 0.870374 with order 1 Centerline is valid? [False, False] Translation: X:26.87, Y:2.17, Z:1.32 [[ 9.99976995e-01 -5.95338185e-03 3.25056237e-03 2.68668796e+01] [ 5.37732560e-03 9.87888364e-01 1.55073094e-01 2.17383589e+00] [-4.13440208e-03 -1.55052047e-01 9.87897651e-01 1.32019900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.178241008 meters Centerline goodness : 0.865766 with order 1 Centerline is valid? [False, False] Translation: X:26.88, Y:2.19, Z:1.31 [[ 9.99964545e-01 -2.79536906e-03 7.94316345e-03 2.68829374e+01] [ 1.62518681e-03 9.89623592e-01 1.43674997e-01 2.18511098e+00] [-8.26236659e-03 -1.43656993e-01 9.89593048e-01 1.30688497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.238241008 meters Centerline goodness : 0.869154 with order 1 Centerline is valid? [False, False] Translation: X:26.90, Y:2.19, Z:1.30 [[ 9.99902958e-01 3.28931408e-03 1.35371486e-02 2.68963781e+01] [-5.11601021e-03 9.90529602e-01 1.37203988e-01 2.19178496e+00] [-1.29576394e-02 -1.37259930e-01 9.90450307e-01 1.29990678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.298241008 meters Centerline goodness : 0.865105 with order 1 Centerline is valid? [False, False] Translation: X:26.92, Y:2.20, Z:1.30 [[ 9.99771005e-01 1.88055444e-02 1.02121965e-02 2.69202136e+01] [-1.99484981e-02 9.91743334e-01 1.26677613e-01 2.19572879e+00] [-7.74563631e-03 -1.26852322e-01 9.91891372e-01 1.29726077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.358241008 meters Centerline goodness : 0.866115 with order 1 Centerline is valid? [False, False] Translation: X:26.93, Y:2.20, Z:1.29 [[ 9.99581688e-01 2.50734212e-02 1.44143302e-02 2.69279857e+01] [-2.65515483e-02 9.93164175e-01 1.13665897e-01 2.20154788e+00] [-1.14658035e-02 -1.14001072e-01 9.93414461e-01 1.28533518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.418241008 meters Centerline goodness : 0.864669 with order 1 Centerline is valid? [False, False] Translation: X:26.94, Y:2.21, Z:1.27 [[ 9.99429074e-01 2.79532787e-02 1.89773417e-02 2.69419361e+01] [-2.97456159e-02 9.94352985e-01 1.01869232e-01 2.20706786e+00] [-1.60225973e-02 -1.02375565e-01 9.94616770e-01 1.27444127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.478241008 meters Centerline goodness : 0.866773 with order 1 Centerline is valid? [False, False] Translation: X:26.97, Y:2.21, Z:1.27 [[ 9.99371623e-01 3.20708476e-02 1.50936904e-02 2.69749294e+01] [-3.32546962e-02 9.95729349e-01 8.61231021e-02 2.20909816e+00] [-1.22671896e-02 -8.65709205e-02 9.96170162e-01 1.27004347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53824100799997 meters Centerline goodness : 0.868607 with order 1 Centerline is valid? [False, False] Translation: X:26.99, Y:2.21, Z:1.26 [[ 9.99318194e-01 3.14153456e-02 1.93964934e-02 2.69886987e+01] [-3.27062031e-02 9.96991388e-01 7.02742884e-02 2.21459363e+00] [-1.71304459e-02 -7.08607606e-02 9.97339110e-01 1.25836780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59824100799997 meters Centerline goodness : 0.868254 with order 1 Centerline is valid? [False, False] Translation: X:27.01, Y:2.22, Z:1.25 [[ 9.99377649e-01 2.80587509e-02 2.13780588e-02 2.70074271e+01] [-2.91387630e-02 9.98221597e-01 5.20055330e-02 2.21903898e+00] [-1.98808297e-02 -5.25960975e-02 9.98417950e-01 1.24516623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65824100799998 meters Centerline goodness : 0.866341 with order 1 Centerline is valid? [False, False] Translation: X:27.06, Y:2.21, Z:1.26 [[ 9.99543527e-01 2.27685494e-02 1.98577524e-02 2.70573644e+01] [-2.40463190e-02 9.97484795e-01 6.66772661e-02 2.20837431e+00] [-1.82896614e-02 -6.71243356e-02 9.97576970e-01 1.26015435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.71824100799998 meters Centerline goodness : 0.867440 with order 1 Centerline is valid? [False, False] Translation: X:27.08, Y:2.21, Z:1.25 [[ 9.99584990e-01 1.76837742e-02 2.27405322e-02 2.70821520e+01] [-1.88729116e-02 9.98406236e-01 5.31864722e-02 2.21117183e+00] [-2.17637516e-02 -5.35935794e-02 9.98325632e-01 1.25086728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77824100799998 meters Centerline goodness : 0.866533 with order 1 Centerline is valid? [False, False] Translation: X:27.13, Y:2.20, Z:1.27 [[ 9.99700522e-01 1.40212198e-02 2.00567225e-02 2.71252061e+01] [-1.53001547e-02 9.97761280e-01 6.51024835e-02 2.20046514e+00] [-1.90990049e-02 -6.53898577e-02 9.97676999e-01 1.26607301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83824100799998 meters Centerline goodness : 0.867906 with order 1 Centerline is valid? [False, False] Translation: X:27.17, Y:2.19, Z:1.28 [[ 9.99730009e-01 1.46449670e-02 1.80398180e-02 2.71669960e+01] [-1.59983165e-02 9.96878359e-01 7.73148792e-02 2.19422123e+00] [-1.68512303e-02 -7.75826116e-02 9.96843505e-01 1.27734931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89824100799999 meters Centerline goodness : 0.869439 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:2.19, Z:1.29 [[ 9.99736546e-01 1.56546756e-02 1.67860224e-02 2.72074903e+01] [-1.71168366e-02 9.95719360e-01 9.08293505e-02 2.18878806e+00] [-1.52922634e-02 -9.10927447e-02 9.95724991e-01 1.29298355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.958241008 meters Centerline goodness : 0.863154 with order 1 Centerline is valid? [False, False] Translation: X:27.24, Y:2.19, Z:1.30 [[ 9.99769352e-01 1.58676953e-02 1.44726778e-02 2.72446627e+01] [-1.71699639e-02 9.95347441e-01 9.48085637e-02 2.18978000e+00] [-1.29009494e-02 -9.50351916e-02 9.95390314e-01 1.29694573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.018241008 meters Centerline goodness : 0.863061 with order 1 Centerline is valid? [False, False] Translation: X:27.26, Y:2.19, Z:1.31 [[ 9.99772764e-01 1.47845458e-02 1.53570041e-02 2.72599225e+01] [-1.63484712e-02 9.94094252e-01 1.07281621e-01 2.18984053e+00] [-1.36801995e-02 -1.07508307e-01 9.94110062e-01 1.30578143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.078241008 meters Centerline goodness : 0.863251 with order 1 Centerline is valid? [False, False] Translation: X:27.28, Y:2.19, Z:1.31 [[ 9.99644305e-01 1.61687727e-02 2.12093077e-02 2.72751898e+01] [-1.82506404e-02 9.94621879e-01 1.01952108e-01 2.19481155e+00] [-1.94468010e-02 -1.02302928e-01 9.94563187e-01 1.30670896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.138241008 meters Centerline goodness : 0.864877 with order 1 Centerline is valid? [False, False] Translation: X:27.30, Y:2.20, Z:1.30 [[ 9.99587308e-01 1.74243743e-02 2.28386499e-02 2.73027128e+01] [-1.96067653e-02 9.94883697e-01 9.91060261e-02 2.19827341e+00] [-2.09949400e-02 -9.95129179e-02 9.94814752e-01 1.30430182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.198241008 meters Centerline goodness : 0.865085 with order 1 Centerline is valid? [False, False] Translation: X:27.32, Y:2.20, Z:1.31 [[ 9.99534163e-01 1.87172281e-02 2.41064658e-02 2.73172361e+01] [-2.13230796e-02 9.93386561e-01 1.12820508e-01 2.20051362e+00] [-2.18353520e-02 -1.13281976e-01 9.93322914e-01 1.31145265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25824100799997 meters Centerline goodness : 0.864396 with order 1 Centerline is valid? [False, False] Translation: X:27.34, Y:2.21, Z:1.30 [[ 9.99377796e-01 2.25735326e-02 2.71008414e-02 2.73368172e+01] [-2.52763870e-02 9.94263237e-01 1.03931326e-01 2.20691871e+00] [-2.45992731e-02 -1.04551671e-01 9.94215180e-01 1.30148522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31824100799997 meters Centerline goodness : 0.865180 with order 1 Centerline is valid? [False, False] Translation: X:27.37, Y:2.21, Z:1.30 [[ 9.99107941e-01 3.60986319e-02 2.19136961e-02 2.73678155e+01] [-3.80048619e-02 9.94854330e-01 9.39174775e-02 2.20990350e+00] [-1.84106430e-02 -9.46665246e-02 9.95338785e-01 1.29699477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37824100799997 meters Centerline goodness : 0.863171 with order 1 Centerline is valid? [False, False] Translation: X:27.39, Y:2.21, Z:1.29 [[ 9.98687590e-01 4.79717666e-02 1.79389727e-02 2.73935624e+01] [-4.92880573e-02 9.95408912e-01 8.20474605e-02 2.21214297e+00] [-1.39206517e-02 -8.28239577e-02 9.96466963e-01 1.29299818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.43824100799998 meters Centerline goodness : 0.865372 with order 1 Centerline is valid? [False, False] Translation: X:27.42, Y:2.22, Z:1.29 [[ 9.98659434e-01 4.72593997e-02 2.11159678e-02 2.74189107e+01] [-4.87014697e-02 9.96068320e-01 7.40004587e-02 2.21501216e+00] [-1.75357293e-02 -7.49296348e-02 9.97034627e-01 1.28530394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49824100799998 meters Centerline goodness : 0.864898 with order 1 Centerline is valid? [False, False] Translation: X:27.44, Y:2.22, Z:1.27 [[ 9.98714837e-01 4.46083831e-02 2.40575751e-02 2.74353168e+01] [-4.59134759e-02 9.97332590e-01 5.67420198e-02 2.21753926e+00] [-2.14622339e-02 -5.77736640e-02 9.98098981e-01 1.27382939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55824100799998 meters Centerline goodness : 0.867020 with order 1 Centerline is valid? [False, False] Translation: X:27.46, Y:2.22, Z:1.27 [[ 9.98745382e-01 4.22390107e-02 2.68984647e-02 2.74575192e+01] [-4.34251737e-02 9.98035620e-01 4.51570182e-02 2.21914083e+00] [-2.49382381e-02 -4.62684339e-02 9.98617703e-01 1.26620145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61824100799998 meters Centerline goodness : 0.867481 with order 1 Centerline is valid? [False, False] Translation: X:27.49, Y:2.22, Z:1.26 [[ 9.98932958e-01 4.09277420e-02 2.13977791e-02 2.74894461e+01] [-4.17586464e-02 9.98328898e-01 3.99452922e-02 2.21639084e+00] [-1.97271506e-02 -4.07962112e-02 9.98972727e-01 1.26260255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.678241008 meters Centerline goodness : 0.867808 with order 1 Centerline is valid? [False, False] Translation: X:27.52, Y:2.21, Z:1.27 [[ 9.98988910e-01 3.88325766e-02 2.26536787e-02 2.75180350e+01] [-4.01030209e-02 9.97474509e-01 5.86204104e-02 2.21192048e+00] [-2.03200855e-02 -5.94696208e-02 9.98023275e-01 1.27196187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.738241008 meters Centerline goodness : 0.865567 with order 1 Centerline is valid? [False, False] Translation: X:27.54, Y:2.21, Z:1.27 [[ 9.98869163e-01 3.99158872e-02 2.58286115e-02 2.75440553e+01] [-4.12587803e-02 9.97702395e-01 5.37368058e-02 2.21448893e+00] [-2.36243153e-02 -5.47416953e-02 9.98221037e-01 1.26648407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.798241008 meters Centerline goodness : 0.867135 with order 1 Centerline is valid? [False, False] Translation: X:27.57, Y:2.22, Z:1.26 [[ 0.99877678 0.03961971 0.02958411 27.56778889] [-0.04100413 0.99801704 0.04775615 2.21658212] [-0.02763336 -0.04891081 0.99842082 1.26308055] [ 0. 0. 0. 1. ]] SLAMing on 165.858241008 meters Centerline goodness : 0.866387 with order 1 Centerline is valid? [False, False] Translation: X:27.60, Y:2.22, Z:1.26 [[ 0.99873686 0.03935867 0.03123414 27.59730843] [-0.04069576 0.99822881 0.04339467 2.21776145] [-0.02947086 -0.04461095 0.99856964 1.2581373 ] [ 0. 0. 0. 1. ]] SLAMing on 165.918241008 meters Centerline goodness : 0.865650 with order 1 Centerline is valid? [False, False] Translation: X:27.63, Y:2.21, Z:1.26 [[ 9.98757129e-01 4.08890638e-02 2.85005721e-02 2.76336187e+01] [-4.22277874e-02 9.97950943e-01 4.80700485e-02 2.21351406e+00] [-2.64766335e-02 -4.92138197e-02 9.98437273e-01 1.26107627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.978241008 meters Centerline goodness : 0.865444 with order 1 Centerline is valid? [False, False] Translation: X:27.66, Y:2.21, Z:1.26 [[ 9.98817313e-01 4.21445092e-02 2.42449129e-02 2.76641005e+01] [-4.31891329e-02 9.98083808e-01 4.43103843e-02 2.21203486e+00] [-2.23310156e-02 -4.53050958e-02 9.98723572e-01 1.25853826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03824100799997 meters Centerline goodness : 0.867494 with order 1 Centerline is valid? [False, False] Translation: X:27.70, Y:2.21, Z:1.26 [[ 9.98820796e-01 4.38417934e-02 2.08546266e-02 2.76977539e+01] [-4.47296278e-02 9.98020655e-01 4.42044405e-02 2.21073367e+00] [-1.88753462e-02 -4.50851341e-02 9.98804812e-01 1.25683148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09824100799997 meters Centerline goodness : 0.862983 with order 1 Centerline is valid? [False, False] Translation: X:27.70, Y:2.21, Z:1.26 [[ 9.98872387e-01 4.31002529e-02 1.99078688e-02 2.77007306e+01] [-4.39289293e-02 9.98097791e-01 4.32556174e-02 2.21190955e+00] [-1.80056719e-02 -4.40813732e-02 9.98865671e-01 1.25519880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15824100799998 meters Centerline goodness : 0.863657 with order 1 Centerline is valid? [False, False] Translation: X:27.74, Y:2.20, Z:1.27 [[ 9.98768275e-01 4.51265191e-02 2.06283741e-02 2.77401024e+01] [-4.62507113e-02 9.97260368e-01 5.77289357e-02 2.20379754e+00] [-1.79667541e-02 -5.86119065e-02 9.98119151e-01 1.26837864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.21824100799998 meters Centerline goodness : 0.865066 with order 1 Centerline is valid? [False, False] Translation: X:27.76, Y:2.21, Z:1.26 [[ 9.98728718e-01 4.39574333e-02 2.46716622e-02 2.77590736e+01] [-4.50678085e-02 9.97905007e-01 4.64164886e-02 2.20789068e+00] [-2.25796256e-02 -4.74693779e-02 9.98617454e-01 1.26095695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27824100799998 meters Centerline goodness : 0.867384 with order 1 Centerline is valid? [False, False] Translation: X:27.79, Y:2.21, Z:1.26 [[ 9.98679946e-01 4.33923841e-02 2.74857589e-02 2.77854474e+01] [-4.44729361e-02 9.98209305e-01 4.00042770e-02 2.21054652e+00] [-2.57006594e-02 -4.11738415e-02 9.98821401e-01 1.25529293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33824100799998 meters Centerline goodness : 0.866010 with order 1 Centerline is valid? [False, False] Translation: X:27.82, Y:2.21, Z:1.25 [[ 9.98669989e-01 4.39712116e-02 2.69218590e-02 2.78185282e+01] [-4.50059876e-02 9.98220486e-01 3.91193229e-02 2.20976225e+00] [-2.51538271e-02 -4.02789386e-02 9.98871810e-01 1.25288309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39824100799999 meters Centerline goodness : 0.864128 with order 1 Centerline is valid? [False, False] Translation: X:27.85, Y:2.21, Z:1.26 [[ 9.98591862e-01 4.62753459e-02 2.59400307e-02 2.78503613e+01] [-4.73919607e-02 9.97896853e-01 4.42252446e-02 2.20589691e+00] [-2.38389365e-02 -4.53923183e-02 9.98684756e-01 1.25916276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.458241008 meters Centerline goodness : 0.867682 with order 1 Centerline is valid? [False, False] Translation: X:27.85, Y:2.20, Z:1.26 [[ 9.98458376e-01 4.96243227e-02 2.48656100e-02 2.78531917e+01] [-5.08237846e-02 9.97446003e-01 5.01838114e-02 2.20170664e+00] [-2.23117656e-02 -5.13702112e-02 9.98430411e-01 1.26259557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.518241008 meters Centerline goodness : 0.866986 with order 1 Centerline is valid? [False, False] Translation: X:27.89, Y:2.20, Z:1.27 [[ 9.98425245e-01 4.84925728e-02 2.82046290e-02 2.78903589e+01] [-5.00070174e-02 9.97192835e-01 5.57292393e-02 2.19960769e+00] [-2.54229998e-02 -5.70519087e-02 9.98047469e-01 1.26812252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.578241008 meters Centerline goodness : 0.865394 with order 1 Centerline is valid? [False, False] Translation: X:27.91, Y:2.20, Z:1.28 [[ 9.98658271e-01 4.26159950e-02 2.94199680e-02 2.79080480e+01] [-4.45314815e-02 9.96700777e-01 6.78565304e-02 2.19584924e+00] [-2.64311314e-02 -6.90756000e-02 9.97261228e-01 1.28234024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.638241008 meters Centerline goodness : 0.863790 with order 1 Centerline is valid? [False, False] Translation: X:27.93, Y:2.20, Z:1.27 [[ 0.99861308 0.04145423 0.03245722 27.92759016] [-0.04316934 0.99760423 0.05405747 2.20128 ] [-0.03013855 -0.05538365 0.99801018 1.271109 ] [ 0. 0. 0. 1. ]] SLAMing on 166.698241008 meters Centerline goodness : 0.863567 with order 1 Centerline is valid? [False, False] Translation: X:27.93, Y:2.21, Z:1.27 [[ 0.99875024 0.03945905 0.03067464 27.93464806] [-0.04104815 0.997749 0.05302804 2.20511813] [-0.02851316 -0.0542209 0.99812178 1.26965963] [ 0. 0. 0. 1. ]] SLAMing on 166.75824100799997 meters Centerline goodness : 0.864178 with order 1 Centerline is valid? [False, False] Translation: X:27.98, Y:2.20, Z:1.28 [[ 9.98742366e-01 4.17245922e-02 2.77982772e-02 2.79753186e+01] [-4.33935508e-02 9.97106283e-01 6.24184215e-02 2.20370534e+00] [-2.51134537e-02 -6.35461879e-02 9.97662867e-01 1.27787334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81824100799997 meters Centerline goodness : 0.863142 with order 1 Centerline is valid? [False, False] Translation: X:27.99, Y:2.20, Z:1.28 [[ 9.98749600e-01 4.22556404e-02 2.67151193e-02 2.79901902e+01] [-4.41295128e-02 9.96284822e-01 7.39536290e-02 2.20232081e+00] [-2.34909100e-02 -7.50400826e-02 9.96903788e-01 1.28496427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87824100799997 meters Centerline goodness : 0.866296 with order 1 Centerline is valid? [False, False] Translation: X:28.02, Y:2.20, Z:1.29 [[ 9.98743768e-01 4.36872891e-02 2.45419402e-02 2.80242725e+01] [-4.54615635e-02 9.95985173e-01 7.71153796e-02 2.19999891e+00] [-2.10744466e-02 -7.81342197e-02 9.96720077e-01 1.28769516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.93824100799998 meters Centerline goodness : 0.865434 with order 1 Centerline is valid? [False, False] Translation: X:28.06, Y:2.20, Z:1.29 [[ 9.98752190e-01 4.40286465e-02 2.35699132e-02 2.80616033e+01] [-4.58205880e-02 9.95592043e-01 8.18349419e-02 2.19791058e+00] [-1.98629363e-02 -8.28128147e-02 9.96367152e-01 1.29136203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99824100799998 meters Centerline goodness : 0.866399 with order 1 Centerline is valid? [False, False] Translation: X:28.09, Y:2.19, Z:1.32 [[ 9.98817784e-01 4.02063679e-02 2.73218423e-02 2.80902611e+01] [-4.29516573e-02 9.93145331e-01 1.08708359e-01 2.19152739e+00] [-2.27637919e-02 -1.09753361e-01 9.93698148e-01 1.31544698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05824100799998 meters Centerline goodness : 0.864053 with order 1 Centerline is valid? [False, False] Translation: X:28.09, Y:2.19, Z:1.32 [[ 9.98681732e-01 4.31052320e-02 2.78700219e-02 2.80910398e+01] [-4.60464539e-02 9.92259750e-01 1.15326985e-01 2.18992850e+00] [-2.26831045e-02 -1.16458268e-01 9.92936528e-01 1.32118126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11824100799998 meters Centerline goodness : 0.865165 with order 1 Centerline is valid? [False, False] Translation: X:28.11, Y:2.19, Z:1.32 [[ 9.98530986e-01 4.34399010e-02 3.23858687e-02 2.81132241e+01] [-4.67812740e-02 9.92742619e-01 1.10786299e-01 2.19464565e+00] [-2.73382863e-02 -1.12138605e-01 9.93316441e-01 1.32061172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.178241008 meters Centerline goodness : 0.866678 with order 1 Centerline is valid? [False, False] Translation: X:28.14, Y:2.20, Z:1.32 [[ 0.99830677 0.0448443 0.03704824 28.13654671] [-0.04860979 0.99296992 0.10792509 2.19724514] [-0.03194797 -0.10954325 0.99346847 1.31879856] [ 0. 0. 0. 1. ]] SLAMing on 167.238241008 meters Centerline goodness : 0.864502 with order 1 Centerline is valid? [False, False] Translation: X:28.19, Y:2.19, Z:1.34 [[ 0.99828759 0.04108451 0.04164083 28.18610886] [-0.04609263 0.99076939 0.12748131 2.19264396] [-0.03601895 -0.12918235 0.99096648 1.33735401] [ 0. 0. 0. 1. ]] SLAMing on 167.298241008 meters Centerline goodness : 0.867115 with order 1 Centerline is valid? [False, False] Translation: X:28.21, Y:2.20, Z:1.33 [[ 0.99823867 0.03864774 0.04501019 28.20940477] [-0.04376699 0.99193548 0.11894727 2.19665449] [-0.04005017 -0.12070773 0.99187985 1.33483113] [ 0. 0. 0. 1. ]] SLAMing on 167.358241008 meters Centerline goodness : 0.864412 with order 1 Centerline is valid? [False, False] Translation: X:28.24, Y:2.20, Z:1.33 [[ 0.99814052 0.03899962 0.04684587 28.2383689 ] [-0.04428297 0.99207019 0.11762547 2.19901795] [-0.04188704 -0.11948122 0.99195248 1.33466938] [ 0. 0. 0. 1. ]] SLAMing on 167.418241008 meters Centerline goodness : 0.863608 with order 1 Centerline is valid? [False, False] Translation: X:28.28, Y:2.19, Z:1.35 [[ 0.99805442 0.039793 0.04799891 28.27789554] [-0.04588955 0.98999242 0.13345099 2.19322012] [-0.04220815 -0.135394 0.98989239 1.35002534] [ 0. 0. 0. 1. ]] SLAMing on 167.478241008 meters Centerline goodness : 0.868367 with order 1 Centerline is valid? [False, False] Translation: X:28.30, Y:2.20, Z:1.35 [[ 0.99782741 0.04120554 0.0514058 28.30380052] [-0.04765495 0.99019591 0.13130525 2.19548996] [-0.04549131 -0.13346972 0.99000827 1.34737453] [ 0. 0. 0. 1. ]] SLAMing on 167.53824100799997 meters Centerline goodness : 0.865048 with order 1 Centerline is valid? [False, False] Translation: X:28.33, Y:2.19, Z:1.36 [[ 0.99771252 0.03864938 0.05546123 28.32909973] [-0.04686236 0.98674067 0.15539228 2.19251038] [-0.04872004 -0.15763587 0.98629473 1.36445802] [ 0. 0. 0. 1. ]] SLAMing on 167.59824100799997 meters Centerline goodness : 0.869518 with order 1 Centerline is valid? [False, False] Translation: X:28.36, Y:2.19, Z:1.38 [[ 0.99759297 0.03432935 0.06024758 28.35612664] [-0.04462908 0.98284575 0.17894825 2.19041436] [-0.0530709 -0.18120631 0.98201209 1.38284969] [ 0. 0. 0. 1. ]] SLAMing on 167.65824100799998 meters Centerline goodness : 0.870330 with order 1 Centerline is valid? [False, False] Translation: X:28.37, Y:2.19, Z:1.38 [[ 0.99716946 0.03712113 0.06538412 28.37023019] [-0.04774871 0.98440221 0.16932912 2.19403419] [-0.05807858 -0.17197184 0.98338831 1.37540012] [ 0. 0. 0. 1. ]] SLAMing on 167.71824100799998 meters Centerline goodness : 0.868191 with order 1 Centerline is valid? [False, False] Translation: X:28.38, Y:2.20, Z:1.36 [[ 0.99679424 0.03870822 0.07002083 28.3835618 ] [-0.04928374 0.98648763 0.15624746 2.19813293] [-0.06302662 -0.15919746 0.98523287 1.36464236] [ 0. 0. 0. 1. ]] SLAMing on 167.77824100799998 meters Centerline goodness : 0.870727 with order 1 Centerline is valid? [False, False] Translation: X:28.43, Y:2.19, Z:1.37 [[ 0.99656513 0.04304473 0.07074674 28.43389181] [-0.05404114 0.98535595 0.16171953 2.19337456] [-0.06274954 -0.16498728 0.98429756 1.3710033 ] [ 0. 0. 0. 1. ]] SLAMing on 167.83824100799998 meters Centerline goodness : 0.872131 with order 1 Centerline is valid? [False, False] Translation: X:28.49, Y:2.19, Z:1.38 [[ 0.99656313 0.04463722 0.06978146 28.4921461 ] [-0.05582289 0.98427217 0.16760697 2.18817019] [-0.06120244 -0.17092633 0.98338113 1.37809449] [ 0. 0. 0. 1. ]] SLAMing on 167.89824100799999 meters Centerline goodness : 0.875353 with order 1 Centerline is valid? [False, False] Translation: X:28.52, Y:2.19, Z:1.39 [[ 0.99620125 0.04408666 0.07509622 28.5243368 ] [-0.05672619 0.98284107 0.17551515 2.18624608] [-0.06606977 -0.17910834 0.98160837 1.38678198] [ 0. 0. 0. 1. ]] SLAMing on 167.958241008 meters Centerline goodness : 0.877000 with order 1 Centerline is valid? [False, False] Translation: X:28.54, Y:2.19, Z:1.38 [[ 0.99586281 0.04605788 0.0783322 28.54055433] [-0.05835693 0.98493378 0.16278795 2.1912398 ] [-0.06965436 -0.1666857 0.98354672 1.37511359] [ 0. 0. 0. 1. ]] SLAMing on 168.018241008 meters Centerline goodness : 0.873548 with order 1 Centerline is valid? [False, False] Translation: X:28.56, Y:2.20, Z:1.36 [[ 0.99540875 0.04938817 0.0819892 28.55646102] [-0.06143538 0.98652922 0.15161069 2.19693341] [-0.07339697 -0.15595164 0.98503399 1.36347817] [ 0. 0. 0. 1. ]] SLAMing on 168.078241008 meters Centerline goodness : 0.872716 with order 1 Centerline is valid? [False, False] Translation: X:28.58, Y:2.20, Z:1.36 [[ 0.99501359 0.04997326 0.086317 28.57639791] [-0.06201959 0.98776928 0.14305738 2.20214428] [-0.07811224 -0.14769738 0.98594318 1.35623804] [ 0. 0. 0. 1. ]] SLAMing on 168.138241008 meters Centerline goodness : 0.874117 with order 1 Centerline is valid? [False, False] Translation: X:28.60, Y:2.21, Z:1.35 [[ 0.99475794 0.04891883 0.08979749 28.59851624] [-0.06063515 0.98929047 0.13276948 2.20754146] [-0.08234087 -0.13751838 0.98707075 1.34707524] [ 0. 0. 0. 1. ]] SLAMing on 168.198241008 meters Centerline goodness : 0.871237 with order 1 Centerline is valid? [False, False] Translation: X:28.62, Y:2.21, Z:1.34 [[ 0.99443516 0.05164341 0.09182414 28.62222483] [-0.06340117 0.9894681 0.13012753 2.20887387] [-0.08413683 -0.13522514 0.98723612 1.34473315] [ 0. 0. 0. 1. ]] SLAMing on 168.25824100799997 meters Centerline goodness : 0.875444 with order 1 Centerline is valid? [False, False] Translation: X:28.64, Y:2.21, Z:1.33 [[ 0.99403189 0.05440945 0.09455267 28.63896429] [-0.0654285 0.99089776 0.11764665 2.21467175] [-0.08729094 -0.12313096 0.98854391 1.33230803] [ 0. 0. 0. 1. ]] SLAMing on 168.31824100799997 meters Centerline goodness : 0.875405 with order 1 Centerline is valid? [False, False] Translation: X:28.66, Y:2.22, Z:1.33 [[ 0.99344264 0.05663078 0.0993211 28.66049789] [-0.06811681 0.99086919 0.11635443 2.21555659] [-0.09182498 -0.12235689 0.98822921 1.33166003] [ 0. 0. 0. 1. ]] SLAMing on 168.37824100799997 meters Centerline goodness : 0.879791 with order 1 Centerline is valid? [False, False] Translation: X:28.68, Y:2.22, Z:1.32 [[ 0.99299478 0.05935838 0.10216628 28.67516215] [-0.06985276 0.99228659 0.10241055 2.22086462] [-0.0952993 -0.10882974 0.98948175 1.31828849] [ 0. 0. 0. 1. ]] SLAMing on 168.43824100799998 meters Centerline goodness : 0.875973 with order 1 Centerline is valid? [False, False] Translation: X:28.69, Y:2.23, Z:1.30 [[ 0.99257008 0.06253842 0.10437228 28.68557032] [-0.07163103 0.99373656 0.08577091 2.2261724 ] [-0.09835457 -0.09260994 0.99083287 1.30486428] [ 0. 0. 0. 1. ]] SLAMing on 168.49824100799998 meters Centerline goodness : 0.875634 with order 1 Centerline is valid? [False, False] Translation: X:28.71, Y:2.23, Z:1.30 [[ 0.99218953 0.06218996 0.10813114 28.70606552] [-0.07069731 0.99454404 0.07670757 2.22821371] [-0.10277074 -0.08375303 0.99117284 1.29819891] [ 0. 0. 0. 1. ]] SLAMing on 168.55824100799998 meters Centerline goodness : 0.879438 with order 1 Centerline is valid? [False, False] Translation: X:28.73, Y:2.23, Z:1.30 [[ 0.99215055 0.06285383 0.10810494 28.73459168] [-0.07131515 0.99453361 0.07626951 2.2258646 ] [-0.10272016 -0.08338036 0.99120951 1.29828492] [ 0. 0. 0. 1. ]] SLAMing on 168.61824100799998 meters Centerline goodness : 0.877539 with order 1 Centerline is valid? [False, False] Translation: X:28.76, Y:2.22, Z:1.32 [[ 0.99213183 0.05522241 0.11236064 28.76446932] [-0.0664762 0.99286349 0.0990101 2.21697666] [-0.1060912 -0.10570038 0.98872245 1.31609012] [ 0. 0. 0. 1. ]] SLAMing on 168.678241008 meters Centerline goodness : 0.876299 with order 1 Centerline is valid? [False, False] Translation: X:28.78, Y:2.21, Z:1.33 [[ 0.99200828 0.05047145 0.11563822 28.78353949] [-0.06425807 0.9908392 0.11877952 2.21136415] [-0.10858391 -0.12526096 0.98616389 1.33480931] [ 0. 0. 0. 1. ]] SLAMing on 168.738241008 meters Centerline goodness : 0.879615 with order 1 Centerline is valid? [False, False] Translation: X:28.81, Y:2.20, Z:1.36 [[ 0.99110903 0.03834274 0.12740768 28.8080187 ] [-0.05877231 0.98525447 0.16068429 2.2025009 ] [-0.11936791 -0.16674369 0.9787481 1.36378754] [ 0. 0. 0. 1. ]] SLAMing on 168.798241008 meters Centerline goodness : 0.882493 with order 1 Centerline is valid? [False, False] Translation: X:28.81, Y:2.21, Z:1.36 [[ 0.99116794 0.03662579 0.12745458 28.81134572] [-0.056786 0.98575114 0.15833521 2.20802437] [-0.11983934 -0.16417442 0.97912476 1.35987546] [ 0. 0. 0. 1. ]] SLAMing on 168.858241008 meters Centerline goodness : 0.881267 with order 1 Centerline is valid? [False, False] Translation: X:28.82, Y:2.21, Z:1.37 [[ 0.99132164 0.03219428 0.12745562 28.8200549 ] [-0.05290098 0.98527637 0.16257907 2.21251765] [-0.1203449 -0.16791068 0.9784289 1.36770228] [ 0. 0. 0. 1. ]] SLAMing on 168.918241008 meters Centerline goodness : 0.878413 with order 1 Centerline is valid? [False, False] Translation: X:28.82, Y:2.22, Z:1.36 [[ 0.9912363 0.02994293 0.1286624 28.81692049] [-0.0497674 0.9868556 0.15375053 2.22073147] [-0.12236747 -0.1588063 0.97969728 1.3596337 ] [ 0. 0. 0. 1. ]] SLAMing on 168.97824100799997 meters Centerline goodness : 0.880522 with order 1 Centerline is valid? [False, False] Translation: X:28.82, Y:2.23, Z:1.36 [[ 0.99114748 0.02953198 0.12943931 28.81671371] [-0.04918536 0.98725125 0.15137955 2.22752477] [-0.12331858 -0.15640597 0.97996413 1.35707564] [ 0. 0. 0. 1. ]] SLAMing on 169.03824100799997 meters Centerline goodness : 0.879626 with order 1 Centerline is valid? [False, False] Translation: X:28.82, Y:2.23, Z:1.36 [[ 0.9911462 0.03007495 0.12932401 28.82280875] [-0.05054431 0.98613775 0.15804306 2.23048918] [-0.12277815 -0.16318038 0.97892681 1.36300445] [ 0. 0. 0. 1. ]] SLAMing on 169.09824100799997 meters Centerline goodness : 0.876635 with order 1 Centerline is valid? [False, False] Translation: X:28.85, Y:2.23, Z:1.38 [[ 9.90951819e-01 2.49118427e-02 1.31885911e-01 2.88498464e+01] [-4.84935460e-02 9.82699705e-01 1.78744697e-01 2.22983914e+00] [-1.25151386e-01 -1.83522998e-01 9.75016123e-01 1.37514425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15824100799998 meters Centerline goodness : 0.880177 with order 1 Centerline is valid? [False, False] Translation: X:28.87, Y:2.23, Z:1.37 [[ 9.90321391e-01 2.75250189e-02 1.36036447e-01 2.88709063e+01] [-5.11838596e-02 9.83482441e-01 1.73615959e-01 2.23353136e+00] [-1.29010675e-01 -1.78898468e-01 9.75372536e-01 1.36920223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21824100799998 meters Centerline goodness : 0.880540 with order 1 Centerline is valid? [False, False] Translation: X:28.89, Y:2.24, Z:1.36 [[ 0.98957588 0.03157814 0.14050766 28.88826181] [-0.05509654 0.98445215 0.16678831 2.23733895] [-0.1330562 -0.17279117 0.97592994 1.36076134] [ 0. 0. 0. 1. ]] SLAMing on 169.27824100799998 meters Centerline goodness : 0.882903 with order 1 Centerline is valid? [False, False] Translation: X:28.88, Y:2.25, Z:1.35 [[ 0.9888144 0.04045621 0.14355967 28.88241974] [-0.06161607 0.98734008 0.14616093 2.24504498] [-0.1358291 -0.15337162 0.97878884 1.34731171] [ 0. 0. 0. 1. ]] SLAMing on 169.33824100799998 meters Centerline goodness : 0.879668 with order 1 Centerline is valid? [False, False] Translation: X:28.90, Y:2.25, Z:1.33 [[ 0.98811911 0.04327604 0.14747136 28.89555633] [-0.06305413 0.98921556 0.13219967 2.24970509] [-0.14015988 -0.1399277 0.98019154 1.33404004] [ 0. 0. 0. 1. ]] SLAMing on 169.39824100799999 meters Centerline goodness : 0.880527 with order 1 Centerline is valid? [False, False] Translation: X:28.91, Y:2.26, Z:1.32 [[ 0.98755327 0.04610492 0.15037581 28.9081493 ] [-0.06397489 0.99115733 0.1162513 2.25566531] [-0.14368633 -0.12442463 0.98177021 1.318714 ] [ 0. 0. 0. 1. ]] SLAMing on 169.458241008 meters Centerline goodness : 0.877582 with order 1 Centerline is valid? [False, False] Translation: X:28.92, Y:2.26, Z:1.31 [[ 0.98699144 0.04791854 0.15346564 28.92372135] [-0.06415836 0.99264328 0.10267922 2.25883015] [-0.1474164 -0.11118961 0.9828048 1.30586057] [ 0. 0. 0. 1. ]] SLAMing on 169.518241008 meters Centerline goodness : 0.878955 with order 1 Centerline is valid? [False, False] Translation: X:28.93, Y:2.26, Z:1.29 [[ 0.98641559 0.05009991 0.15644259 28.93485017] [-0.06393038 0.9943567 0.084662 2.26404844] [-0.15131818 -0.09351335 0.98405186 1.28998853] [ 0. 0. 0. 1. ]] SLAMing on 169.578241008 meters Centerline goodness : 0.878598 with order 1 Centerline is valid? [False, False] Translation: X:28.94, Y:2.26, Z:1.29 [[ 0.98707983 0.04993118 0.15225071 28.94376906] [-0.06325657 0.9944583 0.08397205 2.26464718] [-0.14721415 -0.09251797 0.98476821 1.28790732] [ 0. 0. 0. 1. ]] SLAMing on 169.638241008 meters Centerline goodness : 0.879763 with order 1 Centerline is valid? [False, False] Translation: X:28.96, Y:2.27, Z:1.28 [[ 0.98635501 0.05165494 0.15631878 28.95879419] [-0.06341106 0.99544616 0.07117575 2.26845891] [-0.15193035 -0.0801169 0.9851388 1.27586634] [ 0. 0. 0. 1. ]] SLAMing on 169.698241008 meters Centerline goodness : 0.879540 with order 1 Centerline is valid? [False, False] Translation: X:28.98, Y:2.27, Z:1.27 [[ 0.98565376 0.05212379 0.16052965 28.97796097] [-0.06279193 0.99609192 0.06211327 2.27079034] [-0.15666471 -0.07130214 0.9850747 1.2678252 ] [ 0. 0. 0. 1. ]] SLAMing on 169.75824100799997 meters Centerline goodness : 0.875178 with order 1 Centerline is valid? [False, False] Translation: X:29.00, Y:2.27, Z:1.26 [[ 0.98503418 0.05243736 0.16418889 28.99871252] [-0.06187718 0.99668016 0.0529138 2.27280587] [-0.16086915 -0.06228145 0.9850087 1.25847789] [ 0. 0. 0. 1. ]] SLAMing on 169.81824100799997 meters Centerline goodness : 0.876930 with order 1 Centerline is valid? [False, False] Translation: X:29.03, Y:2.27, Z:1.26 [[ 0.98540871 0.05241771 0.16193226 29.03129143] [-0.06190482 0.9966145 0.05410474 2.26862043] [-0.15854799 -0.06333967 0.98531752 1.25797244] [ 0. 0. 0. 1. ]] SLAMing on 169.87824100799997 meters Centerline goodness : 0.875061 with order 1 Centerline is valid? [False, False] Translation: X:29.04, Y:2.27, Z:1.26 [[ 0.98573383 0.05076257 0.16047423 29.0370406 ] [-0.06003858 0.99676182 0.05349061 2.26915611] [-0.15723926 -0.06236215 0.98558956 1.25539851] [ 0. 0. 0. 1. ]] SLAMing on 169.93824100799998 meters Centerline goodness : 0.874835 with order 1 Centerline is valid? [False, False] Translation: X:29.08, Y:2.26, Z:1.26 [[ 0.9862774 0.04970667 0.15743613 29.07811552] [-0.06023755 0.99620422 0.0628378 2.26267125] [-0.15371508 -0.07145907 0.98552792 1.25874116] [ 0. 0. 0. 1. ]] SLAMing on 169.99824100799998 meters Centerline goodness : 0.879309 with order 1 Centerline is valid? [False, False] Translation: X:29.11, Y:2.26, Z:1.27 [[ 0.98665804 0.04769986 0.15566191 29.11344091] [-0.05891538 0.99592725 0.06824881 2.25618707] [-0.15177248 -0.07650912 0.98544988 1.26532239] [ 0. 0. 0. 1. ]] SLAMing on 170.05824100799998 meters Centerline goodness : 0.879511 with order 1 Centerline is valid? [False, False] Translation: X:29.15, Y:2.24, Z:1.29 [[ 0.98590076 0.03857434 0.16282419 29.14700427] [-0.05560905 0.99329089 0.10139446 2.24478338] [-0.15782056 -0.10901938 0.98143133 1.29231058] [ 0. 0. 0. 1. ]] SLAMing on 170.11824100799998 meters Centerline goodness : 0.876728 with order 1 Centerline is valid? [False, False] Translation: X:29.15, Y:2.25, Z:1.29 [[ 0.98589452 0.03797787 0.16300208 29.14779568] [-0.05503298 0.99331983 0.10142531 2.24608923] [-0.15806129 -0.10896515 0.98139861 1.29328067] [ 0. 0. 0. 1. ]] SLAMing on 170.178241008 meters Centerline goodness : 0.876581 with order 1 Centerline is valid? [False, False] Translation: X:29.16, Y:2.25, Z:1.30 [[ 0.98592549 0.03757866 0.16290723 29.15983597] [-0.05643672 0.99202229 0.11272384 2.2463322 ] [-0.15737159 -0.12033125 0.98018089 1.29967492] [ 0. 0. 0. 1. ]] SLAMing on 170.238241008 meters Centerline goodness : 0.877332 with order 1 Centerline is valid? [False, False] Translation: X:29.16, Y:2.25, Z:1.30 [[ 0.98557104 0.04004849 0.16445622 29.15900494] [-0.05977212 0.99135596 0.1167932 2.24808047] [-0.15835726 -0.1249379 0.97944551 1.30077338] [ 0. 0. 0. 1. ]] SLAMing on 170.298241008 meters Centerline goodness : 0.872614 with order 1 Centerline is valid? [False, False] Translation: X:29.16, Y:2.25, Z:1.30 [[ 0.98528292 0.04320062 0.16538218 29.15845195] [-0.06374646 0.99060174 0.12101482 2.25116505] [-0.15859996 -0.12977637 0.97877686 1.30269411] [ 0. 0. 0. 1. ]] SLAMing on 170.358241008 meters Centerline goodness : 0.873858 with order 1 Centerline is valid? [False, False] Translation: X:29.16, Y:2.26, Z:1.31 [[ 0.9849254 0.04737477 0.16636583 29.15571125] [-0.06862641 0.98985468 0.12441112 2.25768599] [-0.15878405 -0.13395277 0.97818418 1.30502223] [ 0. 0. 0. 1. ]] SLAMing on 170.418241008 meters Centerline goodness : 0.872137 with order 1 Centerline is valid? [False, False] Translation: X:29.17, Y:2.27, Z:1.30 [[ 0.98371779 0.0561688 0.17071726 29.16834562] [-0.07721207 0.98985908 0.11923629 2.26547288] [-0.16228867 -0.13047629 0.9780789 1.29792522] [ 0. 0. 0. 1. ]] SLAMing on 170.47824100799997 meters Centerline goodness : 0.872526 with order 1 Centerline is valid? [False, False] Translation: X:29.18, Y:2.27, Z:1.29 [[ 0.98266118 0.06289109 0.17441823 29.18436828] [-0.08343779 0.99007568 0.11308532 2.27103423] [-0.16557519 -0.12567763 0.97815642 1.28821481] [ 0. 0. 0. 1. ]] SLAMing on 170.53824100799997 meters Centerline goodness : 0.877355 with order 1 Centerline is valid? [False, False] Translation: X:29.19, Y:2.28, Z:1.28 [[ 0.98175175 0.07197828 0.17601883 29.18883845] [-0.09034277 0.99101366 0.09864127 2.27876777] [-0.16733704 -0.11274327 0.97943212 1.27653774] [ 0. 0. 0. 1. ]] SLAMing on 170.59824100799997 meters Centerline goodness : 0.880112 with order 1 Centerline is valid? [False, False] Translation: X:29.20, Y:2.28, Z:1.27 [[ 0.98075558 0.07581402 0.17991866 29.20444862] [-0.09293673 0.99171131 0.08872116 2.28409293] [-0.17170106 -0.10373483 0.97967231 1.26576552] [ 0. 0. 0. 1. ]] SLAMing on 170.65824100799998 meters Centerline goodness : 0.873952 with order 1 Centerline is valid? [False, False] Translation: X:29.22, Y:2.29, Z:1.26 [[ 0.97977903 0.07962629 0.18355573 29.22341482] [-0.0960139 0.99198175 0.08217987 2.28837545] [-0.17554026 -0.09814201 0.97956815 1.2574627 ] [ 0. 0. 0. 1. ]] SLAMing on 170.71824100799998 meters Centerline goodness : 0.874976 with order 1 Centerline is valid? [False, False] Translation: X:29.24, Y:2.29, Z:1.26 [[ 0.98097327 0.08424025 0.17491434 29.23793352] [-0.09951016 0.9917803 0.08043362 2.2882805 ] [-0.16670085 -0.09630898 0.98129272 1.26150147] [ 0. 0. 0. 1. ]] SLAMing on 170.77824100799998 meters Centerline goodness : 0.874305 with order 1 Centerline is valid? [False, False] Translation: X:29.30, Y:2.27, Z:1.29 [[ 0.9796342 0.07250178 0.18724402 29.29994602] [-0.09819577 0.98639968 0.13180768 2.26977548] [-0.17514115 -0.14750988 0.97343023 1.2949774 ] [ 0. 0. 0. 1. ]] SLAMing on 170.83824100799998 meters Centerline goodness : 0.870768 with order 1 Centerline is valid? [False, False] Translation: X:29.31, Y:2.28, Z:1.28 [[ 0.97888018 0.07684262 0.18944341 29.30646436] [-0.09924364 0.98876963 0.11173776 2.27672329] [-0.17872967 -0.12817894 0.97551313 1.27868525] [ 0. 0. 0. 1. ]] SLAMing on 170.89824100799999 meters Centerline goodness : 0.876188 with order 1 Centerline is valid? [False, False] Translation: X:29.33, Y:2.28, Z:1.26 [[ 0.97837957 0.07707619 0.1919184 29.32596297] [-0.09725228 0.9904212 0.09801957 2.28071184] [-0.18252508 -0.11456485 0.97650371 1.26484747] [ 0. 0. 0. 1. ]] SLAMing on 170.958241008 meters Centerline goodness : 0.875086 with order 1 Centerline is valid? [False, False] Translation: X:29.38, Y:2.27, Z:1.27 [[ 0.97892622 0.07014201 0.19179037 29.37942198] [-0.0932176 0.98909044 0.11406392 2.27272542] [-0.18169735 -0.1295384 0.97478504 1.27082307] [ 0. 0. 0. 1. ]] SLAMing on 171.018241008 meters Centerline goodness : 0.878837 with order 1 Centerline is valid? [False, False] Translation: X:29.42, Y:2.27, Z:1.27 [[ 0.97887376 0.06457176 0.19400168 29.41626348] [-0.08776434 0.98966186 0.11343204 2.27099231] [-0.18467156 -0.12806208 0.97442112 1.26746623] [ 0. 0. 0. 1. ]] SLAMing on 171.078241008 meters Centerline goodness : 0.879275 with order 1 Centerline is valid? [False, False] Translation: X:29.47, Y:2.26, Z:1.28 [[ 0.97933371 0.05540076 0.1945154 29.46752284] [-0.08188411 0.98801286 0.13086472 2.26249216] [-0.18493371 -0.14408795 0.97213074 1.27889311] [ 0. 0. 0. 1. ]] SLAMing on 171.138241008 meters Centerline goodness : 0.881055 with order 1 Centerline is valid? [False, False] Translation: X:29.53, Y:2.25, Z:1.30 [[ 0.97904669 0.03387071 0.20079927 29.52797068] [-0.0686813 0.98321596 0.16902441 2.25264629] [-0.19170407 -0.17927394 0.96494062 1.30027475] [ 0. 0. 0. 1. ]] SLAMing on 171.198241008 meters Centerline goodness : 0.880161 with order 1 Centerline is valid? [False, False] Translation: X:29.51, Y:2.26, Z:1.31 [[ 9.79554241e-01 2.38164954e-02 1.99765522e-01 2.95130105e+01] [-5.85183348e-02 9.83763860e-01 1.69659284e-01 2.26166678e+00] [-1.92481412e-01 -1.77880417e-01 9.65043762e-01 1.30527588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25824100799997 meters Centerline goodness : 0.878421 with order 1 Centerline is valid? [False, False] Translation: X:29.46, Y:2.28, Z:1.31 [[ 9.80847152e-01 1.90524330e-02 1.93844961e-01 2.94630878e+01] [-4.87058832e-02 9.87579009e-01 1.49383527e-01 2.27722522e+00] [-1.88591095e-01 -1.55963797e-01 9.69592024e-01 1.30690642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31824100799997 meters Centerline goodness : 0.877125 with order 1 Centerline is valid? [False, False] Translation: X:29.46, Y:2.29, Z:1.31 [[ 9.83069903e-01 1.06596642e-02 1.82920576e-01 2.94614131e+01] [-3.71462483e-02 9.89170676e-01 1.41991306e-01 2.28576245e+00] [-1.79426090e-01 -1.46382192e-01 9.72819887e-01 1.30821137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37824100799997 meters Centerline goodness : 0.876504 with order 1 Centerline is valid? [False, False] Translation: X:29.46, Y:2.30, Z:1.31 [[ 9.87127401e-01 3.22633674e-03 1.59903360e-01 2.94634546e+01] [-2.51111721e-02 9.90522906e-01 1.35032594e-01 2.29950537e+00] [-1.57952281e-01 -1.37309735e-01 9.77853319e-01 1.30728249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.43824100799998 meters Centerline goodness : 0.880406 with order 1 Centerline is valid? [False, False] Translation: X:29.44, Y:2.32, Z:1.30 [[ 9.87580927e-01 1.59881809e-02 1.56295526e-01 2.94399437e+01] [-3.38238709e-02 9.93117541e-01 1.12131597e-01 2.31770894e+00] [-1.53427048e-01 -1.16025546e-01 9.81324724e-01 1.30070480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49824100799998 meters Centerline goodness : 0.879949 with order 1 Centerline is valid? [False, False] Translation: X:29.41, Y:2.33, Z:1.30 [[ 9.87754103e-01 2.75283739e-02 1.53570901e-01 2.94059596e+01] [-4.26627100e-02 9.94452931e-01 9.61418769e-02 2.33340323e+00] [-1.50072403e-01 -1.01516284e-01 9.83449398e-01 1.29642259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55824100799998 meters Centerline goodness : 0.879980 with order 1 Centerline is valid? [False, False] Translation: X:29.38, Y:2.35, Z:1.29 [[ 0.98780986 0.04141149 0.15005586 29.37515285] [-0.0543834 0.99503105 0.08340055 2.35271511] [-0.1458565 -0.09054444 0.98515358 1.29351723] [ 0. 0. 0. 1. ]] SLAMing on 171.61824100799998 meters Centerline goodness : 0.879728 with order 1 Centerline is valid? [False, False] Translation: X:29.37, Y:2.36, Z:1.30 [[ 0.98736723 0.04869116 0.1507817 29.37255143] [-0.06277599 0.99395178 0.09010568 2.36154429] [-0.14548239 -0.09843286 0.98445205 1.2977764 ] [ 0. 0. 0. 1. ]] SLAMing on 171.678241008 meters Centerline goodness : 0.880884 with order 1 Centerline is valid? [False, False] Translation: X:29.38, Y:2.37, Z:1.30 [[ 0.98983867 0.04536495 0.13476434 29.38160713] [-0.05761187 0.99441649 0.08841214 2.37180151] [-0.13000107 -0.09527778 0.98692546 1.3007899 ] [ 0. 0. 0. 1. ]] SLAMing on 171.738241008 meters Centerline goodness : 0.881889 with order 1 Centerline is valid? [False, False] Translation: X:29.38, Y:2.38, Z:1.30 [[ 0.99129071 0.04585529 0.1234505 29.38006932] [-0.05662122 0.99475705 0.08516134 2.38003535] [-0.11889815 -0.09140956 0.9886898 1.30289943] [ 0. 0. 0. 1. ]] SLAMing on 171.798241008 meters Centerline goodness : 0.884387 with order 1 Centerline is valid? [False, False] Translation: X:29.39, Y:2.39, Z:1.31 [[ 0.99357854 0.04240487 0.10489761 29.39385944] [-0.05083773 0.99557199 0.07906918 2.38937881] [-0.10108021 -0.0838942 0.99133473 1.3071906 ] [ 0. 0. 0. 1. ]] SLAMing on 171.858241008 meters Centerline goodness : 0.875427 with order 1 Centerline is valid? [False, False] Translation: X:29.41, Y:2.40, Z:1.31 [[ 0.99541457 0.04349025 0.08519641 29.4094666 ] [-0.04982055 0.99603949 0.07364274 2.39902853] [-0.08165625 -0.07754959 0.99363893 1.31206866] [ 0. 0. 0. 1. ]] SLAMing on 171.918241008 meters Centerline goodness : 0.879729 with order 1 Centerline is valid? [False, False] Translation: X:29.43, Y:2.41, Z:1.32 [[ 0.99704212 0.03997875 0.06564074 29.42575214] [-0.04442635 0.99671223 0.06775721 2.40767957] [-0.06271608 -0.07047297 0.99554018 1.31802379] [ 0. 0. 0. 1. ]] SLAMing on 171.97824100799997 meters Centerline goodness : 0.881975 with order 1 Centerline is valid? [False, False] Translation: X:29.44, Y:2.42, Z:1.32 [[ 0.99823766 0.03543797 0.04759958 29.43995754] [-0.03858045 0.99701958 0.06680953 2.41524994] [-0.04509012 -0.0685282 0.9966297 1.32272053] [ 0. 0. 0. 1. ]] SLAMing on 172.03824100799997 meters Centerline goodness : 0.880335 with order 1 Centerline is valid? [False, False] Translation: X:29.45, Y:2.42, Z:1.33 [[ 9.99164216e-01 2.82509731e-02 2.95423846e-02 2.94509511e+01] [-2.99921662e-02 9.97732085e-01 6.02590798e-02 2.42038618e+00] [-2.77730074e-02 -6.10947563e-02 9.97745504e-01 1.32807815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09824100799997 meters Centerline goodness : 0.879288 with order 1 Centerline is valid? [False, False] Translation: X:29.47, Y:2.43, Z:1.33 [[ 9.99774146e-01 1.80790316e-02 1.11716699e-02 2.94671395e+01] [-1.86433371e-02 9.98438322e-01 5.26625389e-02 2.42736436e+00] [-1.02021356e-02 -5.28589220e-02 9.98549874e-01 1.33222400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15824100799998 meters Centerline goodness : 0.877691 with order 1 Centerline is valid? [False, False] Translation: X:29.48, Y:2.43, Z:1.33 [[ 9.99934153e-01 1.05771245e-02 -4.45139677e-03 2.94792286e+01] [-1.03616479e-02 9.98891150e-01 4.59250029e-02 2.43335336e+00] [ 4.93221532e-03 -4.58758551e-02 9.98934972e-01 1.33301321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21824100799998 meters Centerline goodness : 0.877109 with order 1 Centerline is valid? [False, False] Translation: X:29.48, Y:2.43, Z:1.33 [[ 9.99951303e-01 8.15835027e-03 -5.55281469e-03 2.94826338e+01] [-7.91141877e-03 9.99038314e-01 4.31260555e-02 2.43234996e+00] [ 5.89931209e-03 -4.30800247e-02 9.99054208e-01 1.33202992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27824100799998 meters Centerline goodness : 0.875932 with order 1 Centerline is valid? [False, False] Translation: X:29.51, Y:2.43, Z:1.33 [[ 9.99942784e-01 6.60230947e-03 -8.41658978e-03 2.95056815e+01] [-6.38248428e-03 9.99644612e-01 2.58826913e-02 2.43017748e+00] [ 8.58448416e-03 -2.58274917e-02 9.99629555e-01 1.32501154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33824100799998 meters Centerline goodness : 0.878286 with order 1 Centerline is valid? [False, False] Translation: X:29.51, Y:2.43, Z:1.33 [[ 9.99909731e-01 9.88648059e-03 -9.09879802e-03 2.95072639e+01] [-9.61362683e-03 9.99516827e-01 2.95582667e-02 2.42946076e+00] [ 9.38662896e-03 -2.94681261e-02 9.99521646e-01 1.32554608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39824100799999 meters Centerline goodness : 0.878430 with order 1 Centerline is valid? [False, False] Translation: X:29.52, Y:2.43, Z:1.32 [[ 9.99890988e-01 1.09594708e-02 -9.89451059e-03 2.95242331e+01] [-1.08160494e-02 9.99837323e-01 1.44340301e-02 2.43046558e+00] [ 1.00510903e-02 -1.43254371e-02 9.99846867e-01 1.31599600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.458241008 meters Centerline goodness : 0.880119 with order 1 Centerline is valid? [False, False] Translation: X:29.53, Y:2.43, Z:1.32 [[ 9.99831176e-01 1.49426596e-02 -1.06928097e-02 2.95269228e+01] [-1.47883979e-02 9.99787479e-01 1.43631740e-02 2.43274553e+00] [ 1.09051612e-02 -1.42026196e-02 9.99839669e-01 1.31652915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.518241008 meters Centerline goodness : 0.881316 with order 1 Centerline is valid? [False, False] Translation: X:29.53, Y:2.44, Z:1.32 [[ 9.99783877e-01 1.62803588e-02 -1.29286237e-02 2.95320490e+01] [-1.61468909e-02 9.99815941e-01 1.03615820e-02 2.43631125e+00] [ 1.30949343e-02 -1.01505855e-02 9.99862735e-01 1.31833214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.578241008 meters Centerline goodness : 0.882304 with order 1 Centerline is valid? [False, False] Translation: X:29.53, Y:2.44, Z:1.32 [[ 9.99747857e-01 1.76466395e-02 -1.38859473e-02 2.95339687e+01] [-1.75188551e-02 9.99803551e-01 9.27087835e-03 2.43942544e+00] [ 1.40468192e-02 -9.02527486e-03 9.99860606e-01 1.32019121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.638241008 meters Centerline goodness : 0.883825 with order 1 Centerline is valid? [False, False] Translation: X:29.54, Y:2.44, Z:1.32 [[ 9.99682535e-01 2.09361962e-02 -1.40180428e-02 2.95364324e+01] [-2.07862104e-02 9.99726029e-01 1.07610421e-02 2.44216897e+00] [ 1.42394975e-02 -1.04662438e-02 9.99843835e-01 1.31828832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.698241008 meters Centerline goodness : 0.885868 with order 1 Centerline is valid? [False, False] Translation: X:29.56, Y:2.44, Z:1.33 [[ 9.99716003e-01 2.11109734e-02 -1.10562337e-02 2.95612189e+01] [-2.07850936e-02 9.99368963e-01 2.88037451e-02 2.43669862e+00] [ 1.16573319e-02 -2.85657601e-02 9.99523939e-01 1.32599034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75824100799997 meters Centerline goodness : 0.888441 with order 1 Centerline is valid? [False, False] Translation: X:29.59, Y:2.43, Z:1.33 [[ 9.99806935e-01 1.90115054e-02 -4.96539233e-03 2.95870450e+01] [-1.87832518e-02 9.98917555e-01 4.25547598e-02 2.43486915e+00] [ 5.76904761e-03 -4.24532778e-02 9.99081797e-01 1.33050001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81824100799997 meters Centerline goodness : 0.888372 with order 1 Centerline is valid? [False, False] Translation: X:29.59, Y:2.44, Z:1.33 [[ 9.99791715e-01 1.89922601e-02 -7.47138195e-03 2.95942167e+01] [-1.86877890e-02 9.99068190e-01 3.89039573e-02 2.43554353e+00] [ 8.20329412e-03 -3.87562305e-02 9.99215022e-01 1.32821081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87824100799997 meters Centerline goodness : 0.888031 with order 1 Centerline is valid? [False, False] Translation: X:29.64, Y:2.43, Z:1.33 [[ 9.99800073e-01 1.87517887e-02 -6.94146267e-03 2.96358855e+01] [-1.84009914e-02 9.98699232e-01 4.75525718e-02 2.43045954e+00] [ 7.82412921e-03 -4.74153350e-02 9.98844617e-01 1.33317323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.93824100799998 meters Centerline goodness : 0.888900 with order 1 Centerline is valid? [False, False] Translation: X:29.64, Y:2.43, Z:1.33 [[ 9.99780149e-01 1.89339746e-02 -9.00883541e-03 2.96439770e+01] [-1.84858521e-02 9.98701818e-01 4.74652798e-02 2.43056220e+00] [ 9.89584670e-03 -4.72883085e-02 9.98832262e-01 1.32805948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99824100799998 meters Centerline goodness : 0.886145 with order 1 Centerline is valid? [False, False] Translation: X:29.65, Y:2.43, Z:1.33 [[ 9.99717786e-01 2.06233569e-02 -1.17908663e-02 2.96504622e+01] [-2.00724787e-02 9.98782109e-01 4.50709833e-02 2.42796855e+00] [ 1.27060212e-02 -4.48215917e-02 9.98914201e-01 1.32721941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05824100799998 meters Centerline goodness : 0.885736 with order 1 Centerline is valid? [False, False] Translation: X:29.69, Y:2.42, Z:1.33 [[ 9.99700105e-01 2.23199157e-02 -1.00757396e-02 2.96891174e+01] [-2.17514263e-02 9.98337063e-01 5.33852487e-02 2.42361406e+00] [ 1.12505385e-02 -5.31500770e-02 9.98523157e-01 1.33170113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11824100799998 meters Centerline goodness : 0.883868 with order 1 Centerline is valid? [False, False] Translation: X:29.70, Y:2.42, Z:1.33 [[ 9.99659739e-01 2.23136942e-02 -1.35094340e-02 2.96974862e+01] [-2.16363422e-02 9.98595402e-01 4.83641514e-02 2.42319949e+00] [ 1.45696416e-02 -4.80554003e-02 9.98738406e-01 1.33039665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.178241008 meters Centerline goodness : 0.880286 with order 1 Centerline is valid? [False, False] Translation: X:29.74, Y:2.41, Z:1.34 [[ 9.99623197e-01 2.38321548e-02 -1.36195521e-02 2.97391198e+01] [-2.29579825e-02 9.97868203e-01 6.10899357e-02 2.41452940e+00] [ 1.50464228e-02 -6.07542394e-02 9.98039342e-01 1.33820880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.238241008 meters Centerline goodness : 0.882170 with order 1 Centerline is valid? [False, False] Translation: X:29.78, Y:2.41, Z:1.34 [[ 9.99638916e-01 2.23891857e-02 -1.48580776e-02 2.97784132e+01] [-2.13491918e-02 9.97537710e-01 6.68036641e-02 2.40911507e+00] [ 1.63171724e-02 -6.64623344e-02 9.97655506e-01 1.34295778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.298241008 meters Centerline goodness : 0.880592 with order 1 Centerline is valid? [False, False] Translation: X:29.82, Y:2.38, Z:1.38 [[ 9.99850775e-01 1.69941819e-02 -3.10254797e-03 2.98188790e+01] [-1.65096565e-02 9.92880341e-01 1.17966347e-01 2.38429611e+00] [ 5.08520044e-03 -1.17897521e-01 9.93012747e-01 1.38200097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.358241008 meters Centerline goodness : 0.878617 with order 1 Centerline is valid? [False, False] Translation: X:29.85, Y:2.37, Z:1.40 [[ 9.99956162e-01 8.68327458e-03 3.50358950e-03 2.98526898e+01] [-9.08345149e-03 9.90407292e-01 1.37879975e-01 2.37257278e+00] [-2.27273091e-03 -1.37905755e-01 9.90442748e-01 1.39727837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.418241008 meters Centerline goodness : 0.880829 with order 1 Centerline is valid? [False, False] Translation: X:29.88, Y:2.37, Z:1.42 [[ 9.99883511e-01 1.40057648e-03 1.51988046e-02 2.98806205e+01] [-3.94141884e-03 9.85700382e-01 1.68461337e-01 2.36521379e+00] [-1.47455245e-02 -1.68501618e-01 9.85591079e-01 1.41770426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47824100799997 meters Centerline goodness : 0.876664 with order 1 Centerline is valid? [False, False] Translation: X:29.89, Y:2.35, Z:1.45 [[ 9.99574433e-01 -6.48310440e-03 2.84415690e-02 2.98947408e+01] [ 2.26904777e-04 9.76689546e-01 2.14656656e-01 2.34904506e+00] [-2.91702246e-02 -2.14558851e-01 9.76275370e-01 1.45396220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53824100799997 meters Centerline goodness : 0.877325 with order 1 Centerline is valid? [False, False] Translation: X:29.88, Y:2.35, Z:1.46 [[ 9.99417327e-01 -5.29585215e-03 3.37188566e-02 2.98845906e+01] [-2.19894745e-03 9.75847484e-01 2.18441872e-01 2.34741689e+00] [-3.40612973e-02 -2.18388738e-01 9.75267239e-01 1.46085151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59824100799997 meters Centerline goodness : 0.878238 with order 1 Centerline is valid? [False, False] Translation: X:29.88, Y:2.35, Z:1.47 [[ 9.99287257e-01 -4.92576087e-03 3.74261158e-02 2.98783159e+01] [-3.47351285e-03 9.75245272e-01 2.21098609e-01 2.34546135e+00] [-3.75887213e-02 -2.21071023e-01 9.74533063e-01 1.46562068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65824100799998 meters Centerline goodness : 0.879823 with order 1 Centerline is valid? [False, False] Translation: X:29.87, Y:2.35, Z:1.47 [[ 9.99184277e-01 -1.19281726e-03 4.03653089e-02 2.98706264e+01] [-7.94241196e-03 9.74235781e-01 2.25392018e-01 2.34607337e+00] [-3.95941797e-02 -2.25528758e-01 9.73431600e-01 1.47153216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71824100799998 meters Centerline goodness : 0.877811 with order 1 Centerline is valid? [False, False] Translation: X:29.86, Y:2.35, Z:1.48 [[ 9.99083339e-01 4.63524709e-03 4.25558032e-02 2.98644497e+01] [-1.43372634e-02 9.72937732e-01 2.30622229e-01 2.34929464e+00] [-4.03351557e-02 -2.31020961e-01 9.72112335e-01 1.47564958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77824100799998 meters Centerline goodness : 0.876564 with order 1 Centerline is valid? [False, False] Translation: X:29.85, Y:2.35, Z:1.48 [[ 9.98777493e-01 1.26714018e-02 4.77802757e-02 2.98530501e+01] [-2.38193462e-02 9.70338570e-01 2.40573685e-01 2.35058603e+00] [-4.33146385e-02 -2.41417677e-01 9.69454149e-01 1.48443762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83824100799998 meters Centerline goodness : 0.876463 with order 1 Centerline is valid? [False, False] Translation: X:29.85, Y:2.36, Z:1.48 [[ 9.98492319e-01 2.21620047e-02 5.02188631e-02 2.98546486e+01] [-3.30566387e-02 9.73146336e-01 2.27801377e-01 2.35860568e+00] [-4.38217674e-02 -2.29117992e-01 9.72411743e-01 1.47555798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89824100799999 meters Centerline goodness : 0.875532 with order 1 Centerline is valid? [False, False] Translation: X:29.88, Y:2.36, Z:1.47 [[ 0.99838746 0.03152987 0.04720546 29.87644338] [-0.04086829 0.97636843 0.21221327 2.36192674] [-0.03939887 -0.21380027 0.97608256 1.47105823] [ 0. 0. 0. 1. ]] SLAMing on 173.958241008 meters Centerline goodness : 0.877801 with order 1 Centerline is valid? [False, False] Translation: X:29.90, Y:2.36, Z:1.47 [[ 0.99823624 0.03974384 0.0441003 29.9036598 ] [-0.04771554 0.97910317 0.19768716 2.36364389] [-0.0353219 -0.19944275 0.97927266 1.46576013] [ 0. 0. 0. 1. ]] SLAMing on 174.018241008 meters Centerline goodness : 0.877681 with order 1 Centerline is valid? [False, False] Translation: X:29.92, Y:2.37, Z:1.45 [[ 0.99797745 0.04159159 0.0480745 29.91548846] [-0.04974608 0.9818027 0.18327246 2.36748056] [-0.03957708 -0.1852933 0.98188597 1.45469191] [ 0. 0. 0. 1. ]] SLAMing on 174.078241008 meters Centerline goodness : 0.874186 with order 1 Centerline is valid? [False, False] Translation: X:29.92, Y:2.37, Z:1.44 [[ 0.99764834 0.04779363 0.04912804 29.92077174] [-0.05535613 0.98451128 0.16635278 2.37298107] [-0.04041651 -0.16868111 0.98484171 1.44215243] [ 0. 0. 0. 1. ]] SLAMing on 174.138241008 meters Centerline goodness : 0.874646 with order 1 Centerline is valid? [False, False] Translation: X:29.95, Y:2.37, Z:1.43 [[ 0.99743507 0.05539506 0.04532847 29.9468556 ] [-0.06153999 0.98709237 0.14785631 2.37348756] [-0.03655287 -0.15026659 0.98796955 1.43435257] [ 0. 0. 0. 1. ]] SLAMing on 174.198241008 meters Centerline goodness : 0.873026 with order 1 Centerline is valid? [False, False] Translation: X:29.95, Y:2.38, Z:1.42 [[ 0.99724457 0.05753601 0.04682815 29.9502382 ] [-0.06306036 0.98994565 0.12661359 2.3781677 ] [-0.03907248 -0.12921772 0.99084617 1.42188704] [ 0. 0. 0. 1. ]] SLAMing on 174.25824100799997 meters Centerline goodness : 0.873318 with order 1 Centerline is valid? [False, False] Translation: X:29.97, Y:2.38, Z:1.41 [[ 0.99714484 0.05805535 0.04828807 29.96857107] [-0.06320117 0.99158979 0.11293938 2.38047897] [-0.04132522 -0.11566878 0.99242781 1.41027651] [ 0. 0. 0. 1. ]] SLAMing on 174.31824100799997 meters Centerline goodness : 0.870724 with order 1 Centerline is valid? [False, False] Translation: X:29.99, Y:2.38, Z:1.40 [[ 0.99742627 0.05609783 0.04465276 29.9928253 ] [-0.06032054 0.99319325 0.09964233 2.37930426] [-0.03875911 -0.10207936 0.99402089 1.40105738] [ 0. 0. 0. 1. ]] SLAMing on 174.37824100799997 meters Centerline goodness : 0.871383 with order 1 Centerline is valid? [False, False] Translation: X:30.02, Y:2.38, Z:1.39 [[ 0.99763762 0.05425724 0.04213456 30.01702113] [-0.05775233 0.99455723 0.08672134 2.37949156] [-0.03719997 -0.08894984 0.99534119 1.39163186] [ 0. 0. 0. 1. ]] SLAMing on 174.43824100799998 meters Centerline goodness : 0.868631 with order 1 Centerline is valid? [False, False] Translation: X:30.05, Y:2.37, Z:1.39 [[ 0.99795293 0.0516533 0.037708 30.05221109] [-0.05466003 0.99499724 0.0836228 2.37470057] [-0.03319996 -0.08551274 0.99578378 1.38861912] [ 0. 0. 0. 1. ]] SLAMing on 174.49824100799998 meters Centerline goodness : 0.871707 with order 1 Centerline is valid? [False, False] Translation: X:30.09, Y:2.37, Z:1.38 [[ 0.9979503 0.05345421 0.03518304 30.09185415] [-0.05580742 0.99600558 0.06970235 2.37112557] [-0.03131662 -0.07152296 0.99694721 1.38333274] [ 0. 0. 0. 1. ]] SLAMing on 174.55824100799998 meters Centerline goodness : 0.867060 with order 1 Centerline is valid? [False, False] Translation: X:30.11, Y:2.37, Z:1.38 [[ 0.99790901 0.05237827 0.0378698 30.11231361] [-0.0545398 0.99679661 0.05849724 2.37272765] [-0.0346845 -0.06044033 0.99756902 1.37521201] [ 0. 0. 0. 1. ]] SLAMing on 174.61824100799998 meters Centerline goodness : 0.864887 with order 1 Centerline is valid? [False, False] Translation: X:30.13, Y:2.37, Z:1.37 [[ 0.997657 0.05395551 0.04206321 30.12702986] [-0.05596515 0.99727051 0.04816047 2.37387259] [-0.03934988 -0.0504017 0.99795353 1.36940313] [ 0. 0. 0. 1. ]] SLAMing on 174.678241008 meters Centerline goodness : 0.865956 with order 1 Centerline is valid? [False, False] Translation: X:30.14, Y:2.38, Z:1.36 [[ 0.99727354 0.05826196 0.04528824 30.1445491 ] [-0.06009982 0.997377 0.04033771 2.37529033] [-0.04281929 -0.04294954 0.99815923 1.36076196] [ 0. 0. 0. 1. ]] SLAMing on 174.738241008 meters Centerline goodness : 0.863968 with order 1 Centerline is valid? [False, False] Translation: X:30.17, Y:2.38, Z:1.35 [[ 0.99700949 0.06093551 0.04752823 30.16593543] [-0.06253873 0.9974966 0.03300656 2.37564057] [-0.04539797 -0.03588021 0.99832441 1.35350628] [ 0. 0. 0. 1. ]] SLAMing on 174.798241008 meters Centerline goodness : 0.865037 with order 1 Centerline is valid? [False, False] Translation: X:30.17, Y:2.37, Z:1.35 [[ 0.99702801 0.06093217 0.04714244 30.16701904] [-0.06253607 0.99748604 0.03332919 2.37460216] [-0.04499311 -0.03617824 0.99833199 1.35378003] [ 0. 0. 0. 1. ]] SLAMing on 174.858241008 meters Centerline goodness : 0.862302 with order 1 Centerline is valid? [False, False] Translation: X:30.20, Y:2.37, Z:1.35 [[ 0.99714269 0.05841806 0.04789347 30.19953744] [-0.05998209 0.99768973 0.03189583 2.37123968] [-0.04591953 -0.03467744 0.99834306 1.35484745] [ 0. 0. 0. 1. ]] SLAMing on 174.918241008 meters Centerline goodness : 0.862981 with order 1 Centerline is valid? [False, False] Translation: X:30.24, Y:2.36, Z:1.37 [[ 0.99731337 0.0499904 0.05354446 30.23536939] [-0.05285493 0.9971686 0.05348962 2.36111459] [-0.05071888 -0.056176 0.99713181 1.36879509] [ 0. 0. 0. 1. ]] SLAMing on 174.97824100799997 meters Centerline goodness : 0.862746 with order 1 Centerline is valid? [False, False] Translation: X:30.28, Y:2.34, Z:1.40 [[ 0.99741707 0.03416162 0.06318357 30.27503959] [-0.04021087 0.99446291 0.09709068 2.34462507] [-0.05951695 -0.09938056 0.99326796 1.39958556] [ 0. 0. 0. 1. ]] SLAMing on 175.03824100799997 meters Centerline goodness : 0.859583 with order 1 Centerline is valid? [False, False] Translation: X:30.30, Y:2.34, Z:1.41 [[ 9.97521912e-01 2.51892806e-02 6.56927305e-02 3.02974854e+01] [-3.23239172e-02 9.93415629e-01 1.09911562e-01 2.34150689e+00] [-6.24915920e-02 -1.11762638e-01 9.91768075e-01 1.41150317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09824100799997 meters Centerline goodness : 0.865429 with order 1 Centerline is valid? [False, False] Translation: X:30.32, Y:2.33, Z:1.43 [[ 9.97179821e-01 9.96192224e-03 7.43852431e-02 3.03178956e+01] [-2.00755411e-02 9.90439112e-01 1.36482004e-01 2.33353576e+00] [-7.23144310e-02 -1.37590425e-01 9.87845888e-01 1.42984326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.15824100799998 meters Centerline goodness : 0.865060 with order 1 Centerline is valid? [False, False] Translation: X:30.33, Y:2.34, Z:1.43 [[ 9.98276751e-01 1.75508357e-03 5.86553400e-02 3.03278816e+01] [-9.56760619e-03 9.91045609e-01 1.33180559e-01 2.33839760e+00] [-5.78963742e-02 -1.33512247e-01 9.89354582e-01 1.43068703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21824100799998 meters Centerline goodness : 0.867185 with order 1 Centerline is valid? [False, False] Translation: X:30.37, Y:2.34, Z:1.42 [[ 9.98305388e-01 6.27692021e-03 5.78528568e-02 3.03654977e+01] [-1.29766242e-02 9.93144615e-01 1.16169619e-01 2.34109124e+00] [-5.67270658e-02 -1.16723491e-01 9.91543074e-01 1.41953928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27824100799998 meters Centerline goodness : 0.865901 with order 1 Centerline is valid? [False, False] Translation: X:30.37, Y:2.35, Z:1.42 [[ 9.99105252e-01 1.85131871e-03 4.22524250e-02 3.03744309e+01] [-6.50230572e-03 9.93887459e-01 1.10206346e-01 2.34917562e+00] [-4.17901282e-02 -1.10382477e-01 9.93010218e-01 1.41915765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33824100799998 meters Centerline goodness : 0.864904 with order 1 Centerline is valid? [False, False] Translation: X:30.38, Y:2.36, Z:1.42 [[ 9.99556643e-01 8.30759088e-04 2.97628358e-02 3.03770667e+01] [-3.97848440e-03 9.94373292e-01 1.05858053e-01 2.35780620e+00] [-2.95074265e-02 -1.05929532e-01 9.93935735e-01 1.41833195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39824100799999 meters Centerline goodness : 0.867096 with order 1 Centerline is valid? [False, False] Translation: X:30.38, Y:2.36, Z:1.42 [[ 9.99626330e-01 3.44289763e-03 2.71172653e-02 3.03833045e+01] [-6.22952106e-03 9.94624650e-01 1.03358595e-01 2.36006540e+00] [-2.66156474e-02 -1.03488900e-01 9.94274436e-01 1.41646734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.458241008 meters Centerline goodness : 0.871804 with order 1 Centerline is valid? [False, False] Translation: X:30.39, Y:2.36, Z:1.43 [[ 9.99571675e-01 7.39047002e-03 2.83169243e-02 3.03901051e+01] [-1.06609877e-02 9.93057285e-01 1.17147652e-01 2.36250830e+00] [-2.72545517e-02 -1.17399361e-01 9.92710723e-01 1.42631094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.518241008 meters Centerline goodness : 0.869757 with order 1 Centerline is valid? [False, False] Translation: X:30.41, Y:2.37, Z:1.42 [[ 9.99402363e-01 1.30420768e-02 3.20128385e-02 3.04097944e+01] [-1.65809394e-02 9.93468390e-01 1.12896546e-01 2.36789721e+00] [-3.03313377e-02 -1.13359878e-01 9.93090906e-01 1.41940815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.578241008 meters Centerline goodness : 0.870557 with order 1 Centerline is valid? [False, False] Translation: X:30.44, Y:2.37, Z:1.41 [[ 9.99342407e-01 2.32513913e-02 2.78231438e-02 3.04404088e+01] [-2.59464514e-02 9.94569437e-01 1.00788973e-01 2.37238218e+00] [-2.53285646e-02 -1.01444607e-01 9.94518706e-01 1.41387738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.638241008 meters Centerline goodness : 0.869690 with order 1 Centerline is valid? [False, False] Translation: X:30.48, Y:2.37, Z:1.41 [[ 9.99198169e-01 2.97551911e-02 2.67889317e-02 3.04788878e+01] [-3.20744505e-02 9.95354793e-01 9.07748081e-02 2.37454098e+00] [-2.39634698e-02 -9.15612624e-02 9.95511068e-01 1.40949151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.698241008 meters Centerline goodness : 0.871648 with order 1 Centerline is valid? [False, False] Translation: X:30.51, Y:2.37, Z:1.41 [[ 9.99061247e-01 3.61800792e-02 2.38248956e-02 3.05124996e+01] [-3.79137253e-02 9.96320822e-01 7.68594100e-02 2.37383211e+00] [-2.09564600e-02 -7.76905486e-02 9.96757245e-01 1.40508818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75824100799997 meters Centerline goodness : 0.872172 with order 1 Centerline is valid? [False, False] Translation: X:30.53, Y:2.38, Z:1.40 [[ 9.98974284e-01 3.61657971e-02 2.72473012e-02 3.05314197e+01] [-3.78790192e-02 9.97150892e-01 6.52324883e-02 2.37760680e+00] [-2.48104858e-02 -6.61976793e-02 9.97498024e-01 1.39599385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81824100799997 meters Centerline goodness : 0.868306 with order 1 Centerline is valid? [False, False] Translation: X:30.55, Y:2.38, Z:1.39 [[ 9.98850062e-01 3.66130070e-02 3.09522387e-02 3.05471652e+01] [-3.81980058e-02 9.97902166e-01 5.22702564e-02 2.38060910e+00] [-2.89735348e-02 -5.33924626e-02 9.98153184e-01 1.38654235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87824100799997 meters Centerline goodness : 0.867576 with order 1 Centerline is valid? [False, False] Translation: X:30.57, Y:2.39, Z:1.37 [[ 0.99875835 0.03694588 0.03341797 30.56549671] [-0.03822919 0.99852263 0.03861459 2.38519395] [-0.03194195 -0.03984418 0.99869523 1.37496206] [ 0. 0. 0. 1. ]] SLAMing on 175.93824100799998 meters Centerline goodness : 0.870030 with order 1 Centerline is valid? [False, False] Translation: X:30.59, Y:2.39, Z:1.37 [[ 0.99870336 0.03929818 0.03236125 30.58914351] [-0.04035766 0.99864798 0.03276388 2.38581425] [-0.03102994 -0.03402742 0.99893908 1.37054841] [ 0. 0. 0. 1. ]] SLAMing on 175.99824100799998 meters Centerline goodness : 0.869936 with order 1 Centerline is valid? [False, False] Translation: X:30.62, Y:2.39, Z:1.37 [[ 9.98644181e-01 3.80519209e-02 3.55225421e-02 3.06161984e+01] [-3.90550496e-02 9.98845084e-01 2.79857185e-02 2.38532225e+00] [-3.44166062e-02 -2.93351096e-02 9.98976951e-01 1.36682595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05824100799998 meters Centerline goodness : 0.865772 with order 1 Centerline is valid? [False, False] Translation: X:30.62, Y:2.38, Z:1.37 [[ 9.98700972e-01 3.71990907e-02 3.48223416e-02 3.06189051e+01] [-3.81956257e-02 9.98866521e-01 2.84036679e-02 2.38328897e+00] [-3.37262805e-02 -2.96968319e-02 9.98989808e-01 1.36689783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11824100799998 meters Centerline goodness : 0.868989 with order 1 Centerline is valid? [False, False] Translation: X:30.66, Y:2.37, Z:1.38 [[ 9.98809192e-01 3.65998729e-02 3.22590644e-02 3.06647820e+01] [-3.79508513e-02 9.98383396e-01 4.23122556e-02 2.37418362e+00] [-3.06582911e-02 -4.34861288e-02 9.98583510e-01 1.37707734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.178241008 meters Centerline goodness : 0.869027 with order 1 Centerline is valid? [False, False] Translation: X:30.70, Y:2.37, Z:1.38 [[ 9.98942863e-01 3.50200035e-02 2.97784298e-02 3.06956073e+01] [-3.61363874e-02 9.98631092e-01 3.78167005e-02 2.37270810e+00] [-2.84133249e-02 -3.88528080e-02 9.98840899e-01 1.37606260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.238241008 meters Centerline goodness : 0.872169 with order 1 Centerline is valid? [False, False] Translation: X:30.73, Y:2.37, Z:1.38 [[ 9.99066344e-01 3.45195481e-02 2.59777014e-02 3.07309972e+01] [-3.54780080e-02 9.98670897e-01 3.73865115e-02 2.37072013e+00] [-2.46526089e-02 -3.82732424e-02 9.98963166e-01 1.37552374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.298241008 meters Centerline goodness : 0.871780 with order 1 Centerline is valid? [False, False] Translation: X:30.75, Y:2.37, Z:1.37 [[ 9.99226557e-01 3.13566610e-02 2.37286229e-02 3.07459393e+01] [-3.22950798e-02 9.98667338e-01 4.02563694e-02 2.37066595e+00] [-2.24346954e-02 -4.09915512e-02 9.98907592e-01 1.37366481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.358241008 meters Centerline goodness : 0.868027 with order 1 Centerline is valid? [False, False] Translation: X:30.78, Y:2.37, Z:1.37 [[ 9.99302702e-01 3.05999709e-02 2.13951145e-02 3.07769010e+01] [-3.13739010e-02 9.98829100e-01 3.68253520e-02 2.36966948e+00] [-2.02432083e-02 -3.74709220e-02 9.99092660e-01 1.37224281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.418241008 meters Centerline goodness : 0.870315 with order 1 Centerline is valid? [False, False] Translation: X:30.82, Y:2.35, Z:1.41 [[ 9.99226556e-01 2.68892841e-02 2.86924370e-02 3.08235103e+01] [-2.90682794e-02 9.96494585e-01 7.84447417e-02 2.35319342e+00] [-2.64825351e-02 -7.92181089e-02 9.96505477e-01 1.40543354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47824100799997 meters Centerline goodness : 0.865171 with order 1 Centerline is valid? [False, False] Translation: X:30.84, Y:2.36, Z:1.40 [[ 9.99072002e-01 2.81453175e-02 3.26033254e-02 3.08408537e+01] [-3.02695243e-02 9.97320181e-01 6.66048932e-02 2.36007821e+00] [-3.06413386e-02 -6.75299711e-02 9.97246615e-01 1.39511166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53824100799997 meters Centerline goodness : 0.864373 with order 1 Centerline is valid? [False, False] Translation: X:30.86, Y:2.37, Z:1.39 [[ 0.99882277 0.03111116 0.03721783 30.8557805 ] [-0.03316469 0.99788573 0.05589427 2.36694629] [-0.03540021 -0.05706278 0.99774278 1.38521822] [ 0. 0. 0. 1. ]] SLAMing on 176.59824100799997 meters Centerline goodness : 0.856697 with order 1 Centerline is valid? [False, False] Translation: X:30.87, Y:2.37, Z:1.38 [[ 0.99849494 0.03553899 0.04177122 30.86798103] [-0.03743296 0.99826414 0.04546962 2.37387803] [-0.04008276 -0.0469648 0.99809202 1.37698614] [ 0. 0. 0. 1. ]] SLAMing on 176.65824100799998 meters Centerline goodness : 0.855325 with order 1 Centerline is valid? [False, False] Translation: X:30.88, Y:2.38, Z:1.37 [[ 0.99822251 0.03744645 0.04636364 30.8843401 ] [-0.03914978 0.99857043 0.03639213 2.37878834] [-0.04493461 -0.03814257 0.9982615 1.37090373] [ 0. 0. 0. 1. ]] SLAMing on 176.71824100799998 meters Centerline goodness : 0.850428 with order 1 Centerline is valid? [False, False] Translation: X:30.90, Y:2.38, Z:1.36 [[ 9.97975026e-01 4.00399208e-02 4.94231983e-02 3.09037056e+01] [-4.15082006e-02 9.98715817e-01 2.90480045e-02 2.38242314e+00] [-4.81966501e-02 -3.10406511e-02 9.98355428e-01 1.36470930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77824100799998 meters Centerline goodness : 0.847959 with order 1 Centerline is valid? [False, False] Translation: X:30.91, Y:2.38, Z:1.36 [[ 9.98071664e-01 3.88933456e-02 4.83762503e-02 3.09075787e+01] [-4.02561398e-02 9.98810267e-01 2.75225862e-02 2.38499481e+00] [-4.72482500e-02 -2.94169545e-02 9.98449921e-01 1.36190474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83824100799998 meters Centerline goodness : 0.845977 with order 1 Centerline is valid? [False, False] Translation: X:30.94, Y:2.38, Z:1.36 [[ 9.98279291e-01 4.10366613e-02 4.18861432e-02 3.09385638e+01] [-4.21260430e-02 9.98787723e-01 2.54652934e-02 2.38386309e+00] [-4.07903550e-02 -2.71859725e-02 9.98797812e-01 1.35937966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89824100799999 meters Centerline goodness : 0.842379 with order 1 Centerline is valid? [False, False] Translation: X:30.98, Y:2.38, Z:1.36 [[ 9.98495260e-01 4.19540120e-02 3.53139696e-02 3.09750743e+01] [-4.28218234e-02 9.98789905e-01 2.41871427e-02 2.38291430e+00] [-3.42564887e-02 -2.56629559e-02 9.99083533e-01 1.35571451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.958241008 meters Centerline goodness : 0.841531 with order 1 Centerline is valid? [False, False] Translation: X:30.98, Y:2.38, Z:1.36 [[ 9.98572065e-01 4.09702355e-02 3.42822256e-02 3.09786157e+01] [-4.17985487e-02 9.98842457e-01 2.38039505e-02 2.38320556e+00] [-3.32672890e-02 -2.52029072e-02 9.99128671e-01 1.35506129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.018241008 meters Centerline goodness : 0.837006 with order 1 Centerline is valid? [False, False] Translation: X:31.02, Y:2.38, Z:1.36 [[ 9.98663337e-01 3.91566922e-02 3.37386085e-02 3.10176079e+01] [-4.01883439e-02 9.98727665e-01 3.04622469e-02 2.37695261e+00] [-3.25028809e-02 -3.17774279e-02 9.98966345e-01 1.36142277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.078241008 meters Centerline goodness : 0.832020 with order 1 Centerline is valid? [False, False] Translation: X:31.03, Y:2.37, Z:1.37 [[ 0.99875925 0.03690193 0.03343965 31.0283953 ] [-0.0382066 0.99849852 0.03925496 2.37201257] [-0.03194086 -0.04048387 0.99866953 1.36994399] [ 0. 0. 0. 1. ]] SLAMing on 177.138241008 meters Centerline goodness : 0.830050 with order 1 Centerline is valid? [False, False] Translation: X:31.06, Y:2.37, Z:1.37 [[ 0.99880573 0.03582289 0.03322405 31.05995774] [-0.03703762 0.99863985 0.0366969 2.37331195] [-0.03186427 -0.03788361 0.998774 1.36764124] [ 0. 0. 0. 1. ]] SLAMing on 177.198241008 meters Centerline goodness : 0.832743 with order 1 Centerline is valid? [False, False] Translation: X:31.07, Y:2.37, Z:1.37 [[ 9.98813996e-01 3.73608928e-02 3.12212215e-02 3.10668425e+01] [-3.87053441e-02 9.98297764e-01 4.36287726e-02 2.36837015e+00] [-2.95380657e-02 -4.47854568e-02 9.98559846e-01 1.37292957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25824100799997 meters Centerline goodness : 0.833475 with order 1 Centerline is valid? [False, False] Translation: X:31.09, Y:2.37, Z:1.37 [[ 9.98765313e-01 3.76784500e-02 3.23756688e-02 3.10949629e+01] [-3.88969547e-02 9.98525389e-01 3.78691833e-02 2.37217660e+00] [-3.09010751e-02 -3.90817417e-02 9.98758099e-01 1.36705463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31824100799997 meters Centerline goodness : 0.840723 with order 1 Centerline is valid? [False, False] Translation: X:31.10, Y:2.37, Z:1.37 [[ 9.98744341e-01 3.97185880e-02 3.05315335e-02 3.11012999e+01] [-4.09822840e-02 9.98279135e-01 4.19430790e-02 2.37185035e+00] [-2.88130729e-02 -4.31416648e-02 9.98653395e-01 1.36718026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37824100799997 meters Centerline goodness : 0.841070 with order 1 Centerline is valid? [False, False] Translation: X:31.13, Y:2.37, Z:1.37 [[ 9.98816837e-01 3.89166406e-02 2.91619705e-02 3.11322190e+01] [-4.00082084e-02 9.98482868e-01 3.78326012e-02 2.37278146e+00] [-2.76454102e-02 -3.89545572e-02 9.98858485e-01 1.36549246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43824100799998 meters Centerline goodness : 0.844227 with order 1 Centerline is valid? [False, False] Translation: X:31.17, Y:2.37, Z:1.36 [[ 9.98847002e-01 3.80921989e-02 2.92173094e-02 3.11661663e+01] [-3.91820371e-02 9.98521296e-01 3.76827472e-02 2.37289871e+00] [-2.77386869e-02 -3.87840928e-02 9.98862533e-01 1.36474447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49824100799998 meters Centerline goodness : 0.844424 with order 1 Centerline is valid? [False, False] Translation: X:31.19, Y:2.38, Z:1.36 [[ 0.99872069 0.03856013 0.03271246 31.19104815] [-0.03965984 0.99864605 0.03366253 2.37615994] [-0.03137013 -0.03491684 0.99889776 1.36211399] [ 0. 0. 0. 1. ]] SLAMing on 177.55824100799998 meters Centerline goodness : 0.847681 with order 1 Centerline is valid? [False, False] Translation: X:31.19, Y:2.38, Z:1.36 [[ 9.98728565e-01 3.86187838e-02 3.24012865e-02 3.11906613e+01] [-3.97176120e-02 9.98632863e-01 3.39840505e-02 2.37714837e+00] [-3.10445668e-02 -3.52277437e-02 9.98897012e-01 1.36470192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61824100799998 meters Centerline goodness : 0.850968 with order 1 Centerline is valid? [False, False] Translation: X:31.22, Y:2.38, Z:1.36 [[ 9.98584980e-01 4.01414284e-02 3.48812628e-02 3.12159757e+01] [-4.11836178e-02 9.98710325e-01 2.96916753e-02 2.38198164e+00] [-3.36444110e-02 -3.10861976e-02 9.98950300e-01 1.36114050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.678241008 meters Centerline goodness : 0.848718 with order 1 Centerline is valid? [False, False] Translation: X:31.23, Y:2.39, Z:1.36 [[ 9.98324273e-01 4.34586262e-02 3.82098627e-02 3.12343478e+01] [-4.43453977e-02 9.98758902e-01 2.26746993e-02 2.38544800e+00] [-3.71770292e-02 -2.43311343e-02 9.99012445e-01 1.35559402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.738241008 meters Centerline goodness : 0.855027 with order 1 Centerline is valid? [False, False] Translation: X:31.24, Y:2.39, Z:1.36 [[ 9.98229980e-01 4.64975132e-02 3.70794741e-02 3.12376063e+01] [-4.75044524e-02 9.98512678e-01 2.67536730e-02 2.38623860e+00] [-3.57803457e-02 -2.84677586e-02 9.98954130e-01 1.35652083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.798241008 meters Centerline goodness : 0.855101 with order 1 Centerline is valid? [False, False] Translation: X:31.24, Y:2.38, Z:1.36 [[ 0.99816446 0.04893361 0.03568211 31.24183384] [-0.05009299 0.99822032 0.0323557 2.38415109] [-0.03403532 -0.03408373 0.99883927 1.35998245] [ 0. 0. 0. 1. ]] SLAMing on 177.858241008 meters Centerline goodness : 0.855585 with order 1 Centerline is valid? [False, False] Translation: X:31.26, Y:2.38, Z:1.37 [[ 0.99823037 0.04596574 0.03772639 31.2599057 ] [-0.04766424 0.99782977 0.04542993 2.37962805] [-0.0355563 -0.04714773 0.9982549 1.36821059] [ 0. 0. 0. 1. ]] SLAMing on 177.918241008 meters Centerline goodness : 0.858120 with order 1 Centerline is valid? [False, False] Translation: X:31.28, Y:2.37, Z:1.38 [[ 0.99832956 0.04201909 0.0396545 31.27968036] [-0.04434466 0.99723013 0.05971287 2.37448131] [-0.03703558 -0.06137159 0.99742764 1.37863102] [ 0. 0. 0. 1. ]] SLAMing on 177.97824100799997 meters Centerline goodness : 0.854652 with order 1 Centerline is valid? [False, False] Translation: X:31.30, Y:2.37, Z:1.40 [[ 0.99819049 0.03929417 0.04551617 31.30385121] [-0.04319288 0.99517434 0.08810449 2.36613142] [-0.04183454 -0.08991104 0.99507079 1.40006318] [ 0. 0. 0. 1. ]] SLAMing on 178.03824100799997 meters Centerline goodness : 0.855844 with order 1 Centerline is valid? [False, False] Translation: X:31.31, Y:2.37, Z:1.41 [[ 0.99823912 0.03508965 0.04782659 31.31200434] [-0.03956686 0.9945819 0.09613175 2.36625422] [-0.04419423 -0.09785483 0.99421894 1.41022102] [ 0. 0. 0. 1. ]] SLAMing on 178.09824100799997 meters Centerline goodness : 0.853283 with order 1 Centerline is valid? [False, False] Translation: X:31.31, Y:2.37, Z:1.41 [[ 0.99825038 0.0345296 0.04799889 31.31317742] [-0.03895999 0.99474693 0.09466083 2.37142342] [-0.04447815 -0.09636524 0.99435177 1.40833171] [ 0. 0. 0. 1. ]] SLAMing on 178.15824100799998 meters Centerline goodness : 0.853338 with order 1 Centerline is valid? [False, False] Translation: X:31.32, Y:2.37, Z:1.42 [[ 0.99810364 0.03518405 0.05050956 31.32352237] [-0.04051733 0.9932401 0.10877709 2.37085536] [-0.0463409 -0.11061732 0.99278212 1.41771266] [ 0. 0. 0. 1. ]] SLAMing on 178.21824100799998 meters Centerline goodness : 0.850274 with order 1 Centerline is valid? [False, False] Translation: X:31.34, Y:2.38, Z:1.41 [[ 0.9978834 0.03627391 0.05397141 31.33965898] [-0.04133493 0.99453999 0.09582085 2.37817508] [-0.05020093 -0.09784894 0.99393433 1.4078221 ] [ 0. 0. 0. 1. ]] SLAMing on 178.27824100799998 meters Centerline goodness : 0.849643 with order 1 Centerline is valid? [False, False] Translation: X:31.36, Y:2.37, Z:1.43 [[ 0.99758922 0.03429517 0.06032907 31.36183231] [-0.04155105 0.99147994 0.12345462 2.37225518] [-0.05558117 -0.12566374 0.99051469 1.42703472] [ 0. 0. 0. 1. ]] SLAMing on 178.33824100799998 meters Centerline goodness : 0.848886 with order 1 Centerline is valid? [False, False] Translation: X:31.39, Y:2.38, Z:1.43 [[ 0.99732884 0.03241124 0.06545756 31.38543619] [-0.04003604 0.99211616 0.11875452 2.3764617 ] [-0.06109253 -0.12105797 0.99076368 1.42552567] [ 0. 0. 0. 1. ]] SLAMing on 178.39824100799999 meters Centerline goodness : 0.848579 with order 1 Centerline is valid? [False, False] Translation: X:31.42, Y:2.37, Z:1.43 [[ 9.97218421e-01 2.61929172e-02 6.97807458e-02 3.14215506e+01] [-3.46676966e-02 9.91782174e-01 1.23151411e-01 2.37492686e+00] [-6.59816050e-02 -1.25227994e-01 9.89931501e-01 1.43289207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.458241008 meters Centerline goodness : 0.852772 with order 1 Centerline is valid? [False, False] Translation: X:31.44, Y:2.38, Z:1.45 [[ 9.97102934e-01 1.99973288e-02 7.33883197e-02 3.14371983e+01] [-2.99225181e-02 9.90154441e-01 1.36743649e-01 2.37614107e+00] [-6.99312629e-02 -1.38543457e-01 9.87884269e-01 1.44500136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.518241008 meters Centerline goodness : 0.856426 with order 1 Centerline is valid? [False, False] Translation: X:31.45, Y:2.37, Z:1.46 [[ 9.96506768e-01 1.04107459e-02 8.28605922e-02 3.14469990e+01] [-2.34905241e-02 9.87081820e-01 1.58485570e-01 2.37365123e+00] [-8.01402312e-02 -1.59878382e-01 9.83878268e-01 1.45743649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.578241008 meters Centerline goodness : 0.854503 with order 1 Centerline is valid? [False, False] Translation: X:31.41, Y:2.38, Z:1.45 [[ 9.96897801e-01 6.36185903e-03 7.84493570e-02 3.14088122e+01] [-1.73956504e-02 9.89887962e-01 1.40780733e-01 2.38466975e+00] [-7.67604469e-02 -1.41708681e-01 9.86927801e-01 1.44831238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.638241008 meters Centerline goodness : 0.855519 with order 1 Centerline is valid? [False, False] Translation: X:31.36, Y:2.39, Z:1.44 [[ 9.97175850e-01 3.47359482e-03 7.50217198e-02 3.13607531e+01] [-1.26503058e-02 9.92425462e-01 1.22195219e-01 2.39356679e+00] [-7.40290083e-02 -1.22799169e-01 9.89666646e-01 1.44406551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.698241008 meters Centerline goodness : 0.856966 with order 1 Centerline is valid? [False, False] Translation: X:31.31, Y:2.41, Z:1.44 [[ 9.97508772e-01 4.22170445e-04 7.05412778e-02 3.13125155e+01] [-7.91222270e-03 9.94341669e-01 1.05934144e-01 2.40585842e+00] [-7.00974096e-02 -1.06228376e-01 9.91867877e-01 1.44172377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75824100799997 meters Centerline goodness : 0.855258 with order 1 Centerline is valid? [False, False] Translation: X:31.31, Y:2.41, Z:1.45 [[ 9.98378847e-01 -7.17651319e-03 5.64639293e-02 3.13147350e+01] [ 1.23589749e-03 9.94518900e-01 1.04549651e-01 2.41347653e+00] [-5.69047468e-02 -1.04310376e-01 9.92915503e-01 1.44966256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81824100799997 meters Centerline goodness : 0.856213 with order 1 Centerline is valid? [False, False] Translation: X:31.33, Y:2.42, Z:1.44 [[ 9.98201819e-01 -5.23167600e-03 5.97139618e-02 3.13291022e+01] [-1.82163036e-04 9.95914643e-01 9.02994552e-02 2.42214429e+00] [-5.99424264e-02 -9.01479581e-02 9.94122855e-01 1.43696745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87824100799997 meters Centerline goodness : 0.855096 with order 1 Centerline is valid? [False, False] Translation: X:31.35, Y:2.43, Z:1.43 [[ 9.98104984e-01 -1.23954327e-03 6.15215773e-02 3.13450899e+01] [-3.61097728e-03 9.96894268e-01 7.86687892e-02 2.43087289e+00] [-6.14280212e-02 -7.87418636e-02 9.95000662e-01 1.42543694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93824100799998 meters Centerline goodness : 0.856779 with order 1 Centerline is valid? [False, False] Translation: X:31.35, Y:2.44, Z:1.43 [[ 9.98844557e-01 -1.38369211e-03 4.80378601e-02 3.13474659e+01] [-2.18882054e-03 9.97238263e-01 7.42364916e-02 2.43850106e+00] [-4.80079126e-02 -7.42558618e-02 9.96082982e-01 1.42703772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99824100799998 meters Centerline goodness : 0.855814 with order 1 Centerline is valid? [False, False] Translation: X:31.38, Y:2.44, Z:1.42 [[ 9.99004858e-01 8.93532843e-03 4.36973049e-02 3.13836448e+01] [-1.18092172e-02 9.97752468e-01 6.59587441e-02 2.44353525e+00] [-4.30097307e-02 -6.64091368e-02 9.96865081e-01 1.42346766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05824100799998 meters Centerline goodness : 0.859089 with order 1 Centerline is valid? [False, False] Translation: X:31.38, Y:2.45, Z:1.43 [[ 9.99475558e-01 7.87829532e-03 3.14092682e-02 3.13835689e+01] [-9.78352689e-03 9.98091428e-01 6.09736258e-02 2.45239402e+00] [-3.08689532e-02 -6.12489420e-02 9.97645065e-01 1.42541550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11824100799998 meters Centerline goodness : 0.859368 with order 1 Centerline is valid? [False, False] Translation: X:31.39, Y:2.46, Z:1.43 [[ 9.99806787e-01 7.19870298e-03 1.82912037e-02 3.13854506e+01] [-8.19392956e-03 9.98456530e-01 5.49310153e-02 2.46298961e+00] [-1.78675397e-02 -5.50702787e-02 9.98322601e-01 1.42706531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.178241008 meters Centerline goodness : 0.860867 with order 1 Centerline is valid? [False, False] Translation: X:31.39, Y:2.47, Z:1.43 [[ 9.99986932e-01 2.86066368e-03 4.23712076e-03 3.13883577e+01] [-3.07839688e-03 9.98626415e-01 5.23049380e-02 2.47061185e+00] [-4.08167387e-03 -5.23172980e-02 9.98622171e-01 1.43336604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.238241008 meters Centerline goodness : 0.859301 with order 1 Centerline is valid? [False, False] Translation: X:31.42, Y:2.48, Z:1.43 [[ 9.99983282e-01 2.44065931e-03 5.24212420e-03 3.14161732e+01] [-2.68463721e-03 9.98888902e-01 4.70505496e-02 2.47729879e+00] [-5.12146532e-03 -4.70638362e-02 9.98878754e-01 1.42944492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.298241008 meters Centerline goodness : 0.862139 with order 1 Centerline is valid? [False, False] Translation: X:31.43, Y:2.48, Z:1.42 [[ 9.99961313e-01 -1.10064137e-03 8.72703606e-03 3.14324485e+01] [ 8.38771158e-04 9.99550931e-01 2.99538584e-02 2.48389012e+00] [-8.75608547e-03 -2.99453795e-02 9.99513184e-01 1.41988979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.358241008 meters Centerline goodness : 0.862337 with order 1 Centerline is valid? [False, False] Translation: X:31.44, Y:2.49, Z:1.41 [[ 9.99937965e-01 -8.94015051e-03 6.64385116e-03 3.14413088e+01] [ 8.81041974e-03 9.99774808e-01 1.93056826e-02 2.49332713e+00] [-6.81495073e-03 -1.92459498e-02 9.99791553e-01 1.40959029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.418241008 meters Centerline goodness : 0.863621 with order 1 Centerline is valid? [False, False] Translation: X:31.45, Y:2.50, Z:1.41 [[ 9.99911430e-01 -1.25230784e-02 4.50602327e-03 3.14498416e+01] [ 1.24491506e-02 9.99793260e-01 1.60765586e-02 2.49948103e+00] [-4.70641970e-03 -1.60190385e-02 9.99860610e-01 1.40514567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47824100799997 meters Centerline goodness : 0.866783 with order 1 Centerline is valid? [False, False] Translation: X:31.46, Y:2.51, Z:1.40 [[ 9.99803011e-01 -1.96341937e-02 2.90466062e-03 3.14550063e+01] [ 1.96059719e-02 9.99763173e-01 9.44482639e-03 2.50615608e+00] [-3.08941427e-03 -9.38601717e-03 9.99951178e-01 1.40430091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53824100799997 meters Centerline goodness : 0.871932 with order 1 Centerline is valid? [False, False] Translation: X:31.46, Y:2.51, Z:1.40 [[ 9.99713522e-01 -2.38437439e-02 2.08578299e-03 3.14590491e+01] [ 2.38282492e-02 9.99690409e-01 7.16240834e-03 2.50957731e+00] [-2.25591588e-03 -7.11065591e-03 9.99972174e-01 1.40440778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59824100799997 meters Centerline goodness : 0.883068 with order 1 Centerline is valid? [False, False] Translation: X:31.47, Y:2.52, Z:1.40 [[ 9.99538444e-01 -3.03790173e-02 1.15506764e-04 3.14664945e+01] [ 3.03785564e-02 9.99534279e-01 2.89269646e-03 2.52188289e+00] [-2.03330246e-04 -2.88785239e-03 9.99995809e-01 1.40469250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.65824100799998 meters Centerline goodness : 0.883397 with order 1 Centerline is valid? [False, False] Translation: X:31.47, Y:2.53, Z:1.41 [[ 9.99574245e-01 -2.91496155e-02 -1.27580682e-03 3.14684547e+01] [ 2.91552076e-02 9.99564270e-01 4.60921371e-03 2.53011188e+00] [ 1.14089411e-03 -4.64444773e-03 9.99988564e-01 1.40734720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71824100799998 meters Centerline goodness : 0.897173 with order 1 Centerline is valid? [False, False] Translation: X:31.47, Y:2.55, Z:1.41 [[ 9.99702710e-01 -2.42588125e-02 -2.44968775e-03 3.14691844e+01] [ 2.42790163e-02 9.99668356e-01 8.58527572e-03 2.54836848e+00] [ 2.24060673e-03 -8.64219942e-03 9.99960145e-01 1.41022145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77824100799998 meters Centerline goodness : 0.900704 with order 1 Centerline is valid? [False, False] Translation: X:31.47, Y:2.55, Z:1.41 [[ 9.99753237e-01 -2.19039388e-02 -3.69899589e-03 3.14721455e+01] [ 2.19421417e-02 9.99702792e-01 1.06240709e-02 2.55482295e+00] [ 3.46518752e-03 -1.07026132e-02 9.99936721e-01 1.40992421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83824100799998 meters Centerline goodness : 0.905433 with order 1 Centerline is valid? [False, False] Translation: X:31.47, Y:2.58, Z:1.41 [[ 9.99844307e-01 -1.70956804e-02 -4.37031476e-03 3.14723284e+01] [ 1.71599551e-02 9.99738443e-01 1.51189455e-02 2.57858914e+00] [ 4.11070301e-03 -1.51915860e-02 9.99876151e-01 1.41236088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89824100799999 meters Centerline goodness : 0.907195 with order 1 Centerline is valid? [False, False] Translation: X:31.47, Y:2.59, Z:1.41 [[ 9.99872720e-01 -1.52025384e-02 -4.84001770e-03 3.14716073e+01] [ 1.52717651e-02 9.99776743e-01 1.46026367e-02 2.59403581e+00] [ 4.61693999e-03 -1.46746937e-02 9.99881662e-01 1.41373154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.958241008 meters Centerline goodness : 0.911109 with order 1 Centerline is valid? [False, False] Translation: X:31.47, Y:2.62, Z:1.42 [[ 9.99921376e-01 -1.10810631e-02 -5.86961344e-03 3.14722148e+01] [ 1.11676419e-02 9.99826191e-01 1.49288790e-02 2.61978720e+00] [ 5.70316540e-03 -1.49932550e-02 9.99871330e-01 1.41504447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.018241008 meters Centerline goodness : 0.908138 with order 1 Centerline is valid? [False, False] Translation: X:31.47, Y:2.64, Z:1.41 [[ 9.99956824e-01 -6.10582293e-03 -7.00496148e-03 3.14749026e+01] [ 6.22141315e-03 9.99842858e-01 1.65998180e-02 2.63850048e+00] [ 6.90250516e-03 -1.66426820e-02 9.99837675e-01 1.41281195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.078241008 meters Centerline goodness : 0.908236 with order 1 Centerline is valid? [False, False] Translation: X:31.47, Y:2.67, Z:1.41 [[ 9.99975865e-01 -3.23426584e-04 -6.94015026e-03 3.14741839e+01] [ 4.00927962e-04 9.99937549e-01 1.11686199e-02 2.66794282e+00] [ 6.93610461e-03 -1.11711328e-02 9.99913544e-01 1.41145685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.138241008 meters Centerline goodness : 0.907783 with order 1 Centerline is valid? [False, False] Translation: X:31.49, Y:2.70, Z:1.41 [[ 9.99992035e-01 3.95538301e-03 5.33705248e-04 3.14862445e+01] [-3.95888422e-03 9.99969538e-01 6.72687235e-03 2.69687895e+00] [-5.07081634e-04 -6.72893164e-03 9.99977232e-01 1.40656843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.198241008 meters Centerline goodness : 0.902629 with order 1 Centerline is valid? [False, False] Translation: X:31.50, Y:2.72, Z:1.40 [[ 9.99949094e-01 8.88545120e-03 4.78109889e-03 3.15019713e+01] [-8.88543736e-03 9.99960523e-01 -2.41363673e-05 2.71595837e+00] [-4.78112461e-03 -1.83470160e-05 9.99988570e-01 1.40194825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25824100799997 meters Centerline goodness : 0.899170 with order 1 Centerline is valid? [False, False] Translation: X:31.52, Y:2.74, Z:1.40 [[ 9.99826672e-01 1.65013541e-02 8.62154224e-03 3.15187753e+01] [-1.64626659e-02 9.99854177e-01 -4.53925762e-03 2.73580224e+00] [-8.69518892e-03 4.39653727e-03 9.99952531e-01 1.39668567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31824100799997 meters Centerline goodness : 0.898213 with order 1 Centerline is valid? [False, False] Translation: X:31.54, Y:2.76, Z:1.39 [[ 9.99600652e-01 2.48303312e-02 1.34903952e-02 3.15359659e+01] [-2.47565274e-02 9.99677766e-01 -5.61058800e-03 2.76406138e+00] [-1.36253609e-02 5.27437209e-03 9.99893260e-01 1.39330669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37824100799997 meters Centerline goodness : 0.896927 with order 1 Centerline is valid? [False, False] Translation: X:31.54, Y:2.78, Z:1.40 [[ 9.99568488e-01 2.64235036e-02 1.28310720e-02 3.15366329e+01] [-2.63535343e-02 9.99637045e-01 -5.59194212e-03 2.77868775e+00] [-1.29741736e-02 5.25138504e-03 9.99902042e-01 1.39543477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43824100799998 meters Centerline goodness : 0.896628 with order 1 Centerline is valid? [False, False] Translation: X:31.55, Y:2.80, Z:1.40 [[ 9.99669060e-01 2.35456443e-02 1.03621141e-02 3.15450546e+01] [-2.34710223e-02 9.99698119e-01 -7.26507285e-03 2.80150773e+00] [-1.05300468e-02 7.01945914e-03 9.99919919e-01 1.39555527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49824100799998 meters Centerline goodness : 0.893497 with order 1 Centerline is valid? [False, False] Translation: X:31.59, Y:2.82, Z:1.39 [[ 9.99715250e-01 2.16026698e-02 1.01362491e-02 3.15919320e+01] [-2.14248348e-02 9.99620135e-01 -1.73367508e-02 2.81787822e+00] [-1.05069188e-02 1.71146467e-02 9.99798326e-01 1.39173654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55824100799998 meters Centerline goodness : 0.895422 with order 1 Centerline is valid? [False, False] Translation: X:31.64, Y:2.84, Z:1.39 [[ 9.99792456e-01 1.75629432e-02 1.03241315e-02 3.16400604e+01] [-1.72606960e-02 9.99439894e-01 -2.86699549e-02 2.84469486e+00] [-1.08218777e-02 2.84858030e-02 9.99535615e-01 1.38669940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61824100799998 meters Centerline goodness : 0.894910 with order 1 Centerline is valid? [False, False] Translation: X:31.68, Y:2.86, Z:1.39 [[ 9.99887276e-01 1.07141052e-02 1.05186997e-02 3.16776627e+01] [-1.03887019e-02 9.99480240e-01 -3.05176139e-02 2.86233865e+00] [-1.08402014e-02 3.04048982e-02 9.99478880e-01 1.38523523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.678241008 meters Centerline goodness : 0.892338 with order 1 Centerline is valid? [False, False] Translation: X:31.73, Y:2.89, Z:1.38 [[ 9.99937050e-01 5.49198456e-03 9.78438187e-03 3.17298397e+01] [-5.10174404e-03 9.99207649e-01 -3.94720988e-02 2.88587766e+00] [-9.99340936e-03 3.94196967e-02 9.99172767e-01 1.38214901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.738241008 meters Centerline goodness : 0.891204 with order 1 Centerline is valid? [False, False] Translation: X:31.76, Y:2.91, Z:1.38 [[ 9.99915821e-01 5.30142425e-03 1.18425227e-02 3.17582777e+01] [-4.82656750e-03 9.99197105e-01 -3.97724848e-02 2.90502260e+00] [-1.20438652e-02 3.97119780e-02 9.99138581e-01 1.38083771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.798241008 meters Centerline goodness : 0.888783 with order 1 Centerline is valid? [False, False] Translation: X:31.81, Y:2.94, Z:1.38 [[ 9.99897434e-01 9.49169056e-03 1.07251819e-02 3.18059968e+01] [-9.00330248e-03 9.98959790e-01 -4.47021014e-02 2.93889081e+00] [-1.11383239e-02 4.46009544e-02 9.98942787e-01 1.37840916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.858241008 meters Centerline goodness : 0.888584 with order 1 Centerline is valid? [False, False] Translation: X:31.85, Y:2.96, Z:1.38 [[ 9.99850853e-01 1.30039363e-02 1.13652583e-02 3.18485439e+01] [-1.24117155e-02 9.98636267e-01 -5.07105120e-02 2.96034410e+00] [-1.20091953e-02 5.05618864e-02 9.98648724e-01 1.37745747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.918241008 meters Centerline goodness : 0.889230 with order 1 Centerline is valid? [False, False] Translation: X:31.91, Y:3.00, Z:1.38 [[ 9.99726374e-01 1.81438813e-02 1.47640467e-02 3.19051606e+01] [-1.71580987e-02 9.97779351e-01 -6.43581148e-02 2.99989607e+00] [-1.58989670e-02 6.40871818e-02 9.97817647e-01 1.37804249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97824100799997 meters Centerline goodness : 0.892580 with order 1 Centerline is valid? [False, False] Translation: X:31.96, Y:3.02, Z:1.38 [[ 9.99607349e-01 2.12149222e-02 1.83050471e-02 3.19608537e+01] [-1.98672060e-02 9.97285190e-01 -7.09051773e-02 3.02312543e+00] [-1.97596002e-02 7.05136662e-02 9.97315086e-01 1.37779222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03824100799997 meters Centerline goodness : 0.894620 with order 1 Centerline is valid? [False, False] Translation: X:31.96, Y:3.06, Z:1.38 [[ 9.99506637e-01 2.27771546e-02 2.16259816e-02 3.19579597e+01] [-2.14435481e-02 9.97967122e-01 -6.00149793e-02 3.05625480e+00] [-2.29489891e-02 5.95216324e-02 9.97963185e-01 1.38027289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09824100799997 meters Centerline goodness : 0.895825 with order 1 Centerline is valid? [False, False] Translation: X:31.96, Y:3.08, Z:1.38 [[ 9.99363459e-01 2.73049237e-02 2.29590440e-02 3.19576375e+01] [-2.60480998e-02 9.98235258e-01 -5.33653935e-02 3.07954973e+00] [-2.43756653e-02 5.27333848e-02 9.98311082e-01 1.37973063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.15824100799998 meters Centerline goodness : 0.895408 with order 1 Centerline is valid? [False, False] Translation: X:31.92, Y:3.11, Z:1.39 [[ 9.99297397e-01 3.02774463e-02 2.20904589e-02 3.19199253e+01] [-2.98010504e-02 9.99322757e-01 -2.15852947e-02 3.10888011e+00] [-2.27290459e-02 2.09118099e-02 9.99522930e-01 1.38513092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21824100799998 meters Centerline goodness : 0.895341 with order 1 Centerline is valid? [False, False] Translation: X:31.89, Y:3.13, Z:1.39 [[ 9.99374582e-01 2.68282511e-02 2.30367063e-02 3.18931682e+01] [-2.67157617e-02 9.99629664e-01 -5.17705886e-03 3.12908154e+00] [-2.31670664e-02 4.55837787e-03 9.99721215e-01 1.38639565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27824100799998 meters Centerline goodness : 0.900208 with order 1 Centerline is valid? [False, False] Translation: X:31.89, Y:3.17, Z:1.39 [[ 9.99389741e-01 2.54874407e-02 2.38858735e-02 3.18893438e+01] [-2.53694839e-02 9.99664470e-01 -5.22848840e-03 3.16501104e+00] [-2.40111198e-02 4.61932539e-03 9.99701019e-01 1.38992825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33824100799998 meters Centerline goodness : 0.902857 with order 1 Centerline is valid? [False, False] Translation: X:31.86, Y:3.19, Z:1.39 [[ 9.99422152e-01 2.23129103e-02 2.56417004e-02 3.18594267e+01] [-2.25771000e-02 9.99694487e-01 1.00601909e-02 3.18531897e+00] [-2.54093944e-02 -1.06332929e-02 9.99620576e-01 1.39338201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39824100799999 meters Centerline goodness : 0.910052 with order 1 Centerline is valid? [False, False] Translation: X:31.86, Y:3.22, Z:1.40 [[ 9.99270040e-01 2.58814912e-02 2.80986917e-02 3.18556475e+01] [-2.59284443e-02 9.99662946e-01 1.30788429e-03 3.22189715e+00] [-2.80553709e-02 -2.03548495e-03 9.99604298e-01 1.39706494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.458241008 meters Centerline goodness : 0.912300 with order 1 Centerline is valid? [False, False] Translation: X:31.86, Y:3.25, Z:1.40 [[ 9.99108996e-01 3.20555116e-02 2.74528351e-02 3.18586922e+01] [-3.19047677e-02 9.99473430e-01 -5.91165596e-03 3.25345299e+00] [-2.76278804e-02 5.03051233e-03 9.99605619e-01 1.39701109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.518241008 meters Centerline goodness : 0.911546 with order 1 Centerline is valid? [False, False] Translation: X:31.87, Y:3.27, Z:1.40 [[ 9.99052729e-01 3.66117967e-02 2.35206669e-02 3.18694570e+01] [-3.66210099e-02 9.99329225e-01 -3.90521580e-05 3.27095467e+00] [-2.35063196e-02 -8.22335412e-04 9.99723350e-01 1.39659843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.578241008 meters Centerline goodness : 0.909367 with order 1 Centerline is valid? [False, False] Translation: X:31.87, Y:3.28, Z:1.39 [[ 9.98848976e-01 4.20558674e-02 2.30657101e-02 3.18742477e+01] [-4.21455185e-02 9.99105649e-01 3.41430252e-03 3.28433209e+00] [-2.29014898e-02 -4.38248888e-03 9.99728121e-01 1.39281245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.638241008 meters Centerline goodness : 0.909359 with order 1 Centerline is valid? [False, False] Translation: X:31.88, Y:3.30, Z:1.39 [[ 9.98763435e-01 4.43039867e-02 2.25556724e-02 3.18778052e+01] [-4.44012908e-02 9.99006430e-01 3.83132672e-03 3.29586183e+00] [-2.23635187e-02 -4.82809000e-03 9.99738247e-01 1.39051513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.698241008 meters Centerline goodness : 0.906527 with order 1 Centerline is valid? [False, False] Translation: X:31.88, Y:3.31, Z:1.39 [[ 9.98721013e-01 4.54355042e-02 2.21799996e-02 3.18804785e+01] [-4.55328405e-02 9.98955217e-01 3.90309222e-03 3.30520126e+00] [-2.19794874e-02 -4.90801861e-03 9.99746375e-01 1.38873656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75824100799997 meters Centerline goodness : 0.910060 with order 1 Centerline is valid? [False, False] Translation: X:31.88, Y:3.32, Z:1.39 [[ 9.98708840e-01 4.57866237e-02 2.20053897e-02 3.18812675e+01] [-4.58649832e-02 9.98942933e-01 3.06925109e-03 3.31727609e+00] [-2.18415979e-02 -4.07456502e-03 9.99753141e-01 1.38900592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81824100799997 meters Centerline goodness : 0.908918 with order 1 Centerline is valid? [False, False] Translation: X:31.88, Y:3.32, Z:1.39 [[ 9.98722477e-01 4.55920236e-02 2.17894671e-02 3.18831165e+01] [-4.56485307e-02 9.98955349e-01 2.10275189e-03 3.32265405e+00] [-2.16708360e-02 -3.09472274e-03 9.99760370e-01 1.38769159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87824100799997 meters Centerline goodness : 0.909749 with order 2 Centerline is valid? [False, False] Translation: X:31.89, Y:3.33, Z:1.38 [[ 9.98787888e-01 4.44869178e-02 2.10634289e-02 3.18875943e+01] [-4.45031221e-02 9.99009200e-01 3.00958186e-04 3.33114526e+00] [-2.10291705e-02 -1.23798174e-03 9.99778096e-01 1.38430383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93824100799998 meters Centerline goodness : 0.189537 with order 1 Centerline is valid? [False, False] Translation: X:31.91, Y:3.33, Z:1.38 [[ 9.99023916e-01 3.95479816e-02 1.96766982e-02 3.19064280e+01] [-3.96381008e-02 9.99205228e-01 4.21110914e-03 3.33412274e+00] [-1.94945189e-02 -4.98694569e-03 9.99797527e-01 1.37798900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7339.62 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%| | 0/6066 [00:00