+ python -m lidar_slam --result /working/result.json --no-model /working/436cd7e1-25bd-4474-a774-45f5cf616bf9 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/436cd7e1-25bd-4474-a774-45f5cf616bf9 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 0.029259764 Adjusted end_distance from 9.223372036854776e+18 to 264.379259764 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.029259764 meters Centerline goodness : 0.144672 with order 3 Centerline is valid? [0, False] SLAMing on 0.08925976399999999 meters Centerline goodness : 0.217197 with order 1 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.29, Z:0.08 [[ 0.97660095 0.21362303 0.02481523 -0.13966223] [-0.2141327 0.97659811 0.02008263 0.29217131] [-0.01994439 -0.02492647 0.99949032 0.08063635] [ 0. 0. 0. 1. ]] SLAMing on 0.149259764 meters Centerline goodness : 0.207170 with order 1 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.30, Z:0.08 [[ 0.9767477 0.21402816 0.01248543 -0.14847356] [-0.21420479 0.97667173 0.01512093 0.29807042] [-0.00895786 -0.01744377 0.99980772 0.08353397] [ 0. 0. 0. 1. ]] SLAMing on 0.20925976399999996 meters Centerline goodness : 0.132728 with order 1 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.33, Z:0.08 [[ 0.97163855 0.23639876 0.00584441 -0.15483589] [-0.23645313 0.97157214 0.01172539 0.32603328] [-0.0029064 -0.01277477 0.99991418 0.08295149] [ 0. 0. 0. 1. ]] SLAMing on 0.26925976399999996 meters Centerline goodness : 0.134993 with order 1 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.36, Z:0.09 [[ 0.96442247 0.26428642 0.00647942 -0.15293632] [-0.26431385 0.96442921 0.00380718 0.35547884] [-0.00524276 -0.00538433 0.99997176 0.08615355] [ 0. 0. 0. 1. ]] SLAMing on 0.32925976399999995 meters Centerline goodness : 0.145985 with order 1 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.40, Z:0.09 [[ 0.95442424 0.29831552 0.00906787 -0.15230113] [-0.29836646 0.95443892 0.00487859 0.39500729] [-0.00719937 -0.00736179 0.99994699 0.09071374] [ 0. 0. 0. 1. ]] SLAMing on 0.38925976399999995 meters Centerline goodness : 0.170462 with order 3 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.44, Z:0.09 [[ 0.94005489 0.3408857 0.00968243 -0.1501669 ] [-0.3409231 0.94008795 0.00246632 0.4441494 ] [-0.0082616 -0.00561944 0.99995008 0.09180496] [ 0. 0. 0. 1. ]] SLAMing on 0.44925976399999995 meters Centerline goodness : 0.094550 with order 1 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.51, Z:0.10 [[ 9.19196062e-01 3.93589407e-01 1.28832200e-02 -1.44629946e-01] [-3.93619156e-01 9.19273572e-01 -2.45463663e-04 5.07252590e-01] [-1.19398155e-02 -4.84545294e-03 9.99916978e-01 9.67970405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.509259764 meters Centerline goodness : 0.095939 with order 1 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.56, Z:0.10 [[ 8.98808725e-01 4.38169394e-01 1.22661145e-02 -1.37705358e-01] [-4.38126069e-01 8.98892404e-01 -6.16386728e-03 5.61146329e-01] [-1.37267352e-02 1.66033157e-04 9.99905770e-01 9.95541137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5692597639999999 meters Centerline goodness : 0.355030 with order 1 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.61, Z:0.10 [[ 0.87792332 0.47879692 0.00203912 -0.12330764] [-0.47871181 0.87783366 -0.01559072 0.6144219 ] [-0.00925479 0.01271131 0.99987638 0.09721341] [ 0. 0. 0. 1. ]] SLAMing on 0.6292597639999998 meters Centerline goodness : 0.308664 with order 2 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.67, Z:0.09 [[ 0.8565286 0.51609203 -0.00278829 -0.12296613] [-0.51608712 0.85645794 -0.01157035 0.66961833] [-0.00358331 0.01134934 0.99992917 0.09400646] [ 0. 0. 0. 1. ]] SLAMing on 0.6892597639999999 meters Centerline goodness : 0.158521 with order 1 Centerline is valid? [False, False] Translation: X:-0.14, Y:0.73, Z:0.09 [[ 0.83488566 0.55040321 -0.00471567 -0.13533023] [-0.55040105 0.83474388 -0.01616598 0.73154472] [-0.00496142 0.01609225 0.9998582 0.09303875] [ 0. 0. 0. 1. ]] SLAMing on 0.7492597639999998 meters Centerline goodness : 0.321358 with order 2 Centerline is valid? [False, False] Translation: X:-0.16, Y:0.77, Z:0.08 [[ 8.25342195e-01 5.64632608e-01 5.28700934e-04 -1.60789476e-01] [-5.64462852e-01 8.25116310e-01 -2.37647335e-02 7.71152940e-01] [-1.38545832e-02 1.93156053e-02 9.99717439e-01 8.22728511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8092597639999999 meters Centerline goodness : 0.081594 with order 1 Centerline is valid? [False, False] Translation: X:-0.19, Y:0.80, Z:0.09 [[ 0.81969917 0.57272188 0.00910557 -0.19210262] [-0.57231641 0.81956105 -0.0278139 0.80441312] [-0.0233922 0.01758776 0.99957165 0.08549245] [ 0. 0. 0. 1. ]] SLAMing on 0.8692597639999998 meters Centerline goodness : 0.081029 with order 1 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.85, Z:0.09 [[ 0.81518024 0.57917922 0.00571084 -0.23085922] [-0.57875338 0.814892 -0.03155233 0.84623764] [-0.02292817 0.02241566 0.99948579 0.09070686] [ 0. 0. 0. 1. ]] SLAMing on 0.9292597639999999 meters Centerline goodness : 0.108720 with order 1 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.89, Z:0.09 [[ 0.81857197 0.57437157 0.00610184 -0.27151875] [-0.57409436 0.81843332 -0.02413628 0.89283906] [-0.01885714 0.01625425 0.99969006 0.08690072] [ 0. 0. 0. 1. ]] SLAMing on 0.9892597639999998 meters Centerline goodness : 0.079231 with order 1 Centerline is valid? [False, False] Translation: X:-0.30, Y:0.94, Z:0.09 [[ 0.80923757 0.58738747 0.01051327 -0.30172271] [-0.58672818 0.8089764 -0.03615566 0.93602806] [-0.02974236 0.02309009 0.99929087 0.08576983] [ 0. 0. 0. 1. ]] SLAMing on 1.0492597639999999 meters Centerline goodness : 0.182376 with order 2 Centerline is valid? [False, False] Translation: X:-0.34, Y:0.97, Z:0.10 [[ 0.81134333 0.58453959 0.00595515 -0.34121659] [-0.58398162 0.81094167 -0.03659353 0.96658682] [-0.02621964 0.02621222 0.99931249 0.0976854 ] [ 0. 0. 0. 1. ]] SLAMing on 1.109259764 meters Centerline goodness : 0.078825 with order 1 Centerline is valid? [False, False] Translation: X:-0.39, Y:1.00, Z:0.10 [[ 0.82384363 0.56679597 0.00490014 -0.38560919] [-0.56636996 0.82350623 -0.03259675 0.99680628] [-0.022511 0.02407934 0.99945657 0.10443629] [ 0. 0. 0. 1. ]] SLAMing on 1.169259764 meters Centerline goodness : 0.180391 with order 2 Centerline is valid? [False, False] Translation: X:-0.42, Y:1.04, Z:0.11 [[ 0.82450633 0.56585058 0.00155883 -0.42282328] [-0.56557663 0.82418695 -0.02896444 1.03833104] [-0.01767432 0.02299972 0.99957923 0.11269517] [ 0. 0. 0. 1. ]] SLAMing on 1.2292597639999998 meters Centerline goodness : 0.357103 with order 2 Centerline is valid? [False, False] Translation: X:-0.45, Y:1.07, Z:0.13 [[ 0.82326108 0.56764998 -0.00383183 -0.45404153] [-0.56750492 0.82285395 -0.02914679 1.07456387] [-0.01339214 0.02617 0.9995678 0.13100616] [ 0. 0. 0. 1. ]] SLAMing on 1.2892597639999999 meters Centerline goodness : 0.157315 with order 1 Centerline is valid? [False, False] Translation: X:-0.46, Y:1.09, Z:0.14 [[ 0.8222817 0.56907274 -0.0030029 -0.45879378] [-0.56888882 0.82185605 -0.03030088 1.08789195] [-0.01477545 0.02662417 0.99953631 0.14256137] [ 0. 0. 0. 1. ]] SLAMing on 1.349259764 meters Centerline goodness : 0.176058 with order 1 Centerline is valid? [False, False] Translation: X:-0.49, Y:1.12, Z:0.16 [[ 0.81846274 0.57452266 -0.00651499 -0.48676482] [-0.57446387 0.81806679 -0.02753166 1.12403121] [-0.01048786 0.02627626 0.9995997 0.16022976] [ 0. 0. 0. 1. ]] SLAMing on 1.409259764 meters Centerline goodness : 0.156315 with order 1 Centerline is valid? [False, False] Translation: X:-0.51, Y:1.16, Z:0.18 [[ 0.81341846 0.58160319 -0.00938802 -0.51171449] [-0.58164808 0.81310306 -0.02342913 1.16032219] [-0.00599303 0.02451821 0.99968142 0.17665811] [ 0. 0. 0. 1. ]] SLAMing on 1.4692597639999998 meters Centerline goodness : 0.259745 with order 2 Centerline is valid? [False, False] Translation: X:-0.55, Y:1.20, Z:0.19 [[ 0.8164128 0.57730399 -0.01379256 -0.55119917] [-0.57745935 0.81603053 -0.02519656 1.19739645] [-0.00329092 0.02853543 0.99958736 0.18848052] [ 0. 0. 0. 1. ]] SLAMing on 1.5292597639999999 meters Centerline goodness : 0.326502 with order 2 Centerline is valid? [False, False] Translation: X:-0.59, Y:1.23, Z:0.20 [[ 8.16731776e-01 5.76803945e-01 -1.56975948e-02 -5.91580058e-01] [-5.77017508e-01 8.16430899e-01 -2.21671689e-02 1.23402217e+00] [ 2.98909658e-05 2.71624183e-02 9.99631033e-01 1.96821892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.589259764 meters Centerline goodness : 0.319835 with order 2 Centerline is valid? [False, False] Translation: X:-0.62, Y:1.28, Z:0.21 [[ 0.81471618 0.57954552 -0.01909291 -0.61843002] [-0.57985005 0.81445287 -0.02098688 1.27520025] [ 0.00338742 0.02816937 0.99959742 0.21110565] [ 0. 0. 0. 1. ]] SLAMing on 1.6492597639999997 meters Centerline goodness : 0.173589 with order 2 Centerline is valid? [False, False] Translation: X:-0.65, Y:1.31, Z:0.21 [[ 0.81470046 0.57940192 -0.02359186 -0.64994089] [-0.5797973 0.81460245 -0.01606067 1.30503525] [ 0.00991241 0.02676313 0.99959266 0.21188807] [ 0. 0. 0. 1. ]] SLAMing on 1.7092597639999998 meters Centerline goodness : 0.369103 with order 2 Centerline is valid? [False, False] Translation: X:-0.69, Y:1.34, Z:0.22 [[ 0.81684005 0.57628756 -0.02578708 -0.69092165] [-0.57670852 0.81684179 -0.01329542 1.33807584] [ 0.01340198 0.02573186 0.99957904 0.21521154] [ 0. 0. 0. 1. ]] SLAMing on 1.7692597639999998 meters Centerline goodness : 0.308555 with order 2 Centerline is valid? [False, False] Translation: X:-0.71, Y:1.36, Z:0.23 [[ 0.8189791 0.57306803 -0.02943241 -0.70993474] [-0.57351568 0.81914197 -0.00928476 1.35790594] [ 0.01878853 0.02448397 0.99952365 0.2346609 ] [ 0. 0. 0. 1. ]] SLAMing on 1.829259764 meters Centerline goodness : 0.447602 with order 1 Centerline is valid? [False, False] Translation: X:-0.76, Y:1.39, Z:0.24 [[ 0.82325676 0.5667203 -0.03280851 -0.75541513] [-0.56724646 0.82349863 -0.00902482 1.39078128] [ 0.02190321 0.02604025 0.99942091 0.23766863] [ 0. 0. 0. 1. ]] SLAMing on 1.8892597639999997 meters Centerline goodness : 0.447486 with order 1 Centerline is valid? [False, False] Translation: X:-0.79, Y:1.41, Z:0.24 [[ 8.29094224e-01 5.58090873e-01 -3.37245384e-02 -7.91816892e-01] [-5.58439753e-01 8.29544314e-01 -1.12865902e-03 1.40682289e+00] [ 2.73461048e-02 1.97688876e-02 9.99430529e-01 2.44332371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9492597639999998 meters Centerline goodness : 0.284181 with order 2 Centerline is valid? [False, False] Translation: X:-0.85, Y:1.43, Z:0.23 [[ 8.42023137e-01 5.38817791e-01 -2.59311669e-02 -8.51970407e-01] [-5.38983996e-01 8.42315728e-01 6.82795897e-04 1.43283432e+00] [ 2.22101323e-02 1.34015540e-02 9.99663498e-01 2.34783481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.009259764 meters Centerline goodness : 0.451107 with order 1 Centerline is valid? [False, False] Translation: X:-0.96, Y:1.50, Z:0.16 [[ 8.48766880e-01 5.28695741e-01 8.69458883e-03 -9.58242754e-01] [-5.28664911e-01 8.48811374e-01 -5.71519346e-03 1.50287961e+00] [-1.04016643e-02 2.54342891e-04 9.99945869e-01 1.61117366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0692597639999994 meters Centerline goodness : 0.478530 with order 3 Centerline is valid? [False, False] Translation: X:-1.04, Y:1.54, Z:0.17 [[ 0.86131469 0.50803647 0.00599644 -1.03632161] [-0.50798085 0.86132381 -0.00876063 1.53526574] [-0.0096156 0.00449958 0.99994365 0.16845857] [ 0. 0. 0. 1. ]] SLAMing on 2.1292597639999995 meters Centerline goodness : 0.482057 with order 1 Centerline is valid? [False, False] Translation: X:-1.11, Y:1.55, Z:0.18 [[ 8.84818074e-01 4.65813963e-01 1.06923901e-02 -1.11309207e+00] [-4.65759262e-01 8.84881458e-01 -7.28795384e-03 1.54529043e+00] [-1.28563284e-02 1.46843357e-03 9.99916276e-01 1.78713532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1892597639999996 meters Centerline goodness : 0.336818 with order 2 Centerline is valid? [False, False] Translation: X:-1.26, Y:1.57, Z:0.20 [[ 0.92099528 0.38952139 0.00638568 -1.25828452] [-0.38923095 0.92074875 -0.02685174 1.5725002 ] [-0.01633894 0.02224482 0.99961903 0.19817448] [ 0. 0. 0. 1. ]] SLAMing on 2.2492597639999996 meters Centerline goodness : 0.517064 with order 2 Centerline is valid? [False, False] Translation: X:-1.39, Y:1.56, Z:0.20 [[ 0.95921236 0.28226607 -0.0154115 -1.39481805] [-0.28258751 0.958893 -0.02585572 1.55741772] [ 0.00747979 0.02915622 0.99954688 0.20115109] [ 0. 0. 0. 1. ]] SLAMing on 2.3092597639999997 meters Centerline goodness : 0.538098 with order 1 Centerline is valid? [False, False] Translation: X:-1.49, Y:1.57, Z:0.20 [[ 0.97688923 0.21274647 -0.02064864 -1.48881214] [-0.2132774 0.97658227 -0.028281 1.57306281] [ 0.01414842 0.03203129 0.99938672 0.20329483] [ 0. 0. 0. 1. ]] SLAMing on 2.3692597639999997 meters Centerline goodness : 0.126162 with order 1 Centerline is valid? [False, False] Translation: X:-1.57, Y:1.60, Z:0.21 [[ 0.98142835 0.19066754 -0.02107795 -1.56519234] [-0.19117342 0.98122857 -0.02536172 1.60171826] [ 0.01584663 0.02892026 0.9994561 0.20991349] [ 0. 0. 0. 1. ]] SLAMing on 2.4292597639999993 meters Centerline goodness : 0.116146 with order 1 Centerline is valid? [False, False] Translation: X:-1.64, Y:1.64, Z:0.22 [[ 0.98529183 0.16924355 -0.02359295 -1.63713236] [-0.16986619 0.98508342 -0.02749787 1.63930559] [ 0.01858719 0.03110107 0.9993434 0.21854016] [ 0. 0. 0. 1. ]] SLAMing on 2.4892597639999994 meters Centerline goodness : 0.041309 with order 1 Centerline is valid? [False, False] Translation: X:-1.71, Y:1.67, Z:0.22 [[ 0.98546282 0.16697045 -0.03136728 -1.70844064] [-0.16736621 0.98583965 -0.01042772 1.67384584] [ 0.02918199 0.01552595 0.99945353 0.21972885] [ 0. 0. 0. 1. ]] SLAMing on 2.5492597639999994 meters Centerline goodness : 0.627629 with order 3 Centerline is valid? [False, False] Translation: X:-1.77, Y:1.71, Z:0.23 [[ 0.98779207 0.15236675 -0.03242229 -1.76550814] [-0.15312965 0.9879499 -0.02250123 1.70972132] [ 0.02860316 0.02719135 0.99922094 0.23402198] [ 0. 0. 0. 1. ]] SLAMing on 2.6092597639999995 meters Centerline goodness : 0.409683 with order 2 Centerline is valid? [False, False] Translation: X:-1.79, Y:1.74, Z:0.23 [[ 0.98908102 0.1412229 -0.04212879 -1.79447356] [-0.14149769 0.98993205 -0.00359854 1.7405843 ] [ 0.04119644 0.00952037 0.99910571 0.23330193] [ 0. 0. 0. 1. ]] SLAMing on 2.6692597639999995 meters Centerline goodness : 0.541288 with order 2 Centerline is valid? [False, False] Translation: X:-1.82, Y:1.77, Z:0.24 [[ 0.98374655 0.17565886 -0.03723818 -1.81859018] [-0.17608506 0.98433854 -0.00846669 1.76791253] [ 0.03516772 0.01488617 0.99927055 0.23531942] [ 0. 0. 0. 1. ]] SLAMing on 2.7292597639999996 meters Centerline goodness : 0.605265 with order 3 Centerline is valid? [False, False] Translation: X:-1.84, Y:1.79, Z:0.23 [[ 0.97736892 0.20814725 -0.03774532 -1.83682503] [-0.20865112 0.97794005 -0.00989767 1.78772165] [ 0.03485249 0.01754928 0.99923837 0.230115 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7892597639999996 meters Centerline goodness : 0.618416 with order 3 Centerline is valid? [False, False] Translation: X:-1.86, Y:1.80, Z:0.23 [[ 0.97339686 0.22672452 -0.03308383 -1.85807274] [-0.22739112 0.97363785 -0.0179613 1.80328302] [ 0.0281394 0.02500644 0.99929117 0.23311244] [ 0. 0. 0. 1. ]] SLAMing on 2.8492597639999993 meters Centerline goodness : 0.639069 with order 3 Centerline is valid? [False, False] Translation: X:-1.89, Y:1.82, Z:0.23 [[ 0.96162986 0.27181333 -0.03722274 -1.88976762] [-0.2726576 0.96190774 -0.01978193 1.82421514] [ 0.03042785 0.02917195 0.99911118 0.22929057] [ 0. 0. 0. 1. ]] SLAMing on 2.9092597639999993 meters Centerline goodness : 0.625062 with order 3 Centerline is valid? [False, False] Translation: X:-1.95, Y:1.82, Z:0.23 [[ 0.96856 0.24659458 -0.03290352 -1.9549985 ] [-0.24716913 0.96886156 -0.01465253 1.82454638] [ 0.02826572 0.02232459 0.99935112 0.23099035] [ 0. 0. 0. 1. ]] SLAMing on 2.9692597639999994 meters Centerline goodness : 0.664573 with order 3 Centerline is valid? [False, False] Translation: X:-1.99, Y:1.87, Z:0.23 [[ 0.95271445 0.30264063 -0.02727317 -1.99060137] [-0.303223 0.9526987 -0.02051826 1.86725416] [ 0.01977345 0.0278179 0.99941742 0.23414558] [ 0. 0. 0. 1. ]] SLAMing on 3.0292597639999994 meters Centerline goodness : 0.693717 with order 3 Centerline is valid? [False, False] Translation: X:-2.03, Y:1.89, Z:0.24 [[ 0.93708563 0.34801735 -0.02746727 -2.03448268] [-0.34862667 0.9370091 -0.02175773 1.88958021] [ 0.01816501 0.02996468 0.99938589 0.23962713] [ 0. 0. 0. 1. ]] SLAMing on 3.0892597639999995 meters Centerline goodness : 0.710448 with order 1 Centerline is valid? [False, False] Translation: X:-2.09, Y:1.92, Z:0.24 [[ 0.92525378 0.37822834 -0.02913342 -2.08673998] [-0.37894203 0.92508732 -0.02482724 1.92367145] [ 0.01756059 0.03401138 0.99926716 0.23769794] [ 0. 0. 0. 1. ]] SLAMing on 3.1492597639999995 meters Centerline goodness : 0.724328 with order 1 Centerline is valid? [False, False] Translation: X:-2.12, Y:1.96, Z:0.24 [[ 0.91459225 0.40336379 -0.02861226 -2.12427835] [-0.40405616 0.9143948 -0.02491524 1.96028289] [ 0.016113 0.03434825 0.99928003 0.23890804] [ 0. 0. 0. 1. ]] SLAMing on 3.2092597639999996 meters Centerline goodness : 0.749067 with order 1 Centerline is valid? [False, False] Translation: X:-2.17, Y:2.00, Z:0.24 [[ 0.88881041 0.45773974 -0.02214467 -2.16600175] [-0.45822439 0.88839261 -0.0280886 1.99580039] [ 0.00681589 0.03511267 0.99936012 0.24212754] [ 0. 0. 0. 1. ]] SLAMing on 3.269259763999999 meters Centerline goodness : 0.750974 with order 1 Centerline is valid? [False, False] Translation: X:-2.21, Y:2.03, Z:0.25 [[ 0.8796522 0.47516004 -0.02085536 -2.20514659] [-0.47552866 0.87948945 -0.01925597 2.02603491] [ 0.0091924 0.02685588 0.99959705 0.24525154] [ 0. 0. 0. 1. ]] SLAMing on 3.3292597639999992 meters Centerline goodness : 0.748486 with order 1 Centerline is valid? [False, False] Translation: X:-2.23, Y:2.06, Z:0.25 [[ 0.86448978 0.50233584 -0.01777954 -2.23452443] [-0.50246758 0.86458848 -0.00361696 2.05867848] [ 0.01355505 0.01206047 0.99983539 0.24890603] [ 0. 0. 0. 1. ]] SLAMing on 3.3892597639999993 meters Centerline goodness : 0.750110 with order 1 Centerline is valid? [False, False] Translation: X:-2.28, Y:2.13, Z:0.25 [[ 0.8408491 0.54092974 -0.01917835 -2.28227291] [-0.54111352 0.84092966 -0.00578509 2.12919898] [ 0.01299832 0.01524206 0.99979934 0.25159501] [ 0. 0. 0. 1. ]] SLAMing on 3.4492597639999993 meters Centerline goodness : 0.746573 with order 1 Centerline is valid? [False, False] Translation: X:-2.34, Y:2.20, Z:0.25 [[ 0.81739394 0.57588349 -0.01501201 -2.33619469] [-0.57599862 0.8174378 -0.00458655 2.19575229] [ 0.00963006 0.01239591 0.99987679 0.25325465] [ 0. 0. 0. 1. ]] SLAMing on 3.5092597639999994 meters Centerline goodness : 0.747048 with order 1 Centerline is valid? [False, False] Translation: X:-2.39, Y:2.28, Z:0.25 [[ 0.77773759 0.62843202 -0.0140511 -2.39151682] [-0.62856307 0.77771444 -0.00828944 2.2773877 ] [ 0.0057184 0.01527901 0.99986692 0.25334185] [ 0. 0. 0. 1. ]] SLAMing on 3.5692597639999994 meters Centerline goodness : 0.761018 with order 2 Centerline is valid? [False, False] Translation: X:-3.28, Y:1.43, Z:0.25 [[ 0.74244784 0.66137737 -0.10654197 -3.28208461] [-0.66919184 0.73954974 -0.0724463 1.42848839] [ 0.03087875 0.12508461 0.99166544 0.25340856] [ 0. 0. 0. 1. ]] SLAMing on 3.6292597639999995 meters Centerline goodness : 0.762225 with order 3 Centerline is valid? [False, False] Translation: X:-3.28, Y:1.42, Z:0.29 [[ 0.75773686 0.63742921 -0.13970986 -3.27870884] [-0.64810349 0.76009114 -0.04715205 1.42320252] [ 0.07613614 0.1262753 0.98906918 0.28832436] [ 0. 0. 0. 1. ]] SLAMing on 3.689259763999999 meters Centerline goodness : 0.757199 with order 3 Centerline is valid? [False, False] Translation: X:-3.28, Y:1.42, Z:0.31 [[ 0.77656268 0.61023027 -0.15674638 -3.2833669 ] [-0.62164903 0.78259714 -0.03307872 1.42212094] [ 0.10248364 0.12312894 0.98708478 0.31140148] [ 0. 0. 0. 1. ]] SLAMing on 3.749259763999999 meters Centerline goodness : 0.765866 with order 1 Centerline is valid? [False, False] Translation: X:-3.30, Y:1.43, Z:0.32 [[ 0.80105698 0.5766941 -0.16041079 -3.29835764] [-0.58768562 0.8086144 -0.02771954 1.42740046] [ 0.11372478 0.11647605 0.98666104 0.31631248] [ 0. 0. 0. 1. ]] SLAMing on 3.809259763999999 meters Centerline goodness : 0.774976 with order 3 Centerline is valid? [False, False] Translation: X:-3.31, Y:1.44, Z:0.32 [[ 0.82257367 0.54449274 -0.16401281 -3.31233648] [-0.55458713 0.83189269 -0.01968896 1.4352871 ] [ 0.12572057 0.10715501 0.9862617 0.32382216] [ 0. 0. 0. 1. ]] SLAMing on 3.8692597639999993 meters Centerline goodness : 0.783703 with order 2 Centerline is valid? [False, False] Translation: X:-3.34, Y:1.46, Z:0.35 [[ 0.85506665 0.49166055 -0.1647147 -3.33980373] [-0.49918211 0.86648285 -0.00496939 1.45766378] [ 0.1402792 0.08647179 0.98632874 0.35142287] [ 0. 0. 0. 1. ]] SLAMing on 3.9292597639999993 meters Centerline goodness : 0.768607 with order 1 Centerline is valid? [False, False] Translation: X:-3.41, Y:1.51, Z:0.40 [[ 0.8927558 0.42591708 -0.14690721 -3.40559324] [-0.42779375 0.90365101 0.02018319 1.51257777] [ 0.14134922 0.04482732 0.98894434 0.40455682] [ 0. 0. 0. 1. ]] SLAMing on 3.9892597639999994 meters Centerline goodness : 0.708958 with order 1 Centerline is valid? [False, False] Translation: X:-3.53, Y:1.63, Z:0.45 [[ 0.9370799 0.33527949 -0.09730841 -3.53176958] [-0.33283653 0.94210044 0.04082418 1.62501281] [ 0.1053618 -0.00586773 0.99441664 0.45495806] [ 0. 0. 0. 1. ]] SLAMing on 4.049259763999999 meters Centerline goodness : 0.793686 with order 3 Centerline is valid? [False, False] Translation: X:-3.63, Y:1.76, Z:0.58 [[ 0.97097728 0.19384146 -0.14010213 -3.63409144] [-0.17480403 0.97496183 0.13745175 1.75664151] [ 0.16323808 -0.10897211 0.98055005 0.57510589] [ 0. 0. 0. 1. ]] SLAMing on 4.109259763999999 meters Centerline goodness : 0.811452 with order 1 Centerline is valid? [False, False] Translation: X:-3.64, Y:1.84, Z:0.59 [[ 0.99087414 0.03334378 -0.13060105 -3.64344213] [-0.01367649 0.98879015 0.14868423 1.83726164] [ 0.13409473 -0.14554119 0.98022261 0.58775172] [ 0. 0. 0. 1. ]] SLAMing on 4.1692597639999995 meters Centerline goodness : 0.797630 with order 1 Centerline is valid? [False, False] Translation: X:-3.71, Y:1.99, Z:0.61 [[ 0.98324834 -0.1356923 -0.12169756 -3.7073554 ] [ 0.15605555 0.97168383 0.17741812 1.98972049] [ 0.09417728 -0.19343765 0.97658206 0.60754576] [ 0. 0. 0. 1. ]] SLAMing on 4.229259763999999 meters Centerline goodness : 0.782340 with order 1 Centerline is valid? [False, False] Translation: X:-3.67, Y:2.11, Z:0.54 [[ 0.9547804 -0.2690838 -0.12644487 -3.67343678] [ 0.28697252 0.94526054 0.15533601 2.11342859] [ 0.07772495 -0.18459798 0.97973589 0.53881705] [ 0. 0. 0. 1. ]] SLAMing on 4.289259764 meters Centerline goodness : 0.778110 with order 1 Centerline is valid? [False, False] Translation: X:-3.62, Y:2.26, Z:0.48 [[ 0.92560744 -0.35035533 -0.14318524 -3.61950749] [ 0.36924063 0.91898911 0.13827646 2.26167215] [ 0.08313978 -0.18085953 0.97998858 0.48455143] [ 0. 0. 0. 1. ]] SLAMing on 4.349259763999999 meters Centerline goodness : 0.769613 with order 1 Centerline is valid? [False, False] Translation: X:-3.58, Y:2.44, Z:0.46 [[ 0.92140484 -0.35799655 -0.15116742 -3.58488887] [ 0.37576113 0.91995997 0.11170153 2.4365827 ] [ 0.09907921 -0.15972517 0.98217676 0.45621588] [ 0. 0. 0. 1. ]] SLAMing on 4.409259763999999 meters Centerline goodness : 0.762273 with order 1 Centerline is valid? [False, False] Translation: X:-3.60, Y:2.65, Z:0.43 [[ 0.93619182 -0.3128359 -0.16024536 -3.59697158] [ 0.32880221 0.94059432 0.08468432 2.6469231 ] [ 0.12423358 -0.1319698 0.98343784 0.43482442] [ 0. 0. 0. 1. ]] SLAMing on 4.469259763999999 meters Centerline goodness : 0.766831 with order 1 Centerline is valid? [False, False] Translation: X:-3.63, Y:2.85, Z:0.42 [[ 0.95443473 -0.25014811 -0.16272761 -3.63474253] [ 0.26180992 0.96358921 0.05432673 2.8531435 ] [ 0.14321284 -0.09445502 0.98517426 0.42325656] [ 0. 0. 0. 1. ]] SLAMing on 4.529259763999999 meters Centerline goodness : 0.765303 with order 1 Centerline is valid? [False, False] Translation: X:-3.65, Y:3.02, Z:0.42 [[ 0.96916782 -0.18132531 -0.16683785 -3.64666841] [ 0.1909842 0.98062164 0.04366047 3.01760052] [ 0.15568806 -0.07417772 0.98501721 0.41765023] [ 0. 0. 0. 1. ]] SLAMing on 4.5892597639999995 meters Centerline goodness : 0.767053 with order 1 Centerline is valid? [False, False] Translation: X:-3.66, Y:3.09, Z:0.41 [[ 0.98024605 -0.1038709 -0.16831077 -3.66215651] [ 0.11197934 0.99292928 0.03939647 3.09465012] [ 0.16302854 -0.05746556 0.9849464 0.41421484] [ 0. 0. 0. 1. ]] SLAMing on 4.649259763999999 meters Centerline goodness : 0.767380 with order 1 Centerline is valid? [False, False] Translation: X:-3.67, Y:3.14, Z:0.41 [[ 0.98459281 -0.04657408 -0.16854628 -3.6663738 ] [ 0.05255938 0.99812955 0.03122361 3.13929303] [ 0.16677681 -0.03960123 0.98519909 0.41369164] [ 0. 0. 0. 1. ]] SLAMing on 4.709259764 meters Centerline goodness : 0.767894 with order 1 Centerline is valid? [False, False] Translation: X:-3.67, Y:3.16, Z:0.41 [[ 0.98527065 -0.02209323 -0.169569 -3.66964013] [ 0.02595549 0.99945095 0.02059386 3.15697286] [ 0.16902091 -0.02469177 0.98530312 0.41442579] [ 0. 0. 0. 1. ]] SLAMing on 4.769259763999999 meters Centerline goodness : 0.768129 with order 1 Centerline is valid? [False, False] Translation: X:-3.66, Y:3.17, Z:0.41 [[ 9.85160291e-01 1.32827653e-03 -1.71631691e-01 -3.66452729e+00] [ 2.93869136e-03 9.99692939e-01 2.46047257e-02 3.17108869e+00] [ 1.71611672e-01 -2.47439713e-02 9.84853883e-01 4.13147631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.829259763999999 meters Centerline goodness : 0.769057 with order 1 Centerline is valid? [False, False] Translation: X:-3.66, Y:3.18, Z:0.41 [[ 0.98478934 0.01709669 -0.17290939 -3.66264568] [-0.0136662 0.99968584 0.02101096 3.1804902 ] [ 0.17321429 -0.01832836 0.9847136 0.41358909] [ 0. 0. 0. 1. ]] SLAMing on 4.889259763999999 meters Centerline goodness : 0.768580 with order 1 Centerline is valid? [False, False] Translation: X:-3.66, Y:3.19, Z:0.41 [[ 0.98437129 0.03410916 -0.17277071 -3.66087098] [-0.03149725 0.99934466 0.0178376 3.18974143] [ 0.17326591 -0.01211702 0.98480054 0.41314873] [ 0. 0. 0. 1. ]] SLAMing on 4.949259763999999 meters Centerline goodness : 0.771883 with order 1 Centerline is valid? [False, False] Translation: X:-3.66, Y:3.20, Z:0.41 [[ 0.98527794 0.05608372 -0.16149924 -3.66020106] [-0.05310111 0.99833044 0.02272914 3.20112941] [ 0.16250434 -0.01381873 0.98661106 0.40934066] [ 0. 0. 0. 1. ]] SLAMing on 5.009259763999999 meters Centerline goodness : 0.772913 with order 1 Centerline is valid? [False, False] Translation: X:-3.66, Y:3.21, Z:0.40 [[ 0.98641335 0.06720859 -0.14990567 -3.66014072] [-0.06515662 0.99770236 0.01856375 3.20502976] [ 0.15080888 -0.00854419 0.98852601 0.40347624] [ 0. 0. 0. 1. ]] SLAMing on 5.069259763999999 meters Centerline goodness : 0.774038 with order 1 Centerline is valid? [False, False] Translation: X:-3.66, Y:3.21, Z:0.40 [[ 0.98613038 0.07159071 -0.14973859 -3.66027029] [-0.0690508 0.99736833 0.02209994 3.20712298] [ 0.15092668 -0.01145385 0.9884786 0.40399429] [ 0. 0. 0. 1. ]] SLAMing on 5.1292597639999995 meters Centerline goodness : 0.776315 with order 1 Centerline is valid? [False, False] Translation: X:-3.65, Y:3.21, Z:0.40 [[ 0.98656406 0.08545474 -0.13924386 -3.65404478] [-0.08265565 0.99624484 0.02577317 3.20889178] [ 0.14092342 -0.01391759 0.98992267 0.40252475] [ 0. 0. 0. 1. ]] SLAMing on 5.189259763999999 meters Centerline goodness : 0.776536 with order 1 Centerline is valid? [False, False] Translation: X:-3.64, Y:3.22, Z:0.41 [[ 0.98469668 0.10111603 -0.14194367 -3.64481826] [-0.09720319 0.99467497 0.03425252 3.22001463] [ 0.1446513 -0.01993096 0.98928194 0.40834154] [ 0. 0. 0. 1. ]] SLAMing on 5.249259763999999 meters Centerline goodness : 0.777795 with order 1 Centerline is valid? [False, False] Translation: X:-3.66, Y:3.25, Z:0.41 [[ 0.98350313 0.11890376 -0.13632124 -3.65786633] [-0.1167089 0.99287589 0.02401026 3.24570751] [ 0.13820499 -0.00770426 0.99037368 0.40786287] [ 0. 0. 0. 1. ]] SLAMing on 5.309259763999999 meters Centerline goodness : 0.779018 with order 1 Centerline is valid? [False, False] Translation: X:-3.65, Y:3.26, Z:0.41 [[ 0.98059572 0.1412746 -0.13591731 -3.65088567] [-0.13697387 0.98974483 0.04053805 3.25966995] [ 0.14025045 -0.02113432 0.98989047 0.40951003] [ 0. 0. 0. 1. ]] SLAMing on 5.369259763999999 meters Centerline goodness : 0.778653 with order 1 Centerline is valid? [False, False] Translation: X:-3.65, Y:3.28, Z:0.41 [[ 0.97793849 0.16026853 -0.13397873 -3.65233544] [-0.15607104 0.98688056 0.04133511 3.27797861] [ 0.13884573 -0.019513 0.99012176 0.40736618] [ 0. 0. 0. 1. ]] SLAMing on 5.429259763999999 meters Centerline goodness : 0.778441 with order 1 Centerline is valid? [False, False] Translation: X:-3.65, Y:3.30, Z:0.40 [[ 0.97452919 0.181719 -0.13141939 -3.64944804] [-0.17706584 0.98310629 0.04636497 3.29946254] [ 0.13762462 -0.02191414 0.99024201 0.40294398] [ 0. 0. 0. 1. ]] SLAMing on 5.489259763999999 meters Centerline goodness : 0.780789 with order 1 Centerline is valid? [False, False] Translation: X:-3.65, Y:3.32, Z:0.40 [[ 0.97055483 0.2041416 -0.1278653 -3.65084509] [-0.19928946 0.97867477 0.04979367 3.32408124] [ 0.13530351 -0.02284528 0.99054079 0.40306329] [ 0. 0. 0. 1. ]] SLAMing on 5.549259763999999 meters Centerline goodness : 0.784716 with order 1 Centerline is valid? [False, False] Translation: X:-3.65, Y:3.36, Z:0.40 [[ 0.96374295 0.23628167 -0.12397785 -3.6535843 ] [-0.23184486 0.97150369 0.04928031 3.36077159] [ 0.13208897 -0.01874993 0.99106051 0.40132782] [ 0. 0. 0. 1. ]] SLAMing on 5.609259763999999 meters Centerline goodness : 0.785368 with order 1 Centerline is valid? [False, False] Translation: X:-3.67, Y:3.40, Z:0.40 [[ 0.95629496 0.26469607 -0.12424147 -3.666268 ] [-0.2599456 0.96415102 0.05330199 3.40384222] [ 0.13389637 -0.0186764 0.99081933 0.39917921] [ 0. 0. 0. 1. ]] SLAMing on 5.669259763999999 meters Centerline goodness : 0.785359 with order 1 Centerline is valid? [False, False] Translation: X:-3.70, Y:3.45, Z:0.39 [[ 0.94983629 0.28730435 -0.12356061 -3.69742459] [-0.28336254 0.95777272 0.04875537 3.44836791] [ 0.13235061 -0.01129717 0.99113858 0.39371463] [ 0. 0. 0. 1. ]] SLAMing on 5.729259763999999 meters Centerline goodness : 0.785865 with order 1 Centerline is valid? [False, False] Translation: X:-3.74, Y:3.51, Z:0.39 [[ 0.94172389 0.31332968 -0.12239539 -3.73573113] [-0.30959767 0.94960937 0.04890114 3.50541188] [ 0.13154998 -0.00815804 0.99127597 0.38862274] [ 0. 0. 0. 1. ]] SLAMing on 5.789259763999999 meters Centerline goodness : 0.785479 with order 1 Centerline is valid? [False, False] Translation: X:-3.77, Y:3.56, Z:0.38 [[ 0.9362778 0.32918891 -0.12255013 -3.77499467] [-0.32475948 0.94419053 0.05509553 3.55529321] [ 0.13384751 -0.01178541 0.99093186 0.38034473] [ 0. 0. 0. 1. ]] SLAMing on 5.849259763999999 meters Centerline goodness : 0.795466 with order 1 Centerline is valid? [False, False] Translation: X:-3.83, Y:3.62, Z:0.37 [[ 0.93073711 0.34630812 -0.11746968 -3.82820185] [-0.34204614 0.9380525 0.05533478 3.61809768] [ 0.12935561 -0.01132209 0.99153363 0.37365032] [ 0. 0. 0. 1. ]] SLAMing on 5.909259763999999 meters Centerline goodness : 0.802802 with order 1 Centerline is valid? [False, False] Translation: X:-3.88, Y:3.68, Z:0.37 [[ 0.92409026 0.3654302 -0.11188375 -3.87711567] [-0.36145151 0.93078364 0.05472313 3.67729699] [ 0.12413704 -0.01012856 0.99221339 0.36723993] [ 0. 0. 0. 1. ]] SLAMing on 5.969259763999999 meters Centerline goodness : 0.801093 with order 1 Centerline is valid? [False, False] Translation: X:-4.02, Y:3.79, Z:0.34 [[ 9.23563185e-01 3.68351034e-01 -1.06529614e-01 -4.02213570e+00] [-3.65598106e-01 9.29683039e-01 4.50274542e-02 3.78775178e+00] [ 1.15624685e-01 -2.63867382e-03 9.93289469e-01 3.40809750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.029259763999999 meters Centerline goodness : 0.798497 with order 1 Centerline is valid? [False, False] Translation: X:-4.14, Y:3.86, Z:0.32 [[ 0.92976213 0.35401615 -0.10106905 -4.14473957] [-0.3507226 0.93518178 0.04928178 3.86456266] [ 0.11196448 -0.01037314 0.99365807 0.32206247] [ 0. 0. 0. 1. ]] SLAMing on 6.089259763999999 meters Centerline goodness : 0.792973 with order 1 Centerline is valid? [False, False] Translation: X:-4.31, Y:3.96, Z:0.30 [[ 0.93940557 0.33027798 -0.09183475 -4.30997562] [-0.32754807 0.94381887 0.04379724 3.96041424] [ 0.10114064 -0.01106307 0.99481063 0.29816853] [ 0. 0. 0. 1. ]] SLAMing on 6.149259763999999 meters Centerline goodness : 0.789140 with order 1 Centerline is valid? [False, False] Translation: X:-4.38, Y:4.00, Z:0.29 [[ 0.94347839 0.31992762 -0.08657273 -4.37682833] [-0.31641611 0.94719418 0.05200032 4.00332916] [ 0.09863752 -0.02166817 0.9948875 0.29060431] [ 0. 0. 0. 1. ]] SLAMing on 6.209259763999999 meters Centerline goodness : 0.789294 with order 1 Centerline is valid? [False, False] Translation: X:-4.45, Y:4.06, Z:0.28 [[ 0.94499439 0.31706167 -0.08035858 -4.45496113] [-0.31408317 0.9481981 0.04766677 4.05700659] [ 0.09130916 -0.01980555 0.99562562 0.2841419 ] [ 0. 0. 0. 1. ]] SLAMing on 6.269259763999999 meters Centerline goodness : 0.789632 with order 1 Centerline is valid? [False, False] Translation: X:-4.53, Y:4.12, Z:0.28 [[ 0.94547644 0.31731068 -0.0734046 -4.53096721] [-0.31454416 0.94808338 0.04690281 4.11619307] [ 0.08447645 -0.02125651 0.99619872 0.28041547] [ 0. 0. 0. 1. ]] SLAMing on 6.329259763999999 meters Centerline goodness : 0.785785 with order 1 Centerline is valid? [False, False] Translation: X:-4.58, Y:4.15, Z:0.28 [[ 0.94637222 0.31316344 -0.07942472 -4.57611799] [-0.30958425 0.94932167 0.05427667 4.15076994] [ 0.09239708 -0.02677729 0.99536212 0.27859965] [ 0. 0. 0. 1. ]] SLAMing on 6.389259763999999 meters Centerline goodness : 0.779157 with order 1 Centerline is valid? [False, False] Translation: X:-4.63, Y:4.19, Z:0.27 [[ 0.94507408 0.31619545 -0.08279753 -4.62837733] [-0.31232296 0.94829435 0.05649961 4.18955785] [ 0.09638134 -0.02753675 0.9949635 0.27078396] [ 0. 0. 0. 1. ]] SLAMing on 6.449259763999999 meters Centerline goodness : 0.780289 with order 1 Centerline is valid? [False, False] Translation: X:-4.71, Y:4.24, Z:0.26 [[ 0.94805008 0.3083527 -0.07822824 -4.70617634] [-0.30508214 0.95095485 0.0510858 4.23903629] [ 0.09014397 -0.02456586 0.99562572 0.26179196] [ 0. 0. 0. 1. ]] SLAMing on 6.5092597639999985 meters Centerline goodness : 0.777343 with order 1 Centerline is valid? [False, False] Translation: X:-4.75, Y:4.27, Z:0.26 [[ 0.95208078 0.29613005 -0.07647994 -4.75364957] [-0.29206379 0.95451265 0.06003613 4.26688058] [ 0.09077957 -0.03482223 0.99526202 0.26474993] [ 0. 0. 0. 1. ]] SLAMing on 6.569259763999999 meters Centerline goodness : 0.772272 with order 1 Centerline is valid? [False, False] Translation: X:-4.80, Y:4.30, Z:0.26 [[ 0.95406679 0.29020843 -0.07440174 -4.79979816] [-0.28596621 0.95618799 0.06267257 4.29539295] [ 0.08933016 -0.03851743 0.99525702 0.25869594] [ 0. 0. 0. 1. ]] SLAMing on 6.629259763999999 meters Centerline goodness : 0.767901 with order 1 Centerline is valid? [False, False] Translation: X:-4.84, Y:4.32, Z:0.25 [[ 0.95488857 0.2875028 -0.07436362 -4.83663748] [-0.28317269 0.9569577 0.06360171 4.32279648] [ 0.08944851 -0.0396748 0.99520092 0.25326549] [ 0. 0. 0. 1. ]] SLAMing on 6.689259763999999 meters Centerline goodness : 0.759471 with order 1 Centerline is valid? [False, False] Translation: X:-4.87, Y:4.35, Z:0.25 [[ 0.95450746 0.28827931 -0.07622688 -4.86550856] [-0.28377619 0.95670529 0.06469974 4.34786655] [ 0.09157825 -0.04012501 0.99498915 0.24979875] [ 0. 0. 0. 1. ]] SLAMing on 6.749259763999999 meters Centerline goodness : 0.764256 with order 1 Centerline is valid? [False, False] Translation: X:-4.90, Y:4.38, Z:0.25 [[ 0.95469385 0.28738951 -0.07724591 -4.89939839] [-0.28276677 0.95694827 0.06552061 4.37698537] [ 0.09275027 -0.04070955 0.99485683 0.24657388] [ 0. 0. 0. 1. ]] SLAMing on 6.809259763999999 meters Centerline goodness : 0.760971 with order 1 Centerline is valid? [False, False] Translation: X:-4.93, Y:4.41, Z:0.25 [[ 0.95218123 0.29646328 -0.07389476 -4.92998011] [-0.29169638 0.95403032 0.06884305 4.41200545] [ 0.09090728 -0.04399623 0.99488703 0.246497 ] [ 0. 0. 0. 1. ]] SLAMing on 6.869259763999999 meters Centerline goodness : 0.760976 with order 1 Centerline is valid? [False, False] Translation: X:-4.97, Y:4.46, Z:0.25 [[ 0.9472722 0.31124344 -0.07617676 -4.96849525] [-0.30655542 0.9494718 0.06728359 4.46096258] [ 0.09326926 -0.04038348 0.9948216 0.24714468] [ 0. 0. 0. 1. ]] SLAMing on 6.929259763999998 meters Centerline goodness : 0.769257 with order 1 Centerline is valid? [False, False] Translation: X:-5.00, Y:4.50, Z:0.25 [[ 0.94593338 0.31490553 -0.07774672 -4.99813725] [-0.30983589 0.94815829 0.07069351 4.49518322] [ 0.09597797 -0.04278263 0.99446361 0.24625765] [ 0. 0. 0. 1. ]] SLAMing on 6.989259763999999 meters Centerline goodness : 0.767763 with order 1 Centerline is valid? [False, False] Translation: X:-5.04, Y:4.53, Z:0.24 [[ 0.94611497 0.31463012 -0.0766443 -5.03584151] [-0.30946243 0.94816594 0.07221056 4.52584814] [ 0.09539113 -0.04460096 0.99444019 0.24213903] [ 0. 0. 0. 1. ]] SLAMing on 7.0492597639999985 meters Centerline goodness : 0.758605 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:4.57, Z:0.24 [[ 0.94479276 0.3182228 -0.0781082 -5.09183246] [-0.31305655 0.94703098 0.07160945 4.57024969] [ 0.09675865 -0.04320381 0.99436975 0.23630886] [ 0. 0. 0. 1. ]] SLAMing on 7.109259763999999 meters Centerline goodness : 0.758986 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:4.62, Z:0.23 [[ 0.94474171 0.31855742 -0.07735806 -5.16019218] [-0.31341924 0.94690674 0.07166597 4.6221313 ] [ 0.09608059 -0.04346033 0.99442432 0.23106784] [ 0. 0. 0. 1. ]] SLAMing on 7.169259763999999 meters Centerline goodness : 0.763547 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:4.68, Z:0.22 [[ 0.94375568 0.32344911 -0.06859954 -5.23647334] [-0.31930343 0.94542669 0.06491291 4.68059478] [ 0.08585186 -0.03935786 0.99553022 0.21994451] [ 0. 0. 0. 1. ]] SLAMing on 7.229259763999999 meters Centerline goodness : 0.770713 with order 1 Centerline is valid? [False, False] Translation: X:-5.30, Y:4.74, Z:0.22 [[ 0.94264408 0.32755197 -0.06427946 -5.29978065] [-0.32381962 0.94408137 0.06205825 4.73681192] [ 0.08101235 -0.03768389 0.99600046 0.21879976] [ 0. 0. 0. 1. ]] SLAMing on 7.289259763999999 meters Centerline goodness : 0.770838 with order 1 Centerline is valid? [False, False] Translation: X:-5.37, Y:4.79, Z:0.21 [[ 0.94126734 0.33230267 -0.05992274 -5.36639222] [-0.32899025 0.94249756 0.05885383 4.79039217] [ 0.07603432 -0.03568319 0.9964665 0.20914172] [ 0. 0. 0. 1. ]] SLAMing on 7.349259763999998 meters Centerline goodness : 0.765925 with order 1 Centerline is valid? [False, False] Translation: X:-5.43, Y:4.84, Z:0.20 [[ 0.94029231 0.33473332 -0.06167638 -5.42699328] [-0.33104697 0.94151851 0.06285537 4.84011551] [ 0.07910923 -0.03868464 0.99611507 0.20272826] [ 0. 0. 0. 1. ]] SLAMing on 7.409259763999999 meters Centerline goodness : 0.766551 with order 1 Centerline is valid? [False, False] Translation: X:-5.49, Y:4.89, Z:0.20 [[ 0.93831917 0.33993996 -0.06322948 -5.48605118] [-0.3359405 0.93956464 0.06604752 4.89118665] [ 0.08186038 -0.04073231 0.99581111 0.1978023 ] [ 0. 0. 0. 1. ]] SLAMing on 7.4692597639999985 meters Centerline goodness : 0.767614 with order 1 Centerline is valid? [False, False] Translation: X:-5.57, Y:4.96, Z:0.19 [[ 0.93560972 0.34803542 -0.05920983 -5.57436744] [-0.34447821 0.93670262 0.06263358 4.96418458] [ 0.07726071 -0.03820409 0.99627869 0.18705931] [ 0. 0. 0. 1. ]] SLAMing on 7.529259763999999 meters Centerline goodness : 0.776377 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:5.03, Z:0.18 [[ 0.93373644 0.35422817 -0.05156225 -5.64691905] [-0.35085046 0.93421207 0.06443416 5.02522547] [ 0.07099447 -0.04207388 0.99658897 0.17970309] [ 0. 0. 0. 1. ]] SLAMing on 7.589259763999999 meters Centerline goodness : 0.778844 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:5.10, Z:0.17 [[ 0.93168957 0.36028967 -0.04632383 -5.7415021 ] [-0.357281 0.93191773 0.06228665 5.09932817] [ 0.06561123 -0.04148119 0.99698269 0.16750824] [ 0. 0. 0. 1. ]] SLAMing on 7.649259763999999 meters Centerline goodness : 0.779024 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:5.17, Z:0.16 [[ 0.93017135 0.36443901 -0.04433367 -5.8279982 ] [-0.3614563 0.93024538 0.06318921 5.16639769] [ 0.06426981 -0.04275211 0.99701637 0.15817948] [ 0. 0. 0. 1. ]] SLAMing on 7.709259763999999 meters Centerline goodness : 0.779368 with order 1 Centerline is valid? [False, False] Translation: X:-5.95, Y:5.26, Z:0.14 [[ 0.92749155 0.37215343 -0.03551405 -5.95461002] [-0.36996611 0.9273669 0.05581851 5.26186334] [ 0.05370761 -0.0386322 0.99780912 0.14465341] [ 0. 0. 0. 1. ]] SLAMing on 7.769259763999998 meters Centerline goodness : 0.777587 with order 1 Centerline is valid? [False, False] Translation: X:-6.13, Y:5.39, Z:0.12 [[ 0.92210566 0.38623263 -0.02335605 -6.13204655] [-0.38485108 0.92172054 0.04817568 5.39055286] [ 0.04013477 -0.03543447 0.99856577 0.12300876] [ 0. 0. 0. 1. ]] SLAMing on 7.829259763999999 meters Centerline goodness : 0.775617 with order 1 Centerline is valid? [False, False] Translation: X:-6.22, Y:5.47, Z:0.11 [[ 0.91727268 0.39792114 -0.01641938 -6.21834333] [-0.39685432 0.91671908 0.04618198 5.46559458] [ 0.03342875 -0.03584537 0.99879809 0.11491885] [ 0. 0. 0. 1. ]] SLAMing on 7.889259763999998 meters Centerline goodness : 0.776610 with order 1 Centerline is valid? [False, False] Translation: X:-6.24, Y:5.50, Z:0.11 [[ 0.91422928 0.40486309 -0.01645268 -6.24247708] [-0.40357762 0.91345086 0.05227461 5.49746589] [ 0.03619278 -0.04115105 0.99849721 0.11316634] [ 0. 0. 0. 1. ]] SLAMing on 7.949259763999999 meters Centerline goodness : 0.778248 with order 1 Centerline is valid? [False, False] Translation: X:-6.25, Y:5.52, Z:0.12 [[ 0.90866003 0.41690084 -0.02303544 -6.24564238] [-0.4152333 0.90805797 0.054882 5.51859789] [ 0.04379787 -0.040304 0.9982271 0.11853629] [ 0. 0. 0. 1. ]] SLAMing on 8.009259764 meters Centerline goodness : 0.777375 with order 1 Centerline is valid? [False, False] Translation: X:-6.25, Y:5.53, Z:0.12 [[ 0.90551648 0.42318738 -0.03086025 -6.25384522] [-0.42127909 0.90534404 0.05362923 5.53363817] [ 0.05063435 -0.03556137 0.99808394 0.1225298 ] [ 0. 0. 0. 1. ]] SLAMing on 8.069259764 meters Centerline goodness : 0.774999 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:5.49, Z:0.12 [[ 0.91031133 0.41273083 -0.03140939 -6.17867158] [-0.40942882 0.90898191 0.07823001 5.48884377] [ 0.0608385 -0.05835376 0.99644042 0.12470928] [ 0. 0. 0. 1. ]] SLAMing on 8.129259764 meters Centerline goodness : 0.772544 with order 1 Centerline is valid? [False, False] Translation: X:-6.15, Y:5.48, Z:0.13 [[ 0.91271606 0.40598542 -0.04610019 -6.14681216] [-0.40165014 0.91218792 0.0811811 5.47967239] [ 0.07501038 -0.05557915 0.99563266 0.13430427] [ 0. 0. 0. 1. ]] SLAMing on 8.189259763999999 meters Centerline goodness : 0.772925 with order 1 Centerline is valid? [False, False] Translation: X:-6.08, Y:5.44, Z:0.14 [[ 0.91868686 0.39209753 -0.04768616 -6.08145421] [-0.38526429 0.91614105 0.11071137 5.44206334] [ 0.0870969 -0.08333731 0.99270792 0.13865146] [ 0. 0. 0. 1. ]] SLAMing on 8.249259764 meters Centerline goodness : 0.773788 with order 1 Centerline is valid? [False, False] Translation: X:-6.10, Y:5.47, Z:0.13 [[ 0.9189046 0.3919954 -0.04420346 -6.10495841] [-0.38440349 0.91495808 0.12282372 5.46653158] [ 0.08859065 -0.09587132 0.99144359 0.13455449] [ 0. 0. 0. 1. ]] SLAMing on 8.309259764 meters Centerline goodness : 0.775519 with order 1 Centerline is valid? [False, False] Translation: X:-6.10, Y:5.48, Z:0.14 [[ 0.91773007 0.39466322 -0.04486044 -6.10263225] [-0.38716216 0.9140395 0.1209845 5.47996001] [ 0.08875234 -0.09366285 0.9916402 0.13795318] [ 0. 0. 0. 1. ]] SLAMing on 8.369259763999999 meters Centerline goodness : 0.775574 with order 1 Centerline is valid? [False, False] Translation: X:-6.14, Y:5.52, Z:0.13 [[ 0.91743431 0.39542545 -0.04419268 -6.14058723] [-0.38778554 0.91347831 0.12320613 5.51788051] [ 0.0890879 -0.09589625 0.99139662 0.13422276] [ 0. 0. 0. 1. ]] SLAMing on 8.429259764 meters Centerline goodness : 0.777216 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:5.55, Z:0.13 [[ 0.91769822 0.39466466 -0.04549482 -6.1772885 ] [-0.3859554 0.91282315 0.13338786 5.55209453] [ 0.0941722 -0.10485083 0.99001914 0.12756263] [ 0. 0. 0. 1. ]] SLAMing on 8.489259764 meters Centerline goodness : 0.774280 with order 1 Centerline is valid? [False, False] Translation: X:-6.21, Y:5.58, Z:0.13 [[ 0.91852031 0.3922314 -0.04974907 -6.20536874] [-0.38339799 0.91435382 0.13024238 5.57980383] [ 0.0965734 -0.10055658 0.99023328 0.1256375 ] [ 0. 0. 0. 1. ]] SLAMing on 8.549259764 meters Centerline goodness : 0.774073 with order 1 Centerline is valid? [False, False] Translation: X:-6.16, Y:5.58, Z:0.14 [[ 0.92075532 0.38423854 -0.06760463 -6.16383312] [-0.37329845 0.91804311 0.13358559 5.57746638] [ 0.1133927 -0.09776294 0.98872873 0.14170344] [ 0. 0. 0. 1. ]] SLAMing on 8.609259763999999 meters Centerline goodness : 0.775726 with order 1 Centerline is valid? [False, False] Translation: X:-6.19, Y:5.61, Z:0.14 [[ 0.92030904 0.38442793 -0.07243228 -6.18756205] [-0.37322382 0.91832649 0.13183486 5.605599 ] [ 0.11719748 -0.09429536 0.98862184 0.1414627 ] [ 0. 0. 0. 1. ]] SLAMing on 8.669259764 meters Centerline goodness : 0.777005 with order 1 Centerline is valid? [False, False] Translation: X:-6.19, Y:5.62, Z:0.15 [[ 0.91918069 0.38696133 -0.07326524 -6.18505101] [-0.37575629 0.91739322 0.13113692 5.61673518] [ 0.11795795 -0.09300865 0.98865328 0.14671118] [ 0. 0. 0. 1. ]] SLAMing on 8.729259764 meters Centerline goodness : 0.775562 with order 1 Centerline is valid? [False, False] Translation: X:-6.19, Y:5.63, Z:0.15 [[ 0.91823883 0.38702364 -0.08396515 -6.19449384] [-0.37574463 0.91838631 0.12402646 5.63178672] [ 0.12511362 -0.08233646 0.98872003 0.15246459] [ 0. 0. 0. 1. ]] SLAMing on 8.789259763999999 meters Centerline goodness : 0.775057 with order 1 Centerline is valid? [False, False] Translation: X:-6.15, Y:5.61, Z:0.16 [[ 0.91901215 0.38325106 -0.09238668 -6.14992599] [-0.37120354 0.92015561 0.12458563 5.61344899] [ 0.1327577 -0.08020145 0.98789834 0.16396549] [ 0. 0. 0. 1. ]] SLAMing on 8.849259764 meters Centerline goodness : 0.775671 with order 1 Centerline is valid? [False, False] Translation: X:-6.14, Y:5.61, Z:0.17 [[ 0.91996668 0.37926195 -0.09910439 -6.1391878 ] [-0.36712405 0.92222622 0.12132075 5.61293264] [ 0.13740901 -0.07522745 0.98765358 0.16869175] [ 0. 0. 0. 1. ]] SLAMing on 8.909259764 meters Centerline goodness : 0.776387 with order 1 Centerline is valid? [False, False] Translation: X:-6.13, Y:5.62, Z:0.17 [[ 0.92022574 0.37776631 -0.10235823 -6.13426569] [-0.36546454 0.92296553 0.1207075 5.61521364] [ 0.14007234 -0.07366985 0.98739683 0.17219151] [ 0. 0. 0. 1. ]] SLAMing on 8.969259764 meters Centerline goodness : 0.773468 with order 1 Centerline is valid? [False, False] Translation: X:-6.06, Y:5.59, Z:0.19 [[ 0.92445763 0.36457665 -0.11163314 -6.06400445] [-0.34946234 0.92726877 0.13434548 5.58598406] [ 0.15249315 -0.08518512 0.98462649 0.19070402] [ 0. 0. 0. 1. ]] SLAMing on 9.029259763999999 meters Centerline goodness : 0.773930 with order 1 Centerline is valid? [False, False] Translation: X:-6.06, Y:5.59, Z:0.19 [[ 0.92231876 0.37015837 -0.11095442 -6.06188388] [-0.35451567 0.92477626 0.13822991 5.59424222] [ 0.15377497 -0.08815696 0.98416544 0.19295489] [ 0. 0. 0. 1. ]] SLAMing on 9.089259764 meters Centerline goodness : 0.771385 with order 1 Centerline is valid? [False, False] Translation: X:-6.06, Y:5.60, Z:0.19 [[ 0.9214772 0.37222709 -0.11102595 -6.06012028] [-0.35632553 0.92383283 0.13987498 5.5984828 ] [ 0.15463467 -0.08933023 0.98392491 0.19385389] [ 0. 0. 0. 1. ]] SLAMing on 9.149259764 meters Centerline goodness : 0.769425 with order 1 Centerline is valid? [False, False] Translation: X:-6.01, Y:5.56, Z:0.19 [[ 0.92683494 0.36352723 -0.0939412 -6.00636813] [-0.34230975 0.92091046 0.18640804 5.55590442] [ 0.15427583 -0.1406125 0.97797091 0.1890453 ] [ 0. 0. 0. 1. ]] SLAMing on 9.209259763999999 meters Centerline goodness : 0.770367 with order 1 Centerline is valid? [False, False] Translation: X:-6.01, Y:5.58, Z:0.20 [[ 0.92495212 0.36486131 -0.10648852 -6.01089925] [-0.34352651 0.92239719 0.17655866 5.57683805] [ 0.16264413 -0.12672668 0.97851277 0.19949766] [ 0. 0. 0. 1. ]] SLAMing on 9.269259764 meters Centerline goodness : 0.769665 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:5.58, Z:0.21 [[ 0.9264273 0.35856078 -0.11474588 -5.99818005] [-0.33768393 0.92618331 0.16779168 5.57876498] [ 0.16643923 -0.11669896 0.97912172 0.20640763] [ 0. 0. 0. 1. ]] SLAMing on 9.329259764 meters Centerline goodness : 0.768746 with order 1 Centerline is valid? [False, False] Translation: X:-5.95, Y:5.56, Z:0.22 [[ 0.92745549 0.35282877 -0.1238474 -5.94525259] [-0.33003127 0.92807637 0.17249238 5.55984455] [ 0.17580012 -0.11910549 0.97719405 0.22425538] [ 0. 0. 0. 1. ]] SLAMing on 9.389259764 meters Centerline goodness : 0.767416 with order 1 Centerline is valid? [False, False] Translation: X:-5.93, Y:5.56, Z:0.23 [[ 0.92620787 0.35454541 -0.12820508 -5.93454423] [-0.33143835 0.92779251 0.17131745 5.56199797] [ 0.17968753 -0.11618349 0.97683867 0.22926969] [ 0. 0. 0. 1. ]] SLAMing on 9.449259763999999 meters Centerline goodness : 0.768694 with order 1 Centerline is valid? [False, False] Translation: X:-5.91, Y:5.56, Z:0.25 [[ 0.92702897 0.34762856 -0.14061176 -5.9114113 ] [-0.32270683 0.93055174 0.17301379 5.56284812] [ 0.19099105 -0.11501242 0.97483053 0.24617354] [ 0. 0. 0. 1. ]] SLAMing on 9.509259764 meters Centerline goodness : 0.766603 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:5.54, Z:0.25 [[ 0.92964512 0.34201704 -0.1370558 -5.86464216] [-0.3156268 0.93112779 0.18270405 5.54124319] [ 0.19010436 -0.12659144 0.97356815 0.25384417] [ 0. 0. 0. 1. ]] SLAMing on 9.569259764 meters Centerline goodness : 0.767326 with order 1 Centerline is valid? [False, False] Translation: X:-5.85, Y:5.54, Z:0.26 [[ 0.93102194 0.33437427 -0.14626003 -5.84807743] [-0.30812989 0.93492554 0.17598357 5.53986715] [ 0.19558661 -0.11877748 0.97346689 0.25794847] [ 0. 0. 0. 1. ]] SLAMing on 9.629259763999999 meters Centerline goodness : 0.765402 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:5.49, Z:0.26 [[ 0.93757173 0.32202218 -0.13138102 -5.77729384] [-0.2905371 0.93283689 0.21308105 5.49175295] [ 0.19117389 -0.1616077 0.96816088 0.26272245] [ 0. 0. 0. 1. ]] SLAMing on 9.689259763999999 meters Centerline goodness : 0.769406 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:5.49, Z:0.27 [[ 0.93980077 0.31771174 -0.12583229 -5.76245502] [-0.28704728 0.93375939 0.21376918 5.49433541] [ 0.18541406 -0.16478063 0.96874608 0.27050723] [ 0. 0. 0. 1. ]] SLAMing on 9.749259764 meters Centerline goodness : 0.770407 with order 1 Centerline is valid? [False, False] Translation: X:-5.77, Y:5.51, Z:0.28 [[ 0.93998824 0.30989699 -0.14277943 -5.76531898] [-0.27801318 0.93821546 0.20605928 5.51126755] [ 0.19781502 -0.15399874 0.96806694 0.28368774] [ 0. 0. 0. 1. ]] SLAMing on 9.809259764 meters Centerline goodness : 0.768524 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:5.52, Z:0.28 [[ 0.94294169 0.29970534 -0.14504369 -5.78131222] [-0.26686321 0.9407866 0.20905647 5.52425622] [ 0.1991105 -0.15842124 0.96708723 0.27758726] [ 0. 0. 0. 1. ]] SLAMing on 9.869259763999999 meters Centerline goodness : 0.768940 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:5.55, Z:0.27 [[ 0.94434443 0.29287297 -0.1497966 -5.81525343] [-0.25998617 0.94346784 0.20561038 5.55038996] [ 0.201546 -0.15522197 0.96710152 0.26921175] [ 0. 0. 0. 1. ]] SLAMing on 9.929259764 meters Centerline goodness : 0.767263 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:5.58, Z:0.26 [[ 0.94441396 0.29142682 -0.15216003 -5.86475673] [-0.26098409 0.94604273 0.19206889 5.58057693] [ 0.19992392 -0.14168119 0.96951373 0.25602216] [ 0. 0. 0. 1. ]] SLAMing on 9.989259764 meters Centerline goodness : 0.767233 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:5.65, Z:0.22 [[ 0.94407271 0.29628364 -0.14471598 -6.00170048] [-0.26756875 0.94484098 0.18889811 5.65334275] [ 0.192701 -0.13961207 0.97127483 0.22010889] [ 0. 0. 0. 1. ]] SLAMing on 10.049259763999999 meters Centerline goodness : 0.773110 with order 1 Centerline is valid? [False, False] Translation: X:-6.17, Y:5.74, Z:0.18 [[ 0.94351627 0.30540756 -0.12846504 -6.17297712] [-0.27935124 0.94176308 0.18720362 5.74347535] [ 0.17815703 -0.14074279 0.97388477 0.17577654] [ 0. 0. 0. 1. ]] SLAMing on 10.109259763999999 meters Centerline goodness : 0.775198 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:5.71, Z:0.16 [[ 0.94741261 0.30440241 -0.09873464 -6.27893063] [-0.24656103 0.89102211 0.38116565 5.71401392] [ 0.20400249 -0.33677703 0.91921935 0.15866921] [ 0. 0. 0. 1. ]] SLAMing on 10.169259764 meters Centerline goodness : 0.770638 with order 1 Centerline is valid? [False, False] Translation: X:-6.38, Y:5.78, Z:0.13 [[ 0.94674113 0.30488356 -0.10357239 -6.38190799] [-0.25015103 0.89894645 0.35961054 5.77959986] [ 0.20274538 -0.31454935 0.92733652 0.1271193 ] [ 0. 0. 0. 1. ]] SLAMing on 10.229259764 meters Centerline goodness : 0.770514 with order 1 Centerline is valid? [False, False] Translation: X:-6.46, Y:5.83, Z:0.11 [[ 0.94636462 0.3047488 -0.1073414 -6.45757377] [-0.25390143 0.90690096 0.33625096 5.83418498] [ 0.1998201 -0.29096188 0.93563514 0.10774239] [ 0. 0. 0. 1. ]] SLAMing on 10.289259763999999 meters Centerline goodness : 0.770388 with order 1 Centerline is valid? [False, False] Translation: X:-6.53, Y:5.89, Z:0.09 [[ 0.94601226 0.30444314 -0.11124373 -6.53355116] [-0.25742839 0.91424413 0.31287104 5.8906411 ] [ 0.19695537 -0.26734255 0.94325847 0.08867443] [ 0. 0. 0. 1. ]] SLAMing on 10.349259764 meters Centerline goodness : 0.771005 with order 1 Centerline is valid? [False, False] Translation: X:-6.61, Y:5.95, Z:0.07 [[ 0.94636514 0.30213243 -0.11449464 -6.61288683] [-0.25862338 0.92076472 0.2920724 5.94866853] [ 0.19366717 -0.24679614 0.94951814 0.0704852 ] [ 0. 0. 0. 1. ]] SLAMing on 10.409259764 meters Centerline goodness : 0.770333 with order 1 Centerline is valid? [False, False] Translation: X:-6.74, Y:6.03, Z:0.04 [[ 0.94687304 0.30176337 -0.11122193 -6.73676245] [-0.26291136 0.92547669 0.27270959 6.02653281] [ 0.18522707 -0.22897986 0.95564594 0.03678116] [ 0. 0. 0. 1. ]] SLAMing on 10.469259763999998 meters Centerline goodness : 0.770023 with order 1 Centerline is valid? [False, False] Translation: X:-6.86, Y:6.10, Z:0.00 [[ 9.46097165e-01 3.05357903e-01 -1.07966227e-01 -6.85951926e+00] [-2.70925901e-01 9.28806181e-01 2.52820557e-01 6.10487209e+00] [ 1.77480454e-01 -2.09941965e-01 9.61470259e-01 3.70057229e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.529259763999999 meters Centerline goodness : 0.768583 with order 1 Centerline is valid? [False, False] Translation: X:-6.94, Y:6.16, Z:-0.02 [[ 0.94676042 0.30241339 -0.11041218 -6.94471729] [-0.27082502 0.93357003 0.23473559 6.16461818] [ 0.17406469 -0.19233599 0.96576827 -0.02102704] [ 0. 0. 0. 1. ]] SLAMing on 10.589259764 meters Centerline goodness : 0.763632 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:6.21, Z:-0.03 [[ 0.94809745 0.29522903 -0.11811452 -6.99848691] [-0.26435918 0.93824782 0.2231709 6.21088558] [ 0.17670722 -0.18036311 0.96759687 -0.03444593] [ 0. 0. 0. 1. ]] SLAMing on 10.649259764 meters Centerline goodness : 0.760441 with order 1 Centerline is valid? [False, False] Translation: X:-7.08, Y:6.27, Z:-0.05 [[ 0.94756712 0.29601768 -0.12037479 -7.07839798] [-0.26756528 0.94090966 0.20760019 6.26770695] [ 0.17471513 -0.164507 0.9707791 -0.05246102] [ 0. 0. 0. 1. ]] SLAMing on 10.709259763999999 meters Centerline goodness : 0.768808 with order 1 Centerline is valid? [False, False] Translation: X:-7.13, Y:6.32, Z:-0.06 [[ 0.9472241 0.29720192 -0.12015621 -7.1344226 ] [-0.27119875 0.94277366 0.1939821 6.316497 ] [ 0.17093196 -0.15115831 0.97361873 -0.06390383] [ 0. 0. 0. 1. ]] SLAMing on 10.769259764 meters Centerline goodness : 0.770471 with order 1 Centerline is valid? [False, False] Translation: X:-7.21, Y:6.37, Z:-0.08 [[ 0.94886945 0.29504966 -0.11221618 -7.21459941] [-0.27226894 0.94484387 0.1820431 6.37372954] [ 0.15973853 -0.14218216 0.97686633 -0.08389974] [ 0. 0. 0. 1. ]] SLAMing on 10.829259764 meters Centerline goodness : 0.772071 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:6.43, Z:-0.10 [[ 0.94990835 0.2939832 -0.10605663 -7.29262311] [-0.27323663 0.94593216 0.17479727 6.42789374] [ 0.15170984 -0.13706283 0.97887584 -0.10337811] [ 0. 0. 0. 1. ]] SLAMing on 10.889259763999998 meters Centerline goodness : 0.773730 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:6.48, Z:-0.12 [[ 0.95070101 0.29345333 -0.10026326 -7.36594043] [-0.2742337 0.94651802 0.16999859 6.47724979] [ 0.14478764 -0.13412227 0.98033043 -0.12336109] [ 0. 0. 0. 1. ]] SLAMing on 10.949259763999999 meters Centerline goodness : 0.770359 with order 1 Centerline is valid? [False, False] Translation: X:-7.45, Y:6.53, Z:-0.14 [[ 0.9493192 0.29716532 -0.10240037 -7.44529688] [-0.27908901 0.94679753 0.16026155 6.53258045] [ 0.14457659 -0.12356055 0.98174864 -0.14079964] [ 0. 0. 0. 1. ]] SLAMing on 11.009259764 meters Centerline goodness : 0.767252 with order 1 Centerline is valid? [False, False] Translation: X:-7.50, Y:6.58, Z:-0.15 [[ 0.94876469 0.29769372 -0.10594343 -7.50318817] [-0.27999755 0.94744364 0.15476408 6.58059672] [ 0.14644773 -0.11717079 0.98225458 -0.1538733 ] [ 0. 0. 0. 1. ]] SLAMing on 11.069259764 meters Centerline goodness : 0.767183 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:6.63, Z:-0.17 [[ 0.947629 0.30105906 -0.10659606 -7.55862662] [-0.28448909 0.94739648 0.14664881 6.62761085] [ 0.14513869 -0.10864325 0.98342839 -0.1652862 ] [ 0. 0. 0. 1. ]] SLAMing on 11.129259763999999 meters Centerline goodness : 0.766596 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:6.67, Z:-0.18 [[ 0.94742149 0.3024338 -0.10452905 -7.59997655] [-0.28561447 0.94654646 0.14991391 6.66550461] [ 0.14428063 -0.11217665 0.98315792 -0.17525588] [ 0. 0. 0. 1. ]] SLAMing on 11.189259763999999 meters Centerline goodness : 0.765428 with order 1 Centerline is valid? [False, False] Translation: X:-7.64, Y:6.71, Z:-0.18 [[ 0.94679556 0.30478906 -0.10335277 -7.64095626] [-0.28775379 0.94551851 0.15229087 6.7054939 ] [ 0.14413854 -0.11444817 0.98291693 -0.18272164] [ 0. 0. 0. 1. ]] SLAMing on 11.249259764 meters Centerline goodness : 0.765074 with order 1 Centerline is valid? [False, False] Translation: X:-7.68, Y:6.74, Z:-0.19 [[ 0.94616589 0.30689033 -0.10290012 -7.67971691] [-0.28996972 0.94491268 0.15184729 6.74318615] [ 0.14383209 -0.1138348 0.98303304 -0.18712366] [ 0. 0. 0. 1. ]] SLAMing on 11.309259763999998 meters Centerline goodness : 0.765950 with order 1 Centerline is valid? [False, False] Translation: X:-7.71, Y:6.78, Z:-0.19 [[ 0.94649846 0.30491774 -0.1056685 -7.71099782] [-0.28803427 0.94588493 0.14945888 6.77558526] [ 0.14552291 -0.11102645 0.98310539 -0.19335418] [ 0. 0. 0. 1. ]] SLAMing on 11.369259763999999 meters Centerline goodness : 0.760495 with order 1 Centerline is valid? [False, False] Translation: X:-7.76, Y:6.81, Z:-0.21 [[ 0.94741 0.30208461 -0.10563701 -7.75898512] [-0.28452277 0.94620823 0.15406745 6.81001312] [ 0.14649601 -0.11590891 0.98239709 -0.20888613] [ 0. 0. 0. 1. ]] SLAMing on 11.429259764 meters Centerline goodness : 0.760441 with order 1 Centerline is valid? [False, False] Translation: X:-7.82, Y:6.85, Z:-0.22 [[ 0.9479799 0.30004574 -0.10633279 -7.82141429] [-0.28310049 0.94738421 0.14938966 6.85112251] [ 0.14556173 -0.11151553 0.98304429 -0.22310405] [ 0. 0. 0. 1. ]] SLAMing on 11.489259764 meters Centerline goodness : 0.759960 with order 1 Centerline is valid? [False, False] Translation: X:-7.86, Y:6.88, Z:-0.23 [[ 0.94881037 0.29656753 -0.10865806 -7.85864774] [-0.27980653 0.94882758 0.14640536 6.88136669] [ 0.14651684 -0.10850769 0.98323898 -0.22882432] [ 0. 0. 0. 1. ]] SLAMing on 11.549259763999999 meters Centerline goodness : 0.762754 with order 1 Centerline is valid? [False, False] Translation: X:-7.91, Y:6.91, Z:-0.24 [[ 0.95013569 0.29369202 -0.10481964 -7.90969779] [-0.27713602 0.94937369 0.14793656 6.9143035 ] [ 0.1429608 -0.1115105 0.98342647 -0.23803503] [ 0. 0. 0. 1. ]] SLAMing on 11.609259763999999 meters Centerline goodness : 0.767481 with order 1 Centerline is valid? [False, False] Translation: X:-7.96, Y:6.95, Z:-0.25 [[ 0.95071258 0.2942877 -0.09767462 -7.96257461] [-0.2786991 0.94908724 0.14683402 6.95329483] [ 0.13591319 -0.11237513 0.9843269 -0.24583329] [ 0. 0. 0. 1. ]] SLAMing on 11.669259764 meters Centerline goodness : 0.771386 with order 1 Centerline is valid? [False, False] Translation: X:-8.03, Y:7.00, Z:-0.26 [[ 0.95156735 0.29244358 -0.09484899 -8.03101382] [-0.27788116 0.95011777 0.14162725 6.99622677] [ 0.13153569 -0.10841112 0.98536561 -0.25934817] [ 0. 0. 0. 1. ]] SLAMing on 11.729259763999998 meters Centerline goodness : 0.769487 with order 1 Centerline is valid? [False, False] Translation: X:-8.09, Y:7.03, Z:-0.27 [[ 0.9510591 0.29298821 -0.0982064 -8.08592583] [-0.27831504 0.95026963 0.13974393 7.03202417] [ 0.13426588 -0.10557241 0.98530561 -0.27114829] [ 0. 0. 0. 1. ]] SLAMing on 11.789259763999999 meters Centerline goodness : 0.771786 with order 1 Centerline is valid? [False, False] Translation: X:-8.12, Y:7.06, Z:-0.28 [[ 0.95162198 0.29017985 -0.10105083 -8.11893739] [-0.27550678 0.95140597 0.13755977 7.05981344] [ 0.13605744 -0.10306471 0.98532535 -0.2754233 ] [ 0. 0. 0. 1. ]] SLAMing on 11.849259764 meters Centerline goodness : 0.770694 with order 1 Centerline is valid? [False, False] Translation: X:-8.15, Y:7.09, Z:-0.27 [[ 0.95239797 0.28602546 -0.10548713 -8.15054417] [-0.27198041 0.95350679 0.12981318 7.08506975] [ 0.13771257 -0.09494338 0.98591125 -0.27442563] [ 0. 0. 0. 1. ]] SLAMing on 11.909259764 meters Centerline goodness : 0.772465 with order 1 Centerline is valid? [False, False] Translation: X:-8.15, Y:7.09, Z:-0.27 [[ 0.95255624 0.28529374 -0.1060382 -8.15087384] [-0.2713837 0.95385965 0.12846267 7.08886182] [ 0.13779515 -0.09359088 0.98602903 -0.27224067] [ 0. 0. 0. 1. ]] SLAMing on 11.969259763999998 meters Centerline goodness : 0.771469 with order 1 Centerline is valid? [False, False] Translation: X:-8.12, Y:7.08, Z:-0.26 [[ 0.95483146 0.27520275 -0.11207288 -8.11694673] [-0.25987894 0.95628215 0.13411709 7.08026023] [ 0.14408268 -0.09893384 0.98460768 -0.26415757] [ 0. 0. 0. 1. ]] SLAMing on 12.029259763999999 meters Centerline goodness : 0.766840 with order 1 Centerline is valid? [False, False] Translation: X:-8.13, Y:7.09, Z:-0.27 [[ 0.95727405 0.26771908 -0.10932924 -8.13198723] [-0.25261278 0.95817651 0.13447887 7.09024986] [ 0.14075927 -0.10111517 0.98486677 -0.27016142] [ 0. 0. 0. 1. ]] SLAMing on 12.089259764 meters Centerline goodness : 0.767129 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:7.13, Z:-0.29 [[ 0.95775576 0.26710664 -0.10657364 -8.20921234] [-0.25207044 0.95810445 0.13600129 7.12791891] [ 0.13843553 -0.10339196 0.98495975 -0.28611598] [ 0. 0. 0. 1. ]] SLAMing on 12.149259763999998 meters Centerline goodness : 0.764458 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:7.16, Z:-0.30 [[ 0.95912553 0.26269226 -0.10521883 -8.27920039] [-0.24863123 0.95984028 0.12995823 7.16181837] [ 0.13513229 -0.09848557 0.98592082 -0.29933231] [ 0. 0. 0. 1. ]] SLAMing on 12.209259763999999 meters Centerline goodness : 0.766361 with order 1 Centerline is valid? [False, False] Translation: X:-8.39, Y:7.21, Z:-0.32 [[ 0.96132298 0.25731848 -0.09821063 -8.39213111] [-0.24527985 0.96203396 0.11970154 7.21128888] [ 0.12528338 -0.09098275 0.98794039 -0.32179972] [ 0. 0. 0. 1. ]] SLAMing on 12.269259764 meters Centerline goodness : 0.767151 with order 1 Centerline is valid? [False, False] Translation: X:-8.48, Y:7.25, Z:-0.34 [[ 0.96430988 0.24754722 -0.09395116 -8.48435187] [-0.23574337 0.96425269 0.1210034 7.25060797] [ 0.12054671 -0.09453641 0.98819601 -0.33638186] [ 0. 0. 0. 1. ]] SLAMing on 12.329259764 meters Centerline goodness : 0.768412 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:7.32, Z:-0.36 [[ 0.96519101 0.24740443 -0.08483732 -8.62949507] [-0.23754578 0.96495793 0.11148181 7.32011174] [ 0.10944553 -0.08744849 0.99013859 -0.35808422] [ 0. 0. 0. 1. ]] SLAMing on 12.389259763999998 meters Centerline goodness : 0.770823 with order 1 Centerline is valid? [False, False] Translation: X:-8.73, Y:7.37, Z:-0.37 [[ 0.96538808 0.24850745 -0.07918267 -8.73062834] [-0.24044158 0.96560109 0.09900697 7.37390014] [ 0.10106284 -0.07654134 0.99193131 -0.36874901] [ 0. 0. 0. 1. ]] SLAMing on 12.449259763999999 meters Centerline goodness : 0.773197 with order 1 Centerline is valid? [False, False] Translation: X:-8.84, Y:7.43, Z:-0.38 [[ 0.9662845 0.24711353 -0.07231296 -8.84062986] [-0.24032546 0.96640602 0.09112121 7.42914414] [ 0.09240096 -0.07067037 0.99321083 -0.38281708] [ 0. 0. 0. 1. ]] SLAMing on 12.509259764 meters Centerline goodness : 0.772157 with order 1 Centerline is valid? [False, False] Translation: X:-8.93, Y:7.48, Z:-0.39 [[ 0.9667866 0.24528449 -0.07182754 -8.93434017] [-0.2392978 0.96741549 0.08272743 7.47614751] [ 0.08977883 -0.0627916 0.99398037 -0.39468981] [ 0. 0. 0. 1. ]] SLAMing on 12.569259763999998 meters Centerline goodness : 0.771298 with order 1 Centerline is valid? [False, False] Translation: X:-9.04, Y:7.53, Z:-0.41 [[ 0.96769126 0.24170532 -0.07177862 -9.03831135] [-0.23590232 0.96842092 0.08069083 7.52686054] [ 0.08901532 -0.06115107 0.99415131 -0.41029799] [ 0. 0. 0. 1. ]] SLAMing on 12.629259763999999 meters Centerline goodness : 0.768097 with order 1 Centerline is valid? [False, False] Translation: X:-9.18, Y:7.59, Z:-0.43 [[ 0.96844236 0.24077315 -0.06440251 -9.17573625] [-0.23617073 0.96907269 0.07156466 7.59273544] [ 0.07964156 -0.05409626 0.99535462 -0.42989576] [ 0. 0. 0. 1. ]] SLAMing on 12.689259763999999 meters Centerline goodness : 0.766627 with order 1 Centerline is valid? [False, False] Translation: X:-9.27, Y:7.64, Z:-0.44 [[ 0.96840687 0.24171424 -0.06133815 -9.27496429] [-0.23750237 0.96895704 0.068665 7.64216978] [ 0.07603134 -0.0519277 0.99575235 -0.44123714] [ 0. 0. 0. 1. ]] SLAMing on 12.749259764 meters Centerline goodness : 0.762295 with order 1 Centerline is valid? [False, False] Translation: X:-9.37, Y:7.69, Z:-0.46 [[ 0.9684731 0.24229026 -0.05792474 -9.37460874] [-0.2383868 0.96886352 0.06689701 7.69057607] [ 0.07232966 -0.05097946 0.99607706 -0.45525719] [ 0. 0. 0. 1. ]] SLAMing on 12.809259763999998 meters Centerline goodness : 0.761560 with order 1 Centerline is valid? [False, False] Translation: X:-9.47, Y:7.74, Z:-0.47 [[ 0.96832219 0.24349268 -0.05534837 -9.47291125] [-0.23983163 0.96861367 0.06533257 7.7430424 ] [ 0.06951919 -0.04998869 0.99632736 -0.46701022] [ 0. 0. 0. 1. ]] SLAMing on 12.869259763999999 meters Centerline goodness : 0.765269 with order 1 Centerline is valid? [False, False] Translation: X:-9.62, Y:7.82, Z:-0.48 [[ 0.96659401 0.25272147 -0.04275359 -9.61699157] [-0.25016613 0.96650801 0.05726412 7.82409296] [ 0.05579356 -0.04465565 0.99744321 -0.4803179 ] [ 0. 0. 0. 1. ]] SLAMing on 12.929259764 meters Centerline goodness : 0.764678 with order 1 Centerline is valid? [False, False] Translation: X:-9.76, Y:7.90, Z:-0.50 [[ 0.96490933 0.26087409 -0.02991146 -9.76154884] [-0.25927532 0.96457634 0.04867033 7.90457856] [ 0.04154872 -0.03920715 0.99836692 -0.49625369] [ 0. 0. 0. 1. ]] SLAMing on 12.989259763999998 meters Centerline goodness : 0.764074 with order 1 Centerline is valid? [False, False] Translation: X:-9.94, Y:8.00, Z:-0.52 [[ 0.96298319 0.26913336 -0.01518599 -9.9361373 ] [-0.26821619 0.96227689 0.0456427 7.99718347] [ 0.0268971 -0.03988002 0.99884239 -0.51613927] [ 0. 0. 0. 1. ]] SLAMing on 13.049259763999999 meters Centerline goodness : 0.762414 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:8.08, Z:-0.53 [[ 9.59789883e-01 2.80700302e-01 -3.27416102e-03 -1.00807763e+01] [-2.80405719e-01 9.59203416e-01 3.60754647e-02 8.08001927e+00] [ 1.32669803e-02 -3.37067726e-02 9.99343705e-01 -5.29864215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.109259763999999 meters Centerline goodness : 0.764801 with order 1 Centerline is valid? [False, False] Translation: X:-10.20, Y:8.15, Z:-0.54 [[ 9.58614370e-01 2.84594062e-01 8.04418204e-03 -1.01969525e+01] [-2.84703205e-01 9.58057237e-01 3.27172074e-02 8.14963033e+00] [ 1.60433611e-03 -3.36533895e-02 9.99432277e-01 -5.37561921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.169259764 meters Centerline goodness : 0.766532 with order 1 Centerline is valid? [False, False] Translation: X:-10.34, Y:8.23, Z:-0.55 [[ 0.95629351 0.29169761 0.02037696 -10.33919267] [ -0.29222305 0.95584511 0.03107754 8.23226304] [ -0.01041198 -0.03567387 0.99930924 -0.54581252] [ 0. 0. 0. 1. ]] SLAMing on 13.229259763999998 meters Centerline goodness : 0.763604 with order 1 Centerline is valid? [False, False] Translation: X:-10.47, Y:8.32, Z:-0.55 [[ 0.9541165 0.29814137 0.02781052 -10.47342974] [ -0.29882854 0.95397761 0.02506443 8.31512883] [ -0.01905787 -0.03222497 0.99929893 -0.55317001] [ 0. 0. 0. 1. ]] SLAMing on 13.289259763999999 meters Centerline goodness : 0.764270 with order 1 Centerline is valid? [False, False] Translation: X:-10.58, Y:8.39, Z:-0.56 [[ 0.95266259 0.30206111 0.03454104 -10.57976917] [ -0.30280809 0.95286557 0.01882715 8.38502961] [ -0.02722602 -0.02839523 0.99922593 -0.55903672] [ 0. 0. 0. 1. ]] SLAMing on 13.349259764 meters Centerline goodness : 0.762389 with order 1 Centerline is valid? [False, False] Translation: X:-10.68, Y:8.45, Z:-0.56 [[ 0.95028327 0.30857346 0.04176274 -10.68092607] [ -0.30938666 0.95082585 0.01449471 8.44863796] [ -0.03523641 -0.02669492 0.99902241 -0.56249701] [ 0. 0. 0. 1. ]] SLAMing on 13.409259763999998 meters Centerline goodness : 0.758159 with order 1 Centerline is valid? [False, False] Translation: X:-10.77, Y:8.51, Z:-0.57 [[ 9.49137478e-01 3.11948903e-01 4.27309100e-02 -1.07700192e+01] [-3.12639895e-01 9.49814746e-01 1.04040280e-02 8.50697655e+00] [-3.73409233e-02 -2.32342401e-02 9.99032445e-01 -5.66090979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.469259763999998 meters Centerline goodness : 0.750088 with order 1 Centerline is valid? [False, False] Translation: X:-10.85, Y:8.56, Z:-0.57 [[ 0.94885576 0.31345726 0.03764696 -10.84546759] [ -0.31405077 0.94934365 0.0108967 8.55858705] [ -0.03232425 -0.02216245 0.99923169 -0.569927 ] [ 0. 0. 0. 1. ]] SLAMing on 13.529259763999999 meters Centerline goodness : 0.749339 with order 1 Centerline is valid? [False, False] Translation: X:-10.96, Y:8.63, Z:-0.57 [[ 9.47507383e-01 3.16301942e-01 4.67208785e-02 -1.09605332e+01] [-3.16943757e-01 9.48419670e-01 6.83990258e-03 8.63477002e+00] [-4.21475257e-02 -2.12887489e-02 9.98884566e-01 -5.71803498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.589259764 meters Centerline goodness : 0.756895 with order 1 Centerline is valid? [False, False] Translation: X:-11.05, Y:8.69, Z:-0.57 [[ 9.45421670e-01 3.20441909e-01 5.91172516e-02 -1.10479333e+01] [-3.21549913e-01 9.46839460e-01 1.00344920e-02 8.69229340e+00] [-5.27590747e-02 -2.84959733e-02 9.98200611e-01 -5.71996796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.649259763999998 meters Centerline goodness : 0.754655 with order 1 Centerline is valid? [False, False] Translation: X:-11.12, Y:8.74, Z:-0.57 [[ 0.94356539 0.32484219 0.0645128 -11.11712016] [ -0.32628225 0.94518421 0.0129111 8.74317969] [ -0.05678241 -0.03323185 0.99783335 -0.57355665] [ 0. 0. 0. 1. ]] SLAMing on 13.709259763999999 meters Centerline goodness : 0.753918 with order 1 Centerline is valid? [False, False] Translation: X:-11.14, Y:8.77, Z:-0.58 [[ 0.94120792 0.33150068 0.06507652 -11.14464868] [ -0.33337456 0.94257989 0.02011325 8.76951744] [ -0.05467227 -0.04062561 0.99767755 -0.5778326 ] [ 0. 0. 0. 1. ]] SLAMing on 13.769259764 meters Centerline goodness : 0.756530 with order 1 Centerline is valid? [False, False] Translation: X:-11.14, Y:8.78, Z:-0.58 [[ 0.93707971 0.34224284 0.06893085 -11.14248969] [ -0.34478927 0.93823582 0.0288773 8.77683623] [ -0.05479034 -0.05082695 0.99720341 -0.57944956] [ 0. 0. 0. 1. ]] SLAMing on 13.829259763999998 meters Centerline goodness : 0.756564 with order 1 Centerline is valid? [False, False] Translation: X:-11.14, Y:8.79, Z:-0.58 [[ 0.93326305 0.35180389 0.07248515 -11.14170537] [ -0.35498487 0.93415411 0.03663117 8.78643257] [ -0.05482532 -0.05991765 0.99669657 -0.57793383] [ 0. 0. 0. 1. ]] SLAMing on 13.889259763999998 meters Centerline goodness : 0.756089 with order 1 Centerline is valid? [False, False] Translation: X:-11.14, Y:8.80, Z:-0.58 [[ 0.92925317 0.36153119 0.0760509 -11.1392655 ] [ -0.36542023 0.92974564 0.04517851 8.79579152] [ -0.05437455 -0.06977281 0.9960799 -0.57751427] [ 0. 0. 0. 1. ]] SLAMing on 13.949259763999999 meters Centerline goodness : 0.754141 with order 1 Centerline is valid? [False, False] Translation: X:-11.14, Y:8.80, Z:-0.58 [[ 0.92649294 0.36824893 0.07748259 -11.13504653] [ -0.37249601 0.9266955 0.04982151 8.80465847] [ -0.05345605 -0.07502124 0.99574809 -0.57715103] [ 0. 0. 0. 1. ]] SLAMing on 14.009259764 meters Centerline goodness : 0.752991 with order 1 Centerline is valid? [False, False] Translation: X:-11.13, Y:8.82, Z:-0.57 [[ 0.92207293 0.37877275 0.07945263 -11.1281964 ] [ -0.38352293 0.92180822 0.05638937 8.8172078 ] [ -0.05188133 -0.08246702 0.99524244 -0.57478955] [ 0. 0. 0. 1. ]] SLAMing on 14.069259763999998 meters Centerline goodness : 0.750762 with order 1 Centerline is valid? [False, False] Translation: X:-11.12, Y:8.84, Z:-0.57 [[ 0.91755879 0.39145854 0.06961378 -11.12301579] [ -0.39527905 0.91700268 0.05348423 8.83661213] [ -0.04289917 -0.07659179 0.99613923 -0.56610337] [ 0. 0. 0. 1. ]] SLAMing on 14.129259763999999 meters Centerline goodness : 0.748013 with order 1 Centerline is valid? [False, False] Translation: X:-11.13, Y:8.86, Z:-0.56 [[ 0.91422903 0.40055849 0.06114061 -11.12670835] [ -0.40364987 0.91348567 0.05109513 8.85605422] [ -0.03538448 -0.07139205 0.9968205 -0.55751352] [ 0. 0. 0. 1. ]] SLAMing on 14.189259763999999 meters Centerline goodness : 0.747610 with order 1 Centerline is valid? [False, False] Translation: X:-11.13, Y:8.87, Z:-0.55 [[ 0.91095259 0.4090081 0.05364469 -11.13314192] [ -0.41155398 0.90997479 0.05068722 8.87330118] [ -0.02808384 -0.06825134 0.99727281 -0.55164901] [ 0. 0. 0. 1. ]] SLAMing on 14.249259763999998 meters Centerline goodness : 0.746468 with order 1 Centerline is valid? [False, False] Translation: X:-11.14, Y:8.89, Z:-0.55 [[ 0.91037761 0.41134299 0.04482809 -11.14453638] [ -0.41320169 0.90947594 0.04602048 8.88727667] [ -0.02183987 -0.06041906 0.99793414 -0.5459742 ] [ 0. 0. 0. 1. ]] SLAMing on 14.309259763999998 meters Centerline goodness : 0.749765 with order 1 Centerline is valid? [False, False] Translation: X:-11.14, Y:8.88, Z:-0.55 [[ 0.91285986 0.40471837 0.05375801 -11.13887095] [ -0.40728173 0.91188485 0.05086857 8.87687847] [ -0.02843367 -0.06833053 0.99725747 -0.55218107] [ 0. 0. 0. 1. ]] SLAMing on 14.369259763999999 meters Centerline goodness : 0.751473 with order 1 Centerline is valid? [False, False] Translation: X:-11.13, Y:8.87, Z:-0.54 [[ 0.91522818 0.39995749 0.04890179 -11.13086525] [ -0.40235742 0.91365973 0.05774435 8.87136947] [ -0.02158431 -0.07252526 0.99713299 -0.54481453] [ 0. 0. 0. 1. ]] SLAMing on 14.429259764 meters Centerline goodness : 0.753170 with order 1 Centerline is valid? [False, False] Translation: X:-11.12, Y:8.86, Z:-0.54 [[ 0.91882303 0.39238837 0.04237459 -11.12107575] [ -0.39440615 0.91682524 0.06225168 8.8628372 ] [ -0.01442326 -0.07391107 0.99716053 -0.53794453] [ 0. 0. 0. 1. ]] SLAMing on 14.489259763999998 meters Centerline goodness : 0.753175 with order 1 Centerline is valid? [False, False] Translation: X:-11.08, Y:8.80, Z:-0.57 [[ 0.92538246 0.37082379 0.07846668 -11.08354675] [ -0.37768572 0.91956422 0.10842117 8.80357812] [ -0.03195 -0.1299668 0.99100345 -0.56636506] [ 0. 0. 0. 1. ]] SLAMing on 14.549259763999999 meters Centerline goodness : 0.753950 with order 1 Centerline is valid? [False, False] Translation: X:-11.08, Y:8.80, Z:-0.56 [[ 0.92810582 0.36523705 0.07225987 -11.0768135 ] [ -0.37111636 0.92309425 0.10084472 8.80177336] [ -0.02987044 -0.12041139 0.99227459 -0.56195013] [ 0. 0. 0. 1. ]] SLAMing on 14.609259763999999 meters Centerline goodness : 0.754420 with order 1 Centerline is valid? [False, False] Translation: X:-11.02, Y:8.76, Z:-0.57 [[ 0.93384221 0.34871298 0.07961143 -11.0167 ] [ -0.35637432 0.9261191 0.12369625 8.76145555] [ -0.03059518 -0.14388425 0.98912146 -0.56841963] [ 0. 0. 0. 1. ]] SLAMing on 14.669259763999998 meters Centerline goodness : 0.757986 with order 1 Centerline is valid? [False, False] Translation: X:-10.96, Y:8.73, Z:-0.57 [[ 0.94090604 0.32880946 0.08111816 -10.96448925] [ -0.33734149 0.93111651 0.1386462 8.72605385] [ -0.02994228 -0.15781757 0.98701422 -0.57238992] [ 0. 0. 0. 1. ]] SLAMing on 14.729259763999998 meters Centerline goodness : 0.759211 with order 1 Centerline is valid? [False, False] Translation: X:-10.95, Y:8.73, Z:-0.57 [[ 0.94226438 0.32646791 0.07454216 -10.95312315] [ -0.33387395 0.9330458 0.13399148 8.72670105] [ -0.02580734 -0.15114308 0.98817496 -0.56736902] [ 0. 0. 0. 1. ]] SLAMing on 14.789259763999999 meters Centerline goodness : 0.760711 with order 1 Centerline is valid? [False, False] Translation: X:-10.90, Y:8.70, Z:-0.57 [[ 0.9471446 0.31310898 0.06985613 -10.89683713] [ -0.3200184 0.93740326 0.13734394 8.70004121] [ -0.02247974 -0.15243982 0.98805706 -0.56836211] [ 0. 0. 0. 1. ]] SLAMing on 14.849259764 meters Centerline goodness : 0.756733 with order 1 Centerline is valid? [False, False] Translation: X:-10.84, Y:8.68, Z:-0.56 [[ 0.95095173 0.30415573 0.05639235 -10.84023233] [ -0.30914427 0.94089965 0.13833897 8.68284907] [ -0.01098295 -0.14898706 0.98877815 -0.56130661] [ 0. 0. 0. 1. ]] SLAMing on 14.909259763999998 meters Centerline goodness : 0.760123 with order 1 Centerline is valid? [False, False] Translation: X:-10.81, Y:8.68, Z:-0.55 [[ 9.54232039e-01 2.95783582e-01 4.41960164e-02 -1.08135658e+01] [-2.99067204e-01 9.43680438e-01 1.41513389e-01 8.68431379e+00] [ 1.50420916e-04 -1.48254189e-01 9.88949277e-01 -5.51096385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.969259763999998 meters Centerline goodness : 0.755629 with order 1 Centerline is valid? [False, False] Translation: X:-10.80, Y:8.69, Z:-0.55 [[ 9.55017615e-01 2.94216707e-01 3.71198689e-02 -1.07987565e+01] [-2.96508612e-01 9.45309287e-01 1.35915393e-01 8.68681064e+00] [ 4.89882268e-03 -1.40807956e-01 9.90024808e-01 -5.47017519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.029259763999999 meters Centerline goodness : 0.759210 with order 1 Centerline is valid? [False, False] Translation: X:-10.76, Y:8.69, Z:-0.53 [[ 0.95663005 0.29056428 0.02076893 -10.76123738] [ -0.29064764 0.94725123 0.13505204 8.68535067] [ 0.0195679 -0.13523128 0.99062081 -0.5332488 ] [ 0. 0. 0. 1. ]] SLAMing on 15.089259763999998 meters Centerline goodness : 0.763658 with order 1 Centerline is valid? [False, False] Translation: X:-10.69, Y:8.65, Z:-0.54 [[ 9.60795293e-01 2.73602858e-01 4.48762891e-02 -1.06919518e+01] [-2.77228370e-01 9.45627300e-01 1.70098327e-01 8.64731560e+00] [ 4.10314421e-03 -1.75870652e-01 9.84404733e-01 -5.42900360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.149259763999998 meters Centerline goodness : 0.761579 with order 1 Centerline is valid? [False, False] Translation: X:-10.67, Y:8.66, Z:-0.52 [[ 0.96195444 0.2722305 0.02311296 -10.67104674] [ -0.27239873 0.94914599 0.1578633 8.66396035] [ 0.02103763 -0.15815324 0.98719044 -0.52162294] [ 0. 0. 0. 1. ]] SLAMing on 15.209259763999999 meters Centerline goodness : 0.760725 with order 1 Centerline is valid? [False, False] Translation: X:-10.63, Y:8.67, Z:-0.51 [[ 9.64756567e-01 2.63073710e-01 6.08187065e-03 -1.06319072e+01] [-2.60665906e-01 9.52251479e-01 1.58966686e-01 8.66865754e+00] [ 3.60284855e-02 -1.54949491e-01 9.87265214e-01 -5.07691453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.269259764 meters Centerline goodness : 0.757512 with order 1 Centerline is valid? [False, False] Translation: X:-10.57, Y:8.66, Z:-0.51 [[ 9.66688207e-01 2.55940510e-01 2.89233108e-03 -1.05710318e+01] [-2.52985672e-01 9.53688988e-01 1.62713134e-01 8.65573065e+00] [ 3.88864982e-02 -1.58024586e-01 9.86669180e-01 -5.05588063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.329259763999998 meters Centerline goodness : 0.756438 with order 1 Centerline is valid? [False, False] Translation: X:-10.56, Y:8.67, Z:-0.49 [[ 0.96814182 0.24979007 -0.01750257 -10.56092885] [ -0.24422214 0.95737059 0.15426308 8.66998379] [ 0.05528983 -0.14507402 0.98787477 -0.4901531 ] [ 0. 0. 0. 1. ]] SLAMing on 15.389259763999998 meters Centerline goodness : 0.756561 with order 1 Centerline is valid? [False, False] Translation: X:-10.50, Y:8.65, Z:-0.49 [[ 0.97006437 0.2421358 -0.01858425 -10.50449992] [ -0.23609039 0.95823274 0.16140427 8.65452949] [ 0.05688979 -0.15218497 0.98671338 -0.48751999] [ 0. 0. 0. 1. ]] SLAMing on 15.449259763999999 meters Centerline goodness : 0.754754 with order 1 Centerline is valid? [False, False] Translation: X:-10.57, Y:8.54, Z:-0.54 [[ 0.97648788 0.20601255 0.06348427 -10.5685649 ] [ -0.21418467 0.89381733 0.39397399 8.53913653] [ 0.02442025 -0.39830818 0.91692652 -0.5352258 ] [ 0. 0. 0. 1. ]] SLAMing on 15.509259763999998 meters Centerline goodness : 0.757599 with order 1 Centerline is valid? [False, False] Translation: X:-10.61, Y:8.58, Z:-0.53 [[ 0.97732148 0.20413056 0.05633327 -10.60701745] [ -0.21022579 0.90330061 0.37396943 8.57903725] [ 0.02545271 -0.37733106 0.92572859 -0.53011122] [ 0. 0. 0. 1. ]] SLAMing on 15.569259763999998 meters Centerline goodness : 0.758958 with order 1 Centerline is valid? [False, False] Translation: X:-10.63, Y:8.62, Z:-0.52 [[ 0.97727939 0.2065872 0.0473995 -10.63291058] [ -0.21003452 0.91386056 0.34748292 8.61796054] [ 0.02846899 -0.34954343 0.93648754 -0.52009444] [ 0. 0. 0. 1. ]] SLAMing on 15.629259763999999 meters Centerline goodness : 0.756813 with order 1 Centerline is valid? [False, False] Translation: X:-10.66, Y:8.65, Z:-0.51 [[ 0.97916721 0.20053678 0.03188374 -10.66301653] [ -0.19951408 0.9209571 0.33471205 8.65480549] [ 0.03775852 -0.33410032 0.9417809 -0.5125369 ] [ 0. 0. 0. 1. ]] SLAMing on 15.689259763999999 meters Centerline goodness : 0.754012 with order 1 Centerline is valid? [False, False] Translation: X:-10.70, Y:8.69, Z:-0.51 [[ 0.98041601 0.19603894 0.01879327 -10.69580613] [ -0.1920511 0.93059987 0.31160915 8.69252673] [ 0.04359851 -0.30911587 0.9500245 -0.50821881] [ 0. 0. 0. 1. ]] SLAMing on 15.749259763999998 meters Centerline goodness : 0.754715 with order 1 Centerline is valid? [False, False] Translation: X:-10.78, Y:8.74, Z:-0.51 [[ 0.98064593 0.19538328 0.01260656 -10.77528064] [ -0.19037817 0.93652985 0.29439427 8.74089243] [ 0.0457133 -0.29109655 0.95560091 -0.50985851] [ 0. 0. 0. 1. ]] SLAMing on 15.809259763999998 meters Centerline goodness : 0.754024 with order 1 Centerline is valid? [False, False] Translation: X:-10.86, Y:8.79, Z:-0.51 [[ 9.79841768e-01 1.99519399e-01 1.01054420e-02 -1.08555391e+01] [-1.94552404e-01 9.41513249e-01 2.75140264e-01 8.79248175e+00] [ 4.53814126e-02 -2.71559961e-01 9.61350984e-01 -5.11421881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.869259763999999 meters Centerline goodness : 0.751143 with order 1 Centerline is valid? [False, False] Translation: X:-10.93, Y:8.84, Z:-0.51 [[ 9.79129873e-01 2.03197928e-01 3.91078564e-03 -1.09281016e+01] [-1.97438825e-01 9.46463756e-01 2.55390423e-01 8.83870831e+00] [ 4.81933880e-02 -2.50832534e-01 9.66830097e-01 -5.12741273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.929259763999998 meters Centerline goodness : 0.751972 with order 1 Centerline is valid? [False, False] Translation: X:-10.98, Y:8.88, Z:-0.51 [[ 9.78617523e-01 2.05686599e-01 8.75078269e-04 -1.09768760e+01] [-2.00170457e-01 9.51376711e-01 2.34124203e-01 8.87975160e+00] [ 4.73236820e-02 -2.29293213e-01 9.72206301e-01 -5.10227846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.989259763999998 meters Centerline goodness : 0.753511 with order 1 Centerline is valid? [False, False] Translation: X:-11.00, Y:8.91, Z:-0.50 [[ 9.78664651e-01 2.05384987e-01 -5.70151639e-03 -1.09978021e+01] [-1.99189669e-01 9.55218240e-01 2.18818623e-01 8.91341510e+00] [ 5.03882525e-02 -2.13014368e-01 9.75748893e-01 -5.00150645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.049259763999995 meters Centerline goodness : 0.753242 with order 1 Centerline is valid? [False, False] Translation: X:-11.05, Y:8.95, Z:-0.50 [[ 9.77725406e-01 2.09735515e-01 -8.00283570e-03 -1.10468595e+01] [-2.03846588e-01 9.57973885e-01 2.01823203e-01 8.95080808e+00] [ 4.99960009e-02 -1.95696322e-01 9.79389274e-01 -4.97573393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.109259763999997 meters Centerline goodness : 0.751234 with order 1 Centerline is valid? [False, False] Translation: X:-11.12, Y:9.00, Z:-0.50 [[ 0.97680378 0.21361104 -0.01498978 -11.1175024 ] [ -0.20728083 0.96078301 0.18420277 8.99546605] [ 0.05374967 -0.17682287 0.98277395 -0.49943254] [ 0. 0. 0. 1. ]] SLAMing on 16.169259763999996 meters Centerline goodness : 0.750546 with order 1 Centerline is valid? [False, False] Translation: X:-11.17, Y:9.03, Z:-0.50 [[ 0.97511732 0.22115222 -0.01542418 -11.16924025] [ -0.21517234 0.96090381 0.17425479 9.02803813] [ 0.05335799 -0.16660001 0.98457979 -0.50169339] [ 0. 0. 0. 1. ]] SLAMing on 16.229259764 meters Centerline goodness : 0.751707 with order 1 Centerline is valid? [False, False] Translation: X:-11.18, Y:9.05, Z:-0.49 [[ 0.9738294 0.22600414 -0.02405071 -11.17789282] [ -0.21927657 0.96209558 0.16214153 9.05263749] [ 0.05978374 -0.15262443 0.98647437 -0.49321003] [ 0. 0. 0. 1. ]] SLAMing on 16.289259763999997 meters Centerline goodness : 0.751790 with order 1 Centerline is valid? [False, False] Translation: X:-11.18, Y:9.08, Z:-0.48 [[ 0.97199311 0.23229086 -0.03564202 -11.17801471] [ -0.22441815 0.96246787 0.15261748 9.07543198] [ 0.06975594 -0.14034443 0.98764242 -0.48351424] [ 0. 0. 0. 1. ]] SLAMing on 16.349259763999996 meters Centerline goodness : 0.748242 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.08, Z:-0.48 [[ 0.96937244 0.24177464 -0.04315201 -11.14527266] [ -0.23330121 0.96141632 0.14577106 9.08028977] [ 0.07673079 -0.13123903 0.9883768 -0.4770003 ] [ 0. 0. 0. 1. ]] SLAMing on 16.409259763999998 meters Centerline goodness : 0.745804 with order 1 Centerline is valid? [False, False] Translation: X:-11.14, Y:9.10, Z:-0.47 [[ 0.96597543 0.25369478 -0.05030337 -11.14073725] [ -0.24495378 0.95982798 0.1368499 9.09742892] [ 0.08300069 -0.11987164 0.98931374 -0.47043825] [ 0. 0. 0. 1. ]] SLAMing on 16.469259763999997 meters Centerline goodness : 0.748566 with order 1 Centerline is valid? [False, False] Translation: X:-11.14, Y:9.12, Z:-0.46 [[ 0.96237415 0.26555476 -0.05759045 -11.14056108] [ -0.2566419 0.95793204 0.1284568 9.11623219] [ 0.08928005 -0.10884338 0.99004151 -0.45988099] [ 0. 0. 0. 1. ]] SLAMing on 16.529259763999995 meters Centerline goodness : 0.747771 with order 1 Centerline is valid? [False, False] Translation: X:-11.14, Y:9.12, Z:-0.46 [[ 0.9623009 0.26557251 -0.05872164 -11.13783498] [ -0.25666408 0.95811369 0.12705 9.12144131] [ 0.09000299 -0.1071886 0.99015659 -0.45833126] [ 0. 0. 0. 1. ]] SLAMing on 16.589259763999998 meters Centerline goodness : 0.747103 with order 1 Centerline is valid? [False, False] Translation: X:-11.14, Y:9.14, Z:-0.45 [[ 0.96043377 0.26990781 -0.06867851 -11.13896027] [ -0.26127727 0.95857898 0.11340431 9.13754852] [ 0.09644248 -0.0909732 0.9911724 -0.4469204 ] [ 0. 0. 0. 1. ]] SLAMing on 16.649259763999996 meters Centerline goodness : 0.747727 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.16, Z:-0.44 [[ 0.95885552 0.27308611 -0.07758915 -11.14975926] [ -0.26452745 0.95864278 0.10502023 9.15504168] [ 0.10305984 -0.08017477 0.99143869 -0.43816479] [ 0. 0. 0. 1. ]] SLAMing on 16.709259763999995 meters Centerline goodness : 0.747948 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.16, Z:-0.44 [[ 0.95871502 0.27328671 -0.07861226 -11.14601289] [ -0.26475417 0.95869326 0.10398296 9.16061515] [ 0.10378221 -0.0788771 0.99146743 -0.43735249] [ 0. 0. 0. 1. ]] SLAMing on 16.769259763999997 meters Centerline goodness : 0.746815 with order 1 Centerline is valid? [False, False] Translation: X:-11.16, Y:9.18, Z:-0.43 [[ 0.95775118 0.27415886 -0.08688845 -11.16217412] [ -0.26584691 0.9592031 0.09620201 9.17526522] [ 0.1097183 -0.06903856 0.99156219 -0.42974976] [ 0. 0. 0. 1. ]] SLAMing on 16.829259763999996 meters Centerline goodness : 0.744420 with order 1 Centerline is valid? [False, False] Translation: X:-11.17, Y:9.19, Z:-0.42 [[ 0.95621289 0.27669794 -0.0953685 -11.17467944] [ -0.26853414 0.95904879 0.09008234 9.18840474] [ 0.11638864 -0.0605282 0.99135767 -0.42484697] [ 0. 0. 0. 1. ]] SLAMing on 16.889259763999995 meters Centerline goodness : 0.742082 with order 1 Centerline is valid? [False, False] Translation: X:-11.17, Y:9.19, Z:-0.42 [[ 0.95713017 0.27275371 -0.09750516 -11.1714885 ] [ -0.26500335 0.96045905 0.08539106 9.19202775] [ 0.11694045 -0.05589117 0.99156498 -0.42355278] [ 0. 0. 0. 1. ]] SLAMing on 16.949259763999997 meters Centerline goodness : 0.747147 with order 1 Centerline is valid? [False, False] Translation: X:-11.17, Y:9.20, Z:-0.42 [[ 0.95794144 0.26919857 -0.09939982 -11.16866599] [ -0.26192121 0.96173402 0.08040495 9.19755432] [ 0.11724109 -0.05098832 0.99179369 -0.42125113] [ 0. 0. 0. 1. ]] SLAMing on 17.009259763999996 meters Centerline goodness : 0.745196 with order 1 Centerline is valid? [False, False] Translation: X:-11.17, Y:9.20, Z:-0.42 [[ 0.95903345 0.26453641 -0.10136725 -11.16785802] [ -0.25775358 0.96327634 0.0752448 9.20097331] [ 0.11754966 -0.04603451 0.99199945 -0.41823516] [ 0. 0. 0. 1. ]] SLAMing on 17.069259763999998 meters Centerline goodness : 0.748615 with order 1 Centerline is valid? [False, False] Translation: X:-11.17, Y:9.21, Z:-0.41 [[ 0.95979894 0.26092681 -0.10345623 -11.16628446] [ -0.25496168 0.96459646 0.06744041 9.21002577] [ 0.11739053 -0.03835186 0.992345 -0.41043911] [ 0. 0. 0. 1. ]] SLAMing on 17.129259763999997 meters Centerline goodness : 0.749238 with order 1 Centerline is valid? [False, False] Translation: X:-11.17, Y:9.21, Z:-0.41 [[ 0.95985886 0.26053684 -0.10388226 -11.16594072] [ -0.25468902 0.96474789 0.06629486 9.21337686] [ 0.11749244 -0.03717604 0.99237768 -0.408754 ] [ 0. 0. 0. 1. ]] SLAMing on 17.189259763999996 meters Centerline goodness : 0.749064 with order 1 Centerline is valid? [False, False] Translation: X:-11.16, Y:9.22, Z:-0.41 [[ 0.9608386 0.25609043 -0.10586255 -11.16377958] [ -0.25076213 0.96611674 0.06112939 9.21817844] [ 0.11793024 -0.03218916 0.99250003 -0.40665711] [ 0. 0. 0. 1. ]] SLAMing on 17.249259763999998 meters Centerline goodness : 0.750754 with order 1 Centerline is valid? [False, False] Translation: X:-11.16, Y:9.23, Z:-0.40 [[ 0.96061403 0.25660435 -0.10665319 -11.16106783] [ -0.25157687 0.96607282 0.05841561 9.22689717] [ 0.11802445 -0.02928338 0.99257882 -0.40262346] [ 0. 0. 0. 1. ]] SLAMing on 17.309259763999997 meters Centerline goodness : 0.750362 with order 1 Centerline is valid? [False, False] Translation: X:-11.16, Y:9.23, Z:-0.40 [[ 0.9603513 0.25736567 -0.10718341 -11.15702555] [ -0.25247338 0.96591241 0.05718754 9.2334053 ] [ 0.1182479 -0.02785918 0.99259322 -0.40219838] [ 0. 0. 0. 1. ]] SLAMing on 17.369259763999995 meters Centerline goodness : 0.749150 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.24, Z:-0.40 [[ 0.96026836 0.25729547 -0.1080912 -11.15442902] [ -0.25256684 0.96598036 0.05560509 9.2390993 ] [ 0.11872092 -0.02609555 0.99258469 -0.40027424] [ 0. 0. 0. 1. ]] SLAMing on 17.429259763999998 meters Centerline goodness : 0.750752 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.24, Z:-0.40 [[ 0.96032236 0.25686643 -0.1086306 -11.15371217] [ -0.2522889 0.96613255 0.05420526 9.24320804] [ 0.11887507 -0.02464823 0.99260324 -0.39832601] [ 0. 0. 0. 1. ]] SLAMing on 17.489259763999996 meters Centerline goodness : 0.752081 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.25, Z:-0.40 [[ 0.96030329 0.25666485 -0.10927369 -11.15258812] [ -0.2522037 0.9662165 0.05309397 9.24705698] [ 0.1192094 -0.02342709 0.99259271 -0.39650491] [ 0. 0. 0. 1. ]] SLAMing on 17.549259763999995 meters Centerline goodness : 0.755488 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.25, Z:-0.39 [[ 0.96033374 0.25631176 -0.10983346 -11.15233262] [ -0.25204037 0.96635125 0.05138982 9.25173515] [ 0.11930951 -0.02166891 0.99262062 -0.39348498] [ 0. 0. 0. 1. ]] SLAMing on 17.609259763999997 meters Centerline goodness : 0.757084 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.26, Z:-0.39 [[ 0.96041932 0.2556804 -0.11055431 -11.15216725] [ -0.25155591 0.96654991 0.05000905 9.25610447] [ 0.11964259 -0.02021907 0.99261112 -0.39056154] [ 0. 0. 0. 1. ]] SLAMing on 17.669259763999996 meters Centerline goodness : 0.756048 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.26, Z:-0.39 [[ 0.96133752 0.25142835 -0.11231187 -11.15069212] [ -0.24778238 0.96774431 0.04555042 9.25801715] [ 0.12014185 -0.01596043 0.99262843 -0.38894469] [ 0. 0. 0. 1. ]] SLAMing on 17.729259763999995 meters Centerline goodness : 0.758189 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.25, Z:-0.39 [[ 0.96137686 0.25159562 -0.11159827 -11.15248691] [ -0.24786716 0.96768507 0.04634098 9.25420605] [ 0.11965117 -0.0168896 0.99267232 -0.39035882] [ 0. 0. 0. 1. ]] SLAMing on 17.789259763999997 meters Centerline goodness : 0.758105 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.25, Z:-0.39 [[ 0.96234315 0.24752965 -0.11235988 -11.1529835 ] [ -0.24408646 0.9687706 0.04365007 9.24969928] [ 0.11965563 -0.01458082 0.99270838 -0.39131471] [ 0. 0. 0. 1. ]] SLAMing on 17.849259763999996 meters Centerline goodness : 0.759571 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.25, Z:-0.39 [[ 0.96342479 0.24283845 -0.11332325 -11.1545058 ] [ -0.23979813 0.97000088 0.03993921 9.24790731] [ 0.11962243 -0.01130373 0.99275511 -0.39033233] [ 0. 0. 0. 1. ]] SLAMing on 17.909259763999998 meters Centerline goodness : 0.759779 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.25, Z:-0.39 [[ 0.96335217 0.24306754 -0.11344938 -11.15428671] [ -0.23995076 0.9699368 0.04057377 9.24691152] [ 0.11990089 -0.01186457 0.99271497 -0.3902291 ] [ 0. 0. 0. 1. ]] SLAMing on 17.969259763999997 meters Centerline goodness : 0.759595 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.25, Z:-0.39 [[ 9.64245151e-01 2.38967489e-01 -1.14568007e-01 -1.11531147e+01] [-2.36213413e-01 9.70987257e-01 3.72420632e-02 9.24501689e+00] [ 1.20143717e-01 -8.84797899e-03 9.92717080e-01 -3.90763322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.029259763999995 meters Centerline goodness : 0.760207 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.25, Z:-0.39 [[ 9.64167266e-01 2.39129422e-01 -1.14885173e-01 -1.11519873e+01] [-2.36417136e-01 9.70951359e-01 3.68835493e-02 9.24668634e+00] [ 1.20367857e-01 -8.40108724e-03 9.92693810e-01 -3.90268246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.089259763999998 meters Centerline goodness : 0.759526 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.25, Z:-0.39 [[ 9.63243509e-01 2.43249572e-01 -1.13980648e-01 -1.11524173e+01] [-2.40243916e-01 9.69903879e-01 3.96147141e-02 9.25078989e+00] [ 1.20186535e-01 -1.07754589e-02 9.92692846e-01 -3.88412985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.149259763999996 meters Centerline goodness : 0.759510 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.25, Z:-0.39 [[ 0.96300788 0.24413884 -0.1140704 -11.14948339] [ -0.24104833 0.96967366 0.0403572 9.24988905] [ 0.12046382 -0.01136782 0.99265263 -0.3902554 ] [ 0. 0. 0. 1. ]] SLAMing on 18.209259763999995 meters Centerline goodness : 0.760745 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.25, Z:-0.39 [[ 0.96298362 0.24418203 -0.11418269 -11.14857306] [ -0.2410747 0.96966167 0.04048751 9.25056336] [ 0.1206049 -0.01146225 0.99263441 -0.39076566] [ 0. 0. 0. 1. ]] SLAMing on 18.269259763999997 meters Centerline goodness : 0.759452 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.25, Z:-0.39 [[ 0.9619089 0.24902562 -0.11277192 -11.14789422] [ -0.24538609 0.96836629 0.04530343 9.24962583] [ 0.12048624 -0.01590511 0.99258757 -0.39288169] [ 0. 0. 0. 1. ]] SLAMing on 18.329259763999996 meters Centerline goodness : 0.759351 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.25, Z:-0.39 [[ 0.96193001 0.24899158 -0.11266697 -11.14795234] [ -0.24533272 0.96837178 0.04547486 9.24965711] [ 0.12042637 -0.01610274 0.99259165 -0.39332179] [ 0. 0. 0. 1. ]] SLAMing on 18.389259763999995 meters Centerline goodness : 0.757783 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.25, Z:-0.39 [[ 0.9618895 0.24912489 -0.11271814 -11.14740461] [ -0.24543477 0.96833377 0.04573283 9.24948598] [ 0.12054197 -0.01632498 0.99257399 -0.39362562] [ 0. 0. 0. 1. ]] SLAMing on 18.449259763999997 meters Centerline goodness : 0.756764 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.25, Z:-0.39 [[ 0.96193197 0.24888876 -0.11287724 -11.147786 ] [ -0.24524657 0.96840162 0.04530374 9.25062817] [ 0.12058609 -0.01589636 0.99257559 -0.39257561] [ 0. 0. 0. 1. ]] SLAMing on 18.509259763999996 meters Centerline goodness : 0.758449 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.25, Z:-0.39 [[ 0.9619078 0.24910739 -0.11260058 -11.1483008 ] [ -0.24541819 0.96833761 0.04574034 9.24901424] [ 0.12042963 -0.01636376 0.99258699 -0.39317905] [ 0. 0. 0. 1. ]] SLAMing on 18.569259763999995 meters Centerline goodness : 0.758640 with order 1 Centerline is valid? [False, False] Translation: X:-11.15, Y:9.25, Z:-0.39 [[ 0.96272054 0.24536697 -0.1138605 -11.14670802] [ -0.24203281 0.96933885 0.04245356 9.24751726] [ 0.12078611 -0.01331293 0.99258928 -0.39377457] [ 0. 0. 0. 1. ]] SLAMing on 18.629259763999997 meters Centerline goodness : 0.759788 with order 1 Centerline is valid? [False, False] Translation: X:-11.12, Y:9.23, Z:-0.40 [[ 0.96536549 0.235699 -0.11187244 -11.12229861] [ -0.23011616 0.97127316 0.06062182 9.2280924 ] [ 0.1229472 -0.03277855 0.99187174 -0.40102415] [ 0. 0. 0. 1. ]] SLAMing on 18.689259763999996 meters Centerline goodness : 0.762749 with order 1 Centerline is valid? [False, False] Translation: X:-11.11, Y:9.21, Z:-0.40 [[ 0.96891872 0.22183035 -0.10948886 -11.10588315] [ -0.21445087 0.97383117 0.07525736 9.21223249] [ 0.12331804 -0.04943828 0.99113496 -0.40262887] [ 0. 0. 0. 1. ]] SLAMing on 18.749259763999998 meters Centerline goodness : 0.760538 with order 1 Centerline is valid? [False, False] Translation: X:-11.11, Y:9.21, Z:-0.40 [[ 0.96988389 0.21700359 -0.11061049 -11.1077744 ] [ -0.21010122 0.97511391 0.07078377 9.21240259] [ 0.12321816 -0.04541264 0.99133999 -0.39978911] [ 0. 0. 0. 1. ]] SLAMing on 18.809259763999997 meters Centerline goodness : 0.761068 with order 1 Centerline is valid? [False, False] Translation: X:-11.09, Y:9.20, Z:-0.41 [[ 0.97197785 0.21084213 -0.10394542 -11.09438512] [ -0.20363948 0.97611213 0.07573689 9.1962731 ] [ 0.11743091 -0.05244718 0.99169515 -0.40615894] [ 0. 0. 0. 1. ]] SLAMing on 18.869259763999995 meters Centerline goodness : 0.763716 with order 1 Centerline is valid? [False, False] Translation: X:-11.08, Y:9.18, Z:-0.41 [[ 0.97359323 0.20603501 -0.09831479 -11.07801502] [ -0.19867278 0.97682204 0.07967327 9.18152067] [ 0.11245154 -0.05803689 0.99196087 -0.40825305] [ 0. 0. 0. 1. ]] SLAMing on 18.929259763999998 meters Centerline goodness : 0.764511 with order 1 Centerline is valid? [False, False] Translation: X:-11.04, Y:9.15, Z:-0.42 [[ 0.97734127 0.19411193 -0.08440731 -11.03909598] [ -0.18527732 0.97734627 0.10230635 9.15124231] [ 0.10235405 -0.08434946 0.99116538 -0.41585055] [ 0. 0. 0. 1. ]] SLAMing on 18.989259763999996 meters Centerline goodness : 0.765248 with order 1 Centerline is valid? [False, False] Translation: X:-11.00, Y:9.13, Z:-0.42 [[ 0.9793143 0.18478685 -0.08244584 -11.00246138] [ -0.17500896 0.97803 0.11326596 9.13024356] [ 0.10156457 -0.09649421 0.99013812 -0.41574636] [ 0. 0. 0. 1. ]] SLAMing on 19.049259763999995 meters Centerline goodness : 0.764929 with order 1 Centerline is valid? [False, False] Translation: X:-10.97, Y:9.09, Z:-0.44 [[ 0.98319641 0.17564631 -0.04973124 -10.96960191] [ -0.16548395 0.97257953 0.16341396 9.08665268] [ 0.07707064 -0.1524383 0.98530335 -0.44184164] [ 0. 0. 0. 1. ]] SLAMing on 19.109259763999997 meters Centerline goodness : 0.768052 with order 1 Centerline is valid? [False, False] Translation: X:-11.00, Y:8.98, Z:-0.50 [[ 0.98847726 0.14922142 0.02541 -10.99643382] [ -0.14940537 0.9348525 0.32206961 8.98417036] [ 0.02430508 -0.32215488 0.94637493 -0.50059799] [ 0. 0. 0. 1. ]] SLAMing on 19.169259763999996 meters Centerline goodness : 0.769874 with order 1 Centerline is valid? [False, False] Translation: X:-10.98, Y:8.99, Z:-0.49 [[ 0.98978672 0.14141506 0.0180006 -10.97943953] [ -0.14016782 0.94239845 0.30370735 8.9947758 ] [ 0.02598506 -0.3031286 0.95259531 -0.48519458] [ 0. 0. 0. 1. ]] SLAMing on 19.229259763999995 meters Centerline goodness : 0.771591 with order 1 Centerline is valid? [False, False] Translation: X:-10.92, Y:8.97, Z:-0.48 [[ 0.99204804 0.12348446 0.02433683 -10.91680847] [ -0.12476051 0.93932257 0.31954332 8.97095734] [ 0.0165985 -0.3200386 0.94725909 -0.48421589] [ 0. 0. 0. 1. ]] SLAMing on 19.289259763999997 meters Centerline goodness : 0.774871 with order 1 Centerline is valid? [False, False] Translation: X:-10.84, Y:8.92, Z:-0.48 [[ 0.99516601 0.09642576 0.01861952 -10.84342679] [ -0.09589325 0.91318293 0.39610785 8.92356039] [ 0.02119197 -0.39597856 0.91801519 -0.47519404] [ 0. 0. 0. 1. ]] SLAMing on 19.349259763999996 meters Centerline goodness : 0.774279 with order 1 Centerline is valid? [False, False] Translation: X:-10.82, Y:8.94, Z:-0.46 [[ 9.95957257e-01 8.92729636e-02 9.97395022e-03 -1.08188948e+01] [-8.64399669e-02 9.22254213e-01 3.76796096e-01 8.94001504e+00] [ 2.44391865e-02 -3.76134954e-01 9.26242529e-01 -4.63542221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.409259763999994 meters Centerline goodness : 0.773866 with order 1 Centerline is valid? [False, False] Translation: X:-10.76, Y:8.94, Z:-0.45 [[ 9.97043225e-01 7.68389238e-02 -7.66658942e-04 -1.07560152e+01] [-7.07488948e-02 9.21822903e-01 3.81099894e-01 8.93964659e+00] [ 2.99900295e-02 -3.79918827e-01 9.24533549e-01 -4.54687608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.469259763999997 meters Centerline goodness : 0.774232 with order 1 Centerline is valid? [False, False] Translation: X:-10.83, Y:8.98, Z:-0.46 [[ 9.96767911e-01 8.01599289e-02 -5.30250699e-03 -1.08267957e+01] [-7.30029452e-02 9.31367207e-01 3.56687112e-01 8.98042349e+00] [ 3.35305947e-02 -3.55147169e-01 9.34208856e-01 -4.55266694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.529259763999995 meters Centerline goodness : 0.772809 with order 1 Centerline is valid? [False, False] Translation: X:-10.85, Y:9.01, Z:-0.45 [[ 9.96354691e-01 8.50230781e-02 -6.95738912e-03 -1.08462249e+01] [-7.79972574e-02 9.40973811e-01 3.29370180e-01 9.00927234e+00] [ 3.45507875e-02 -3.27626866e-01 9.44175238e-01 -4.50619692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.589259763999998 meters Centerline goodness : 0.775545 with order 1 Centerline is valid? [False, False] Translation: X:-10.79, Y:8.98, Z:-0.45 [[ 9.97207109e-01 7.42742579e-02 -7.83046094e-03 -1.07927570e+01] [-6.56168368e-02 9.21363723e-01 3.83123115e-01 8.98084664e+00] [ 3.56708877e-02 -3.81539284e-01 9.23664096e-01 -4.50110606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.649259763999996 meters Centerline goodness : 0.774020 with order 1 Centerline is valid? [False, False] Translation: X:-10.77, Y:9.00, Z:-0.44 [[ 0.99737939 0.07055982 -0.01598944 -10.77026191] [ -0.0597472 0.92792211 0.36795493 8.99916115] [ 0.04079979 -0.36603534 0.92970614 -0.44047952] [ 0. 0. 0. 1. ]] SLAMing on 19.709259763999995 meters Centerline goodness : 0.773614 with order 1 Centerline is valid? [False, False] Translation: X:-10.68, Y:8.96, Z:-0.43 [[ 0.99826294 0.05159258 -0.02844826 -10.67938554] [ -0.03404708 0.89924839 0.43611137 8.96257655] [ 0.04808217 -0.43438524 0.89944292 -0.42864256] [ 0. 0. 0. 1. ]] SLAMing on 19.769259763999997 meters Centerline goodness : 0.775404 with order 1 Centerline is valid? [False, False] Translation: X:-10.62, Y:8.93, Z:-0.42 [[ 9.98518183e-01 3.54894584e-02 -4.12545305e-02 -1.06234885e+01] [-9.97439892e-03 8.64601240e-01 5.02359640e-01 8.93195912e+00] [ 5.34971897e-02 -5.01203745e-01 8.63674045e-01 -4.15868774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.829259763999996 meters Centerline goodness : 0.775166 with order 1 Centerline is valid? [False, False] Translation: X:-10.64, Y:8.95, Z:-0.41 [[ 9.98134278e-01 3.62073989e-02 -4.91628655e-02 -1.06381609e+01] [-7.33743555e-03 8.70491279e-01 4.92129145e-01 8.95408196e+00] [ 6.06145619e-02 -4.90850240e-01 8.69132853e-01 -4.11197411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.889259763999995 meters Centerline goodness : 0.777733 with order 1 Centerline is valid? [False, False] Translation: X:-10.60, Y:8.98, Z:-0.40 [[ 9.97785988e-01 3.38807288e-02 -5.72295254e-02 -1.06040768e+01] [-3.17107456e-03 8.83767154e-01 4.67916190e-01 8.98202326e+00] [ 6.64309164e-02 -4.66698739e-01 8.81917921e-01 -3.99537614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.949259763999997 meters Centerline goodness : 0.776651 with order 1 Centerline is valid? [False, False] Translation: X:-10.59, Y:9.00, Z:-0.39 [[ 9.97504860e-01 3.42651805e-02 -6.17248046e-02 -1.05895103e+01] [-2.32511058e-03 8.89786699e-01 4.56370708e-01 9.00289105e+00] [ 7.05595349e-02 -4.55088482e-01 8.87646227e-01 -3.90674007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.009259763999996 meters Centerline goodness : 0.778375 with order 1 Centerline is valid? [False, False] Translation: X:-10.59, Y:9.03, Z:-0.38 [[ 9.97078814e-01 3.52205395e-02 -6.77742797e-02 -1.05900274e+01] [-2.45033944e-03 9.01628571e-01 4.32504237e-01 9.02722327e+00] [ 7.63402595e-02 -4.31074742e-01 8.99081048e-01 -3.82625218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.069259763999995 meters Centerline goodness : 0.775871 with order 1 Centerline is valid? [False, False] Translation: X:-10.56, Y:9.05, Z:-0.37 [[ 9.96044050e-01 4.26341334e-02 -7.79652505e-02 -1.05649999e+01] [-6.97840939e-03 9.12205565e-01 4.09673418e-01 9.04634751e+00] [ 8.85864065e-02 -4.07508697e-01 9.08894444e-01 -3.74323905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.129259763999997 meters Centerline goodness : 0.775857 with order 1 Centerline is valid? [False, False] Translation: X:-10.55, Y:9.06, Z:-0.36 [[ 9.95151716e-01 4.64750930e-02 -8.66783042e-02 -1.05455936e+01] [-9.48729829e-03 9.22561059e-01 3.85734472e-01 9.06108979e+00] [ 9.78930736e-02 -3.83041979e-01 9.18529144e-01 -3.63785331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.189259763999996 meters Centerline goodness : 0.772610 with order 1 Centerline is valid? [False, False] Translation: X:-10.52, Y:9.08, Z:-0.35 [[ 0.99412271 0.05354336 -0.09409119 -10.52103994] [ -0.01581811 0.93164236 0.36303209 9.0771245 ] [ 0.1070973 -0.3594101 0.92701378 -0.3538997 ] [ 0. 0. 0. 1. ]] SLAMing on 20.249259763999994 meters Centerline goodness : 0.773845 with order 1 Centerline is valid? [False, False] Translation: X:-10.49, Y:9.09, Z:-0.34 [[ 0.99347413 0.05716224 -0.09869974 -10.48643166] [ -0.01952368 0.93780457 0.3466142 9.09236765] [ 0.11237431 -0.34242526 0.9328006 -0.34259292] [ 0. 0. 0. 1. ]] SLAMing on 20.309259763999997 meters Centerline goodness : 0.775747 with order 1 Centerline is valid? [False, False] Translation: X:-10.47, Y:9.11, Z:-0.33 [[ 0.99260778 0.06144374 -0.10466355 -10.47434704] [ -0.02444265 0.94591305 0.32349815 9.10856756] [ 0.11887956 -0.31854853 0.9404225 -0.3301727 ] [ 0. 0. 0. 1. ]] SLAMing on 20.369259763999995 meters Centerline goodness : 0.777555 with order 1 Centerline is valid? [False, False] Translation: X:-10.47, Y:9.14, Z:-0.32 [[ 0.99192287 0.07152057 -0.104756 -10.47023417] [ -0.03731761 0.95387197 0.29788531 9.13566673] [ 0.12122874 -0.29157001 0.94883641 -0.32194275] [ 0. 0. 0. 1. ]] SLAMing on 20.429259763999998 meters Centerline goodness : 0.776568 with order 1 Centerline is valid? [False, False] Translation: X:-10.47, Y:9.16, Z:-0.31 [[ 0.99122147 0.08401685 -0.10208407 -10.47064894] [ -0.05350071 0.96097467 0.27141362 9.16338817] [ 0.12090352 -0.26356943 0.95703369 -0.31208702] [ 0. 0. 0. 1. ]] SLAMing on 20.489259763999996 meters Centerline goodness : 0.777170 with order 1 Centerline is valid? [False, False] Translation: X:-10.46, Y:9.19, Z:-0.30 [[ 0.99060265 0.09061187 -0.10244943 -10.46415 ] [ -0.06269012 0.96654824 0.24870556 9.18587549] [ 0.12155799 -0.23994582 0.96314571 -0.29940626] [ 0. 0. 0. 1. ]] SLAMing on 20.549259763999995 meters Centerline goodness : 0.774173 with order 1 Centerline is valid? [False, False] Translation: X:-10.46, Y:9.21, Z:-0.28 [[ 0.98923588 0.09822019 -0.10846733 -10.45793994] [ -0.07130367 0.9708506 0.22883377 9.20821565] [ 0.12778167 -0.21863646 0.96740371 -0.28387643] [ 0. 0. 0. 1. ]] SLAMing on 20.609259763999997 meters Centerline goodness : 0.773580 with order 1 Centerline is valid? [False, False] Translation: X:-10.45, Y:9.23, Z:-0.27 [[ 0.98783471 0.10428548 -0.11535647 -10.4539365 ] [ -0.07834056 0.97452671 0.21014389 9.22703568] [ 0.13433292 -0.19855034 0.97084109 -0.26980591] [ 0. 0. 0. 1. ]] SLAMing on 20.669259763999996 meters Centerline goodness : 0.771437 with order 1 Centerline is valid? [False, False] Translation: X:-10.45, Y:9.24, Z:-0.26 [[ 0.98660615 0.10692047 -0.12319216 -10.45047979] [ -0.08233334 0.97837163 0.18976349 9.2431296 ] [ 0.14081732 -0.17707901 0.97407059 -0.25542434] [ 0. 0. 0. 1. ]] SLAMing on 20.729259763999995 meters Centerline goodness : 0.771179 with order 1 Centerline is valid? [False, False] Translation: X:-10.45, Y:9.26, Z:-0.24 [[ 0.98529684 0.11102528 -0.12985961 -10.45435056] [ -0.08788834 0.98116551 0.17201708 9.26174813] [ 0.14651201 -0.15807475 0.97649711 -0.23991346] [ 0. 0. 0. 1. ]] SLAMing on 20.789259763999997 meters Centerline goodness : 0.769908 with order 1 Centerline is valid? [False, False] Translation: X:-10.46, Y:9.28, Z:-0.23 [[ 0.9842787 0.11041107 -0.13785799 -10.4576326 ] [ -0.08897371 0.98421194 0.15300503 9.2754465 ] [ 0.15257493 -0.13833386 0.97856253 -0.22720819] [ 0. 0. 0. 1. ]] SLAMing on 20.849259763999996 meters Centerline goodness : 0.769307 with order 1 Centerline is valid? [False, False] Translation: X:-10.47, Y:9.29, Z:-0.22 [[ 0.98332601 0.1076043 -0.14659904 -10.46632603] [ -0.08766052 0.98678021 0.1363101 9.288165 ] [ 0.15932859 -0.12118632 0.9797593 -0.21684082] [ 0. 0. 0. 1. ]] SLAMing on 20.909259763999994 meters Centerline goodness : 0.769442 with order 1 Centerline is valid? [False, False] Translation: X:-10.48, Y:9.30, Z:-0.21 [[ 0.98206653 0.10827954 -0.15434014 -10.47657415] [ -0.08977134 0.98843305 0.12223422 9.30156903] [ 0.16579036 -0.10618681 0.98042742 -0.20563443] [ 0. 0. 0. 1. ]] SLAMing on 20.969259763999997 meters Centerline goodness : 0.768557 with order 1 Centerline is valid? [False, False] Translation: X:-10.47, Y:9.31, Z:-0.20 [[ 0.98228248 0.1038402 -0.15600751 -10.47415209] [ -0.08612663 0.98947096 0.11631608 9.3084034 ] [ 0.16644318 -0.10081884 0.98088339 -0.20239913] [ 0. 0. 0. 1. ]] SLAMing on 21.029259763999995 meters Centerline goodness : 0.766147 with order 1 Centerline is valid? [False, False] Translation: X:-10.47, Y:9.32, Z:-0.20 [[ 0.98250223 0.09884912 -0.15785505 -10.47235384] [ -0.08215674 0.99064175 0.10899169 9.31681716] [ 0.16715153 -0.09411572 0.98142885 -0.19673733] [ 0. 0. 0. 1. ]] SLAMing on 21.089259763999994 meters Centerline goodness : 0.765987 with order 1 Centerline is valid? [False, False] Translation: X:-10.47, Y:9.32, Z:-0.19 [[ 0.98242526 0.09861069 -0.15848199 -10.47122157] [ -0.08213597 0.99082258 0.1073513 9.32299782] [ 0.16761352 -0.09244756 0.98150861 -0.1949254 ] [ 0. 0. 0. 1. ]] SLAMing on 21.149259763999996 meters Centerline goodness : 0.765327 with order 1 Centerline is valid? [False, False] Translation: X:-10.47, Y:9.33, Z:-0.19 [[ 0.98259536 0.09431957 -0.16003179 -10.46880004] [ -0.07873275 0.99175578 0.10110208 9.33024955] [ 0.16824836 -0.08674269 0.98192067 -0.19121561] [ 0. 0. 0. 1. ]] SLAMing on 21.209259763999995 meters Centerline goodness : 0.765998 with order 1 Centerline is valid? [False, False] Translation: X:-10.47, Y:9.34, Z:-0.19 [[ 0.98247193 0.09377166 -0.16110799 -10.46822136] [ -0.07864097 0.99208752 0.09786695 9.33842346] [ 0.16901038 -0.08348184 0.98207244 -0.18573797] [ 0. 0. 0. 1. ]] SLAMing on 21.269259763999997 meters Centerline goodness : 0.764170 with order 1 Centerline is valid? [False, False] Translation: X:-10.47, Y:9.34, Z:-0.18 [[ 0.98229953 0.09434292 -0.16182413 -10.46590333] [ -0.07932402 0.99212832 0.09689739 9.34265244] [ 0.16969188 -0.08234572 0.98205084 -0.18435371] [ 0. 0. 0. 1. ]] SLAMing on 21.329259763999996 meters Centerline goodness : 0.764898 with order 1 Centerline is valid? [False, False] Translation: X:-10.46, Y:9.35, Z:-0.18 [[ 0.9823282 0.09167991 -0.16317507 -10.46108542] [ -0.07724613 0.99269174 0.09271538 9.34500766] [ 0.17048268 -0.07847229 0.98223101 -0.18351256] [ 0. 0. 0. 1. ]] SLAMing on 21.389259763999995 meters Centerline goodness : 0.766494 with order 1 Centerline is valid? [False, False] Translation: X:-10.46, Y:9.35, Z:-0.18 [[ 0.98252433 0.08710871 -0.16449321 -10.4597792 ] [ -0.07337666 0.99343209 0.08779835 9.34753704] [ 0.17106084 -0.07419406 0.98246294 -0.18093837] [ 0. 0. 0. 1. ]] SLAMing on 21.449259763999997 meters Centerline goodness : 0.769084 with order 1 Centerline is valid? [False, False] Translation: X:-10.46, Y:9.35, Z:-0.18 [[ 0.98314676 0.07656133 -0.16601451 -10.4621565 ] [ -0.06432755 0.99488657 0.07786314 9.35020967] [ 0.17112691 -0.06587159 0.98304451 -0.1753356 ] [ 0. 0. 0. 1. ]] SLAMing on 21.509259763999996 meters Centerline goodness : 0.767576 with order 1 Centerline is valid? [False, False] Translation: X:-10.45, Y:9.34, Z:-0.18 [[ 0.98503057 0.06268247 -0.16057924 -10.44980181] [ -0.05100817 0.99581577 0.07582292 9.34118068] [ 0.16466011 -0.06649704 0.98410629 -0.17658956] [ 0. 0. 0. 1. ]] SLAMing on 21.569259763999995 meters Centerline goodness : 0.763703 with order 1 Centerline is valid? [False, False] Translation: X:-10.45, Y:9.35, Z:-0.17 [[ 0.98508455 0.058321 -0.16188605 -10.44826183] [ -0.04738244 0.99637661 0.07062974 9.34505599] [ 0.16541867 -0.06190571 0.98427859 -0.17345437] [ 0. 0. 0. 1. ]] SLAMing on 21.629259763999997 meters Centerline goodness : 0.767741 with order 1 Centerline is valid? [False, False] Translation: X:-10.45, Y:9.35, Z:-0.17 [[ 0.98513378 0.05415515 -0.16302963 -10.44639146] [ -0.04391349 0.99686709 0.06578451 9.34750777] [ 0.16608144 -0.05764734 0.98442559 -0.17113763] [ 0. 0. 0. 1. ]] SLAMing on 21.689259763999996 meters Centerline goodness : 0.767453 with order 1 Centerline is valid? [False, False] Translation: X:-10.44, Y:9.35, Z:-0.17 [[ 0.98520927 0.0498305 -0.16395002 -10.44482157] [ -0.04026828 0.99731651 0.06114117 9.34898386] [ 0.16655675 -0.05363486 0.98457206 -0.16956922] [ 0. 0. 0. 1. ]] SLAMing on 21.749259763999994 meters Centerline goodness : 0.768687 with order 1 Centerline is valid? [False, False] Translation: X:-10.45, Y:9.35, Z:-0.16 [[ 0.98526157 0.04449654 -0.16516567 -10.44551559] [ -0.03597131 0.99787899 0.05425475 9.35462524] [ 0.1672295 -0.04751389 0.98477242 -0.1632231 ] [ 0. 0. 0. 1. ]] SLAMing on 21.809259763999997 meters Centerline goodness : 0.766981 with order 1 Centerline is valid? [False, False] Translation: X:-10.43, Y:9.35, Z:-0.17 [[ 0.98651717 0.04027489 -0.15862476 -10.43219235] [ -0.03114983 0.99773626 0.05959902 9.34773252] [ 0.16066602 -0.05385432 0.9855385 -0.16536785] [ 0. 0. 0. 1. ]] SLAMing on 21.869259763999995 meters Centerline goodness : 0.768317 with order 1 Centerline is valid? [False, False] Translation: X:-10.43, Y:9.35, Z:-0.16 [[ 0.98644831 0.03602762 -0.16006793 -10.42964629] [ -0.0276511 0.99814422 0.0542543 9.35248448] [ 0.16172553 -0.04909301 0.98561388 -0.16220558] [ 0. 0. 0. 1. ]] SLAMing on 21.929259763999994 meters Centerline goodness : 0.767324 with order 1 Centerline is valid? [False, False] Translation: X:-10.41, Y:9.35, Z:-0.16 [[ 0.98741879 0.03310912 -0.15462183 -10.41303513] [ -0.02397389 0.99787559 0.06057688 9.34608045] [ 0.156299 -0.05610786 0.98611487 -0.16438196] [ 0. 0. 0. 1. ]] SLAMing on 21.989259763999996 meters Centerline goodness : 0.766502 with order 1 Centerline is valid? [False, False] Translation: X:-10.41, Y:9.34, Z:-0.17 [[ 0.98907593 0.03342166 -0.1435681 -10.4074359 ] [ -0.02551832 0.99807401 0.05654272 9.34158346] [ 0.14518135 -0.05226143 0.98802385 -0.16875327] [ 0. 0. 0. 1. ]] SLAMing on 22.049259763999995 meters Centerline goodness : 0.765605 with order 1 Centerline is valid? [False, False] Translation: X:-10.38, Y:9.33, Z:-0.17 [[ 0.98974343 0.02949819 -0.13977767 -10.38328475] [ -0.02129557 0.99798199 0.05982004 9.33224987] [ 0.14126018 -0.05622985 0.9883743 -0.16925719] [ 0. 0. 0. 1. ]] SLAMing on 22.109259763999997 meters Centerline goodness : 0.767074 with order 1 Centerline is valid? [False, False] Translation: X:-10.35, Y:9.32, Z:-0.17 [[ 0.99023158 0.02546935 -0.13708657 -10.35111515] [ -0.01730317 0.99802215 0.06043499 9.32125989] [ 0.13835467 -0.0574726 0.98871375 -0.16714706] [ 0. 0. 0. 1. ]] SLAMing on 22.169259763999996 meters Centerline goodness : 0.766065 with order 1 Centerline is valid? [False, False] Translation: X:-10.31, Y:9.31, Z:-0.17 [[ 9.90886464e-01 1.86054546e-02 -1.33408589e-01 -1.03085636e+01] [-9.07887618e-03 9.97387446e-01 7.16648858e-02 9.30521658e+00] [ 1.34393410e-01 -6.98005653e-02 9.88466637e-01 -1.67573369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.229259763999995 meters Centerline goodness : 0.768040 with order 1 Centerline is valid? [False, False] Translation: X:-10.27, Y:9.30, Z:-0.16 [[ 9.91208423e-01 1.61038383e-02 -1.31326043e-01 -1.02730650e+01] [-6.88373719e-03 9.97497791e-01 7.03617096e-02 9.29954689e+00] [ 1.32130531e-01 -6.88391052e-02 9.88839067e-01 -1.62310818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.289259763999997 meters Centerline goodness : 0.767510 with order 1 Centerline is valid? [False, False] Translation: X:-10.22, Y:9.26, Z:-0.19 [[ 9.94590122e-01 1.04886744e-02 -1.03346389e-01 -1.02224040e+01] [ 3.54391288e-03 9.90883980e-01 1.34671374e-01 9.25521767e+00] [ 1.03816805e-01 -1.34309069e-01 9.85486248e-01 -1.91321325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.349259763999996 meters Centerline goodness : 0.768703 with order 1 Centerline is valid? [False, False] Translation: X:-10.20, Y:9.25, Z:-0.19 [[ 9.94173184e-01 4.73614044e-03 -1.07690529e-01 -1.02041630e+01] [ 8.57641125e-03 9.92391911e-01 1.22819952e-01 9.25234135e+00] [ 1.07452902e-01 -1.23027901e-01 9.86568806e-01 -1.86140567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.409259763999994 meters Centerline goodness : 0.766156 with order 1 Centerline is valid? [False, False] Translation: X:-10.16, Y:9.24, Z:-0.18 [[ 9.94240661e-01 6.05538263e-05 -1.07170443e-01 -1.01595509e+01] [ 1.27348121e-02 9.92847985e-01 1.18704265e-01 9.24278731e+00] [ 1.06411147e-01 -1.19385402e-01 9.87129066e-01 -1.84954080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.469259763999997 meters Centerline goodness : 0.765805 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:9.25, Z:-0.19 [[ 9.94047842e-01 1.45765653e-03 -1.08934675e-01 -1.01531182e+01] [ 1.15363779e-02 9.92880206e-01 1.18557198e-01 9.24632774e+00] [ 1.08331899e-01 -1.19108239e-01 9.86953609e-01 -1.85962527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.529259763999995 meters Centerline goodness : 0.763258 with order 1 Centerline is valid? [False, False] Translation: X:-10.16, Y:9.26, Z:-0.18 [[ 9.93231072e-01 9.88900569e-03 -1.15733512e-01 -1.01559119e+01] [ 2.73876138e-03 9.94098538e-01 1.08446281e-01 9.26031910e+00] [ 1.16122941e-01 -1.08029183e-01 9.87342473e-01 -1.78933032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.589259763999994 meters Centerline goodness : 0.765019 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:9.29, Z:-0.18 [[ 0.99261933 0.03256385 -0.11681809 -10.15127422] [ -0.02121098 0.9950444 0.09714291 9.28555765] [ 0.11940254 -0.0939481 0.98839101 -0.18057359] [ 0. 0. 0. 1. ]] SLAMing on 22.649259763999996 meters Centerline goodness : 0.767734 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:9.30, Z:-0.17 [[ 0.99153591 0.04243271 -0.12270295 -10.15342725] [ -0.03191183 0.99574306 0.08647189 9.3028235 ] [ 0.12584985 -0.08182431 0.9886691 -0.1710945 ] [ 0. 0. 0. 1. ]] SLAMing on 22.709259763999995 meters Centerline goodness : 0.765167 with order 1 Centerline is valid? [False, False] Translation: X:-10.16, Y:9.32, Z:-0.16 [[ 0.99024386 0.05358291 -0.12863116 -10.1563451 ] [ -0.04388558 0.99605894 0.07707552 9.31960223] [ 0.13225415 -0.07067851 0.98869277 -0.16124796] [ 0. 0. 0. 1. ]] SLAMing on 22.769259763999994 meters Centerline goodness : 0.767716 with order 1 Centerline is valid? [False, False] Translation: X:-10.16, Y:9.33, Z:-0.17 [[ 0.99050038 0.05872268 -0.12434081 -10.16016758] [ -0.04924699 0.99573958 0.07795778 9.32590271] [ 0.12838896 -0.0710938 0.98917235 -0.16524148] [ 0. 0. 0. 1. ]] SLAMing on 22.829259763999996 meters Centerline goodness : 0.767083 with order 1 Centerline is valid? [False, False] Translation: X:-10.16, Y:9.33, Z:-0.16 [[ 0.990407 0.05931696 -0.1248017 -10.15800976] [ -0.05004059 0.99583636 0.0761964 9.33444868] [ 0.1288018 -0.0692203 0.98925156 -0.16372067] [ 0. 0. 0. 1. ]] SLAMing on 22.889259763999995 meters Centerline goodness : 0.767623 with order 1 Centerline is valid? [False, False] Translation: X:-10.16, Y:9.34, Z:-0.16 [[ 0.9902859 0.05966839 -0.12559265 -10.15543293] [ -0.05046627 0.99588911 0.07521988 9.33907501] [ 0.1295646 -0.06815099 0.98922619 -0.16288022] [ 0. 0. 0. 1. ]] SLAMing on 22.949259763999997 meters Centerline goodness : 0.771201 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:9.34, Z:-0.16 [[ 0.99036751 0.05616726 -0.12656003 -10.15167037] [ -0.0474583 0.99636023 0.07080966 9.34416442] [ 0.13007657 -0.06412126 0.9894284 -0.16317009] [ 0. 0. 0. 1. ]] SLAMing on 23.009259763999996 meters Centerline goodness : 0.775895 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:9.35, Z:-0.16 [[ 0.99032287 0.05593587 -0.12701101 -10.1507834 ] [ -0.04732905 0.99643751 0.06980147 9.3479667 ] [ 0.13046294 -0.06311468 0.98944225 -0.16220875] [ 0. 0. 0. 1. ]] SLAMing on 23.069259763999995 meters Centerline goodness : 0.778805 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:9.35, Z:-0.16 [[ 0.99022604 0.05668799 -0.12743181 -10.14803681] [ -0.04818897 0.9964647 0.06881803 9.35381185] [ 0.13088245 -0.0620046 0.98945703 -0.16199115] [ 0. 0. 0. 1. ]] SLAMing on 23.129259763999997 meters Centerline goodness : 0.779789 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:9.36, Z:-0.16 [[ 0.99012316 0.0574728 -0.12787887 -10.14540469] [ -0.04910986 0.99650188 0.06761823 9.36057797] [ 0.13131775 -0.06067026 0.98948207 -0.16123108] [ 0. 0. 0. 1. ]] SLAMing on 23.189259763999996 meters Centerline goodness : 0.778314 with order 1 Centerline is valid? [False, False] Translation: X:-10.14, Y:9.37, Z:-0.16 [[ 0.99003861 0.05800235 -0.1282937 -10.14311857] [ -0.04975067 0.99653758 0.06661619 9.36600043] [ 0.13171339 -0.0595699 0.98949634 -0.16084433] [ 0. 0. 0. 1. ]] SLAMing on 23.249259763999994 meters Centerline goodness : 0.775488 with order 1 Centerline is valid? [False, False] Translation: X:-10.14, Y:9.37, Z:-0.16 [[ 0.98997794 0.05829455 -0.12862898 -10.14136135] [ -0.0501045 0.99655975 0.06601667 9.36888597] [ 0.13203488 -0.05891015 0.98949299 -0.16088082] [ 0. 0. 0. 1. ]] SLAMing on 23.309259763999997 meters Centerline goodness : 0.772252 with order 1 Centerline is valid? [False, False] Translation: X:-10.14, Y:9.38, Z:-0.15 [[ 0.99004953 0.05764307 -0.12837133 -10.1444739 ] [ -0.050292 0.99694327 0.05978981 9.37985494] [ 0.13142541 -0.05273882 0.98992221 -0.14936303] [ 0. 0. 0. 1. ]] SLAMing on 23.369259763999995 meters Centerline goodness : 0.770209 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:9.39, Z:-0.14 [[ 0.98988469 0.06243504 -0.12739764 -10.1468176 ] [ -0.05551375 0.99681943 0.05717727 9.39235761] [ 0.13056231 -0.04952658 0.9902023 -0.13761514] [ 0. 0. 0. 1. ]] SLAMing on 23.429259763999994 meters Centerline goodness : 0.770240 with order 1 Centerline is valid? [False, False] Translation: X:-10.15, Y:9.39, Z:-0.14 [[ 0.9896298 0.06718289 -0.12696189 -10.14678855] [ -0.05985167 0.99635966 0.06070582 9.39447964] [ 0.1305781 -0.05247741 0.99004822 -0.13746787] [ 0. 0. 0. 1. ]] SLAMing on 23.489259763999996 meters Centerline goodness : 0.771050 with order 1 Centerline is valid? [False, False] Translation: X:-10.14, Y:9.40, Z:-0.14 [[ 0.98939506 0.06921044 -0.12770015 -10.14167828] [ -0.06185993 0.99623979 0.06065997 9.3979119 ] [ 0.13141827 -0.05211715 0.98995608 -0.13787817] [ 0. 0. 0. 1. ]] SLAMing on 23.549259763999995 meters Centerline goodness : 0.769083 with order 1 Centerline is valid? [False, False] Translation: X:-10.14, Y:9.40, Z:-0.14 [[ 0.98920921 0.0704841 -0.12844113 -10.13817198] [ -0.0631316 0.99617291 0.06044783 9.3997381 ] [ 0.13221019 -0.05168686 0.98987319 -0.13740823] [ 0. 0. 0. 1. ]] SLAMing on 23.609259763999994 meters Centerline goodness : 0.774138 with order 1 Centerline is valid? [False, False] Translation: X:-10.14, Y:9.40, Z:-0.14 [[ 0.98933038 0.0688938 -0.12837073 -10.13524364] [ -0.0619214 0.99642101 0.05754046 9.40056574] [ 0.13187548 -0.04897763 0.99005558 -0.13854008] [ 0. 0. 0. 1. ]] SLAMing on 23.669259763999996 meters Centerline goodness : 0.777045 with order 1 Centerline is valid? [False, False] Translation: X:-10.13, Y:9.40, Z:-0.14 [[ 0.98943434 0.06560535 -0.12928895 -10.13197754] [ -0.05908923 0.99681209 0.05361083 9.40179544] [ 0.13239395 -0.04540482 0.99015668 -0.13843597] [ 0. 0. 0. 1. ]] SLAMing on 23.729259763999995 meters Centerline goodness : 0.776756 with order 1 Centerline is valid? [False, False] Translation: X:-10.13, Y:9.40, Z:-0.14 [[ 0.98956008 0.06139456 -0.13039004 -10.13088188] [ -0.05546575 0.99727572 0.04862807 9.40383281] [ 0.13302032 -0.04088822 0.99026953 -0.1353245 ] [ 0. 0. 0. 1. ]] SLAMing on 23.789259763999997 meters Centerline goodness : 0.775185 with order 1 Centerline is valid? [False, False] Translation: X:-10.11, Y:9.40, Z:-0.14 [[ 0.99047264 0.05969171 -0.12410012 -10.11270391] [ -0.0529854 0.99698668 0.05665787 9.39635798] [ 0.12710817 -0.04954257 0.99065082 -0.14197693] [ 0. 0. 0. 1. ]] SLAMing on 23.849259763999996 meters Centerline goodness : 0.772699 with order 1 Centerline is valid? [False, False] Translation: X:-10.11, Y:9.40, Z:-0.14 [[ 0.99075396 0.05118159 -0.12564645 -10.11051664] [ -0.04545193 0.99781006 0.0480541 9.39778827] [ 0.12783078 -0.04189891 0.99091058 -0.1394683 ] [ 0. 0. 0. 1. ]] SLAMing on 23.909259763999994 meters Centerline goodness : 0.767433 with order 1 Centerline is valid? [False, False] Translation: X:-10.09, Y:9.39, Z:-0.15 [[ 0.9918473 0.04446653 -0.11942216 -10.09487181] [ -0.03839144 0.99787218 0.05269933 9.38810775] [ 0.1215114 -0.0476849 0.99144396 -0.14580803] [ 0. 0. 0. 1. ]] SLAMing on 23.969259763999997 meters Centerline goodness : 0.763960 with order 1 Centerline is valid? [False, False] Translation: X:-10.08, Y:9.38, Z:-0.15 [[ 0.9929722 0.03496792 -0.11306392 -10.08235652] [ -0.02898056 0.99811094 0.05417265 9.3794862 ] [ 0.11474464 -0.05051528 0.99210981 -0.14804852] [ 0. 0. 0. 1. ]] SLAMing on 24.029259763999995 meters Centerline goodness : 0.762262 with order 1 Centerline is valid? [False, False] Translation: X:-10.07, Y:9.37, Z:-0.15 [[ 0.99389668 0.02707045 -0.10694194 -10.06779975] [ -0.02112436 0.99818769 0.05634794 9.37312564] [ 0.10827349 -0.05374495 0.99266728 -0.1506525 ] [ 0. 0. 0. 1. ]] SLAMing on 24.089259763999994 meters Centerline goodness : 0.760708 with order 1 Centerline is valid? [False, False] Translation: X:-10.06, Y:9.37, Z:-0.15 [[ 0.99479978 0.01678165 -0.10045783 -10.05659896] [ -0.01104061 0.99828823 0.05743436 9.36607219] [ 0.10124972 -0.05602657 0.99328219 -0.15240306] [ 0. 0. 0. 1. ]] SLAMing on 24.149259763999996 meters Centerline goodness : 0.759462 with order 1 Centerline is valid? [False, False] Translation: X:-10.04, Y:9.36, Z:-0.16 [[ 9.95411279e-01 9.50274397e-03 -9.52159855e-02 -1.00390769e+01] [-3.67761517e-03 9.98120726e-01 6.11677341e-02 9.36022250e+00] [ 9.56183099e-02 -6.05368847e-02 9.93575576e-01 -1.56733099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.209259763999995 meters Centerline goodness : 0.757923 with order 1 Centerline is valid? [False, False] Translation: X:-10.03, Y:9.36, Z:-0.16 [[ 9.96468365e-01 5.50527157e-03 -8.37883673e-02 -1.00334838e+01] [-1.02638457e-03 9.98572449e-01 5.34042242e-02 9.35897366e+00] [ 8.39627598e-02 -5.31296209e-02 9.95051505e-01 -1.60963970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.269259763999994 meters Centerline goodness : 0.757505 with order 1 Centerline is valid? [False, False] Translation: X:-10.02, Y:9.35, Z:-0.17 [[ 9.96922105e-01 -2.07345374e-03 -7.83710273e-02 -1.00176125e+01] [ 6.54280421e-03 9.98363316e-01 5.68144394e-02 9.35452945e+00] [ 7.81249566e-02 -5.71523368e-02 9.95304025e-01 -1.65534850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.329259763999996 meters Centerline goodness : 0.757390 with order 1 Centerline is valid? [False, False] Translation: X:-10.00, Y:9.35, Z:-0.17 [[ 0.99728217 -0.01040061 -0.07293897 -10.00171975] [ 0.01482868 0.9980621 0.06043309 9.34793106] [ 0.07216908 -0.06135043 0.99550377 -0.17157082] [ 0. 0. 0. 1. ]] SLAMing on 24.389259763999995 meters Centerline goodness : 0.760016 with order 1 Centerline is valid? [False, False] Translation: X:-9.99, Y:9.34, Z:-0.18 [[ 0.99754628 -0.0205969 -0.06691173 -9.98883772] [ 0.024813 0.99771747 0.06280253 9.34152256] [ 0.06546547 -0.06430871 0.99578043 -0.17672179] [ 0. 0. 0. 1. ]] SLAMing on 24.449259763999994 meters Centerline goodness : 0.755549 with order 1 Centerline is valid? [False, False] Translation: X:-9.97, Y:9.34, Z:-0.18 [[ 0.99760885 -0.03189702 -0.06131198 -9.97484769] [ 0.03578307 0.99734869 0.06336526 9.33695566] [ 0.05912826 -0.06540767 0.99610526 -0.1804147 ] [ 0. 0. 0. 1. ]] SLAMing on 24.509259763999996 meters Centerline goodness : 0.755455 with order 1 Centerline is valid? [False, False] Translation: X:-9.97, Y:9.34, Z:-0.18 [[ 0.99758312 -0.0316674 -0.0618474 -9.97316491] [ 0.03556589 0.99738052 0.0629854 9.33977911] [ 0.05969081 -0.06503283 0.99609625 -0.18034496] [ 0. 0. 0. 1. ]] SLAMing on 24.569259763999995 meters Centerline goodness : 0.757244 with order 1 Centerline is valid? [False, False] Translation: X:-9.97, Y:9.35, Z:-0.18 [[ 0.99743583 -0.03551173 -0.06213433 -9.97198062] [ 0.03908996 0.99758835 0.05735388 9.34562114] [ 0.05994775 -0.05963565 0.99641852 -0.17830444] [ 0. 0. 0. 1. ]] SLAMing on 24.629259763999997 meters Centerline goodness : 0.758813 with order 1 Centerline is valid? [False, False] Translation: X:-9.97, Y:9.35, Z:-0.17 [[ 0.99727016 -0.03924642 -0.06254561 -9.97039051] [ 0.04242206 0.99783375 0.05028093 9.35277607] [ 0.06043678 -0.05279699 0.99677474 -0.17358895] [ 0. 0. 0. 1. ]] SLAMing on 24.689259763999996 meters Centerline goodness : 0.757105 with order 1 Centerline is valid? [False, False] Translation: X:-9.97, Y:9.36, Z:-0.17 [[ 0.99725199 -0.03906136 -0.06294978 -9.96897373] [ 0.04222289 0.99787126 0.0497008 9.35556864] [ 0.06087439 -0.05222214 0.99677839 -0.17345944] [ 0. 0. 0. 1. ]] SLAMing on 24.749259763999994 meters Centerline goodness : 0.756669 with order 1 Centerline is valid? [False, False] Translation: X:-9.97, Y:9.36, Z:-0.17 [[ 0.99707106 -0.04232956 -0.06369863 -9.96619352] [ 0.04520913 0.99798749 0.04446467 9.36020341] [ 0.06168827 -0.04721419 0.99697812 -0.17105813] [ 0. 0. 0. 1. ]] SLAMing on 24.809259763999997 meters Centerline goodness : 0.756257 with order 1 Centerline is valid? [False, False] Translation: X:-9.95, Y:9.36, Z:-0.18 [[ 0.9972512 -0.04546702 -0.05850459 -9.9488369 ] [ 0.04848131 0.9975121 0.05117789 9.3551972 ] [ 0.05603213 -0.05387359 0.99697444 -0.17561742] [ 0. 0. 0. 1. ]] SLAMing on 24.869259763999995 meters Centerline goodness : 0.756445 with order 1 Centerline is valid? [False, False] Translation: X:-9.94, Y:9.35, Z:-0.18 [[ 0.99789338 -0.04398878 -0.04768427 -9.93606638] [ 0.04635276 0.99769005 0.04965875 9.35110304] [ 0.04538969 -0.05176444 0.99762729 -0.18376738] [ 0. 0. 0. 1. ]] SLAMing on 24.929259763999994 meters Centerline goodness : 0.755878 with order 1 Centerline is valid? [False, False] Translation: X:-9.93, Y:9.35, Z:-0.18 [[ 0.99767926 -0.04810405 -0.04818806 -9.93494737] [ 0.05028758 0.99771261 0.04517429 9.35243464] [ 0.04590477 -0.04749272 0.99781621 -0.18221644] [ 0. 0. 0. 1. ]] SLAMing on 24.989259763999996 meters Centerline goodness : 0.756127 with order 1 Centerline is valid? [False, False] Translation: X:-9.91, Y:9.34, Z:-0.19 [[ 0.99774789 -0.05085411 -0.04373787 -9.90722329] [ 0.0530307 0.99733361 0.05013401 9.34395139] [ 0.04107173 -0.05234055 0.99778434 -0.18652779] [ 0. 0. 0. 1. ]] SLAMing on 25.049259763999995 meters Centerline goodness : 0.755549 with order 1 Centerline is valid? [False, False] Translation: X:-9.91, Y:9.34, Z:-0.19 [[ 0.99753003 -0.05513663 -0.04351763 -9.90773518] [ 0.05713789 0.99729827 0.0461673 9.34193096] [ 0.04085455 -0.04853978 0.99798537 -0.18567762] [ 0. 0. 0. 1. ]] SLAMing on 25.109259763999994 meters Centerline goodness : 0.756892 with order 1 Centerline is valid? [False, False] Translation: X:-9.89, Y:9.34, Z:-0.19 [[ 0.99759693 -0.05699971 -0.03938771 -9.88781566] [ 0.05911475 0.99674589 0.05480041 9.33509184] [ 0.03613593 -0.05699712 0.99772016 -0.19168685] [ 0. 0. 0. 1. ]] SLAMing on 25.169259763999996 meters Centerline goodness : 0.754942 with order 1 Centerline is valid? [False, False] Translation: X:-9.89, Y:9.34, Z:-0.19 [[ 0.99735154 -0.06079076 -0.03992976 -9.88599593] [ 0.06275859 0.99677391 0.05003137 9.33778432] [ 0.03675949 -0.0524048 0.99794914 -0.19038373] [ 0. 0. 0. 1. ]] SLAMing on 25.229259763999995 meters Centerline goodness : 0.755293 with order 1 Centerline is valid? [False, False] Translation: X:-9.88, Y:9.34, Z:-0.19 [[ 0.99711939 -0.06409986 -0.04054799 -9.88290648] [ 0.0659447 0.99676584 0.04592548 9.33871243] [ 0.03747303 -0.04846711 0.99812159 -0.19040372] [ 0. 0. 0. 1. ]] SLAMing on 25.289259763999993 meters Centerline goodness : 0.755045 with order 1 Centerline is valid? [False, False] Translation: X:-9.86, Y:9.33, Z:-0.20 [[ 0.99712796 -0.06663107 -0.03600171 -9.86495211] [ 0.06854255 0.99614404 0.05476284 9.33316225] [ 0.03221398 -0.05707321 0.99785014 -0.19756527] [ 0. 0. 0. 1. ]] SLAMing on 25.349259763999996 meters Centerline goodness : 0.758111 with order 1 Centerline is valid? [False, False] Translation: X:-9.86, Y:9.34, Z:-0.19 [[ 0.99719707 -0.06506052 -0.03694779 -9.86170826] [ 0.0669081 0.99644518 0.05118905 9.34141839] [ 0.03348606 -0.05351767 0.99800528 -0.19114706] [ 0. 0. 0. 1. ]] SLAMing on 25.409259763999994 meters Centerline goodness : 0.756099 with order 1 Centerline is valid? [False, False] Translation: X:-9.86, Y:9.34, Z:-0.19 [[ 0.99720573 -0.0648316 -0.03711602 -9.86065857] [ 0.06667228 0.99648537 0.05071211 9.34348938] [ 0.03369782 -0.05304502 0.99802339 -0.19121738] [ 0. 0. 0. 1. ]] SLAMing on 25.469259763999997 meters Centerline goodness : 0.756933 with order 1 Centerline is valid? [False, False] Translation: X:-9.86, Y:9.35, Z:-0.19 [[ 0.99693476 -0.06852429 -0.03775587 -9.85800779] [ 0.07022083 0.99648835 0.04560707 9.34762178] [ 0.03449809 -0.04811852 0.99824571 -0.19032718] [ 0. 0. 0. 1. ]] SLAMing on 25.529259763999995 meters Centerline goodness : 0.755260 with order 1 Centerline is valid? [False, False] Translation: X:-9.86, Y:9.35, Z:-0.19 [[ 0.99692999 -0.06829465 -0.03829412 -9.85663142] [ 0.06998507 0.9965464 0.04469179 9.35163094] [ 0.03510966 -0.0472346 0.9982666 -0.18945322] [ 0. 0. 0. 1. ]] SLAMing on 25.589259763999994 meters Centerline goodness : 0.755715 with order 1 Centerline is valid? [False, False] Translation: X:-9.85, Y:9.35, Z:-0.19 [[ 0.9969442 -0.0678008 -0.03879832 -9.85471406] [ 0.06950996 0.9965863 0.04454328 9.35325399] [ 0.03564581 -0.04710404 0.99825377 -0.18986249] [ 0. 0. 0. 1. ]] SLAMing on 25.649259763999996 meters Centerline goodness : 0.753564 with order 1 Centerline is valid? [False, False] Translation: X:-9.85, Y:9.36, Z:-0.19 [[ 0.99666348 -0.07160961 -0.03916602 -9.8534975 ] [ 0.07315593 0.99653461 0.03958504 9.35524011] [ 0.03619563 -0.04231819 0.99844832 -0.18781159] [ 0. 0. 0. 1. ]] SLAMing on 25.709259763999995 meters Centerline goodness : 0.756089 with order 1 Centerline is valid? [False, False] Translation: X:-9.85, Y:9.36, Z:-0.19 [[ 0.99633353 -0.07585571 -0.03956525 -9.85265462] [ 0.07723005 0.99641806 0.03444659 9.35921082] [ 0.03681056 -0.03737592 0.99862306 -0.18570256] [ 0. 0. 0. 1. ]] SLAMing on 25.769259763999994 meters Centerline goodness : 0.757504 with order 1 Centerline is valid? [False, False] Translation: X:-9.85, Y:9.36, Z:-0.18 [[ 0.99600644 -0.0798273 -0.03998459 -9.8511873 ] [ 0.08105805 0.99625278 0.03016595 9.36056864] [ 0.03742669 -0.03328655 0.99874484 -0.18479012] [ 0. 0. 0. 1. ]] SLAMing on 25.829259763999996 meters Centerline goodness : 0.755703 with order 1 Centerline is valid? [False, False] Translation: X:-9.83, Y:9.35, Z:-0.19 [[ 0.99596767 -0.08292318 -0.03423671 -9.83462297] [ 0.08421807 0.9957114 0.03828995 9.35287763] [ 0.03091476 -0.0410189 0.99867999 -0.19222769] [ 0. 0. 0. 1. ]] SLAMing on 25.889259763999995 meters Centerline goodness : 0.756459 with order 1 Centerline is valid? [False, False] Translation: X:-9.81, Y:9.34, Z:-0.20 [[ 0.99562638 -0.08847076 -0.03001721 -9.81356826] [ 0.08977388 0.99493296 0.04526653 9.34357775] [ 0.02586035 -0.04776331 0.99852386 -0.20066174] [ 0. 0. 0. 1. ]] SLAMing on 25.949259763999994 meters Centerline goodness : 0.756067 with order 1 Centerline is valid? [False, False] Translation: X:-9.79, Y:9.34, Z:-0.21 [[ 0.99550983 -0.09105997 -0.0258507 -9.79058163] [ 0.09233492 0.99429657 0.05337217 9.33549274] [ 0.0208432 -0.05551944 0.99824003 -0.20705795] [ 0. 0. 0. 1. ]] SLAMing on 26.009259763999996 meters Centerline goodness : 0.755858 with order 1 Centerline is valid? [False, False] Translation: X:-9.77, Y:9.33, Z:-0.21 [[ 0.99527065 -0.09488552 -0.02081044 -9.77385269] [ 0.09597973 0.99356742 0.06009727 9.33004282] [ 0.01497422 -0.06181043 0.99797557 -0.21176758] [ 0. 0. 0. 1. ]] SLAMing on 26.069259763999995 meters Centerline goodness : 0.756438 with order 1 Centerline is valid? [False, False] Translation: X:-9.73, Y:9.32, Z:-0.22 [[ 9.94894211e-01 -9.94291402e-02 -1.73018817e-02 -9.72982816e+00] [ 1.00470748e-01 9.91986661e-01 7.66034798e-02 9.31885549e+00] [ 9.54661773e-03 -7.79506916e-02 9.96911506e-01 -2.22110140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.129259763999993 meters Centerline goodness : 0.755724 with order 1 Centerline is valid? [False, False] Translation: X:-9.70, Y:9.31, Z:-0.23 [[ 9.94889283e-01 -9.99713429e-02 -1.41790257e-02 -9.69508727e+00] [ 1.00782855e-01 9.91775223e-01 7.88969192e-02 9.31470934e+00] [ 6.17497544e-03 -7.99227021e-02 9.96781938e-01 -2.25015201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.189259763999996 meters Centerline goodness : 0.755272 with order 1 Centerline is valid? [False, False] Translation: X:-9.67, Y:9.31, Z:-0.23 [[ 9.95293978e-01 -9.67640638e-02 -5.15877110e-03 -9.67378650e+00] [ 9.68823566e-02 9.92628760e-01 7.28145229e-02 9.31445867e+00] [-1.92508458e-03 -7.29716501e-02 9.97332157e-01 -2.27625356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.249259763999994 meters Centerline goodness : 0.755450 with order 1 Centerline is valid? [False, False] Translation: X:-9.67, Y:9.32, Z:-0.23 [[ 9.95328117e-01 -9.63806436e-02 -5.71935992e-03 -9.67271777e+00] [ 9.65429390e-02 9.92779549e-01 7.11914834e-02 9.31906477e+00] [-1.18341743e-03 -7.14110490e-02 9.97446270e-01 -2.25414960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.309259763999997 meters Centerline goodness : 0.753865 with order 1 Centerline is valid? [False, False] Translation: X:-9.67, Y:9.32, Z:-0.22 [[ 9.95337406e-01 -9.62638398e-02 -6.05985845e-03 -9.67176666e+00] [ 9.64516653e-02 9.92871130e-01 7.00285323e-02 9.32393922e+00] [-7.24556896e-04 -7.02865011e-02 9.97526582e-01 -2.24928744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.369259763999995 meters Centerline goodness : 0.754135 with order 1 Centerline is valid? [False, False] Translation: X:-9.67, Y:9.33, Z:-0.23 [[ 9.95375580e-01 -9.58411532e-02 -6.47518962e-03 -9.67005903e+00] [ 9.60593525e-02 9.92943262e-01 6.95433665e-02 9.32707588e+00] [-2.35620539e-04 -6.98437713e-02 9.97557914e-01 -2.25508958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.429259763999994 meters Centerline goodness : 0.754053 with order 1 Centerline is valid? [False, False] Translation: X:-9.67, Y:9.33, Z:-0.23 [[ 9.95079707e-01 -9.87979595e-02 -7.43909238e-03 -9.66586305e+00] [ 9.90727441e-02 9.92967611e-01 6.48067559e-02 9.33145890e+00] [ 9.84002545e-04 -6.52248990e-02 9.97870104e-01 -2.25351336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.489259763999996 meters Centerline goodness : 0.757014 with order 1 Centerline is valid? [False, False] Translation: X:-9.66, Y:9.34, Z:-0.22 [[ 9.94727386e-01 -1.02257382e-01 -7.80095143e-03 -9.66428467e+00] [ 1.02540441e-01 9.92969177e-01 5.91411086e-02 9.33704745e+00] [ 1.69848941e-03 -5.96291934e-02 9.98219152e-01 -2.22815193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.549259763999995 meters Centerline goodness : 0.758740 with order 1 Centerline is valid? [False, False] Translation: X:-9.66, Y:9.34, Z:-0.22 [[ 9.94702972e-01 -1.02501635e-01 -7.70799085e-03 -9.66483110e+00] [ 1.02777927e-01 9.92973662e-01 5.86515489e-02 9.33844107e+00] [ 1.64195223e-03 -5.91330813e-02 9.98248758e-01 -2.22329022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.609259763999994 meters Centerline goodness : 0.758576 with order 1 Centerline is valid? [False, False] Translation: X:-9.66, Y:9.34, Z:-0.22 [[ 9.94356654e-01 -1.05759699e-01 -8.35055099e-03 -9.66178122e+00] [ 1.06057670e-01 9.92888534e-01 5.40752208e-02 9.34138825e+00] [ 2.57218727e-03 -5.46556956e-02 9.98501947e-01 -2.21677217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.669259763999996 meters Centerline goodness : 0.764007 with order 1 Centerline is valid? [False, False] Translation: X:-9.66, Y:9.35, Z:-0.22 [[ 9.93499416e-01 -1.13518748e-01 -8.50904323e-03 -9.65967686e+00] [ 1.13787599e-01 9.92494844e-01 4.47924801e-02 9.34559872e+00] [ 3.36039529e-03 -4.54695264e-02 9.98960074e-01 -2.19352586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.729259763999995 meters Centerline goodness : 0.764274 with order 1 Centerline is valid? [False, False] Translation: X:-9.66, Y:9.35, Z:-0.22 [[ 9.93484773e-01 -1.13621073e-01 -8.84631134e-03 -9.65960373e+00] [ 1.13901897e-01 9.92520717e-01 4.39201957e-02 9.34812104e+00] [ 3.78988752e-03 -4.46416573e-02 9.98995875e-01 -2.17757416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.789259763999993 meters Centerline goodness : 0.762923 with order 1 Centerline is valid? [False, False] Translation: X:-9.66, Y:9.35, Z:-0.22 [[ 9.93052100e-01 -1.17317757e-01 -9.16901766e-03 -9.65798368e+00] [ 1.17586841e-01 9.92311281e-01 3.86219772e-02 9.35314137e+00] [ 4.56747593e-03 -3.94317914e-02 9.99211825e-01 -2.16071186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.849259763999996 meters Centerline goodness : 0.764231 with order 1 Centerline is valid? [False, False] Translation: X:-9.66, Y:9.36, Z:-0.22 [[ 9.93062484e-01 -1.17211143e-01 -9.40481985e-03 -9.65735073e+00] [ 1.17485633e-01 9.92354776e-01 3.78037594e-02 9.35603679e+00] [ 4.90189606e-03 -3.86464264e-02 9.99240924e-01 -2.15431555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.909259763999994 meters Centerline goodness : 0.762722 with order 1 Centerline is valid? [False, False] Translation: X:-9.66, Y:9.36, Z:-0.21 [[ 9.93101604e-01 -1.16834869e-01 -9.94065733e-03 -9.65625409e+00] [ 1.17118798e-01 9.92474941e-01 3.57306285e-02 9.36269336e+00] [ 5.69127000e-03 -3.66483823e-02 9.99312016e-01 -2.12751996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.969259763999993 meters Centerline goodness : 0.762628 with order 1 Centerline is valid? [False, False] Translation: X:-9.65, Y:9.37, Z:-0.21 [[ 9.93130063e-01 -1.16549905e-01 -1.04306083e-02 -9.65445944e+00] [ 1.16849069e-01 9.92523493e-01 3.52620420e-02 9.36556162e+00] [ 6.24283609e-03 -3.62386008e-02 9.99323667e-01 -2.13100125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.029259763999995 meters Centerline goodness : 0.764331 with order 1 Centerline is valid? [False, False] Translation: X:-9.65, Y:9.37, Z:-0.21 [[ 9.93128213e-01 -1.16518824e-01 -1.09414497e-02 -9.65362540e+00] [ 1.16830375e-01 9.92557430e-01 3.43571211e-02 9.36863800e+00] [ 6.85676582e-03 -3.53993200e-02 9.99349725e-01 -2.11939952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.089259763999994 meters Centerline goodness : 0.765860 with order 1 Centerline is valid? [False, False] Translation: X:-9.65, Y:9.37, Z:-0.21 [[ 9.93141869e-01 -1.16353348e-01 -1.14510726e-02 -9.65241755e+00] [ 1.16676387e-01 9.92606195e-01 3.34598515e-02 9.37261487e+00] [ 7.47323982e-03 -3.45664492e-02 9.99374460e-01 -2.11251234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.149259763999996 meters Centerline goodness : 0.765785 with order 1 Centerline is valid? [False, False] Translation: X:-9.65, Y:9.37, Z:-0.21 [[ 9.93164350e-01 -1.16162730e-01 -1.14365646e-02 -9.65173773e+00] [ 1.16484680e-01 9.92631822e-01 3.33674294e-02 9.37333601e+00] [ 7.47624624e-03 -3.44715259e-02 9.99377716e-01 -2.12050756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.209259763999995 meters Centerline goodness : 0.764248 with order 1 Centerline is valid? [False, False] Translation: X:-9.65, Y:9.38, Z:-0.21 [[ 9.93119607e-01 -1.16525773e-01 -1.16271447e-02 -9.65223288e+00] [ 1.16844723e-01 9.92629554e-01 3.21540047e-02 9.37666679e+00] [ 7.79467725e-03 -3.32913430e-02 9.99415294e-01 -2.10053295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.269259763999994 meters Centerline goodness : 0.763872 with order 1 Centerline is valid? [False, False] Translation: X:-9.65, Y:9.38, Z:-0.21 [[ 9.93171944e-01 -1.16010032e-01 -1.22947835e-02 -9.65066498e+00] [ 1.16341676e-01 9.92725166e-01 3.10057830e-02 9.38187709e+00] [ 8.60835914e-03 -3.22244695e-02 9.99443585e-01 -2.08777846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.329259763999996 meters Centerline goodness : 0.765124 with order 1 Centerline is valid? [False, False] Translation: X:-9.65, Y:9.38, Z:-0.21 [[ 9.93182482e-01 -1.15912205e-01 -1.23660187e-02 -9.65005080e+00] [ 1.16246212e-01 9.92736262e-01 3.10085915e-02 9.38287737e+00] [ 8.68192099e-03 -3.22346927e-02 9.99442619e-01 -2.09526977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.389259763999995 meters Centerline goodness : 0.761959 with order 1 Centerline is valid? [False, False] Translation: X:-9.65, Y:9.38, Z:-0.21 [[ 9.92706615e-01 -1.19948468e-01 -1.20806375e-02 -9.64904080e+00] [ 1.20238788e-01 9.92373211e-01 2.71669486e-02 9.38231081e+00] [ 8.72986716e-03 -2.84213708e-02 9.99557910e-01 -2.10170277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.449259763999994 meters Centerline goodness : 0.761304 with order 1 Centerline is valid? [False, False] Translation: X:-9.63, Y:9.38, Z:-0.22 [[ 9.92624641e-01 -1.21018040e-01 -7.13837394e-03 -9.63463896e+00] [ 1.21202936e-01 9.91900829e-01 3.79814853e-02 9.37813099e+00] [ 2.48411411e-03 -3.85665501e-02 9.99252946e-01 -2.15743612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.509259763999996 meters Centerline goodness : 0.760500 with order 1 Centerline is valid? [False, False] Translation: X:-9.63, Y:9.38, Z:-0.22 [[ 9.92618939e-01 -1.21062487e-01 -7.17746624e-03 -9.63469218e+00] [ 1.21249059e-01 9.91892127e-01 3.80614467e-02 9.37827047e+00] [ 2.51145885e-03 -3.86507739e-02 9.99249624e-01 -2.15606425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.569259763999995 meters Centerline goodness : 0.759311 with order 1 Centerline is valid? [False, False] Translation: X:-9.63, Y:9.38, Z:-0.22 [[ 9.92669934e-01 -1.20645300e-01 -7.14941070e-03 -9.63380012e+00] [ 1.20833498e-01 9.91904558e-01 3.90462892e-02 9.37551297e+00] [ 2.38078179e-03 -3.96239656e-02 9.99211826e-01 -2.17162800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.629259763999993 meters Centerline goodness : 0.757778 with order 1 Centerline is valid? [False, False] Translation: X:-9.62, Y:9.37, Z:-0.22 [[ 9.92886435e-01 -1.19003846e-01 3.82260281e-03 -9.62312762e+00] [ 1.18784692e-01 9.92239027e-01 3.67683357e-02 9.37285922e+00] [-8.16850904e-03 -3.60527151e-02 9.99316505e-01 -2.23803819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.689259763999996 meters Centerline goodness : 0.756823 with order 1 Centerline is valid? [False, False] Translation: X:-9.62, Y:9.38, Z:-0.22 [[ 9.92504964e-01 -1.22159471e-01 3.31072691e-03 -9.62073882e+00] [ 1.21997741e-01 9.92038082e-01 3.12569273e-02 9.37686513e+00] [-7.10269687e-03 -3.06187542e-02 9.99505900e-01 -2.20868546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.749259763999994 meters Centerline goodness : 0.757365 with order 1 Centerline is valid? [False, False] Translation: X:-9.60, Y:9.37, Z:-0.23 [[ 9.92365381e-01 -1.23130450e-01 7.05990926e-03 -9.59614425e+00] [ 1.22766849e-01 9.91669816e-01 3.89779092e-02 9.37125240e+00] [-1.18004664e-02 -3.78136050e-02 9.99215132e-01 -2.27292537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.809259763999993 meters Centerline goodness : 0.757059 with order 1 Centerline is valid? [False, False] Translation: X:-9.59, Y:9.37, Z:-0.23 [[ 9.91492882e-01 -1.29984114e-01 6.78201768e-03 -9.59234501e+00] [ 1.29717797e-01 9.91070984e-01 3.08479742e-02 9.37259806e+00] [-1.07312075e-02 -2.97057985e-02 9.99501079e-01 -2.26388357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.869259763999995 meters Centerline goodness : 0.756066 with order 1 Centerline is valid? [False, False] Translation: X:-9.54, Y:9.35, Z:-0.25 [[ 0.99015496 -0.13910881 0.01555314 -9.54480515] [ 0.13783467 0.98833234 0.0648135 9.35386434] [-0.0243878 -0.06203165 0.99777618 -0.24857919] [ 0. 0. 0. 1. ]] SLAMing on 27.929259763999994 meters Centerline goodness : 0.755680 with order 1 Centerline is valid? [False, False] Translation: X:-9.51, Y:9.35, Z:-0.25 [[ 0.98983232 -0.14091029 0.01939765 -9.51416207] [ 0.13931383 0.98793338 0.06767042 9.35060688] [-0.02869904 -0.06428 0.99751915 -0.25218013] [ 0. 0. 0. 1. ]] SLAMing on 27.989259763999996 meters Centerline goodness : 0.755703 with order 1 Centerline is valid? [False, False] Translation: X:-9.47, Y:9.34, Z:-0.27 [[ 0.98871572 -0.14705442 0.02856948 -9.47401059] [ 0.14415333 0.98584435 0.08561967 9.33720765] [-0.04075581 -0.08053513 0.9959182 -0.26732675] [ 0. 0. 0. 1. ]] SLAMing on 28.049259763999995 meters Centerline goodness : 0.757499 with order 1 Centerline is valid? [False, False] Translation: X:-9.42, Y:9.33, Z:-0.28 [[ 0.98715668 -0.15587098 0.03501329 -9.41558055] [ 0.15125854 0.98245423 0.10910792 9.32872507] [-0.05140571 -0.10241055 0.99341307 -0.28133076] [ 0. 0. 0. 1. ]] SLAMing on 28.109259763999994 meters Centerline goodness : 0.756908 with order 1 Centerline is valid? [False, False] Translation: X:-9.42, Y:9.32, Z:-0.27 [[ 0.98853952 -0.14976332 0.0189886 -9.41526574] [ 0.14686378 0.9831738 0.10862923 9.32430797] [-0.03493776 -0.10459555 0.99390096 -0.26754652] [ 0. 0. 0. 1. ]] SLAMing on 28.169259763999996 meters Centerline goodness : 0.756914 with order 1 Centerline is valid? [False, False] Translation: X:-9.41, Y:9.32, Z:-0.25 [[ 9.89612542e-01 -1.43706815e-01 3.92015071e-03 -9.41436800e+00] [ 1.42461786e-01 9.83966133e-01 1.07309317e-01 9.31927193e+00] [-1.92783757e-02 -1.05636174e-01 9.94217955e-01 -2.54836837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.229259763999995 meters Centerline goodness : 0.756890 with order 1 Centerline is valid? [False, False] Translation: X:-9.37, Y:9.31, Z:-0.27 [[ 0.98903106 -0.14714087 0.01292787 -9.36737929] [ 0.14447273 0.98187502 0.12267468 9.31098935] [-0.03074401 -0.11946134 0.99236273 -0.26795801] [ 0. 0. 0. 1. ]] SLAMing on 28.289259763999993 meters Centerline goodness : 0.759987 with order 1 Centerline is valid? [False, False] Translation: X:-9.36, Y:9.32, Z:-0.26 [[ 0.9892503 -0.14576915 0.01162712 -9.35562513] [ 0.14352516 0.9830919 0.11371387 9.32034171] [-0.0280065 -0.11082269 0.9934455 -0.25975729] [ 0. 0. 0. 1. ]] SLAMing on 28.349259763999996 meters Centerline goodness : 0.760082 with order 1 Centerline is valid? [False, False] Translation: X:-9.35, Y:9.33, Z:-0.25 [[ 0.98876932 -0.14904308 0.0110175 -9.34504307] [ 0.14720508 0.98399741 0.10039801 9.32943517] [-0.02580482 -0.09764864 0.99488635 -0.25045912] [ 0. 0. 0. 1. ]] SLAMing on 28.409259763999994 meters Centerline goodness : 0.760595 with order 1 Centerline is valid? [False, False] Translation: X:-9.32, Y:9.34, Z:-0.24 [[ 0.98930717 -0.14553841 0.00948103 -9.32034118] [ 0.14416042 0.98565636 0.08774569 9.33880204] [-0.02211541 -0.08544066 0.99609779 -0.2425697 ] [ 0. 0. 0. 1. ]] SLAMing on 28.469259763999993 meters Centerline goodness : 0.757367 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:9.35, Z:-0.23 [[ 9.89591659e-01 -1.43800501e-01 5.45560596e-03 -9.33210347e+00] [ 1.43040404e-01 9.87093161e-01 7.20175947e-02 9.34729751e+00] [-1.57413575e-02 -7.04876389e-02 9.97388441e-01 -2.30347820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.529259763999995 meters Centerline goodness : 0.759151 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:9.35, Z:-0.23 [[ 9.89684017e-01 -1.43191059e-01 4.67625520e-03 -9.33006086e+00] [ 1.42509613e-01 9.87277408e-01 7.05289255e-02 9.35296826e+00] [-1.47158727e-02 -6.91349390e-02 9.97498774e-01 -2.29188942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.589259763999994 meters Centerline goodness : 0.758156 with order 1 Centerline is valid? [False, False] Translation: X:-9.33, Y:9.36, Z:-0.23 [[ 9.89209024e-01 -1.46445874e-01 4.37186579e-03 -9.32775260e+00] [ 1.45854731e-01 9.87160158e-01 6.51246510e-02 9.35793848e+00] [-1.38529682e-02 -6.37842352e-02 9.97867560e-01 -2.27542629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.649259763999993 meters Centerline goodness : 0.758084 with order 1 Centerline is valid? [False, False] Translation: X:-9.31, Y:9.36, Z:-0.23 [[ 0.98952642 -0.14364617 0.01425599 -9.30843539] [ 0.14249144 0.98780279 0.06278399 9.35690126] [-0.02310079 -0.06009506 0.99792532 -0.2342701 ] [ 0. 0. 0. 1. ]] SLAMing on 28.709259763999995 meters Centerline goodness : 0.760552 with order 1 Centerline is valid? [False, False] Translation: X:-9.30, Y:9.36, Z:-0.23 [[ 0.98924904 -0.14565948 0.01302505 -9.30295482] [ 0.14472986 0.98790766 0.05560324 9.36331118] [-0.02096668 -0.05312033 0.99836798 -0.22861941] [ 0. 0. 0. 1. ]] SLAMing on 28.769259763999994 meters Centerline goodness : 0.761125 with order 1 Centerline is valid? [False, False] Translation: X:-9.30, Y:9.37, Z:-0.23 [[ 0.98877012 -0.14888862 0.0128777 -9.30096971] [ 0.14806549 0.9876815 0.05061495 9.36792217] [-0.02025506 -0.04813981 0.99863521 -0.22761058] [ 0. 0. 0. 1. ]] SLAMing on 28.829259763999996 meters Centerline goodness : 0.759906 with order 1 Centerline is valid? [False, False] Translation: X:-9.27, Y:9.37, Z:-0.23 [[ 0.98861045 -0.14968941 0.01557115 -9.26808359] [ 0.14869183 0.98748704 0.05253652 9.3673029 ] [-0.02324047 -0.04962285 0.9984976 -0.23067737] [ 0. 0. 0. 1. ]] SLAMing on 28.889259763999995 meters Centerline goodness : 0.758152 with order 1 Centerline is valid? [False, False] Translation: X:-9.24, Y:9.37, Z:-0.23 [[ 0.98809295 -0.15271106 0.0187525 -9.24084004] [ 0.15149321 0.98693939 0.05477642 9.36592184] [-0.02687255 -0.05128331 0.99832254 -0.23346782] [ 0. 0. 0. 1. ]] SLAMing on 28.949259763999994 meters Centerline goodness : 0.759206 with order 1 Centerline is valid? [False, False] Translation: X:-9.21, Y:9.36, Z:-0.24 [[ 0.98774545 -0.15457394 0.02158317 -9.21298761] [ 0.15309997 0.9864828 0.058413 9.36457977] [-0.03032055 -0.05439279 0.99805916 -0.23655485] [ 0. 0. 0. 1. ]] SLAMing on 29.009259763999996 meters Centerline goodness : 0.759293 with order 1 Centerline is valid? [False, False] Translation: X:-9.21, Y:9.36, Z:-0.22 [[ 9.89976636e-01 -1.41022212e-01 -7.68087219e-03 -9.20966310e+00] [ 1.41226380e-01 9.88026923e-01 6.21120609e-02 9.35731327e+00] [-1.17027170e-03 -6.25742309e-02 9.98039627e-01 -2.15975769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.069259763999995 meters Centerline goodness : 0.760122 with order 1 Centerline is valid? [False, False] Translation: X:-9.18, Y:9.36, Z:-0.22 [[ 9.89843003e-01 -1.42080428e-01 -4.89705618e-03 -9.17561545e+00] [ 1.42103340e-01 9.87815191e-01 6.34648724e-02 9.35597058e+00] [-4.17972977e-03 -6.35161479e-02 9.97972058e-01 -2.18768769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.129259763999993 meters Centerline goodness : 0.764962 with order 1 Centerline is valid? [False, False] Translation: X:-9.17, Y:9.36, Z:-0.22 [[ 9.89316298e-01 -1.45710178e-01 -4.66968440e-03 -9.17454155e+00] [ 1.45732726e-01 9.87596608e-01 5.84372561e-02 9.35967261e+00] [-3.90313849e-03 -5.84934557e-02 9.98280162e-01 -2.18017938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.189259763999996 meters Centerline goodness : 0.764141 with order 1 Centerline is valid? [False, False] Translation: X:-9.17, Y:9.36, Z:-0.22 [[ 9.89282551e-01 -1.45934176e-01 -4.82188355e-03 -9.17494863e+00] [ 1.45970196e-01 9.87640461e-01 5.70878414e-02 9.36377861e+00] [-3.56877978e-03 -5.71798566e-02 9.98357515e-01 -2.16137411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.249259763999994 meters Centerline goodness : 0.763153 with order 1 Centerline is valid? [False, False] Translation: X:-9.17, Y:9.37, Z:-0.21 [[ 9.88781804e-01 -1.49275393e-01 -5.23464437e-03 -9.17241568e+00] [ 1.49344702e-01 9.87418405e-01 5.19716532e-02 9.36781348e+00] [-2.58930478e-03 -5.21703914e-02 9.98634841e-01 -2.14876026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.309259763999993 meters Centerline goodness : 0.762468 with order 1 Centerline is valid? [False, False] Translation: X:-9.17, Y:9.37, Z:-0.21 [[ 9.88259295e-01 -1.52689080e-01 -5.44162112e-03 -9.16993655e+00] [ 1.52774651e-01 9.87124457e-01 4.73836655e-02 9.37067218e+00] [-1.86341101e-03 -4.76586897e-02 9.98861941e-01 -2.14583822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.369259763999995 meters Centerline goodness : 0.764112 with order 1 Centerline is valid? [False, False] Translation: X:-9.17, Y:9.37, Z:-0.21 [[ 9.87699888e-01 -1.56261286e-01 -5.59843176e-03 -9.16810533e+00] [ 1.56357218e-01 9.86773024e-01 4.27950821e-02 9.37347819e+00] [-1.16283312e-03 -4.31440530e-02 9.99068185e-01 -2.13790417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.429259763999994 meters Centerline goodness : 0.764022 with order 1 Centerline is valid? [False, False] Translation: X:-9.14, Y:9.37, Z:-0.22 [[ 9.87681632e-01 -1.56441088e-01 -3.34350955e-03 -9.14023903e+00] [ 1.56407927e-01 9.86387461e-01 5.07576407e-02 9.36937410e+00] [-4.64258466e-03 -5.06553409e-02 9.98705403e-01 -2.20511478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.489259763999993 meters Centerline goodness : 0.767395 with order 1 Centerline is valid? [False, False] Translation: X:-9.14, Y:9.36, Z:-0.21 [[ 0.98831506 -0.15107981 -0.02020491 -9.13622932] [ 0.15194008 0.98704192 0.05159909 9.36462279] [ 0.01214751 -0.05406609 0.99846347 -0.20862198] [ 0. 0. 0. 1. ]] SLAMing on 29.549259763999995 meters Centerline goodness : 0.766489 with order 1 Centerline is valid? [False, False] Translation: X:-9.13, Y:9.36, Z:-0.22 [[ 9.88747085e-01 -1.49399136e-01 -7.68761814e-03 -9.12974484e+00] [ 1.49596080e-01 9.87276883e-01 5.39014694e-02 9.36212228e+00] [-4.63025286e-04 -5.44449583e-02 9.98516666e-01 -2.16568040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.609259763999994 meters Centerline goodness : 0.764217 with order 1 Centerline is valid? [False, False] Translation: X:-9.08, Y:9.36, Z:-0.22 [[ 9.88160483e-01 -1.53300891e-01 -6.13974506e-03 -9.08250385e+00] [ 1.53364741e-01 9.85878716e-01 6.72488889e-02 9.35807985e+00] [-4.25627060e-03 -6.73943149e-02 9.97717340e-01 -2.23121842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.669259763999996 meters Centerline goodness : 0.765262 with order 1 Centerline is valid? [False, False] Translation: X:-9.08, Y:9.35, Z:-0.21 [[ 0.98829175 -0.15127258 -0.01990006 -9.08462929] [ 0.15223136 0.98639725 0.06201683 9.35277305] [ 0.01024792 -0.06432013 0.9978767 -0.20632729] [ 0. 0. 0. 1. ]] SLAMing on 29.729259763999995 meters Centerline goodness : 0.764943 with order 1 Centerline is valid? [False, False] Translation: X:-9.08, Y:9.35, Z:-0.20 [[ 0.98765581 -0.1553812 -0.01981611 -9.0838942 ] [ 0.15628458 0.98601328 0.05790468 9.35193834] [ 0.01054165 -0.06028684 0.99812543 -0.2049541 ] [ 0. 0. 0. 1. ]] SLAMing on 29.789259763999993 meters Centerline goodness : 0.764998 with order 1 Centerline is valid? [False, False] Translation: X:-9.05, Y:9.35, Z:-0.20 [[ 0.9873746 -0.15723315 -0.0192129 -9.04799148] [ 0.15810894 0.98565026 0.05911963 9.35151879] [ 0.00964163 -0.06141096 0.998066 -0.2049275 ] [ 0. 0. 0. 1. ]] SLAMing on 29.849259763999996 meters Centerline goodness : 0.766333 with order 1 Centerline is valid? [False, False] Translation: X:-9.02, Y:9.35, Z:-0.21 [[ 9.87080003e-01 -1.59244945e-01 -1.77233222e-02 -9.01606195e+00] [ 1.60051134e-01 9.85137278e-01 6.23552566e-02 9.34812596e+00] [ 7.53014603e-03 -6.43862646e-02 9.97896641e-01 -2.07722746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.909259763999994 meters Centerline goodness : 0.767074 with order 1 Centerline is valid? [False, False] Translation: X:-8.96, Y:9.35, Z:-0.21 [[ 9.85725385e-01 -1.67131282e-01 -2.03125590e-02 -8.95983872e+00] [ 1.68141484e-01 9.83409010e-01 6.80820154e-02 9.34876810e+00] [ 8.59691900e-03 -7.05255546e-02 9.97472927e-01 -2.09683358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.969259763999993 meters Centerline goodness : 0.769085 with order 1 Centerline is valid? [False, False] Translation: X:-8.96, Y:9.34, Z:-0.20 [[ 0.98587011 -0.16334727 -0.0371186 -8.9563894 ] [ 0.16563094 0.98367929 0.07029539 9.34366998] [ 0.02503024 -0.07545011 0.99683538 -0.19881492] [ 0. 0. 0. 1. ]] SLAMing on 30.029259763999995 meters Centerline goodness : 0.768926 with order 1 Centerline is valid? [False, False] Translation: X:-8.93, Y:9.34, Z:-0.20 [[ 0.98553505 -0.16575858 -0.03528122 -8.92874409] [ 0.16801358 0.98289867 0.07537665 9.33911025] [ 0.02218354 -0.08021405 0.99653078 -0.20339394] [ 0. 0. 0. 1. ]] SLAMing on 30.089259763999994 meters Centerline goodness : 0.769092 with order 1 Centerline is valid? [False, False] Translation: X:-8.86, Y:9.31, Z:-0.23 [[ 9.83065097e-01 -1.81304280e-01 -2.66790621e-02 -8.85801709e+00] [ 1.83256315e-01 9.72295226e-01 1.45117596e-01 9.31238623e+00] [-3.70516547e-04 -1.47549150e-01 9.89054655e-01 -2.32957607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.149259763999993 meters Centerline goodness : 0.769350 with order 1 Centerline is valid? [False, False] Translation: X:-8.86, Y:9.31, Z:-0.21 [[ 0.98314044 -0.17810323 -0.04140178 -8.85976443] [ 0.18223748 0.97293718 0.14206597 9.30868567] [ 0.01497892 -0.14721576 0.98899098 -0.2144856 ] [ 0. 0. 0. 1. ]] SLAMing on 30.209259763999995 meters Centerline goodness : 0.771811 with order 1 Centerline is valid? [False, False] Translation: X:-8.86, Y:9.31, Z:-0.21 [[ 0.98295992 -0.17915607 -0.04114476 -8.86172786] [ 0.18324165 0.97274744 0.14207362 9.30811161] [ 0.01457011 -0.14719211 0.9890006 -0.21172544] [ 0. 0. 0. 1. ]] SLAMing on 30.269259763999994 meters Centerline goodness : 0.768697 with order 1 Centerline is valid? [False, False] Translation: X:-8.86, Y:9.31, Z:-0.21 [[ 0.98309209 -0.1785405 -0.04065991 -8.86392431] [ 0.1825526 0.97296292 0.14148397 9.31003445] [ 0.01429996 -0.14651435 0.98910518 -0.21110581] [ 0. 0. 0. 1. ]] SLAMing on 30.329259763999993 meters Centerline goodness : 0.768261 with order 1 Centerline is valid? [False, False] Translation: X:-8.87, Y:9.31, Z:-0.21 [[ 0.98345194 -0.17665233 -0.04020243 -8.86660386] [ 0.18060779 0.97341718 0.14085387 9.31259457] [ 0.01425157 -0.14578389 0.9892138 -0.21062432] [ 0. 0. 0. 1. ]] SLAMing on 30.389259763999995 meters Centerline goodness : 0.770621 with order 1 Centerline is valid? [False, False] Translation: X:-8.87, Y:9.32, Z:-0.21 [[ 0.98476741 -0.16929454 -0.03965481 -8.86958462] [ 0.17327083 0.97449755 0.1425894 9.31598829] [ 0.01450391 -0.14728842 0.98898724 -0.21284705] [ 0. 0. 0. 1. ]] SLAMing on 30.449259763999994 meters Centerline goodness : 0.769657 with order 1 Centerline is valid? [False, False] Translation: X:-8.87, Y:9.32, Z:-0.20 [[ 0.98530363 -0.16247988 -0.0526977 -8.87349348] [ 0.16837421 0.97580136 0.13950568 9.31718168] [ 0.02875562 -0.14632838 0.98881804 -0.19750749] [ 0. 0. 0. 1. ]] SLAMing on 30.509259763999996 meters Centerline goodness : 0.768717 with order 1 Centerline is valid? [False, False] Translation: X:-8.86, Y:9.33, Z:-0.19 [[ 0.98593034 -0.15837551 -0.0534655 -8.86144538] [ 0.16422617 0.97738972 0.13318819 9.32708247] [ 0.03116289 -0.14009471 0.98964759 -0.1914402 ] [ 0. 0. 0. 1. ]] SLAMing on 30.569259763999995 meters Centerline goodness : 0.767139 with order 1 Centerline is valid? [False, False] Translation: X:-8.85, Y:9.34, Z:-0.18 [[ 0.98657093 -0.1535258 -0.05574607 -8.84968405] [ 0.15955583 0.97886242 0.12794645 9.33875102] [ 0.03492465 -0.13512285 0.99021315 -0.18411696] [ 0. 0. 0. 1. ]] SLAMing on 30.629259763999993 meters Centerline goodness : 0.765455 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.35, Z:-0.18 [[ 0.98678547 -0.15128397 -0.05803095 -8.83413326] [ 0.15728268 0.98039986 0.11865191 9.35034425] [ 0.0389434 -0.12621125 0.99123869 -0.17551629] [ 0. 0. 0. 1. ]] SLAMing on 30.689259763999996 meters Centerline goodness : 0.765784 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.36, Z:-0.17 [[ 0.98749822 -0.14600265 -0.05941786 -8.82773542] [ 0.15211398 0.98149418 0.11632077 9.36149201] [ 0.04133515 -0.12390484 0.9914328 -0.16962621] [ 0. 0. 0. 1. ]] SLAMing on 30.749259763999994 meters Centerline goodness : 0.767821 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.37, Z:-0.17 [[ 0.98748805 -0.14594267 -0.05973348 -8.82722027] [ 0.1520295 0.98168633 0.11479975 9.36751208] [ 0.04188536 -0.12244463 0.99159111 -0.16889715] [ 0. 0. 0. 1. ]] SLAMing on 30.809259763999993 meters Centerline goodness : 0.768109 with order 1 Centerline is valid? [False, False] Translation: X:-8.82, Y:9.38, Z:-0.16 [[ 0.98724161 -0.14726137 -0.06056472 -8.82087178] [ 0.15308714 0.98244289 0.10663158 9.37687392] [ 0.04379867 -0.11454282 0.99245233 -0.16220689] [ 0. 0. 0. 1. ]] SLAMing on 30.869259763999995 meters Centerline goodness : 0.766562 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.38, Z:-0.16 [[ 0.98790275 -0.14366506 -0.05838246 -8.78681908] [ 0.14938141 0.9826923 0.10954927 9.38343322] [ 0.0416336 -0.11694528 0.99226531 -0.1584394 ] [ 0. 0. 0. 1. ]] SLAMing on 30.929259763999994 meters Centerline goodness : 0.766138 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.39, Z:-0.15 [[ 0.98793167 -0.1428467 -0.0598819 -8.77535356] [ 0.14833419 0.98383807 0.10029769 9.39390115] [ 0.0445869 -0.1079698 0.99315383 -0.14899607] [ 0. 0. 0. 1. ]] SLAMing on 30.989259763999993 meters Centerline goodness : 0.765003 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.39, Z:-0.15 [[ 0.98798489 -0.14248497 -0.05986563 -8.77424131] [ 0.14798101 0.98387121 0.1004941 9.39380208] [ 0.04458117 -0.10814563 0.99313496 -0.15036808] [ 0. 0. 0. 1. ]] SLAMing on 31.049259763999995 meters Centerline goodness : 0.765875 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.40, Z:-0.15 [[ 0.98802954 -0.1417983 -0.0607526 -8.77143091] [ 0.14737385 0.98400581 0.10006759 9.39657672] [ 0.0455915 -0.10782308 0.99312416 -0.15067899] [ 0. 0. 0. 1. ]] SLAMing on 31.109259763999994 meters Centerline goodness : 0.766927 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.41, Z:-0.14 [[ 0.98749935 -0.14504012 -0.06171218 -8.76809259] [ 0.15030091 0.98440018 0.0914654 9.40624332] [ 0.04748333 -0.09959742 0.9938942 -0.14229106] [ 0. 0. 0. 1. ]] SLAMing on 31.169259763999996 meters Centerline goodness : 0.767988 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.41, Z:-0.14 [[ 0.98687132 -0.14915723 -0.06194448 -8.76686664] [ 0.15413602 0.98435356 0.08538236 9.41189356] [ 0.04823988 -0.09380928 0.9944208 -0.13934806] [ 0. 0. 0. 1. ]] SLAMing on 31.229259763999995 meters Centerline goodness : 0.766374 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.42, Z:-0.14 [[ 0.98683039 -0.14930958 -0.06222881 -8.76674746] [ 0.15423931 0.98446998 0.08383968 9.41697324] [ 0.04874432 -0.09233368 0.9945343 -0.13794869] [ 0. 0. 0. 1. ]] SLAMing on 31.289259763999993 meters Centerline goodness : 0.766253 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.42, Z:-0.14 [[ 0.98680847 -0.14944219 -0.06225817 -8.76712172] [ 0.15433513 0.98452264 0.08304122 9.41880686] [ 0.04888472 -0.09155441 0.99459945 -0.13681116] [ 0. 0. 0. 1. ]] SLAMing on 31.349259763999996 meters Centerline goodness : 0.767844 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.42, Z:-0.14 [[ 0.98677219 -0.14973431 -0.06213119 -8.76797272] [ 0.1545706 0.98456144 0.08213824 9.42069644] [ 0.04887306 -0.09065539 0.99468237 -0.13564946] [ 0. 0. 0. 1. ]] SLAMing on 31.409259763999994 meters Centerline goodness : 0.770637 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.42, Z:-0.13 [[ 0.98672761 -0.14996974 -0.06227116 -8.76841746] [ 0.15475578 0.98463714 0.08087243 9.42473291] [ 0.04918608 -0.08943588 0.99477734 -0.1341151 ] [ 0. 0. 0. 1. ]] SLAMing on 31.469259763999993 meters Centerline goodness : 0.769733 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.43, Z:-0.13 [[ 0.98666085 -0.15040879 -0.06227011 -8.7695088 ] [ 0.15511996 0.98470117 0.07938136 9.42824711] [ 0.04937779 -0.08798182 0.9948975 -0.13176217] [ 0. 0. 0. 1. ]] SLAMing on 31.529259763999995 meters Centerline goodness : 0.766566 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.43, Z:-0.13 [[ 0.98664608 -0.15040249 -0.06251881 -8.7691182 ] [ 0.15509038 0.98477845 0.07847535 9.43195561] [ 0.04976429 -0.08712346 0.99495378 -0.13113252] [ 0. 0. 0. 1. ]] SLAMing on 31.589259763999994 meters Centerline goodness : 0.768242 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.43, Z:-0.13 [[ 0.98731404 -0.14582027 -0.06282855 -8.76902084] [ 0.15075107 0.98511607 0.08258603 9.43221686] [ 0.0498507 -0.09100981 0.99460149 -0.13214881] [ 0. 0. 0. 1. ]] SLAMing on 31.649259763999993 meters Centerline goodness : 0.764902 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.43, Z:-0.13 [[ 0.98796004 -0.14127837 -0.06305061 -8.76921358] [ 0.14645368 0.98539919 0.08683176 9.43159846] [ 0.04986257 -0.0950203 0.99422576 -0.13303676] [ 0. 0. 0. 1. ]] SLAMing on 31.709259763999995 meters Centerline goodness : 0.766668 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.44, Z:-0.13 [[ 0.98738478 -0.14510225 -0.06337688 -8.76764877] [ 0.15000505 0.98536001 0.0810193 9.43703701] [ 0.05069297 -0.08950408 0.99469555 -0.12998762] [ 0. 0. 0. 1. ]] SLAMing on 31.769259763999994 meters Centerline goodness : 0.767009 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.44, Z:-0.13 [[ 0.98735175 -0.14543029 -0.06313921 -8.76880629] [ 0.15029538 0.98534117 0.08070982 9.43708472] [ 0.05047601 -0.08917851 0.99473583 -0.12923969] [ 0. 0. 0. 1. ]] SLAMing on 31.829259763999993 meters Centerline goodness : 0.765179 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.44, Z:-0.13 [[ 0.98668332 -0.14970289 -0.06360091 -8.76668214] [ 0.15428725 0.98520587 0.07459783 9.44335711] [ 0.05149248 -0.08341725 0.99518344 -0.12538732] [ 0. 0. 0. 1. ]] SLAMing on 31.889259763999995 meters Centerline goodness : 0.765709 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.45, Z:-0.12 [[ 0.98595225 -0.15467508 -0.06303795 -8.76758636] [ 0.15892627 0.98486526 0.06915823 9.44658045] [ 0.05138683 -0.0782051 0.99561205 -0.12341992] [ 0. 0. 0. 1. ]] SLAMing on 31.949259763999994 meters Centerline goodness : 0.765578 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.45, Z:-0.12 [[ 0.98584645 -0.15530132 -0.06315275 -8.76841594] [ 0.15950613 0.98484515 0.06810153 9.44971108] [ 0.05161943 -0.07721091 0.99567761 -0.12201617] [ 0. 0. 0. 1. ]] SLAMing on 32.009259764 meters Centerline goodness : 0.765616 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.45, Z:-0.12 [[ 0.98577194 -0.15566202 -0.06342718 -8.76855348] [ 0.15982542 0.98487525 0.06690728 9.45407124] [ 0.05205294 -0.0760926 0.99574114 -0.12087542] [ 0. 0. 0. 1. ]] SLAMing on 32.069259763999995 meters Centerline goodness : 0.766110 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.46, Z:-0.12 [[ 0.9858535 -0.15502924 -0.06370879 -8.76677303] [ 0.15918298 0.98502003 0.06630475 9.45792726] [ 0.05247526 -0.07550812 0.99576346 -0.12151207] [ 0. 0. 0. 1. ]] SLAMing on 32.129259764 meters Centerline goodness : 0.764864 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.46, Z:-0.12 [[ 0.98652912 -0.15037511 -0.06440202 -8.76561244] [ 0.15477793 0.98547263 0.0699105 9.46149422] [ 0.05295363 -0.07893675 0.9954722 -0.12280271] [ 0. 0. 0. 1. ]] SLAMing on 32.189259764 meters Centerline goodness : 0.764948 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.47, Z:-0.12 [[ 0.98650234 -0.15046877 -0.06459319 -8.76563447] [ 0.15480227 0.98557941 0.06833356 9.46731414] [ 0.05337965 -0.07741039 0.99556931 -0.12138431] [ 0. 0. 0. 1. ]] SLAMing on 32.249259763999994 meters Centerline goodness : 0.766657 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.47, Z:-0.12 [[ 0.9864697 -0.15075978 -0.06441285 -8.76652722] [ 0.15503741 0.98559607 0.06755583 9.4691739 ] [ 0.05330035 -0.07662818 0.99563407 -0.12050204] [ 0. 0. 0. 1. ]] SLAMing on 32.309259764 meters Centerline goodness : 0.766416 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.47, Z:-0.12 [[ 0.98583689 -0.15495439 -0.0641465 -8.76602498] [ 0.15894438 0.98529981 0.06261763 9.47203645] [ 0.05350066 -0.0719265 0.99597402 -0.11913289] [ 0. 0. 0. 1. ]] SLAMing on 32.369259764 meters Centerline goodness : 0.766513 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.47, Z:-0.12 [[ 0.98510821 -0.15980003 -0.06344889 -8.76756064] [ 0.16347801 0.98485585 0.05773987 9.47292931] [ 0.05326118 -0.06725252 0.99631338 -0.11692359] [ 0. 0. 0. 1. ]] SLAMing on 32.429259764 meters Centerline goodness : 0.766380 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.47, Z:-0.11 [[ 0.98438597 -0.16440671 -0.06288634 -8.76846776] [ 0.1678022 0.98438695 0.0531485 9.47247754] [ 0.05316653 -0.0628711 0.99660451 -0.11452012] [ 0. 0. 0. 1. ]] SLAMing on 32.489259763999996 meters Centerline goodness : 0.766013 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.47, Z:-0.11 [[ 0.98321114 -0.17117487 -0.06320613 -8.76853025] [ 0.1744832 0.98333136 0.0511376 9.46769756] [ 0.0533991 -0.06130746 0.99668949 -0.10951325] [ 0. 0. 0. 1. ]] SLAMing on 32.549259764 meters Centerline goodness : 0.767048 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.46, Z:-0.11 [[ 0.98262124 -0.17459447 -0.06302595 -8.76956422] [ 0.17781793 0.9828052 0.04974651 9.4648027 ] [ 0.05325677 -0.06008912 0.99677129 -0.1066288 ] [ 0. 0. 0. 1. ]] SLAMing on 32.609259764 meters Centerline goodness : 0.768269 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.46, Z:-0.10 [[ 0.98206094 -0.17795055 -0.06236908 -8.77124314] [ 0.1810396 0.98230674 0.04793873 9.46164819] [ 0.05273485 -0.05837003 0.99690119 -0.10388121] [ 0. 0. 0. 1. ]] SLAMing on 32.669259763999996 meters Centerline goodness : 0.767946 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.46, Z:-0.10 [[ 0.98184657 -0.17961476 -0.06095775 -8.77361287] [ 0.1824372 0.98221569 0.04437339 9.45910373] [ 0.05190354 -0.05468882 0.99715353 -0.10295525] [ 0. 0. 0. 1. ]] SLAMing on 32.729259764 meters Centerline goodness : 0.768875 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.46, Z:-0.10 [[ 0.9811937 -0.18300181 -0.06139439 -8.77298694] [ 0.18583038 0.98159588 0.04400685 9.45605299] [ 0.05221115 -0.05458819 0.99714298 -0.10041193] [ 0. 0. 0. 1. ]] SLAMing on 32.789259764 meters Centerline goodness : 0.767224 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.45, Z:-0.10 [[ 0.98051015 -0.18649037 -0.06181578 -8.77313038] [ 0.18930098 0.98096839 0.04319895 9.45450575] [ 0.05258313 -0.05405879 0.99715228 -0.09728968] [ 0. 0. 0. 1. ]] SLAMing on 32.849259763999996 meters Centerline goodness : 0.766230 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.45, Z:-0.10 [[ 0.98068563 -0.1853398 -0.0624888 -8.77363036] [ 0.18825727 0.9811098 0.04452811 9.45423486] [ 0.05305555 -0.05543205 0.99705185 -0.09556672] [ 0. 0. 0. 1. ]] SLAMing on 32.909259764 meters Centerline goodness : 0.764365 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.45, Z:-0.10 [[ 0.98071083 -0.18561777 -0.06125613 -8.77599266] [ 0.18833305 0.98120827 0.04196427 9.4536726 ] [ 0.0523157 -0.05269137 0.99723953 -0.09538687] [ 0. 0. 0. 1. ]] SLAMing on 32.969259764 meters Centerline goodness : 0.763202 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.45, Z:-0.10 [[ 0.98029314 -0.1881088 -0.06033601 -8.77645294] [ 0.19059669 0.9809137 0.03848652 9.4509689 ] [ 0.05194476 -0.04922791 0.99743589 -0.09532068] [ 0. 0. 0. 1. ]] SLAMing on 33.029259763999995 meters Centerline goodness : 0.763742 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.45, Z:-0.09 [[ 0.97951788 -0.19217494 -0.06011247 -8.77849551] [ 0.19461295 0.98015584 0.03768729 9.44706814] [ 0.05167704 -0.04861404 0.9974799 -0.09046242] [ 0. 0. 0. 1. ]] SLAMing on 33.089259764 meters Centerline goodness : 0.764290 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.44, Z:-0.08 [[ 0.9783414 -0.19221277 -0.07682675 -8.77543159] [ 0.19542334 0.98003392 0.03665011 9.43826842] [ 0.0682482 -0.05087006 0.99637062 -0.07683887] [ 0. 0. 0. 1. ]] SLAMing on 33.149259764 meters Centerline goodness : 0.762291 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.43, Z:-0.07 [[ 0.97740866 -0.19707747 -0.07637268 -8.7772083 ] [ 0.20016479 0.97913487 0.03505672 9.43395373] [ 0.06787026 -0.04955186 0.99646286 -0.07236217] [ 0. 0. 0. 1. ]] SLAMing on 33.209259763999995 meters Centerline goodness : 0.763984 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.43, Z:-0.07 [[ 0.97704211 -0.19900587 -0.07606174 -8.77859173] [ 0.20205103 0.97876314 0.03461343 9.43104396] [ 0.06755815 -0.04918713 0.99650214 -0.06971484] [ 0. 0. 0. 1. ]] SLAMing on 33.269259764 meters Centerline goodness : 0.761772 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.43, Z:-0.07 [[ 0.97650339 -0.20218136 -0.07459111 -8.78182571] [ 0.20498291 0.97824363 0.03195933 9.42768509] [ 0.0665067 -0.0464983 0.99670195 -0.06685245] [ 0. 0. 0. 1. ]] SLAMing on 33.329259764 meters Centerline goodness : 0.761585 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.43, Z:-0.06 [[ 0.97624096 -0.20353061 -0.07435642 -8.78334416] [ 0.20630088 0.97797764 0.03161774 9.42770646] [ 0.06628373 -0.04620633 0.99673038 -0.06493899] [ 0. 0. 0. 1. ]] SLAMing on 33.389259763999995 meters Centerline goodness : 0.760600 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.43, Z:-0.07 [[ 0.97606348 -0.20416227 -0.07495234 -8.781869 ] [ 0.20694227 0.9778513 0.0313327 9.4274353 ] [ 0.06689529 -0.04609351 0.99669474 -0.06511422] [ 0. 0. 0. 1. ]] SLAMing on 33.449259764 meters Centerline goodness : 0.758908 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.43, Z:-0.06 [[ 0.97622501 -0.20357388 -0.07444728 -8.78454865] [ 0.20632071 0.97798683 0.03120142 9.42821982] [ 0.06645667 -0.04581962 0.99673671 -0.06357447] [ 0. 0. 0. 1. ]] SLAMing on 33.509259764 meters Centerline goodness : 0.758392 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.43, Z:-0.07 [[ 0.97631507 -0.20312258 -0.07449902 -8.78384036] [ 0.20585335 0.97809369 0.03093745 9.42926651] [ 0.06658293 -0.04554057 0.99674107 -0.06504202] [ 0. 0. 0. 1. ]] SLAMing on 33.569259763999995 meters Centerline goodness : 0.758548 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.43, Z:-0.07 [[ 0.97671684 -0.20079452 -0.07553662 -8.78213209] [ 0.20365938 0.97850956 0.03227828 9.43130361] [ 0.067432 -0.04691048 0.99662046 -0.06649951] [ 0. 0. 0. 1. ]] SLAMing on 33.629259764 meters Centerline goodness : 0.757919 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.43, Z:-0.07 [[ 0.97739579 -0.19766308 -0.07501182 -8.78482882] [ 0.2005113 0.97915276 0.0324823 9.43189087] [ 0.06702748 -0.04678878 0.99665346 -0.06617576] [ 0. 0. 0. 1. ]] SLAMing on 33.689259764 meters Centerline goodness : 0.755984 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.43, Z:-0.07 [[ 0.97791296 -0.19527676 -0.07451996 -8.78757666] [ 0.19809169 0.97964808 0.03239314 9.43300684] [ 0.0666777 -0.04643946 0.99669326 -0.06545049] [ 0. 0. 0. 1. ]] SLAMing on 33.749259763999994 meters Centerline goodness : 0.755719 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.43, Z:-0.07 [[ 0.97809138 -0.19436547 -0.07456077 -8.7866243 ] [ 0.19718465 0.9798291 0.03245226 9.43421105] [ 0.06674921 -0.04644351 0.99668829 -0.06746554] [ 0. 0. 0. 1. ]] SLAMing on 33.809259764 meters Centerline goodness : 0.753732 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.44, Z:-0.07 [[ 0.97870696 -0.1911384 -0.07482512 -8.78666381] [ 0.19401963 0.98043308 0.03327703 9.43539139] [ 0.06700051 -0.04708601 0.99664128 -0.06859754] [ 0. 0. 0. 1. ]] SLAMing on 33.869259764 meters Centerline goodness : 0.753636 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.43, Z:-0.07 [[ 0.97865119 -0.19199244 -0.07335354 -8.78980088] [ 0.19461005 0.98041215 0.03031393 9.43426262] [ 0.06609665 -0.0439421 0.99684519 -0.06775182] [ 0. 0. 0. 1. ]] SLAMing on 33.929259763999994 meters Centerline goodness : 0.756847 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.43, Z:-0.06 [[ 0.97887679 -0.19101447 -0.07289516 -8.7927813 ] [ 0.19368365 0.9805604 0.03143153 9.43164895] [ 0.06547423 -0.04488619 0.9968442 -0.06492423] [ 0. 0. 0. 1. ]] SLAMing on 33.989259763999996 meters Centerline goodness : 0.755695 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.43, Z:-0.06 [[ 0.97830328 -0.1940531 -0.07256778 -8.79495391] [ 0.19664148 0.98000587 0.03034177 9.4295736 ] [ 0.06522893 -0.04395329 0.99690185 -0.06119759] [ 0. 0. 0. 1. ]] SLAMing on 34.049259764 meters Centerline goodness : 0.758881 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.43, Z:-0.06 [[ 0.97753464 -0.19782904 -0.07273026 -8.79393293] [ 0.20039112 0.97926479 0.02972979 9.42550453] [ 0.06534077 -0.0436364 0.99690845 -0.05944227] [ 0. 0. 0. 1. ]] SLAMing on 34.109259764 meters Centerline goodness : 0.757451 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:9.42, Z:-0.05 [[ 0.97644541 -0.20323294 -0.07246197 -8.7951705 ] [ 0.20567045 0.97822479 0.02785556 9.42134495] [ 0.06522293 -0.04210272 0.99698211 -0.05498512] [ 0. 0. 0. 1. ]] SLAMing on 34.169259763999996 meters Centerline goodness : 0.757130 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:9.42, Z:-0.05 [[ 0.97567714 -0.20710136 -0.071855 -8.79779401] [ 0.20940286 0.97748247 0.02604736 9.41862368] [ 0.06484256 -0.04046045 0.99707492 -0.05062816] [ 0. 0. 0. 1. ]] SLAMing on 34.229259764 meters Centerline goodness : 0.756946 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:9.42, Z:-0.05 [[ 0.97504012 -0.21045696 -0.07074343 -8.80043227] [ 0.21253959 0.97687599 0.02324282 9.41523821] [ 0.06421594 -0.03769846 0.99722372 -0.0476154 ] [ 0. 0. 0. 1. ]] SLAMing on 34.289259764 meters Centerline goodness : 0.758752 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:9.41, Z:-0.04 [[ 0.97444094 -0.2131226 -0.07101835 -8.80058821] [ 0.21522527 0.97628611 0.02331341 9.41281189] [ 0.06436562 -0.03800248 0.99720253 -0.0448186 ] [ 0. 0. 0. 1. ]] SLAMing on 34.349259763999996 meters Centerline goodness : 0.757042 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:9.40, Z:-0.03 [[ 0.97399697 -0.20964468 -0.08590122 -8.80157195] [ 0.21222239 0.97697461 0.02196047 9.40471507] [ 0.07931942 -0.03961959 0.9960616 -0.03067378] [ 0. 0. 0. 1. ]] SLAMing on 34.409259764 meters Centerline goodness : 0.756379 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:9.40, Z:-0.03 [[ 0.97365358 -0.21175665 -0.08460397 -8.80475334] [ 0.21412042 0.97660632 0.01981268 9.40080133] [ 0.0784293 -0.03740613 0.99621766 -0.02787804] [ 0. 0. 0. 1. ]] SLAMing on 34.469259764 meters Centerline goodness : 0.757411 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:9.40, Z:-0.02 [[ 0.97255182 -0.21709366 -0.0837455 -8.80642759] [ 0.21919908 0.97553702 0.01671209 9.39693702] [ 0.07806875 -0.03461031 0.99634703 -0.0243466 ] [ 0. 0. 0. 1. ]] SLAMing on 34.529259763999995 meters Centerline goodness : 0.755163 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:9.39, Z:-0.02 [[ 0.97194351 -0.21984924 -0.08361897 -8.80664596] [ 0.22188535 0.97494515 0.01577485 9.39454314] [ 0.07805582 -0.03388608 0.99637293 -0.02242008] [ 0. 0. 0. 1. ]] SLAMing on 34.589259764 meters Centerline goodness : 0.752873 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:9.39, Z:-0.02 [[ 0.97211972 -0.21877836 -0.08437583 -8.80680825] [ 0.22098811 0.97511605 0.0176901 9.39406007] [ 0.07840601 -0.03584295 0.99627696 -0.02094983] [ 0. 0. 0. 1. ]] SLAMing on 34.649259764 meters Centerline goodness : 0.750162 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:9.39, Z:-0.02 [[ 0.97262971 -0.21675018 -0.08373052 -8.80826929] [ 0.21884195 0.97561982 0.01655793 9.39490455] [ 0.07810022 -0.03442848 0.99635086 -0.02211197] [ 0. 0. 0. 1. ]] SLAMing on 34.709259763999995 meters Centerline goodness : 0.748813 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:9.40, Z:-0.02 [[ 0.97362216 -0.21199294 -0.08437347 -8.80873142] [ 0.21428052 0.97658843 0.01894449 9.39766602] [ 0.07838206 -0.03652437 0.9962541 -0.02314646] [ 0. 0. 0. 1. ]] SLAMing on 34.769259764 meters Centerline goodness : 0.746307 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:9.40, Z:-0.02 [[ 0.97495347 -0.20595044 -0.08396516 -8.81187904] [ 0.20829592 0.97785915 0.0201072 9.40119307] [ 0.07796501 -0.03709318 0.9962658 -0.02425163] [ 0. 0. 0. 1. ]] SLAMing on 34.829259764 meters Centerline goodness : 0.747725 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:9.40, Z:-0.03 [[ 0.97590491 -0.20151712 -0.08366877 -8.81324441] [ 0.20393587 0.97875128 0.02135649 9.40310483] [ 0.07758721 -0.03790497 0.99626474 -0.02608521] [ 0. 0. 0. 1. ]] SLAMing on 34.889259763999995 meters Centerline goodness : 0.744720 with order 1 Centerline is valid? [False, False] Translation: X:-8.81, Y:9.41, Z:-0.03 [[ 0.97742624 -0.19391394 -0.08387682 -8.81434682] [ 0.19650222 0.98021666 0.02371037 9.40687812] [ 0.07761968 -0.03965712 0.99619401 -0.02870852] [ 0. 0. 0. 1. ]] SLAMing on 34.949259764 meters Centerline goodness : 0.746104 with order 1 Centerline is valid? [False, False] Translation: X:-8.82, Y:9.41, Z:-0.03 [[ 0.9776229 -0.19342947 -0.08269524 -8.81678446] [ 0.19584044 0.9803882 0.02203423 9.40728174] [ 0.07681137 -0.03773624 0.99633127 -0.02906099] [ 0. 0. 0. 1. ]] SLAMing on 35.009259764 meters Centerline goodness : 0.747751 with order 1 Centerline is valid? [False, False] Translation: X:-8.82, Y:9.41, Z:-0.03 [[ 0.97718967 -0.19609459 -0.08153078 -8.82031306] [ 0.19829162 0.97994496 0.01970565 9.40554747] [ 0.07603151 -0.03542302 0.996476 -0.02609955] [ 0. 0. 0. 1. ]] SLAMing on 35.069259763999995 meters Centerline goodness : 0.747892 with order 1 Centerline is valid? [False, False] Translation: X:-8.82, Y:9.40, Z:-0.02 [[ 0.97717974 -0.19620904 -0.08137427 -8.82259906] [ 0.19844378 0.97990264 0.02027031 9.40456965] [ 0.07576164 -0.03595595 0.99647747 -0.02352803] [ 0. 0. 0. 1. ]] SLAMing on 35.129259764 meters Centerline goodness : 0.751198 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.40, Z:-0.02 [[ 0.97682476 -0.1986973 -0.07957869 -8.82611235] [ 0.20060993 0.97952839 0.01672679 9.40231582] [ 0.07462602 -0.03230342 0.99668824 -0.02195424] [ 0. 0. 0. 1. ]] SLAMing on 35.189259764 meters Centerline goodness : 0.755029 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.40, Z:-0.02 [[ 0.97556549 -0.20553835 -0.077627 -8.8294599 ] [ 0.20699687 0.9782781 0.01114736 9.39820322] [ 0.07364959 -0.02694353 0.99692015 -0.01842677] [ 0. 0. 0. 1. ]] SLAMing on 35.249259763999994 meters Centerline goodness : 0.755518 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.39, Z:-0.01 [[ 0.97454842 -0.21033187 -0.07756218 -8.83091947] [ 0.21170419 0.97728442 0.00982349 9.39495663] [ 0.07373412 -0.0259937 0.99693912 -0.01353714] [ 0. 0. 0. 1. ]] SLAMing on 35.309259764 meters Centerline goodness : 0.757184 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.39, Z:-0.01 [[ 9.74224874e-01 -2.12376226e-01 -7.60410040e-02 -8.83439188e+00] [ 2.13523309e-01 9.76911491e-01 7.19273950e-03 9.39315115e+00] [ 7.27577637e-02 -2.32438725e-02 9.97078748e-01 -1.14212682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.369259764 meters Centerline goodness : 0.760839 with order 1 Centerline is valid? [False, False] Translation: X:-8.84, Y:9.39, Z:-0.01 [[ 9.74093174e-01 -2.13434962e-01 -7.47529664e-02 -8.83713852e+00] [ 2.14331402e-01 9.76752442e-01 4.08859341e-03 9.39303879e+00] [ 7.21424937e-02 -2.00045790e-02 9.97193701e-01 -1.06528888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.429259763999994 meters Centerline goodness : 0.760909 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.39, Z:-0.01 [[ 9.73902869e-01 -2.14267957e-01 -7.48494776e-02 -8.83491635e+00] [ 2.15119299e-01 9.76581830e-01 3.40829744e-03 9.39306832e+00] [ 7.23663509e-02 -1.94209178e-02 9.97189019e-01 -1.28687530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.489259763999996 meters Centerline goodness : 0.764481 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.39, Z:-0.01 [[ 9.72991742e-01 -2.18154655e-01 -7.54693029e-02 -8.83448006e+00] [ 2.18980685e-01 9.75725325e-01 2.74782642e-03 9.39343411e+00] [ 7.30378590e-02 -1.91999321e-02 9.97144339e-01 -9.90690139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.549259764 meters Centerline goodness : 0.764267 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.40, Z:-0.01 [[ 9.73178340e-01 -2.17004975e-01 -7.63724999e-02 -8.83280336e+00] [ 2.17970889e-01 9.75945142e-01 4.44658903e-03 9.39556671e+00] [ 7.35704383e-02 -2.09743058e-02 9.97069440e-01 -1.09843401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.609259763999994 meters Centerline goodness : 0.765709 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.40, Z:-0.01 [[ 9.73055369e-01 -2.17445076e-01 -7.66869506e-02 -8.83178401e+00] [ 2.18414357e-01 9.75846267e-01 4.38531981e-03 9.39679209e+00] [ 7.38811083e-02 -2.10166900e-02 9.97045576e-01 -1.15986986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.669259763999996 meters Centerline goodness : 0.762166 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.39, Z:-0.01 [[ 9.73122640e-01 -2.11330063e-01 -9.14982622e-02 -8.82694553e+00] [ 2.12764780e-01 9.77084353e-01 6.10859370e-03 9.39185514e+00] [ 8.81105909e-02 -2.54120184e-02 9.95786500e-01 -1.20694937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.729259764 meters Centerline goodness : 0.762296 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.39, Z:-0.01 [[ 9.72237338e-01 -2.15721117e-01 -9.06584693e-02 -8.82829606e+00] [ 2.16904019e-01 9.76187403e-01 3.28649292e-03 9.38952251e+00] [ 8.77906898e-02 -2.28594374e-02 9.95876619e-01 -9.75734959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.789259764 meters Centerline goodness : 0.763883 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.38, Z:-0.01 [[ 9.69867922e-01 -2.26394822e-01 -9.00088778e-02 -8.82754666e+00] [ 2.27306075e-01 9.73823357e-01 -1.29924545e-04 9.38367050e+00] [ 8.76821618e-02 -2.03335551e-02 9.95940955e-01 -5.41473766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.849259763999996 meters Centerline goodness : 0.763445 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.38, Z:-0.00 [[ 9.67928264e-01 -2.35261143e-01 -8.81309793e-02 -8.82716069e+00] [ 2.35715072e-01 9.71807374e-01 -5.36965891e-03 9.37571284e+00] [ 8.69096076e-02 -1.55763555e-02 9.96094422e-01 -3.85802179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.909259764 meters Centerline goodness : 0.764267 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.37, Z:0.00 [[ 9.66635364e-01 -2.40761161e-01 -8.74650563e-02 -8.82893606e+00] [ 2.41037844e-01 9.70486406e-01 -7.54278746e-03 9.37125959e+00] [ 8.66996584e-02 -1.37912635e-02 9.96139032e-01 8.90632903e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.969259764 meters Centerline goodness : 0.762675 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.36, Z:0.01 [[ 9.63741476e-01 -2.46557407e-01 -1.02038288e-01 -8.82516837e+00] [ 2.46845698e-01 9.69003289e-01 -9.99135402e-03 9.36069790e+00] [ 1.01338879e-01 -1.55586303e-02 9.94730295e-01 9.12611345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.029259763999995 meters Centerline goodness : 0.760754 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.36, Z:0.01 [[ 9.63504241e-01 -2.47914125e-01 -1.00985962e-01 -8.82613778e+00] [ 2.47978499e-01 9.68689768e-01 -1.21159496e-02 9.35933634e+00] [ 1.00827783e-01 -1.33685785e-02 9.94814073e-01 8.86944274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.089259764 meters Centerline goodness : 0.763176 with order 1 Centerline is valid? [False, False] Translation: X:-8.82, Y:9.36, Z:0.01 [[ 9.64659033e-01 -2.42588512e-01 -1.02877422e-01 -8.82410531e+00] [ 2.43138938e-01 9.69963646e-01 -7.34724043e-03 9.36311935e+00] [ 1.01569716e-01 -1.79259253e-02 9.94666906e-01 7.03292396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.149259764 meters Centerline goodness : 0.761884 with order 1 Centerline is valid? [False, False] Translation: X:-8.82, Y:9.37, Z:0.00 [[ 9.65261008e-01 -2.40295577e-01 -1.02612001e-01 -8.82341949e+00] [ 2.40802113e-01 9.70544417e-01 -7.60769052e-03 9.36500923e+00] [ 1.01417599e-01 -1.73657797e-02 9.94692365e-01 3.61117181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.209259763999995 meters Centerline goodness : 0.763549 with order 1 Centerline is valid? [False, False] Translation: X:-8.82, Y:9.37, Z:-0.00 [[ 9.67490729e-01 -2.30769351e-01 -1.03475579e-01 -8.82357754e+00] [ 2.31729667e-01 9.72776168e-01 -2.80858393e-03 9.36913839e+00] [ 1.01306712e-01 -2.12610826e-02 9.94628029e-01 -4.70843999e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.269259764 meters Centerline goodness : 0.762762 with order 1 Centerline is valid? [False, False] Translation: X:-8.82, Y:9.37, Z:-0.00 [[ 9.68262786e-01 -2.27354159e-01 -1.03813602e-01 -8.82460328e+00] [ 2.28397677e-01 9.73566105e-01 -1.88156611e-03 9.37401818e+00] [ 1.01497186e-01 -2.18889351e-02 9.94594991e-01 -1.46622545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.329259764 meters Centerline goodness : 0.757560 with order 1 Centerline is valid? [False, False] Translation: X:-8.82, Y:9.38, Z:-0.01 [[ 9.69487795e-01 -2.21890446e-01 -1.04201940e-01 -8.82364638e+00] [ 2.23108329e-01 9.74793656e-01 3.26526386e-05 9.37917404e+00] [ 1.01568145e-01 -2.32799770e-02 9.94556160e-01 -5.86153124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.389259763999995 meters Centerline goodness : 0.758905 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.39, Z:-0.02 [[ 9.71522496e-01 -2.20252740e-01 -8.73657287e-02 -8.82909471e+00] [ 2.20980918e-01 9.75277172e-01 -1.36822895e-03 9.38963656e+00] [ 8.55071570e-02 -1.79768937e-02 9.96175365e-01 -1.72423481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.449259764 meters Centerline goodness : 0.759356 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.39, Z:-0.02 [[ 9.72366303e-01 -2.16216920e-01 -8.80568939e-02 -8.82807719e+00] [ 2.17128356e-01 9.76142741e-01 7.91757880e-04 9.39353132e+00] [ 8.57849063e-02 -1.98895273e-02 9.96115132e-01 -1.99481577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.509259764 meters Centerline goodness : 0.760858 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.40, Z:-0.03 [[ 9.74973391e-01 -2.03963173e-01 -8.84641824e-02 -8.82841433e+00] [ 2.05230255e-01 9.78698959e-01 5.37496543e-03 9.39887399e+00] [ 8.54835082e-02 -2.33959750e-02 9.96064856e-01 -2.58649598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.569259763999995 meters Centerline goodness : 0.756898 with order 1 Centerline is valid? [False, False] Translation: X:-8.83, Y:9.41, Z:-0.04 [[ 9.78919007e-01 -1.91209492e-01 -7.18088344e-02 -8.83317908e+00] [ 1.92300636e-01 9.81298922e-01 8.53765136e-03 9.41085137e+00] [ 6.88334517e-02 -2.21665537e-02 9.97381873e-01 -4.32503299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.629259764 meters Centerline goodness : 0.755754 with order 1 Centerline is valid? [False, False] Translation: X:-8.84, Y:9.41, Z:-0.05 [[ 9.80781521e-01 -1.82010250e-01 -7.02842644e-02 -8.83661191e+00] [ 1.83008102e-01 9.83079060e-01 7.97474486e-03 9.41373292e+00] [ 6.76435033e-02 -2.06840722e-02 9.97495126e-01 -4.79283545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.689259764 meters Centerline goodness : 0.755184 with order 1 Centerline is valid? [False, False] Translation: X:-8.84, Y:9.42, Z:-0.05 [[ 0.98293058 -0.17024811 -0.06973566 -8.83865162] [ 0.17141694 0.98513615 0.01109024 9.41705047] [ 0.06681103 -0.02285481 0.99750386 -0.05271129] [ 0. 0. 0. 1. ]] SLAMing on 36.749259763999994 meters Centerline goodness : 0.754776 with order 1 Centerline is valid? [False, False] Translation: X:-8.84, Y:9.42, Z:-0.05 [[ 0.98435128 -0.16222521 -0.0688152 -8.84221447] [ 0.16348672 0.98645887 0.01307652 9.4192883 ] [ 0.06576202 -0.02412226 0.99754372 -0.05443274] [ 0. 0. 0. 1. ]] SLAMing on 36.809259764 meters Centerline goodness : 0.752353 with order 1 Centerline is valid? [False, False] Translation: X:-8.84, Y:9.42, Z:-0.06 [[ 0.98514236 -0.15723089 -0.06908681 -8.84143445] [ 0.1588333 0.98713556 0.01831331 9.41613727] [ 0.06531863 -0.02901451 0.99744255 -0.05703731] [ 0. 0. 0. 1. ]] SLAMing on 36.869259764 meters Centerline goodness : 0.753322 with order 1 Centerline is valid? [False, False] Translation: X:-8.84, Y:9.41, Z:-0.07 [[ 0.98640644 -0.15471755 -0.05536082 -8.83704935] [ 0.15620846 0.98744033 0.02367526 9.41353706] [ 0.05100253 -0.03200126 0.99818568 -0.06878434] [ 0. 0. 0. 1. ]] SLAMing on 36.929259763999994 meters Centerline goodness : 0.750180 with order 1 Centerline is valid? [False, False] Translation: X:-8.82, Y:9.41, Z:-0.07 [[ 0.9858912 -0.1596874 -0.0501844 -8.82064584] [ 0.16129826 0.98645403 0.02985506 9.41016716] [ 0.04473712 -0.03752849 0.99829365 -0.07476735] [ 0. 0. 0. 1. ]] SLAMing on 36.989259763999996 meters Centerline goodness : 0.748462 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:9.41, Z:-0.08 [[ 0.98553351 -0.16308262 -0.04612764 -8.80417385] [ 0.16488969 0.98555968 0.0385162 9.4081097 ] [ 0.03918022 -0.04556498 0.99819274 -0.08171271] [ 0. 0. 0. 1. ]] SLAMing on 37.049259764 meters Centerline goodness : 0.748209 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:9.41, Z:-0.08 [[ 0.98443671 -0.1690158 -0.0481459 -8.80033465] [ 0.17091433 0.98453434 0.03847641 9.41010429] [ 0.04089817 -0.04610642 0.99809896 -0.07921055] [ 0. 0. 0. 1. ]] SLAMing on 37.109259763999994 meters Centerline goodness : 0.749607 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.41, Z:-0.07 [[ 0.98288072 -0.17229329 -0.06527253 -8.7943685 ] [ 0.17491697 0.98389399 0.036833 9.40647286] [ 0.05787517 -0.04761972 0.99718746 -0.06859836] [ 0. 0. 0. 1. ]] SLAMing on 37.169259763999996 meters Centerline goodness : 0.748627 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.41, Z:-0.07 [[ 0.98103127 -0.18184628 -0.06715335 -8.79022986] [ 0.1845618 0.98213626 0.03667835 9.40761864] [ 0.05928392 -0.04837655 0.99706827 -0.06510184] [ 0. 0. 0. 1. ]] SLAMing on 37.229259764 meters Centerline goodness : 0.747846 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.41, Z:-0.06 [[ 0.98152997 -0.1788056 -0.0680255 -8.79073507] [ 0.18171247 0.98256967 0.03921006 9.41107013] [ 0.05982881 -0.05084693 0.99691279 -0.06440056] [ 0. 0. 0. 1. ]] SLAMing on 37.28925976399999 meters Centerline goodness : 0.748287 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.42, Z:-0.07 [[ 0.98256009 -0.17260929 -0.06914981 -8.78819102] [ 0.1757307 0.98354661 0.04189008 9.41624549] [ 0.06078144 -0.05331126 0.9967264 -0.06897217] [ 0. 0. 0. 1. ]] SLAMing on 37.349259763999996 meters Centerline goodness : 0.744347 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.42, Z:-0.07 [[ 0.9840923 -0.16431683 -0.06754504 -8.7911674 ] [ 0.16727026 0.98507295 0.04064415 9.42109883] [ 0.05985827 -0.05129587 0.99688802 -0.07417955] [ 0. 0. 0. 1. ]] SLAMing on 37.409259764 meters Centerline goodness : 0.746421 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.42, Z:-0.08 [[ 0.98483136 -0.16003064 -0.06706256 -8.79332376] [ 0.16300289 0.98575473 0.04144473 9.423628 ] [ 0.05947481 -0.05174746 0.99688763 -0.07532641] [ 0. 0. 0. 1. ]] SLAMing on 37.469259764 meters Centerline goodness : 0.747630 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:9.43, Z:-0.08 [[ 0.98560098 -0.15537208 -0.06671001 -8.79596209] [ 0.15843031 0.98642147 0.04327266 9.42596267] [ 0.05908082 -0.05321846 0.99683361 -0.07551108] [ 0. 0. 0. 1. ]] SLAMing on 37.529259763999995 meters Centerline goodness : 0.745869 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:9.43, Z:-0.08 [[ 0.98582032 -0.15441103 -0.06569275 -8.79860922] [ 0.15736811 0.98662584 0.04248214 9.42696592] [ 0.05825446 -0.0522177 0.99693517 -0.07546419] [ 0. 0. 0. 1. ]] SLAMing on 37.589259764 meters Centerline goodness : 0.746422 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:9.43, Z:-0.07 [[ 0.98566562 -0.15554907 -0.06532826 -8.79962936] [ 0.15845245 0.98647843 0.04187043 9.42615189] [ 0.05793201 -0.05162167 0.996985 -0.07450003] [ 0. 0. 0. 1. ]] SLAMing on 37.649259764 meters Centerline goodness : 0.747038 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:9.43, Z:-0.07 [[ 0.98623241 -0.15217949 -0.06470732 -8.80278499] [ 0.15513634 0.98693908 0.04340476 9.42511085] [ 0.05725687 -0.05284564 0.99695987 -0.07294421] [ 0. 0. 0. 1. ]] SLAMing on 37.709259763999995 meters Centerline goodness : 0.746021 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:9.42, Z:-0.07 [[ 0.98624503 -0.15218507 -0.06450159 -8.803407 ] [ 0.15513011 0.98694075 0.04338896 9.42477488] [ 0.0570561 -0.05279829 0.99697389 -0.07253366] [ 0. 0. 0. 1. ]] SLAMing on 37.769259764 meters Centerline goodness : 0.745768 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.42, Z:-0.08 [[ 0.98742415 -0.14876 -0.05351646 -8.79342184] [ 0.15122975 0.98745121 0.04549372 9.42161358] [ 0.04607725 -0.05301487 0.9975301 -0.0825177 ] [ 0. 0. 0. 1. ]] SLAMing on 37.829259764 meters Centerline goodness : 0.748233 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.42, Z:-0.08 [[ 0.987403 -0.14892277 -0.05345393 -8.7939196 ] [ 0.15135694 0.98746365 0.04479519 9.42344961] [ 0.04611279 -0.05232153 0.99756507 -0.08162711] [ 0. 0. 0. 1. ]] SLAMing on 37.889259763999995 meters Centerline goodness : 0.750110 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.43, Z:-0.08 [[ 0.98737643 -0.14915962 -0.05328407 -8.79487097] [ 0.1515455 0.98747313 0.04394066 9.42568674] [ 0.04606242 -0.05146094 0.99761216 -0.0805137 ] [ 0. 0. 0. 1. ]] SLAMing on 37.949259764 meters Centerline goodness : 0.749276 with order 1 Centerline is valid? [False, False] Translation: X:-8.79, Y:9.43, Z:-0.08 [[ 0.98739589 -0.14897222 -0.05344751 -8.79471234] [ 0.15131659 0.9875555 0.04286519 9.42935269] [ 0.04639666 -0.0504124 0.99765021 -0.07931682] [ 0. 0. 0. 1. ]] SLAMing on 38.009259764 meters Centerline goodness : 0.751328 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:9.43, Z:-0.08 [[ 0.9873888 -0.14917846 -0.05300141 -8.7956642 ] [ 0.15149872 0.98752908 0.04283045 9.42853638] [ 0.04595106 -0.05031996 0.9976755 -0.07944682] [ 0. 0. 0. 1. ]] SLAMing on 38.069259763999995 meters Centerline goodness : 0.750772 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:9.43, Z:-0.08 [[ 0.98738673 -0.14908259 -0.05330883 -8.79524408] [ 0.15139263 0.98756924 0.04227614 9.43059143] [ 0.04634352 -0.04981346 0.99768276 -0.07845724] [ 0. 0. 0. 1. ]] SLAMing on 38.129259764 meters Centerline goodness : 0.750434 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:9.43, Z:-0.08 [[ 0.98735306 -0.1494192 -0.05298905 -8.79648638] [ 0.15171496 0.98751826 0.04231153 9.42952805] [ 0.04600549 -0.04981565 0.9976983 -0.07800794] [ 0. 0. 0. 1. ]] SLAMing on 38.189259764 meters Centerline goodness : 0.752038 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:9.43, Z:-0.08 [[ 0.98735136 -0.14959017 -0.05253648 -8.79761481] [ 0.15188227 0.9874747 0.0427258 9.42635448] [ 0.04548708 -0.05016474 0.99770458 -0.07811529] [ 0. 0. 0. 1. ]] SLAMing on 38.249259763999994 meters Centerline goodness : 0.751814 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.42, Z:-0.08 [[ 0.98713777 -0.15242096 -0.04823779 -8.77935389] [ 0.15483157 0.98662638 0.0509467 9.42264396] [ 0.03982733 -0.05776014 0.99753574 -0.08350693] [ 0. 0. 0. 1. ]] SLAMing on 38.309259764 meters Centerline goodness : 0.750110 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.42, Z:-0.08 [[ 0.98700452 -0.15330179 -0.04817291 -8.78083361] [ 0.15570851 0.98648795 0.05095466 9.42035862] [ 0.03971055 -0.05779341 0.99753847 -0.08091453] [ 0. 0. 0. 1. ]] SLAMing on 38.369259764 meters Centerline goodness : 0.747562 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.42, Z:-0.08 [[ 0.98690172 -0.1539457 -0.0482257 -8.782977 ] [ 0.15640295 0.98631518 0.05215817 9.4202321 ] [ 0.03953621 -0.05901763 0.99747371 -0.07761633] [ 0. 0. 0. 1. ]] SLAMing on 38.429259763999994 meters Centerline goodness : 0.747263 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.42, Z:-0.08 [[ 0.98695633 -0.1533965 -0.04885407 -8.78103417] [ 0.1558748 0.98642028 0.05175011 9.42267187] [ 0.04025236 -0.05869022 0.99746439 -0.07740525] [ 0. 0. 0. 1. ]] SLAMing on 38.489259763999996 meters Centerline goodness : 0.749664 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.42, Z:-0.08 [[ 0.98702045 -0.15318132 -0.04822991 -8.78291284] [ 0.15555128 0.98656411 0.04995044 9.42258051] [ 0.03993043 -0.05680433 0.9975865 -0.07696083] [ 0. 0. 0. 1. ]] SLAMing on 38.549259764 meters Centerline goodness : 0.749773 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.42, Z:-0.08 [[ 0.98709232 -0.15252315 -0.04884098 -8.78279166] [ 0.15496217 0.98661413 0.05078665 9.42315126] [ 0.04044106 -0.05769962 0.99751455 -0.07601453] [ 0. 0. 0. 1. ]] SLAMing on 38.609259763999994 meters Centerline goodness : 0.750798 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.43, Z:-0.07 [[ 0.98652421 -0.15587884 -0.04971691 -8.7792478 ] [ 0.15813143 0.98638618 0.04513045 9.42875463] [ 0.04200519 -0.05238409 0.99774319 -0.07292893] [ 0. 0. 0. 1. ]] SLAMing on 38.669259763999996 meters Centerline goodness : 0.751282 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.43, Z:-0.07 [[ 0.98634811 -0.1570729 -0.04945201 -8.78050141] [ 0.15925111 0.98627084 0.04369103 9.42779107] [ 0.04191039 -0.05096985 0.99782042 -0.07139401] [ 0. 0. 0. 1. ]] SLAMing on 38.729259764 meters Centerline goodness : 0.750398 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.43, Z:-0.07 [[ 0.98658902 -0.15557926 -0.04936801 -8.78282682] [ 0.15778865 0.98646817 0.0445341 9.42848676] [ 0.04177139 -0.05172657 0.99778731 -0.06950504] [ 0. 0. 0. 1. ]] SLAMing on 38.78925976399999 meters Centerline goodness : 0.749581 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.43, Z:-0.07 [[ 0.98657961 -0.15563965 -0.04936568 -8.78337352] [ 0.1578222 0.98649137 0.04389674 9.42977887] [ 0.04186674 -0.05109862 0.99781567 -0.06828593] [ 0. 0. 0. 1. ]] SLAMing on 38.849259763999996 meters Centerline goodness : 0.750240 with order 1 Centerline is valid? [False, False] Translation: X:-8.78, Y:9.43, Z:-0.07 [[ 0.9865597 -0.15585116 -0.04909558 -8.78442768] [ 0.15801956 0.9864601 0.04388942 9.42821373] [ 0.04159062 -0.0510576 0.99782932 -0.06754839] [ 0. 0. 0. 1. ]] SLAMing on 38.909259764 meters Centerline goodness : 0.749447 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.42, Z:-0.07 [[ 0.98611722 -0.15990728 -0.04474923 -8.76823938] [ 0.16212202 0.98544026 0.05122434 9.42453073] [ 0.03590654 -0.05776804 0.9976841 -0.07178998] [ 0. 0. 0. 1. ]] SLAMing on 38.96925976399999 meters Centerline goodness : 0.751046 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.43, Z:-0.07 [[ 0.98608047 -0.16012071 -0.04479582 -8.76893455] [ 0.16231038 0.98544876 0.0504587 9.42633805] [ 0.0360645 -0.05702717 0.99772103 -0.07024769] [ 0. 0. 0. 1. ]] SLAMing on 39.029259763999995 meters Centerline goodness : 0.750123 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.42, Z:-0.07 [[ 0.98604953 -0.16041114 -0.0444364 -8.76983881] [ 0.1625802 0.98540414 0.05046153 9.42491136] [ 0.03569322 -0.05698205 0.99773696 -0.0701248 ] [ 0. 0. 0. 1. ]] SLAMing on 39.089259764 meters Centerline goodness : 0.751657 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.43, Z:-0.07 [[ 0.98601767 -0.16060106 -0.04445728 -8.77005883] [ 0.16275613 0.98539653 0.05004124 9.42573735] [ 0.03577137 -0.05657724 0.9977572 -0.06965436] [ 0. 0. 0. 1. ]] SLAMing on 39.149259764 meters Centerline goodness : 0.748733 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.43, Z:-0.07 [[ 0.98598785 -0.16075547 -0.04456056 -8.77029399] [ 0.16289297 0.98540661 0.04939317 9.42712326] [ 0.03597005 -0.05595967 0.99778488 -0.06847182] [ 0. 0. 0. 1. ]] SLAMing on 39.209259763999995 meters Centerline goodness : 0.748057 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.43, Z:-0.07 [[ 0.98591728 -0.16119114 -0.04454811 -8.77121597] [ 0.16329428 0.98538615 0.04846765 9.4291562 ] [ 0.03608453 -0.05505955 0.99783082 -0.06692748] [ 0. 0. 0. 1. ]] SLAMing on 39.269259764 meters Centerline goodness : 0.747715 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.43, Z:-0.07 [[ 0.98589696 -0.16119991 -0.04496402 -8.77063052] [ 0.16328962 0.98543525 0.04747491 9.43304773] [ 0.03665618 -0.05414753 0.99785989 -0.06581188] [ 0. 0. 0. 1. ]] SLAMing on 39.329259764 meters Centerline goodness : 0.747595 with order 1 Centerline is valid? [False, False] Translation: X:-8.77, Y:9.43, Z:-0.07 [[ 0.9862462 -0.15928853 -0.04410882 -8.77102942] [ 0.16123297 0.98590281 0.04471661 9.43344342] [ 0.03636417 -0.05121338 0.99802547 -0.06864941] [ 0. 0. 0. 1. ]] SLAMing on 39.389259763999995 meters Centerline goodness : 0.747649 with order 1 Centerline is valid? [False, False] Translation: X:-8.75, Y:9.43, Z:-0.07 [[ 0.98624685 -0.16038965 -0.03990363 -8.75058721] [ 0.16235507 0.98535213 0.05217296 9.43240288] [ 0.03095112 -0.05793398 0.99784051 -0.07232419] [ 0. 0. 0. 1. ]] SLAMing on 39.449259764 meters Centerline goodness : 0.749179 with order 1 Centerline is valid? [False, False] Translation: X:-8.75, Y:9.43, Z:-0.06 [[ 0.98648553 -0.15302064 -0.05857454 -8.7453262 ] [ 0.15630232 0.98610561 0.05626111 9.42672577] [ 0.04915157 -0.06465611 0.9966964 -0.05870262] [ 0. 0. 0. 1. ]] SLAMing on 39.509259764 meters Centerline goodness : 0.750172 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:9.43, Z:-0.06 [[ 0.98596896 -0.15627352 -0.05868391 -8.74311072] [ 0.1593351 0.98586974 0.05170292 9.42948441] [ 0.04977489 -0.06032788 0.99693681 -0.05748492] [ 0. 0. 0. 1. ]] SLAMing on 39.569259763999995 meters Centerline goodness : 0.748015 with order 1 Centerline is valid? [False, False] Translation: X:-8.75, Y:9.43, Z:-0.06 [[ 0.98595597 -0.15678005 -0.05753997 -8.74591667] [ 0.15966921 0.98592407 0.049593 9.42854955] [ 0.04895485 -0.05808387 0.99711067 -0.05654321] [ 0. 0. 0. 1. ]] SLAMing on 39.629259764 meters Centerline goodness : 0.748735 with order 1 Centerline is valid? [False, False] Translation: X:-8.69, Y:9.42, Z:-0.07 [[ 0.9855121 -0.16202573 -0.05013543 -8.69127262] [ 0.16551753 0.98328736 0.07582819 9.42111133] [ 0.03701142 -0.08302789 0.99585969 -0.06657459] [ 0. 0. 0. 1. ]] SLAMing on 39.689259764 meters Centerline goodness : 0.750615 with order 1 Centerline is valid? [False, False] Translation: X:-8.69, Y:9.42, Z:-0.05 [[ 0.98559939 -0.15793703 -0.0604131 -8.69266729] [ 0.16211801 0.98413912 0.07202741 9.41776223] [ 0.0480791 -0.08078422 0.99557135 -0.05215622] [ 0. 0. 0. 1. ]] SLAMing on 39.749259763999994 meters Centerline goodness : 0.750279 with order 1 Centerline is valid? [False, False] Translation: X:-8.69, Y:9.42, Z:-0.05 [[ 0.98500763 -0.16189665 -0.05957713 -8.69409397] [ 0.16585475 0.98374166 0.0688807 9.41534963] [ 0.04745695 -0.07772916 0.99584437 -0.05014397] [ 0. 0. 0. 1. ]] SLAMing on 39.809259764 meters Centerline goodness : 0.751836 with order 1 Centerline is valid? [False, False] Translation: X:-8.70, Y:9.41, Z:-0.05 [[ 0.98495065 -0.16259874 -0.05859926 -8.69755178] [ 0.1664544 0.98367827 0.06833734 9.41196901] [ 0.04653126 -0.07706301 0.99593982 -0.04698587] [ 0. 0. 0. 1. ]] SLAMing on 39.869259764 meters Centerline goodness : 0.750506 with order 1 Centerline is valid? [False, False] Translation: X:-8.70, Y:9.41, Z:-0.04 [[ 0.98430709 -0.16644423 -0.05861623 -8.6993199 ] [ 0.17026817 0.98306703 0.0677345 9.40985514] [ 0.04634967 -0.07665203 0.99598001 -0.0424299 ] [ 0. 0. 0. 1. ]] SLAMing on 39.929259763999994 meters Centerline goodness : 0.753929 with order 1 Centerline is valid? [False, False] Translation: X:-8.70, Y:9.41, Z:-0.04 [[ 0.98360447 -0.17068393 -0.05821712 -8.70035397] [ 0.17433558 0.98255324 0.06477837 9.40854826] [ 0.04614479 -0.07386561 0.99620005 -0.03996827] [ 0. 0. 0. 1. ]] SLAMing on 39.989259763999996 meters Centerline goodness : 0.753298 with order 1 Centerline is valid? [False, False] Translation: X:-8.70, Y:9.41, Z:-0.04 [[ 0.98277259 -0.17528365 -0.05859762 -8.69873754] [ 0.17890114 0.98181308 0.06354105 9.40706853] [ 0.0463942 -0.07292958 0.99625742 -0.03881595] [ 0. 0. 0. 1. ]] SLAMing on 40.049259764 meters Centerline goodness : 0.753201 with order 1 Centerline is valid? [False, False] Translation: X:-8.70, Y:9.41, Z:-0.04 [[ 0.98243082 -0.17738009 -0.05801718 -8.70080836] [ 0.1808763 0.98155774 0.06187213 9.40593834] [ 0.04597233 -0.07127902 0.99639643 -0.03646883] [ 0. 0. 0. 1. ]] SLAMing on 40.109259763999994 meters Centerline goodness : 0.754114 with order 1 Centerline is valid? [False, False] Translation: X:-8.70, Y:9.40, Z:-0.03 [[ 0.98265005 -0.17645157 -0.05712901 -8.70375456] [ 0.17985912 0.98178073 0.06129671 9.40449726] [ 0.04527226 -0.07050839 0.99648331 -0.03497802] [ 0. 0. 0. 1. ]] SLAMing on 40.169259763999996 meters Centerline goodness : 0.754089 with order 1 Centerline is valid? [False, False] Translation: X:-8.70, Y:9.40, Z:-0.03 [[ 0.98203773 -0.18002762 -0.05649739 -8.70410234] [ 0.18323346 0.98136474 0.05786836 9.40213825] [ 0.04502664 -0.06718113 0.99672428 -0.034054 ] [ 0. 0. 0. 1. ]] SLAMing on 40.229259764 meters Centerline goodness : 0.754775 with order 1 Centerline is valid? [False, False] Translation: X:-8.71, Y:9.39, Z:-0.02 [[ 0.98135962 -0.1784952 -0.07122328 -8.70501694] [ 0.18258382 0.98161093 0.05570579 9.39481131] [ 0.05997033 -0.06767163 0.99590367 -0.01863168] [ 0. 0. 0. 1. ]] SLAMing on 40.28925976399999 meters Centerline goodness : 0.755307 with order 1 Centerline is valid? [False, False] Translation: X:-8.71, Y:9.39, Z:-0.01 [[ 0.98077915 -0.18149642 -0.07163318 -8.70721488] [ 0.1857185 0.98092241 0.0574445 9.39100649] [ 0.05984062 -0.06964398 0.99577549 -0.01216593] [ 0. 0. 0. 1. ]] SLAMing on 40.349259763999996 meters Centerline goodness : 0.754409 with order 1 Centerline is valid? [False, False] Translation: X:-8.71, Y:9.39, Z:-0.01 [[ 0.98055002 -0.18286694 -0.07128353 -8.70734456] [ 0.1869686 0.98077776 0.05583668 9.38911924] [ 0.05970262 -0.06807844 0.99589202 -0.01184825] [ 0. 0. 0. 1. ]] SLAMing on 40.409259764 meters Centerline goodness : 0.753527 with order 1 Centerline is valid? [False, False] Translation: X:-8.71, Y:9.39, Z:-0.02 [[ 0.98090797 -0.18110407 -0.07085805 -8.70638898] [ 0.18511387 0.98118841 0.05479197 9.38826931] [ 0.05960205 -0.06686269 0.99598041 -0.01505623] [ 0. 0. 0. 1. ]] SLAMing on 40.46925976399999 meters Centerline goodness : 0.754469 with order 1 Centerline is valid? [False, False] Translation: X:-8.71, Y:9.39, Z:-0.01 [[ 0.98110448 -0.17997063 -0.0710251 -8.70730715] [ 0.18401911 0.98136836 0.05525503 9.38938476] [ 0.05975751 -0.06728093 0.99594293 -0.01431983] [ 0. 0. 0. 1. ]] SLAMing on 40.529259763999995 meters Centerline goodness : 0.752904 with order 1 Centerline is valid? [False, False] Translation: X:-8.71, Y:9.39, Z:-0.01 [[ 0.98159909 -0.17760439 -0.07014202 -8.71069895] [ 0.18157555 0.98183969 0.054965 9.39008647] [ 0.05910619 -0.06668967 0.99602156 -0.01365574] [ 0. 0. 0. 1. ]] SLAMing on 40.589259764 meters Centerline goodness : 0.751796 with order 1 Centerline is valid? [False, False] Translation: X:-8.71, Y:9.39, Z:-0.01 [[ 0.98229717 -0.17392478 -0.06958767 -8.71300403] [ 0.17788411 0.98249037 0.05540682 9.39205099] [ 0.05873259 -0.0668045 0.99603596 -0.01432726] [ 0. 0. 0. 1. ]] SLAMing on 40.64925976399999 meters Centerline goodness : 0.751889 with order 1 Centerline is valid? [False, False] Translation: X:-8.72, Y:9.39, Z:-0.02 [[ 0.98260094 -0.17274647 -0.06822067 -8.71549256] [ 0.17647207 0.98288021 0.0529537 9.39309912] [ 0.05790518 -0.0640714 0.99626394 -0.01562531] [ 0. 0. 0. 1. ]] SLAMing on 40.709259763999995 meters Centerline goodness : 0.751704 with order 1 Centerline is valid? [False, False] Translation: X:-8.72, Y:9.40, Z:-0.02 [[ 0.98383061 -0.16593819 -0.06739322 -8.71952717] [ 0.16974146 0.9839383 0.05525636 9.39522872] [ 0.05714163 -0.06580232 0.99619521 -0.01609719] [ 0. 0. 0. 1. ]] SLAMing on 40.769259764 meters Centerline goodness : 0.750281 with order 1 Centerline is valid? [False, False] Translation: X:-8.72, Y:9.40, Z:-0.02 [[ 0.98438921 -0.16311067 -0.06612711 -8.72259856] [ 0.16675052 0.98452798 0.05384157 9.39658452] [ 0.05632185 -0.06402779 0.99635751 -0.01710982] [ 0. 0. 0. 1. ]] SLAMing on 40.829259764 meters Centerline goodness : 0.748978 with order 1 Centerline is valid? [False, False] Translation: X:-8.72, Y:9.40, Z:-0.02 [[ 0.98450804 -0.16275223 -0.06523515 -8.72483494] [ 0.16625177 0.98469256 0.05235367 9.39726169] [ 0.05571589 -0.06238807 0.99649559 -0.01706005] [ 0. 0. 0. 1. ]] SLAMing on 40.889259763999995 meters Centerline goodness : 0.748488 with order 1 Centerline is valid? [False, False] Translation: X:-8.73, Y:9.40, Z:-0.02 [[ 0.9857247 -0.15508324 -0.06554388 -8.72731284] [ 0.15887187 0.98564245 0.05717249 9.40162668] [ 0.05573634 -0.06676942 0.99621047 -0.01718154] [ 0. 0. 0. 1. ]] SLAMing on 40.949259764 meters Centerline goodness : 0.749282 with order 1 Centerline is valid? [False, False] Translation: X:-8.72, Y:9.41, Z:-0.01 [[ 0.98589948 -0.15320816 -0.06730134 -8.72020982] [ 0.1569843 0.98607275 0.05492235 9.40829856] [ 0.05794946 -0.06471317 0.99621989 -0.01486553] [ 0. 0. 0. 1. ]] SLAMing on 41.009259764 meters Centerline goodness : 0.745982 with order 1 Centerline is valid? [False, False] Translation: X:-8.72, Y:9.42, Z:-0.02 [[ 0.98692566 -0.15243485 -0.052358 -8.72300887] [ 0.15515534 0.98649178 0.05254325 9.42038009] [ 0.04364131 -0.05997991 0.99724513 -0.02369659] [ 0. 0. 0. 1. ]] SLAMing on 41.069259763999995 meters Centerline goodness : 0.746643 with order 1 Centerline is valid? [False, False] Translation: X:-8.73, Y:9.43, Z:-0.03 [[ 0.98826847 -0.14348236 -0.0523282 -8.72507753] [ 0.14628683 0.98774533 0.0543996 9.42791551] [ 0.04388155 -0.06141634 0.99714715 -0.02625956] [ 0. 0. 0. 1. ]] SLAMing on 41.129259764 meters Centerline goodness : 0.746300 with order 1 Centerline is valid? [False, False] Translation: X:-8.73, Y:9.43, Z:-0.03 [[ 0.989147 -0.13779316 -0.05100261 -8.72852146] [ 0.14048017 0.98863761 0.05348821 9.43191133] [ 0.04305279 -0.06007256 0.99726513 -0.0285181 ] [ 0. 0. 0. 1. ]] SLAMing on 41.189259764 meters Centerline goodness : 0.746897 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:9.44, Z:-0.03 [[ 0.99094202 -0.12639582 -0.04536531 -8.73656155] [ 0.12893761 0.98993601 0.05832491 9.43898733] [ 0.03753673 -0.0636459 0.99726636 -0.03356801] [ 0. 0. 0. 1. ]] SLAMing on 41.249259763999994 meters Centerline goodness : 0.747329 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:9.45, Z:-0.03 [[ 0.99103042 -0.12557155 -0.04572183 -8.73513007] [ 0.12808118 0.99013217 0.05686387 9.44525033] [ 0.03813017 -0.06220993 0.99733446 -0.0325832 ] [ 0. 0. 0. 1. ]] SLAMing on 41.309259764 meters Centerline goodness : 0.747735 with order 1 Centerline is valid? [False, False] Translation: X:-8.73, Y:9.45, Z:-0.03 [[ 0.99159406 -0.12096828 -0.04591179 -8.73451524] [ 0.12366095 0.99043492 0.06120981 9.4455889 ] [ 0.0380682 -0.06637278 0.99706844 -0.03461152] [ 0. 0. 0. 1. ]] SLAMing on 41.369259764 meters Centerline goodness : 0.748105 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:9.45, Z:-0.03 [[ 0.99156532 -0.12127147 -0.04573223 -8.73537597] [ 0.12392741 0.99044112 0.06056721 9.44711735] [ 0.03795001 -0.06572382 0.99711593 -0.03384803] [ 0. 0. 0. 1. ]] SLAMing on 41.429259763999994 meters Centerline goodness : 0.748661 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:9.45, Z:-0.03 [[ 0.99098868 -0.12602766 -0.04537033 -8.73673168] [ 0.12842926 0.99021406 0.05460799 9.45128331] [ 0.03804422 -0.05994277 0.99747657 -0.0300065 ] [ 0. 0. 0. 1. ]] SLAMing on 41.489259763999996 meters Centerline goodness : 0.748798 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:9.45, Z:-0.03 [[ 0.99036256 -0.13111056 -0.04463198 -8.73874186] [ 0.13328006 0.98983145 0.04970029 9.45254809] [ 0.0376619 -0.05516986 0.99776644 -0.02795999] [ 0. 0. 0. 1. ]] SLAMing on 41.549259764 meters Centerline goodness : 0.747600 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:9.46, Z:-0.02 [[ 0.98983774 -0.13488685 -0.0450199 -8.73728018] [ 0.13686237 0.98960673 0.04412726 9.45761155] [ 0.03859981 -0.04984036 0.99801102 -0.02493645] [ 0. 0. 0. 1. ]] SLAMing on 41.609259763999994 meters Centerline goodness : 0.746729 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:9.46, Z:-0.02 [[ 0.98983651 -0.13501441 -0.04466303 -8.7383486 ] [ 0.13697189 0.98959181 0.04412196 9.45616949] [ 0.03824107 -0.04979111 0.99802729 -0.02443717] [ 0. 0. 0. 1. ]] SLAMing on 41.669259763999996 meters Centerline goodness : 0.748649 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:9.46, Z:-0.02 [[ 0.9898701 -0.13477394 -0.04464495 -8.73815832] [ 0.13673952 0.98961351 0.04435554 9.45534735] [ 0.03820328 -0.05001095 0.99801774 -0.0244376 ] [ 0. 0. 0. 1. ]] SLAMing on 41.729259764 meters Centerline goodness : 0.751484 with order 1 Centerline is valid? [False, False] Translation: X:-8.74, Y:9.45, Z:-0.02 [[ 0.98985889 -0.1350063 -0.0441892 -8.73990653] [ 0.13695671 0.98957431 0.04455956 9.45262265] [ 0.03771267 -0.05015968 0.99802894 -0.0235057 ] [ 0. 0. 0. 1. ]] SLAMing on 41.78925976399999 meters Centerline goodness : 0.752183 with order 1 Centerline is valid? [False, False] Translation: X:-8.72, Y:9.44, Z:-0.03 [[ 0.98963506 -0.13785437 -0.04023212 -8.71870739] [ 0.13990787 0.98870786 0.0536894 9.44348571] [ 0.03237649 -0.0587617 0.99774687 -0.03027565] [ 0. 0. 0. 1. ]] SLAMing on 41.849259763999996 meters Centerline goodness : 0.753630 with order 1 Centerline is valid? [False, False] Translation: X:-8.72, Y:9.44, Z:-0.03 [[ 0.98903457 -0.14224893 -0.03969712 -8.71966356] [ 0.14412646 0.98833039 0.04930114 9.44314571] [ 0.03222084 -0.05448194 0.99799476 -0.02832687] [ 0. 0. 0. 1. ]] SLAMing on 41.909259764 meters Centerline goodness : 0.756518 with order 1 Centerline is valid? [False, False] Translation: X:-8.70, Y:9.43, Z:-0.03 [[ 0.98834679 -0.14815749 -0.0349282 -8.7012458 ] [ 0.14996907 0.98706315 0.05670634 9.43452218] [ 0.02607487 -0.06128368 0.99777974 -0.03429317] [ 0. 0. 0. 1. ]] SLAMing on 41.96925976399999 meters Centerline goodness : 0.756333 with order 1 Centerline is valid? [False, False] Translation: X:-8.70, Y:9.42, Z:-0.01 [[ 0.98765759 -0.1489625 -0.04840107 -8.70318324] [ 0.15140082 0.98713742 0.0513567 9.42486386] [ 0.04012829 -0.0580508 0.9975068 -0.01214759] [ 0. 0. 0. 1. ]] SLAMing on 42.029259763999995 meters Centerline goodness : 0.756680 with order 1 Centerline is valid? [False, False] Translation: X:-8.69, Y:9.42, Z:-0.02 [[ 0.98736232 -0.15211783 -0.04445021 -8.68526999] [ 0.15461277 0.98618495 0.05944866 9.41767949] [ 0.03479293 -0.06556994 0.99724121 -0.01653573] [ 0. 0. 0. 1. ]] SLAMing on 42.089259764 meters Centerline goodness : 0.757214 with order 1 Centerline is valid? [False, False] Translation: X:-8.68, Y:9.41, Z:-0.01 [[ 0.98606461 -0.16039154 -0.04417163 -8.68491904] [ 0.16271657 0.98512013 0.05533223 9.41272906] [ 0.03463954 -0.06174861 0.99749046 -0.01302146] [ 0. 0. 0. 1. ]] SLAMing on 42.14925976399999 meters Centerline goodness : 0.758264 with order 1 Centerline is valid? [False, False] Translation: X:-8.68, Y:9.40, Z:0.00 [[ 9.85011329e-01 -1.61600998e-01 -6.03141650e-02 -8.68309029e+00] [ 1.64915799e-01 9.84787771e-01 5.47341293e-02 9.40478200e+00] [ 5.05515622e-02 -6.38604962e-02 9.96677669e-01 1.01661599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.209259763999995 meters Centerline goodness : 0.759848 with order 1 Centerline is valid? [False, False] Translation: X:-8.68, Y:9.40, Z:0.00 [[ 9.84960291e-01 -1.62090185e-01 -5.98330769e-02 -8.68494022e+00] [ 1.65380726e-01 9.84702415e-01 5.48668369e-02 9.40267176e+00] [ 5.00243995e-02 -6.39368934e-02 9.96699369e-01 1.80176899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.269259764 meters Centerline goodness : 0.760446 with order 1 Centerline is valid? [False, False] Translation: X:-8.67, Y:9.40, Z:-0.00 [[ 9.84816145e-01 -1.64566842e-01 -5.52712941e-02 -8.66751082e+00] [ 1.67876979e-01 9.83868948e-01 6.17997807e-02 9.40003292e+00] [ 4.42095153e-02 -7.01401997e-02 9.96557008e-01 -6.65018856e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32925976399999 meters Centerline goodness : 0.762894 with order 1 Centerline is valid? [False, False] Translation: X:-8.67, Y:9.40, Z:0.00 [[ 9.84797831e-01 -1.64655153e-01 -5.53345572e-02 -8.66788287e+00] [ 1.67927971e-01 9.83918642e-01 6.08629896e-02 9.40192131e+00] [ 4.44232975e-02 -6.92299601e-02 9.96611149e-01 9.05899674e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.389259763999995 meters Centerline goodness : 0.760465 with order 1 Centerline is valid? [False, False] Translation: X:-8.67, Y:9.41, Z:0.00 [[ 9.84849205e-01 -1.64249404e-01 -5.56253191e-02 -8.66648470e+00] [ 1.67518603e-01 9.84021534e-01 6.03252667e-02 9.40548813e+00] [ 4.48281227e-02 -6.87295667e-02 9.96627657e-01 3.09432347e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.449259764 meters Centerline goodness : 0.757844 with order 1 Centerline is valid? [False, False] Translation: X:-8.67, Y:9.41, Z:0.00 [[ 9.85453839e-01 -1.60541554e-01 -5.57417252e-02 -8.66865446e+00] [ 1.63966539e-01 9.84417804e-01 6.35339367e-02 9.40700949e+00] [ 4.46733098e-02 -7.17495396e-02 9.96421748e-01 1.40503415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.509259764 meters Centerline goodness : 0.756679 with order 1 Centerline is valid? [False, False] Translation: X:-8.67, Y:9.41, Z:0.00 [[ 9.85405549e-01 -1.60891819e-01 -5.55853080e-02 -8.66945319e+00] [ 1.64267382e-01 9.84421839e-01 6.26886762e-02 9.40959520e+00] [ 4.46332960e-02 -7.09046224e-02 9.96484021e-01 2.07835069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.569259763999995 meters Centerline goodness : 0.750284 with order 1 Centerline is valid? [False, False] Translation: X:-8.67, Y:9.41, Z:0.00 [[ 9.85448345e-01 -1.60441974e-01 -5.61242600e-02 -8.66752819e+00] [ 1.63831361e-01 9.84529335e-01 6.21391513e-02 9.41274808e+00] [ 4.52862523e-02 -7.04298377e-02 9.96488230e-01 1.77041858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.629259764 meters Centerline goodness : 0.751398 with order 1 Centerline is valid? [False, False] Translation: X:-8.67, Y:9.41, Z:0.00 [[ 9.85365727e-01 -1.61062050e-01 -5.57978478e-02 -8.66937803e+00] [ 1.64384129e-01 9.84497773e-01 6.11718339e-02 9.41402477e+00] [ 4.50803959e-02 -6.94489092e-02 9.96566409e-01 3.60587555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.689259764 meters Centerline goodness : 0.749624 with order 1 Centerline is valid? [False, False] Translation: X:-8.67, Y:9.42, Z:0.01 [[ 9.85965936e-01 -1.57125371e-01 -5.64162346e-02 -8.67056807e+00] [ 1.60620647e-01 9.84943407e-01 6.39335070e-02 9.41849884e+00] [ 4.55212223e-02 -7.20978722e-02 9.96358226e-01 5.20256042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.749259763999994 meters Centerline goodness : 0.749493 with order 1 Centerline is valid? [False, False] Translation: X:-8.65, Y:9.42, Z:0.00 [[ 9.86963706e-01 -1.53811958e-01 -4.73764057e-02 -8.64938773e+00] [ 1.56545381e-01 9.85803020e-01 6.07120186e-02 9.42032662e+00] [ 3.73655694e-02 -6.73371164e-02 9.97030354e-01 1.29423167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.809259764 meters Centerline goodness : 0.746100 with order 1 Centerline is valid? [False, False] Translation: X:-8.65, Y:9.42, Z:0.00 [[ 9.86307524e-01 -1.57949970e-01 -4.74265304e-02 -8.64767248e+00] [ 1.60510848e-01 9.85434885e-01 5.61636414e-02 9.42268431e+00] [ 3.78647121e-02 -6.30070947e-02 9.97294525e-01 1.40123996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.869259764 meters Centerline goodness : 0.744621 with order 1 Centerline is valid? [False, False] Translation: X:-8.65, Y:9.43, Z:0.00 [[ 9.86420453e-01 -1.57144460e-01 -4.77525665e-02 -8.64658309e+00] [ 1.59700925e-01 9.85604390e-01 5.54941573e-02 9.42786032e+00] [ 3.83445397e-02 -6.23667008e-02 9.97316445e-01 1.71177442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.929259763999994 meters Centerline goodness : 0.746256 with order 1 Centerline is valid? [False, False] Translation: X:-8.65, Y:9.43, Z:0.00 [[ 9.86393484e-01 -1.57306380e-01 -4.77765364e-02 -8.64695012e+00] [ 1.59820173e-01 9.85648710e-01 5.43519259e-02 9.43102974e+00] [ 3.85409768e-02 -6.12480399e-02 9.97378198e-01 2.97120217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.989259763999996 meters Centerline goodness : 0.744336 with order 1 Centerline is valid? [False, False] Translation: X:-8.65, Y:9.43, Z:0.00 [[ 9.86462988e-01 -1.56698622e-01 -4.83354384e-02 -8.64508041e+00] [ 1.59230559e-01 9.85767384e-01 5.39285918e-02 9.43490354e+00] [ 3.91969626e-02 -6.08950387e-02 9.97374249e-01 2.48478971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.049259764 meters Centerline goodness : 0.744257 with order 1 Centerline is valid? [False, False] Translation: X:-8.65, Y:9.43, Z:0.00 [[ 9.86408195e-01 -1.57157651e-01 -4.79619089e-02 -8.64680773e+00] [ 1.59655829e-01 9.85713527e-01 5.36549923e-02 9.43431173e+00] [ 3.88444099e-02 -6.05831224e-02 9.97407037e-01 3.52825226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.109259763999994 meters Centerline goodness : 0.741759 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:9.43, Z:0.00 [[ 9.85667839e-01 -1.63072627e-01 -4.31998730e-02 -8.62848966e+00] [ 1.65398341e-01 9.84565098e-01 5.72272274e-02 9.43243082e+00] [ 3.32008930e-02 -6.35522249e-02 9.97426095e-01 2.05554343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.169259763999996 meters Centerline goodness : 0.742629 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:9.43, Z:0.00 [[ 9.85512076e-01 -1.63937818e-01 -4.34780478e-02 -8.62942151e+00] [ 1.66295449e-01 9.84387524e-01 5.76803854e-02 9.43215942e+00] [ 3.33432513e-02 -6.40749178e-02 9.97387905e-01 4.35035499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.229259764 meters Centerline goodness : 0.741139 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:9.43, Z:0.00 [[ 9.85703086e-01 -1.62984927e-01 -4.27239918e-02 -8.63145869e+00] [ 1.65256711e-01 9.84630619e-01 5.65045496e-02 9.43242368e+00] [ 3.28579606e-02 -6.27571353e-02 9.97487793e-01 4.43025655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28925976399999 meters Centerline goodness : 0.741099 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:9.43, Z:0.01 [[ 0.98595705 -0.1559942 -0.05961972 -8.62514166] [ 0.15936258 0.98559301 0.05665677 9.42842935] [ 0.04992265 -0.06536229 0.99661201 0.01036283] [ 0. 0. 0. 1. ]] SLAMing on 43.349259763999996 meters Centerline goodness : 0.741366 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:9.43, Z:0.01 [[ 0.9859151 -0.15633145 -0.05942977 -8.6261246 ] [ 0.1596661 0.98556815 0.05623304 9.42889675] [ 0.0497811 -0.06492992 0.99664735 0.01125275] [ 0. 0. 0. 1. ]] SLAMing on 43.409259764 meters Centerline goodness : 0.742098 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:9.43, Z:0.01 [[ 0.98632112 -0.15350575 -0.06005528 -8.62634613] [ 0.15695561 0.98591953 0.05768541 9.43015184] [ 0.05035463 -0.06632235 0.99652685 0.01159538] [ 0. 0. 0. 1. ]] SLAMing on 43.46925976399999 meters Centerline goodness : 0.742061 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:9.43, Z:0.01 [[ 0.98677097 -0.15078999 -0.05954347 -8.62951705] [ 0.15418816 0.98637797 0.05731065 9.43215879] [ 0.05009049 -0.06573338 0.99657918 0.01271385] [ 0. 0. 0. 1. ]] SLAMing on 43.529259763999995 meters Centerline goodness : 0.741316 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:9.44, Z:0.01 [[ 9.87868993e-01 -1.44186246e-01 -5.76643751e-02 -8.63324884e+00] [ 1.47335452e-01 9.87573474e-01 5.46891085e-02 9.43706323e+00] [ 4.90623900e-02 -6.25216813e-02 9.96836958e-01 9.15991659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.589259764 meters Centerline goodness : 0.739582 with order 1 Centerline is valid? [False, False] Translation: X:-8.64, Y:9.44, Z:0.01 [[ 9.88176857e-01 -1.42497461e-01 -5.65771495e-02 -8.63555528e+00] [ 1.45555891e-01 9.87863914e-01 5.42067427e-02 9.43814563e+00] [ 4.81662011e-02 -6.18009859e-02 9.96925602e-01 8.25634224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64925976399999 meters Centerline goodness : 0.741621 with order 1 Centerline is valid? [False, False] Translation: X:-8.64, Y:9.44, Z:0.01 [[ 9.88176863e-01 -1.42431675e-01 -5.67424496e-02 -8.63527208e+00] [ 1.45478475e-01 9.87899978e-01 5.37554274e-02 9.43975905e+00] [ 4.83993892e-02 -6.13746746e-02 9.96940644e-01 8.77154290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.709259763999995 meters Centerline goodness : 0.741238 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:9.44, Z:0.01 [[ 0.98765885 -0.14603973 -0.05658973 -8.63424295] [ 0.14883486 0.98765791 0.0487857 9.44302601] [ 0.04876665 -0.05660615 0.99720487 0.01031538] [ 0. 0. 0. 1. ]] SLAMing on 43.769259764 meters Centerline goodness : 0.744135 with order 1 Centerline is valid? [False, False] Translation: X:-8.64, Y:9.44, Z:0.01 [[ 0.9871971 -0.14954708 -0.05547581 -8.63674609] [ 0.15214571 0.98728701 0.04600054 9.43908929] [ 0.0478913 -0.053852 0.99739981 0.01297876] [ 0. 0. 0. 1. ]] SLAMing on 43.82925976399999 meters Centerline goodness : 0.744064 with order 1 Centerline is valid? [False, False] Translation: X:-8.64, Y:9.43, Z:0.02 [[ 0.98679895 -0.15195681 -0.05600853 -8.63670832] [ 0.1546382 0.98684726 0.04711165 9.43490332] [ 0.04811293 -0.05515079 0.99731817 0.01627207] [ 0. 0. 0. 1. ]] SLAMing on 43.889259763999995 meters Centerline goodness : 0.745112 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:9.43, Z:0.01 [[ 0.98654863 -0.15492285 -0.05216049 -8.61863205] [ 0.15775325 0.98592393 0.05538876 9.42994086] [ 0.04284529 -0.06287219 0.99710148 0.01076969] [ 0. 0. 0. 1. ]] SLAMing on 43.949259764 meters Centerline goodness : 0.743020 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:9.42, Z:0.01 [[ 0.98546547 -0.16218076 -0.05054916 -8.62127335] [ 0.16465699 0.98511274 0.04940622 9.4247692 ] [ 0.04178388 -0.05701139 0.99749878 0.01430596] [ 0. 0. 0. 1. ]] SLAMing on 44.00925976399999 meters Centerline goodness : 0.745784 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:9.42, Z:0.02 [[ 0.9851798 -0.16375551 -0.05103825 -8.62126203] [ 0.1663122 0.98477076 0.05066362 9.42102495] [ 0.04196453 -0.05840106 0.9974108 0.01722968] [ 0. 0. 0. 1. ]] SLAMing on 44.069259763999995 meters Centerline goodness : 0.746744 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:9.42, Z:0.02 [[ 0.98433096 -0.16886084 -0.0507798 -8.62185024] [ 0.17131357 0.98401783 0.0485858 9.41729463] [ 0.04176399 -0.05652378 0.99752736 0.02052644] [ 0. 0. 0. 1. ]] SLAMing on 44.129259764 meters Centerline goodness : 0.748901 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:9.41, Z:0.02 [[ 0.98366716 -0.17296519 -0.04981935 -8.6236145 ] [ 0.17524001 0.98346898 0.04560368 9.41398598] [ 0.04110794 -0.05358918 0.99771656 0.0229911 ] [ 0. 0. 0. 1. ]] SLAMing on 44.189259764 meters Centerline goodness : 0.751138 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:9.41, Z:0.02 [[ 0.98351495 -0.17383855 -0.04978449 -8.62440655] [ 0.17612623 0.98329377 0.04596654 9.41264909] [ 0.04096202 -0.05397713 0.99770165 0.02470572] [ 0. 0. 0. 1. ]] SLAMing on 44.249259763999994 meters Centerline goodness : 0.751836 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:9.41, Z:0.04 [[ 0.98334674 -0.16948474 -0.06560571 -8.62223932] [ 0.17262187 0.98393684 0.04549709 9.40579631] [ 0.05684081 -0.05606439 0.99680786 0.0351608 ] [ 0. 0. 0. 1. ]] SLAMing on 44.309259764 meters Centerline goodness : 0.752407 with order 1 Centerline is valid? [False, False] Translation: X:-8.62, Y:9.41, Z:0.04 [[ 0.98356438 -0.16851652 -0.06483277 -8.62485218] [ 0.1715851 0.98413822 0.04506135 9.40538146] [ 0.05621083 -0.05544508 0.99687822 0.03629525] [ 0. 0. 0. 1. ]] SLAMing on 44.369259764 meters Centerline goodness : 0.753009 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:9.41, Z:0.04 [[ 0.98382004 -0.16732284 -0.0640406 -8.62835888] [ 0.17029737 0.98440201 0.04417554 9.40765898] [ 0.05565012 -0.05436673 0.99696907 0.03792169] [ 0. 0. 0. 1. ]] SLAMing on 44.429259763999994 meters Centerline goodness : 0.750962 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:9.41, Z:0.04 [[ 0.98423671 -0.16533831 -0.06278017 -8.63205985] [ 0.16810448 0.98488896 0.04164883 9.41005543] [ 0.05494535 -0.05154594 0.99715797 0.03810729] [ 0. 0. 0. 1. ]] SLAMing on 44.489259763999996 meters Centerline goodness : 0.752956 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:9.41, Z:0.04 [[ 0.98503103 -0.16063692 -0.06252717 -8.63420691] [ 0.16345065 0.98562234 0.04280754 9.41246849] [ 0.0547517 -0.05238686 0.9971248 0.03778501] [ 0. 0. 0. 1. ]] SLAMing on 44.549259764 meters Centerline goodness : 0.754724 with order 1 Centerline is valid? [False, False] Translation: X:-8.64, Y:9.41, Z:0.04 [[ 0.98583291 -0.15584676 -0.06201013 -8.63609455] [ 0.15871524 0.98632734 0.04436038 9.41394034] [ 0.05424887 -0.05357388 0.99708921 0.03657413] [ 0. 0. 0. 1. ]] SLAMing on 44.609259763999994 meters Centerline goodness : 0.753560 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:9.42, Z:0.04 [[ 0.98587946 -0.15552048 -0.06208921 -8.63498942] [ 0.15839448 0.98637773 0.04438646 9.41522864] [ 0.05434041 -0.05359429 0.99708313 0.03529781] [ 0. 0. 0. 1. ]] SLAMing on 44.669259763999996 meters Centerline goodness : 0.754856 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:9.42, Z:0.04 [[ 0.98590374 -0.15536863 -0.06208383 -8.63465298] [ 0.15823624 0.98640809 0.04427609 9.41600866] [ 0.05436088 -0.05347588 0.99708837 0.03507563] [ 0. 0. 0. 1. ]] SLAMing on 44.729259764 meters Centerline goodness : 0.755207 with order 1 Centerline is valid? [False, False] Translation: X:-8.63, Y:9.42, Z:0.03 [[ 0.98751382 -0.14910472 -0.05083536 -8.62713316] [ 0.15149256 0.9873462 0.04687729 9.41516227] [ 0.04320248 -0.05399315 0.99760628 0.0281391 ] [ 0. 0. 0. 1. ]] SLAMing on 44.78925976399999 meters Centerline goodness : 0.754662 with order 1 Centerline is valid? [False, False] Translation: X:-8.60, Y:9.41, Z:0.02 [[ 0.98715145 -0.15247887 -0.04777245 -8.60340407] [ 0.15496762 0.98646316 0.05362348 9.40895625] [ 0.03894931 -0.06033768 0.99741782 0.02119773] [ 0. 0. 0. 1. ]] SLAMing on 44.849259763999996 meters Centerline goodness : 0.756900 with order 1 Centerline is valid? [False, False] Translation: X:-8.60, Y:9.41, Z:0.02 [[ 0.98681327 -0.15450997 -0.04823107 -8.60395494] [ 0.15702683 0.98613504 0.053668 9.40695895] [ 0.03927011 -0.06053387 0.99739336 0.02445444] [ 0. 0. 0. 1. ]] SLAMing on 44.909259764 meters Centerline goodness : 0.757168 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:9.41, Z:0.03 [[ 0.98650399 -0.15654004 -0.04801138 -8.60605417] [ 0.15904712 0.9858043 0.05379486 9.40560249] [ 0.03890878 -0.06070492 0.99739712 0.02780746] [ 0. 0. 0. 1. ]] SLAMing on 44.96925976399999 meters Centerline goodness : 0.762933 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:9.40, Z:0.03 [[ 0.98675053 -0.15522574 -0.04720557 -8.6076225 ] [ 0.15763013 0.98610855 0.05237044 9.40450304] [ 0.03842057 -0.05911758 0.99751139 0.02727002] [ 0. 0. 0. 1. ]] SLAMing on 45.029259763999995 meters Centerline goodness : 0.765258 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:9.40, Z:0.03 [[ 0.98697369 -0.15405622 -0.04636401 -8.60904736] [ 0.15633415 0.98642122 0.05032707 9.40495526] [ 0.03798124 -0.05691977 0.99765604 0.02615594] [ 0. 0. 0. 1. ]] SLAMing on 45.089259764 meters Centerline goodness : 0.765679 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:9.41, Z:0.03 [[ 0.98696856 -0.15397659 -0.04673621 -8.60832218] [ 0.15624485 0.98647604 0.04952346 9.40814997] [ 0.0384787 -0.05618039 0.99767888 0.02675292] [ 0. 0. 0. 1. ]] SLAMing on 45.14925976399999 meters Centerline goodness : 0.766305 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:9.41, Z:0.03 [[ 0.98698397 -0.15383841 -0.04686571 -8.60773008] [ 0.15609534 0.98652381 0.04904089 9.41077089] [ 0.03868976 -0.05571809 0.99769665 0.02651161] [ 0. 0. 0. 1. ]] SLAMing on 45.209259763999995 meters Centerline goodness : 0.767434 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:9.41, Z:0.03 [[ 0.98700404 -0.15372123 -0.04682748 -8.60735066] [ 0.1559523 0.98657671 0.04842809 9.41373384] [ 0.03875447 -0.05510158 0.99772837 0.02616078] [ 0. 0. 0. 1. ]] SLAMing on 45.269259764 meters Centerline goodness : 0.771679 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:9.42, Z:0.03 [[ 0.98749918 -0.15057713 -0.04660363 -8.61097075] [ 0.15290614 0.98691085 0.05125117 9.41645745] [ 0.03827637 -0.05773647 0.99759782 0.0279468 ] [ 0. 0. 0. 1. ]] SLAMing on 45.32925976399999 meters Centerline goodness : 0.772493 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:9.42, Z:0.03 [[ 0.98813959 -0.14626026 -0.04677696 -8.61124887] [ 0.1487634 0.98731695 0.0554499 9.41617642] [ 0.03807357 -0.06175094 0.99736514 0.02671136] [ 0. 0. 0. 1. ]] SLAMing on 45.389259763999995 meters Centerline goodness : 0.772895 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:9.42, Z:0.03 [[ 0.98875622 -0.14186829 -0.04727073 -8.61101187] [ 0.14453746 0.98774721 0.05885892 9.41973421] [ 0.03834132 -0.06502951 0.99714648 0.02625031] [ 0. 0. 0. 1. ]] SLAMing on 45.449259764 meters Centerline goodness : 0.770043 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:9.42, Z:0.03 [[ 0.9894078 -0.13705575 -0.04783234 -8.60995806] [ 0.13991371 0.98818082 0.06263237 9.42211442] [ 0.03868287 -0.06866136 0.99688979 0.02529026] [ 0. 0. 0. 1. ]] SLAMing on 45.50925976399999 meters Centerline goodness : 0.768980 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:9.42, Z:0.03 [[ 0.98939864 -0.13707601 -0.04796352 -8.6095052 ] [ 0.1399185 0.98821974 0.06200447 9.42451409] [ 0.03889917 -0.06805812 0.99692274 0.02537013] [ 0. 0. 0. 1. ]] SLAMing on 45.569259763999995 meters Centerline goodness : 0.766402 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:9.43, Z:0.03 [[ 0.98883249 -0.14098624 -0.04830309 -8.60766871] [ 0.1436366 0.98800678 0.05666683 9.42942029] [ 0.03973453 -0.06297209 0.99722399 0.02706405] [ 0. 0. 0. 1. ]] SLAMing on 45.629259764 meters Centerline goodness : 0.764380 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:9.43, Z:0.03 [[ 0.98808242 -0.14638159 -0.04759791 -8.61001012] [ 0.14875148 0.9875704 0.05077103 9.43341931] [ 0.03957435 -0.05724622 0.99757543 0.03046291] [ 0. 0. 0. 1. ]] SLAMing on 45.68925976399999 meters Centerline goodness : 0.758956 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:9.44, Z:0.03 [[ 0.98804811 -0.14642186 -0.04818266 -8.60958342] [ 0.14875521 0.98765756 0.04903505 9.43935903] [ 0.04040817 -0.05561641 0.9976342 0.03296353] [ 0. 0. 0. 1. ]] SLAMing on 45.749259763999994 meters Centerline goodness : 0.754046 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:9.45, Z:0.04 [[ 0.98751821 -0.14977438 -0.04873834 -8.60668278] [ 0.15188876 0.98746108 0.04301645 9.44540831] [ 0.04168445 -0.04988233 0.99788484 0.03615826] [ 0. 0. 0. 1. ]] SLAMing on 45.809259764 meters Centerline goodness : 0.749348 with order 1 Centerline is valid? [False, False] Translation: X:-8.61, Y:9.45, Z:0.04 [[ 0.98751005 -0.14981029 -0.04879315 -8.60655789] [ 0.15191056 0.98747518 0.04261387 9.44631368] [ 0.04179803 -0.04949382 0.99789944 0.03660573] [ 0. 0. 0. 1. ]] SLAMing on 45.869259764 meters Centerline goodness : 0.747361 with order 1 Centerline is valid? [False, False] Translation: X:-8.58, Y:9.45, Z:0.03 [[ 0.98771716 -0.1493745 -0.04584823 -8.58112206] [ 0.15161577 0.98717083 0.05006405 9.44629391] [ 0.03778174 -0.05640044 0.9976931 0.03350116] [ 0. 0. 0. 1. ]] SLAMing on 45.929259763999994 meters Centerline goodness : 0.746186 with order 1 Centerline is valid? [False, False] Translation: X:-8.58, Y:9.45, Z:0.04 [[ 0.98776111 -0.14884755 -0.04660906 -8.57949009] [ 0.15108299 0.987316 0.04879591 9.45075993] [ 0.03875472 -0.05524054 0.99772068 0.03529271] [ 0. 0. 0. 1. ]] SLAMing on 45.989259763999996 meters Centerline goodness : 0.745591 with order 1 Centerline is valid? [False, False] Translation: X:-8.58, Y:9.45, Z:0.04 [[ 0.98812265 -0.14648337 -0.04643554 -8.58113419] [ 0.14867873 0.98772069 0.04798403 9.45155018] [ 0.03883648 -0.05431808 0.99776815 0.0357482 ] [ 0. 0. 0. 1. ]] SLAMing on 46.049259764 meters Centerline goodness : 0.744538 with order 1 Centerline is valid? [False, False] Translation: X:-8.58, Y:9.45, Z:0.03 [[ 0.98862867 -0.14326037 -0.04571448 -8.58245374] [ 0.14536571 0.98827865 0.04662738 9.45243408] [ 0.03849879 -0.05274248 0.99786576 0.03415469] [ 0. 0. 0. 1. ]] SLAMing on 46.109259763999994 meters Centerline goodness : 0.744273 with order 1 Centerline is valid? [False, False] Translation: X:-8.59, Y:9.46, Z:0.04 [[ 0.98933053 -0.13877137 -0.0443578 -8.58895113] [ 0.14064956 0.98914858 0.04245934 9.45559501] [ 0.03798432 -0.04824523 0.99811301 0.04264048] [ 0. 0. 0. 1. ]] SLAMing on 46.169259763999996 meters Centerline goodness : 0.744493 with order 1 Centerline is valid? [False, False] Translation: X:-8.59, Y:9.46, Z:0.04 [[ 0.98879713 -0.14251455 -0.04438288 -8.58733734] [ 0.14421071 0.98882914 0.03768568 9.45824045] [ 0.03851632 -0.04366397 0.99830354 0.0437145 ] [ 0. 0. 0. 1. ]] SLAMing on 46.229259764 meters Centerline goodness : 0.741555 with order 1 Centerline is valid? [False, False] Translation: X:-8.57, Y:9.46, Z:0.04 [[ 0.98837918 -0.14662427 -0.04009877 -8.56838623] [ 0.1483342 0.98797452 0.04362691 9.45613894] [ 0.0332198 -0.04906795 0.99824285 0.03905602] [ 0. 0. 0. 1. ]] SLAMing on 46.28925976399999 meters Centerline goodness : 0.745156 with order 1 Centerline is valid? [False, False] Translation: X:-8.57, Y:9.46, Z:0.04 [[ 0.98837503 -0.14635438 -0.04117283 -8.56800376] [ 0.14819414 0.98789369 0.0458754 9.45644237] [ 0.03396031 -0.05144367 0.99809831 0.04113957] [ 0. 0. 0. 1. ]] SLAMing on 46.349259763999996 meters Centerline goodness : 0.745304 with order 1 Centerline is valid? [False, False] Translation: X:-8.57, Y:9.46, Z:0.04 [[ 0.98840642 -0.14613963 -0.04118201 -8.56736776] [ 0.14798387 0.98791989 0.04598994 9.45629874] [ 0.03396358 -0.05155102 0.99809266 0.0404355 ] [ 0. 0. 0. 1. ]] SLAMing on 46.409259764 meters Centerline goodness : 0.747455 with order 1 Centerline is valid? [False, False] Translation: X:-8.57, Y:9.46, Z:0.04 [[ 0.98842437 -0.14605249 -0.0410602 -8.56746796] [ 0.14787508 0.98795719 0.04553624 9.45708597] [ 0.03391504 -0.05108091 0.99811849 0.04083889] [ 0. 0. 0. 1. ]] SLAMing on 46.46925976399999 meters Centerline goodness : 0.746088 with order 1 Centerline is valid? [False, False] Translation: X:-8.57, Y:9.46, Z:0.04 [[ 0.98836074 -0.1466021 -0.04063083 -8.569319 ] [ 0.148378 0.98791511 0.04480732 9.4582754 ] [ 0.03357097 -0.05031452 0.99816904 0.0422428 ] [ 0. 0. 0. 1. ]] SLAMing on 46.529259763999995 meters Centerline goodness : 0.747354 with order 1 Centerline is valid? [False, False] Translation: X:-8.57, Y:9.46, Z:0.04 [[ 0.98829771 -0.1471223 -0.04028232 -8.57108023] [ 0.14886169 0.98786768 0.04424531 9.45870921] [ 0.03328413 -0.04972403 0.99820824 0.0435608 ] [ 0. 0. 0. 1. ]] SLAMing on 46.589259764 meters Centerline goodness : 0.748595 with order 1 Centerline is valid? [False, False] Translation: X:-8.56, Y:9.47, Z:0.05 [[ 0.9881059 -0.14800726 -0.04172017 -8.56282491] [ 0.14961092 0.98800078 0.03835408 9.4650419 ] [ 0.03554288 -0.04413969 0.9983929 0.04778393] [ 0. 0. 0. 1. ]] SLAMing on 46.64925976399999 meters Centerline goodness : 0.750402 with order 1 Centerline is valid? [False, False] Translation: X:-8.56, Y:9.47, Z:0.05 [[ 0.98828188 -0.14684382 -0.04166318 -8.56195492] [ 0.1484292 0.9881962 0.03790829 9.46549742] [ 0.0356048 -0.04364811 0.99841231 0.04574406] [ 0. 0. 0. 1. ]] SLAMing on 46.709259763999995 meters Centerline goodness : 0.749640 with order 1 Centerline is valid? [False, False] Translation: X:-8.56, Y:9.47, Z:0.05 [[ 0.98828761 -0.14683503 -0.04155816 -8.56207276] [ 0.14841752 0.98819612 0.03795623 9.46521009] [ 0.03549431 -0.04367963 0.99841487 0.04564636] [ 0. 0. 0. 1. ]] SLAMing on 46.769259764 meters Centerline goodness : 0.749232 with order 1 Centerline is valid? [False, False] Translation: X:-8.56, Y:9.47, Z:0.05 [[ 0.98829686 -0.14678792 -0.04150448 -8.56219245] [ 0.14836218 0.98821078 0.03779046 9.46561634] [ 0.035468 -0.04350589 0.99842339 0.04585999] [ 0. 0. 0. 1. ]] SLAMing on 46.82925976399999 meters Centerline goodness : 0.750855 with order 1 Centerline is valid? [False, False] Translation: X:-8.56, Y:9.47, Z:0.04 [[ 0.98776373 -0.1503904 -0.04129827 -8.56005829] [ 0.15182823 0.98781492 0.03420337 9.46531413] [ 0.03565119 -0.04005509 0.99856126 0.04460092] [ 0. 0. 0. 1. ]] SLAMing on 46.889259763999995 meters Centerline goodness : 0.752280 with order 1 Centerline is valid? [False, False] Translation: X:-8.56, Y:9.46, Z:0.04 [[ 0.98775903 -0.1505042 -0.04099491 -8.56074092] [ 0.15194648 0.98778037 0.03467295 9.46387184] [ 0.03527554 -0.04047755 0.99855756 0.04410123] [ 0. 0. 0. 1. ]] SLAMing on 46.949259764 meters Centerline goodness : 0.752809 with order 1 Centerline is valid? [False, False] Translation: X:-8.56, Y:9.46, Z:0.04 [[ 0.98835855 -0.1465401 -0.04090693 -8.56269991] [ 0.14812553 0.98820495 0.03885617 9.46219309] [ 0.03473044 -0.04446319 0.99840714 0.0443099 ] [ 0. 0. 0. 1. ]] SLAMing on 47.00925976399999 meters Centerline goodness : 0.752233 with order 1 Centerline is valid? [False, False] Translation: X:-8.56, Y:9.46, Z:0.04 [[ 0.98837758 -0.14652774 -0.04048935 -8.56345057] [ 0.14810372 0.98819775 0.03912158 9.46018723] [ 0.03427908 -0.04466352 0.9984138 0.04410229] [ 0. 0. 0. 1. ]] SLAMing on 47.069259763999995 meters Centerline goodness : 0.753432 with order 1 Centerline is valid? [False, False] Translation: X:-8.56, Y:9.46, Z:0.04 [[ 0.98776066 -0.1508529 -0.03965195 -8.56427084] [ 0.152265 0.9877061 0.03538393 9.45776926] [ 0.0338267 -0.04098846 0.99858685 0.04474326] [ 0. 0. 0. 1. ]] SLAMing on 47.129259764 meters Centerline goodness : 0.754252 with order 1 Centerline is valid? [False, False] Translation: X:-8.55, Y:9.46, Z:0.04 [[ 0.98701296 -0.15683489 -0.03475966 -8.54586278] [ 0.15814902 0.9866459 0.03897123 9.45543807] [ 0.02818342 -0.04396232 0.99863557 0.04212875] [ 0. 0. 0. 1. ]] SLAMing on 47.18925976399999 meters Centerline goodness : 0.755168 with order 1 Centerline is valid? [False, False] Translation: X:-8.55, Y:9.45, Z:0.04 [[ 0.98687145 -0.15786821 -0.03409342 -8.54872373] [ 0.15916026 0.9864723 0.03924812 9.45102214] [ 0.02743619 -0.04415917 0.9986477 0.04330939] [ 0. 0. 0. 1. ]] SLAMing on 47.249259763999994 meters Centerline goodness : 0.752720 with order 1 Centerline is valid? [False, False] Translation: X:-8.54, Y:9.44, Z:0.04 [[ 0.98606059 -0.16395517 -0.02834114 -8.5358023 ] [ 0.16514152 0.98517891 0.04637668 9.44484908] [ 0.02031739 -0.05041051 0.9985219 0.03718736] [ 0. 0. 0. 1. ]] SLAMing on 47.309259764 meters Centerline goodness : 0.753183 with order 1 Centerline is valid? [False, False] Translation: X:-8.54, Y:9.44, Z:0.05 [[ 0.98633424 -0.15915527 -0.04259535 -8.53530664] [ 0.16100235 0.98596622 0.04414592 9.43758695] [ 0.03497152 -0.05040059 0.99811661 0.04987317] [ 0. 0. 0. 1. ]] SLAMing on 47.369259764 meters Centerline goodness : 0.751567 with order 1 Centerline is valid? [False, False] Translation: X:-8.54, Y:9.44, Z:0.05 [[ 0.98618207 -0.16024879 -0.04201499 -8.53665852] [ 0.16200775 0.98587579 0.04245488 9.43612399] [ 0.03461822 -0.048675 0.99821457 0.05128923] [ 0. 0. 0. 1. ]] SLAMing on 47.429259763999994 meters Centerline goodness : 0.752416 with order 1 Centerline is valid? [False, False] Translation: X:-8.54, Y:9.43, Z:0.07 [[ 0.98597917 -0.15754858 -0.05498656 -8.53963883] [ 0.15965649 0.98650537 0.03628982 9.43022334] [ 0.04852713 -0.04455997 0.9978274 0.07150333] [ 0. 0. 0. 1. ]] SLAMing on 47.489259763999996 meters Centerline goodness : 0.752960 with order 1 Centerline is valid? [False, False] Translation: X:-8.52, Y:9.43, Z:0.07 [[ 0.98543 -0.16236689 -0.05064293 -8.51907475] [ 0.16447519 0.98554272 0.04066265 9.42822235] [ 0.04330851 -0.0483997 0.99788869 0.0684564 ] [ 0. 0. 0. 1. ]] SLAMing on 47.549259764 meters Centerline goodness : 0.754370 with order 1 Centerline is valid? [False, False] Translation: X:-8.52, Y:9.43, Z:0.07 [[ 0.98532098 -0.16353034 -0.04899384 -8.52351603] [ 0.16548597 0.98544389 0.03891955 9.42512141] [ 0.04191616 -0.04645604 0.99804052 0.07161242] [ 0. 0. 0. 1. ]] SLAMing on 47.609259763999994 meters Centerline goodness : 0.757620 with order 1 Centerline is valid? [False, False] Translation: X:-8.52, Y:9.42, Z:0.07 [[ 0.98464008 -0.16785208 -0.04805829 -8.52469263] [ 0.16960291 0.98489094 0.03499553 9.42228017] [ 0.0414581 -0.04260883 0.99823129 0.07306531] [ 0. 0. 0. 1. ]] SLAMing on 47.669259763999996 meters Centerline goodness : 0.754698 with order 1 Centerline is valid? [False, False] Translation: X:-8.49, Y:9.41, Z:0.07 [[ 0.98290122 -0.17851924 -0.04512282 -8.48582882] [ 0.18063493 0.98236885 0.04819203 9.41379164] [ 0.03572405 -0.05551876 0.99781835 0.06517277] [ 0. 0. 0. 1. ]] SLAMing on 47.729259764 meters Centerline goodness : 0.758706 with order 1 Centerline is valid? [False, False] Translation: X:-8.48, Y:9.41, Z:0.08 [[ 0.98235977 -0.17638603 -0.06210681 -8.4816806 ] [ 0.1796504 0.98237713 0.05158408 9.40531249] [ 0.0519136 -0.06183164 0.99673558 0.07771693] [ 0. 0. 0. 1. ]] SLAMing on 47.78925976399999 meters Centerline goodness : 0.759565 with order 1 Centerline is valid? [False, False] Translation: X:-8.48, Y:9.40, Z:0.08 [[ 0.98250946 -0.17571739 -0.06163241 -8.48342226] [ 0.17897388 0.98247862 0.05200109 9.40250284] [ 0.05141503 -0.06212215 0.99674336 0.07922376] [ 0. 0. 0. 1. ]] SLAMing on 47.849259763999996 meters Centerline goodness : 0.759345 with order 1 Centerline is valid? [False, False] Translation: X:-8.49, Y:9.40, Z:0.08 [[ 0.9824113 -0.17692013 -0.05972688 -8.48764533] [ 0.17987263 0.98250392 0.04828962 9.40060525] [ 0.05013848 -0.0581835 0.99704604 0.08075874] [ 0. 0. 0. 1. ]] SLAMing on 47.909259764 meters Centerline goodness : 0.762248 with order 3 Centerline is valid? [False, False] Translation: X:-8.49, Y:9.40, Z:0.08 [[ 0.9820278 -0.17909743 -0.05954421 -8.48918581] [ 0.18201399 0.98213437 0.04778056 9.39954392] [ 0.04992304 -0.05775972 0.99708149 0.08342983] [ 0. 0. 0. 1. ]] SLAMing on 47.96925976399999 meters Centerline goodness : 0.761459 with order 3 Centerline is valid? [False, False] Translation: X:-8.49, Y:9.40, Z:0.08 [[ 0.98277568 -0.17493211 -0.05958785 -8.49114379] [ 0.17790339 0.98283578 0.04882848 9.40281673] [ 0.05002341 -0.05858832 0.99702812 0.08335368] [ 0. 0. 0. 1. ]] SLAMing on 48.029259763999995 meters Centerline goodness : 0.745896 with order 3 Centerline is valid? [False, False] Translation: X:-8.49, Y:9.41, Z:0.08 [[ 0.98310772 -0.17317281 -0.05924848 -8.49345214] [ 0.17605964 0.98323081 0.04754128 9.40568955] [ 0.05002207 -0.05716947 0.99711055 0.08373655] [ 0. 0. 0. 1. ]] SLAMing on 48.089259764 meters Centerline goodness : 0.760060 with order 1 Centerline is valid? [False, False] Translation: X:-8.49, Y:9.41, Z:0.08 [[ 0.98376119 -0.16915823 -0.05999512 -8.49350554] [ 0.17220011 0.98380456 0.04975653 9.40809002] [ 0.05060675 -0.05927971 0.99695781 0.08292622] [ 0. 0. 0. 1. ]] SLAMing on 48.14925976399999 meters Centerline goodness : 0.760674 with order 1 Centerline is valid? [False, False] Translation: X:-8.49, Y:9.41, Z:0.08 [[ 0.98423862 -0.16638527 -0.05991899 -8.49280171] [ 0.16942707 0.98428137 0.04984635 9.40878072] [ 0.05068345 -0.0592126 0.9969579 0.08014871] [ 0. 0. 0. 1. ]] SLAMing on 48.209259763999995 meters Centerline goodness : 0.758630 with order 1 Centerline is valid? [False, False] Translation: X:-8.49, Y:9.41, Z:0.08 [[ 0.98430988 -0.1662158 -0.05921464 -8.49496558] [ 0.16915994 0.98438299 0.04873447 9.40882874] [ 0.05018944 -0.05798657 0.99705495 0.08087979] [ 0. 0. 0. 1. ]] SLAMing on 48.269259764 meters Centerline goodness : 0.761183 with order 1 Centerline is valid? [False, False] Translation: X:-8.50, Y:9.41, Z:0.08 [[ 0.98434475 -0.1658925 -0.05954061 -8.49505383] [ 0.16889504 0.98438957 0.04951396 9.40688637] [ 0.05039716 -0.05879492 0.99699713 0.08218478] [ 0. 0. 0. 1. ]] SLAMing on 48.32925976399999 meters Centerline goodness : 0.761014 with order 1 Centerline is valid? [False, False] Translation: X:-8.50, Y:9.41, Z:0.09 [[ 0.98424921 -0.16647634 -0.05949052 -8.49694329] [ 0.16948578 0.98427821 0.04970885 9.40538915] [ 0.05027988 -0.05900869 0.99699043 0.08505975] [ 0. 0. 0. 1. ]] SLAMing on 48.389259763999995 meters Centerline goodness : 0.762191 with order 1 Centerline is valid? [False, False] Translation: X:-8.50, Y:9.40, Z:0.09 [[ 0.98432251 -0.16624533 -0.05892108 -8.4999794 ] [ 0.16921076 0.98433596 0.04950188 9.40372873] [ 0.04976868 -0.0586959 0.99703454 0.08788314] [ 0. 0. 0. 1. ]] SLAMing on 48.449259764 meters Centerline goodness : 0.763866 with order 1 Centerline is valid? [False, False] Translation: X:-8.50, Y:9.40, Z:0.09 [[ 0.98450333 -0.16542396 -0.05820738 -8.50338236] [ 0.16835348 0.98447676 0.04962473 9.40348864] [ 0.0490947 -0.05865513 0.99707035 0.09008226] [ 0. 0. 0. 1. ]] SLAMing on 48.50925976399999 meters Centerline goodness : 0.764092 with order 1 Centerline is valid? [False, False] Translation: X:-8.50, Y:9.40, Z:0.09 [[ 0.98450634 -0.16539328 -0.05824378 -8.50386781] [ 0.16832649 0.9844798 0.04965596 9.40291182] [ 0.04912706 -0.05869058 0.99706667 0.09095381] [ 0. 0. 0. 1. ]] SLAMing on 48.569259763999995 meters Centerline goodness : 0.764422 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.41, Z:0.09 [[ 0.98523767 -0.16092466 -0.05839508 -8.50611998] [ 0.16400705 0.98506161 0.05249105 9.40501466] [ 0.04907565 -0.06129336 0.99691259 0.09192644] [ 0. 0. 0. 1. ]] SLAMing on 48.629259764 meters Centerline goodness : 0.760759 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.41, Z:0.09 [[ 0.98630837 -0.15446063 -0.0577729 -8.509031 ] [ 0.15754878 0.98606833 0.05336316 9.40883093] [ 0.04872552 -0.06173458 0.99690254 0.09022113] [ 0. 0. 0. 1. ]] SLAMing on 48.68925976399999 meters Centerline goodness : 0.761272 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.41, Z:0.09 [[ 0.98693843 -0.15030565 -0.05797187 -8.50992697] [ 0.15357512 0.98650384 0.05678775 9.41067027] [ 0.04865396 -0.06494905 0.99670177 0.09021498] [ 0. 0. 0. 1. ]] SLAMing on 48.749259763999994 meters Centerline goodness : 0.761958 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.42, Z:0.09 [[ 0.98750247 -0.14644196 -0.05825476 -8.51158785] [ 0.14985708 0.98692519 0.05934241 9.41513518] [ 0.04880288 -0.06733067 0.99653643 0.09192777] [ 0. 0. 0. 1. ]] SLAMing on 48.809259764 meters Centerline goodness : 0.759322 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.42, Z:0.09 [[ 0.98749634 -0.14641469 -0.05842706 -8.51116239] [ 0.14980177 0.98698176 0.05853573 9.41800614] [ 0.04909595 -0.0665563 0.99657405 0.09238675] [ 0. 0. 0. 1. ]] SLAMing on 48.86925976399999 meters Centerline goodness : 0.759377 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.42, Z:0.09 [[ 0.98747673 -0.14656164 -0.05839001 -8.51147665] [ 0.14993181 0.98697927 0.05824407 9.41852487] [ 0.04909338 -0.06626919 0.99659331 0.09277241] [ 0. 0. 0. 1. ]] SLAMing on 48.929259763999994 meters Centerline goodness : 0.760603 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.42, Z:0.09 [[ 0.98809273 -0.14223363 -0.05867151 -8.51204947] [ 0.1458383 0.98732847 0.06255937 9.41767783] [ 0.04903001 -0.07037101 0.9963152 0.09225422] [ 0. 0. 0. 1. ]] SLAMing on 48.989259763999996 meters Centerline goodness : 0.761829 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.42, Z:0.09 [[ 0.98754105 -0.14607798 -0.05851402 -8.51112363] [ 0.14940643 0.98711828 0.05722956 9.42189015] [ 0.04940029 -0.06525891 0.99664481 0.09443341] [ 0. 0. 0. 1. ]] SLAMing on 49.049259764 meters Centerline goodness : 0.759938 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.42, Z:0.10 [[ 0.98749791 -0.14657156 -0.05800571 -8.51313424] [ 0.14985088 0.98706935 0.05691062 9.42117728] [ 0.04891418 -0.06489133 0.99669279 0.0955733 ] [ 0. 0. 0. 1. ]] SLAMing on 49.109259763999994 meters Centerline goodness : 0.762296 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.42, Z:0.10 [[ 0.98743346 -0.14705887 -0.05786932 -8.51477148] [ 0.15030236 0.98703206 0.05636414 9.42164468] [ 0.04883003 -0.06435373 0.99673177 0.09735998] [ 0. 0. 0. 1. ]] SLAMing on 49.169259763999996 meters Centerline goodness : 0.761141 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.42, Z:0.10 [[ 0.9867994 -0.15129966 -0.05775254 -8.51443315] [ 0.15429304 0.98668477 0.05144728 9.42386579] [ 0.04919959 -0.05967896 0.99700442 0.0993856 ] [ 0. 0. 0. 1. ]] SLAMing on 49.229259764 meters Centerline goodness : 0.763149 with order 1 Centerline is valid? [False, False] Translation: X:-8.47, Y:9.42, Z:0.10 [[ 0.9858326 -0.15813122 -0.05593393 -8.47246485] [ 0.16163106 0.98471937 0.06483172 9.41824788] [ 0.04482731 -0.07295389 0.99632738 0.09548399] [ 0. 0. 0. 1. ]] SLAMing on 49.28925976399999 meters Centerline goodness : 0.764380 with order 1 Centerline is valid? [False, False] Translation: X:-8.47, Y:9.42, Z:0.10 [[ 0.98602228 -0.15685338 -0.05618794 -8.47426881] [ 0.16044716 0.98480396 0.06646707 9.41788736] [ 0.04490852 -0.07455321 0.99620532 0.09801075] [ 0. 0. 0. 1. ]] SLAMing on 49.349259763999996 meters Centerline goodness : 0.762863 with order 1 Centerline is valid? [False, False] Translation: X:-8.47, Y:9.42, Z:0.10 [[ 0.98590389 -0.15746515 -0.05655308 -8.47375071] [ 0.16112267 0.98463796 0.06728726 9.41602172] [ 0.04508891 -0.07545076 0.9961296 0.09869818] [ 0. 0. 0. 1. ]] SLAMing on 49.409259764 meters Centerline goodness : 0.759517 with order 1 Centerline is valid? [False, False] Translation: X:-8.48, Y:9.41, Z:0.10 [[ 0.98554466 -0.15998036 -0.05574944 -8.47669751] [ 0.16346353 0.98441842 0.06480779 9.41494776] [ 0.0445128 -0.07298397 0.99633927 0.10171989] [ 0. 0. 0. 1. ]] SLAMing on 49.46925976399999 meters Centerline goodness : 0.759235 with order 1 Centerline is valid? [False, False] Translation: X:-8.48, Y:9.41, Z:0.11 [[ 0.98528774 -0.1616045 -0.05560619 -8.47984745] [ 0.16511254 0.98408755 0.0656471 9.41297725] [ 0.04411249 -0.07386257 0.99629233 0.1067003 ] [ 0. 0. 0. 1. ]] SLAMing on 49.529259763999995 meters Centerline goodness : 0.757426 with order 1 Centerline is valid? [False, False] Translation: X:-8.48, Y:9.41, Z:0.11 [[ 0.9849577 -0.16356903 -0.05570903 -8.48180395] [ 0.16713913 0.98365857 0.06693518 9.41053727] [ 0.04385014 -0.07523948 0.99620088 0.1109298 ] [ 0. 0. 0. 1. ]] SLAMing on 49.589259764 meters Centerline goodness : 0.756899 with order 1 Centerline is valid? [False, False] Translation: X:-8.48, Y:9.41, Z:0.11 [[ 0.98457267 -0.1660407 -0.05520091 -8.48394017] [ 0.16948896 0.98338024 0.06509064 9.40867874] [ 0.04347578 -0.07344241 0.99635138 0.11367295] [ 0. 0. 0. 1. ]] SLAMing on 49.64925976399999 meters Centerline goodness : 0.759388 with order 1 Centerline is valid? [False, False] Translation: X:-8.49, Y:9.41, Z:0.12 [[ 0.98398005 -0.16967248 -0.05472214 -8.48640315] [ 0.17298388 0.98291822 0.06283584 9.40724561] [ 0.04312587 -0.07129526 0.99652253 0.11741805] [ 0. 0. 0. 1. ]] SLAMing on 49.709259763999995 meters Centerline goodness : 0.760213 with order 1 Centerline is valid? [False, False] Translation: X:-8.49, Y:9.40, Z:0.13 [[ 0.98269415 -0.17089636 -0.07146071 -8.48568522] [ 0.17542719 0.98248736 0.06280032 9.39971133] [ 0.0594769 -0.07424966 0.99546446 0.13444941] [ 0. 0. 0. 1. ]] SLAMing on 49.769259764 meters Centerline goodness : 0.759932 with order 1 Centerline is valid? [False, False] Translation: X:-8.49, Y:9.40, Z:0.14 [[ 0.98257208 -0.17160898 -0.07143153 -8.48762255] [ 0.17616649 0.98232385 0.06328682 9.39885916] [ 0.05930831 -0.0747677 0.99543574 0.13728737] [ 0. 0. 0. 1. ]] SLAMing on 49.82925976399999 meters Centerline goodness : 0.760115 with order 1 Centerline is valid? [False, False] Translation: X:-8.49, Y:9.40, Z:0.14 [[ 0.9823113 -0.17322466 -0.07111771 -8.48980232] [ 0.17772746 0.98207591 0.0627682 9.39653568] [ 0.05896999 -0.07429748 0.99549105 0.14031045] [ 0. 0. 0. 1. ]] SLAMing on 49.889259763999995 meters Centerline goodness : 0.759110 with order 1 Centerline is valid? [False, False] Translation: X:-8.49, Y:9.39, Z:0.14 [[ 0.9816602 -0.17710092 -0.07055856 -8.49125792] [ 0.18143788 0.98152929 0.06066748 9.39235357] [ 0.05851103 -0.07235685 0.99566106 0.1434289 ] [ 0. 0. 0. 1. ]] SLAMing on 49.949259764 meters Centerline goodness : 0.758317 with order 1 Centerline is valid? [False, False] Translation: X:-8.49, Y:9.39, Z:0.15 [[ 0.98106922 -0.18026856 -0.07075621 -8.4932811 ] [ 0.18462693 0.98092657 0.06079439 9.38996585] [ 0.05844733 -0.072707 0.99563929 0.14851837] [ 0. 0. 0. 1. ]] SLAMing on 50.00925976399999 meters Centerline goodness : 0.759251 with order 1 Centerline is valid? [False, False] Translation: X:-8.49, Y:9.39, Z:0.15 [[ 0.98003074 -0.18602834 -0.07023683 -8.49464699] [ 0.1901262 0.98010459 0.0569827 9.38706065] [ 0.05823905 -0.06919866 0.99590148 0.15214834] [ 0. 0. 0. 1. ]] SLAMing on 50.069259763999995 meters Centerline goodness : 0.758462 with order 1 Centerline is valid? [False, False] Translation: X:-8.50, Y:9.38, Z:0.16 [[ 0.979255 -0.19027331 -0.06968288 -8.49691041] [ 0.1941915 0.97944629 0.05454005 9.38476787] [ 0.05787313 -0.06694044 0.99607715 0.15605705] [ 0. 0. 0. 1. ]] SLAMing on 50.129259764 meters Centerline goodness : 0.761247 with order 1 Centerline is valid? [False, False] Translation: X:-8.50, Y:9.38, Z:0.16 [[ 0.97844692 -0.19448878 -0.06939552 -8.49700906] [ 0.19828296 0.9787263 0.05271333 9.38106812] [ 0.05766707 -0.06533715 0.99619555 0.15829127] [ 0. 0. 0. 1. ]] SLAMing on 50.18925976399999 meters Centerline goodness : 0.762169 with order 1 Centerline is valid? [False, False] Translation: X:-8.50, Y:9.38, Z:0.16 [[ 0.97751029 -0.19951976 -0.06830442 -8.49881402] [ 0.20305721 0.97791827 0.04943297 9.37546091] [ 0.05693328 -0.06219095 0.9964391 0.16176248] [ 0. 0. 0. 1. ]] SLAMing on 50.249259763999994 meters Centerline goodness : 0.760836 with order 1 Centerline is valid? [False, False] Translation: X:-8.50, Y:9.36, Z:0.18 [[ 0.97610819 -0.20102323 -0.08247704 -8.50231291] [ 0.20525646 0.97760528 0.04645096 9.36452855] [ 0.07129227 -0.06227011 0.99550984 0.18039368] [ 0. 0. 0. 1. ]] SLAMing on 50.309259764 meters Centerline goodness : 0.761673 with order 1 Centerline is valid? [False, False] Translation: X:-8.50, Y:9.36, Z:0.18 [[ 0.97605594 -0.20136789 -0.08225428 -8.50468074] [ 0.2056565 0.97747486 0.04741632 9.36157771] [ 0.07085337 -0.06319711 0.99548276 0.18374854] [ 0. 0. 0. 1. ]] SLAMing on 50.36925976399999 meters Centerline goodness : 0.762119 with order 1 Centerline is valid? [False, False] Translation: X:-8.50, Y:9.36, Z:0.19 [[ 0.97417216 -0.21071942 -0.0811537 -8.50446375] [ 0.21458364 0.97579469 0.04217334 9.35611866] [ 0.07030261 -0.05849835 0.99580896 0.18677313] [ 0. 0. 0. 1. ]] SLAMing on 50.429259763999994 meters Centerline goodness : 0.763246 with order 1 Centerline is valid? [False, False] Translation: X:-8.50, Y:9.35, Z:0.19 [[ 0.9728057 -0.2171882 -0.08048829 -8.50498297] [ 0.22081053 0.97453173 0.03912307 9.35189566] [ 0.06994133 -0.05583181 0.99598746 0.19030815] [ 0. 0. 0. 1. ]] SLAMing on 50.489259763999996 meters Centerline goodness : 0.764264 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.35, Z:0.19 [[ 0.97323464 -0.21486019 -0.08154401 -8.50551528] [ 0.21876238 0.97486147 0.04228641 9.35294253] [ 0.07040844 -0.05899336 0.99577228 0.19200794] [ 0. 0. 0. 1. ]] SLAMing on 50.54925976399999 meters Centerline goodness : 0.760912 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.35, Z:0.19 [[ 0.97394602 -0.21201989 -0.08047802 -8.50598554] [ 0.21569623 0.97563969 0.04002923 9.35391338] [ 0.07003055 -0.05634511 0.99595228 0.18784397] [ 0. 0. 0. 1. ]] SLAMing on 50.609259763999994 meters Centerline goodness : 0.759202 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.36, Z:0.19 [[ 0.97506768 -0.20666746 -0.08081813 -8.50747279] [ 0.21051984 0.97667054 0.04237992 9.35600249] [ 0.07017413 -0.05833711 0.99582748 0.18713699] [ 0. 0. 0. 1. ]] SLAMing on 50.669259763999996 meters Centerline goodness : 0.761356 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.36, Z:0.19 [[ 0.97588625 -0.20296533 -0.0803188 -8.51050832] [ 0.20682948 0.97742939 0.04305052 9.35646099] [ 0.06976819 -0.05862471 0.99583911 0.18746491] [ 0. 0. 0. 1. ]] SLAMing on 50.729259764 meters Centerline goodness : 0.762938 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.35, Z:0.19 [[ 0.97645338 -0.20055141 -0.07948538 -8.51109432] [ 0.20436741 0.97794422 0.04311678 9.35469805] [ 0.06908514 -0.05834575 0.99590312 0.18517746] [ 0. 0. 0. 1. ]] SLAMing on 50.78925976399999 meters Centerline goodness : 0.763121 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.35, Z:0.19 [[ 0.97648442 -0.20057491 -0.07904357 -8.51232353] [ 0.20432894 0.97797519 0.04259347 9.35429393] [ 0.06875946 -0.05774275 0.9959608 0.18554771] [ 0. 0. 0. 1. ]] SLAMing on 50.849259763999996 meters Centerline goodness : 0.762178 with order 1 Centerline is valid? [False, False] Translation: X:-8.52, Y:9.35, Z:0.19 [[ 0.97626189 -0.20201291 -0.07812497 -8.51526462] [ 0.20564449 0.97774443 0.04154724 9.35170386] [ 0.06799317 -0.05662695 0.99607747 0.18818372] [ 0. 0. 0. 1. ]] SLAMing on 50.909259764 meters Centerline goodness : 0.762240 with order 1 Centerline is valid? [False, False] Translation: X:-8.52, Y:9.35, Z:0.19 [[ 0.97608907 -0.20376459 -0.07569756 -8.52013304] [ 0.20702937 0.97759471 0.03804505 9.34815054] [ 0.0662493 -0.05280697 0.99640476 0.18973274] [ 0. 0. 0. 1. ]] SLAMing on 50.96925976399999 meters Centerline goodness : 0.762944 with order 1 Centerline is valid? [False, False] Translation: X:-8.52, Y:9.35, Z:0.19 [[ 0.97587989 -0.20553791 -0.07357042 -8.52464502] [ 0.20846122 0.97742319 0.03446493 9.34622617] [ 0.06482558 -0.04897021 0.99669432 0.19121074] [ 0. 0. 0. 1. ]] SLAMing on 51.029259763999995 meters Centerline goodness : 0.768618 with order 1 Centerline is valid? [False, False] Translation: X:-8.53, Y:9.34, Z:0.19 [[ 0.97576372 -0.20644911 -0.07255287 -8.52777072] [ 0.20924129 0.97730104 0.03317758 9.3446913 ] [ 0.06405651 -0.04755453 0.99681259 0.1933009 ] [ 0. 0. 0. 1. ]] SLAMing on 51.089259764 meters Centerline goodness : 0.768664 with order 1 Centerline is valid? [False, False] Translation: X:-8.53, Y:9.34, Z:0.19 [[ 0.97612857 -0.20501105 -0.07171804 -8.53012611] [ 0.20772374 0.97764456 0.03258785 9.34484998] [ 0.06343388 -0.04670747 0.99689245 0.19324168] [ 0. 0. 0. 1. ]] SLAMing on 51.14925976399999 meters Centerline goodness : 0.772982 with order 1 Centerline is valid? [False, False] Translation: X:-8.53, Y:9.35, Z:0.19 [[ 0.97752459 -0.19804111 -0.07228693 -8.52889721] [ 0.20090777 0.97899398 0.03473977 9.34820961] [ 0.06388856 -0.04848199 0.99677869 0.1884669 ] [ 0. 0. 0. 1. ]] SLAMing on 51.209259763999995 meters Centerline goodness : 0.771485 with order 1 Centerline is valid? [False, False] Translation: X:-8.53, Y:9.35, Z:0.19 [[ 0.97885999 -0.19113772 -0.0727976 -8.53042223] [ 0.19418298 0.98025667 0.03728052 9.35156798] [ 0.06423462 -0.05062847 0.99664972 0.18724998] [ 0. 0. 0. 1. ]] SLAMing on 51.269259764 meters Centerline goodness : 0.771898 with order 1 Centerline is valid? [False, False] Translation: X:-8.54, Y:9.36, Z:0.19 [[ 0.98058035 -0.18272279 -0.07123601 -8.53685911] [ 0.18561377 0.98195301 0.0362742 9.35826285] [ 0.06332229 -0.04879215 0.99679969 0.18727822] [ 0. 0. 0. 1. ]] SLAMing on 51.32925976399999 meters Centerline goodness : 0.771049 with order 1 Centerline is valid? [False, False] Translation: X:-8.54, Y:9.37, Z:0.18 [[ 0.98120188 -0.17927914 -0.07142729 -8.53507731] [ 0.18210617 0.98264846 0.03520429 9.3652647 ] [ 0.06387652 -0.04754986 0.99682436 0.1816749 ] [ 0. 0. 0. 1. ]] SLAMing on 51.389259763999995 meters Centerline goodness : 0.772692 with order 1 Centerline is valid? [False, False] Translation: X:-8.51, Y:9.37, Z:0.18 [[ 0.98187724 -0.1762849 -0.0695753 -8.51340067] [ 0.17971694 0.98261574 0.04656321 9.36609773] [ 0.0601574 -0.05822321 0.99648941 0.17702255] [ 0. 0. 0. 1. ]] SLAMing on 51.449259764 meters Centerline goodness : 0.769855 with order 1 Centerline is valid? [False, False] Translation: X:-8.45, Y:9.35, Z:0.16 [[ 0.98079999 -0.18484234 -0.06216666 -8.44593923] [ 0.18984511 0.97790365 0.0875402 9.35351944] [ 0.04461187 -0.09766147 0.9942193 0.16047262] [ 0. 0. 0. 1. ]] SLAMing on 51.50925976399999 meters Centerline goodness : 0.767162 with order 1 Centerline is valid? [False, False] Translation: X:-8.45, Y:9.35, Z:0.18 [[ 0.97959836 -0.18925036 -0.06761183 -8.45382676] [ 0.19426473 0.97788772 0.07743911 9.35018028] [ 0.0514614 -0.08899382 0.99470188 0.1816887 ] [ 0. 0. 0. 1. ]] SLAMing on 51.569259763999995 meters Centerline goodness : 0.765625 with order 1 Centerline is valid? [False, False] Translation: X:-8.46, Y:9.35, Z:0.19 [[ 0.97904383 -0.1922362 -0.06721922 -8.45612008] [ 0.19716789 0.97737171 0.07661182 9.34931947] [ 0.05097059 -0.0882598 0.99479254 0.1854735 ] [ 0. 0. 0. 1. ]] SLAMing on 51.629259764 meters Centerline goodness : 0.766141 with order 1 Centerline is valid? [False, False] Translation: X:-8.46, Y:9.35, Z:0.19 [[ 0.97830266 -0.19632278 -0.06619123 -8.45783053] [ 0.20094961 0.97691504 0.0725 9.3478142 ] [ 0.05042981 -0.08422804 0.99516957 0.18748462] [ 0. 0. 0. 1. ]] SLAMing on 51.68925976399999 meters Centerline goodness : 0.766413 with order 1 Centerline is valid? [False, False] Translation: X:-8.46, Y:9.35, Z:0.19 [[ 0.97905162 -0.19226883 -0.06701213 -8.45890984] [ 0.19711924 0.97747711 0.0753824 9.35046954] [ 0.05100914 -0.08701264 0.99490043 0.18815516] [ 0. 0. 0. 1. ]] SLAMing on 51.749259763999994 meters Centerline goodness : 0.764991 with order 1 Centerline is valid? [False, False] Translation: X:-8.46, Y:9.35, Z:0.19 [[ 0.98002361 -0.18719706 -0.06716392 -8.46064802] [ 0.19216294 0.9783215 0.07720386 9.35361041] [ 0.05125557 -0.08856802 0.99475051 0.187056 ] [ 0. 0. 0. 1. ]] SLAMing on 51.809259764 meters Centerline goodness : 0.764836 with order 1 Centerline is valid? [False, False] Translation: X:-8.47, Y:9.36, Z:0.19 [[ 0.98173231 -0.17840597 -0.06612855 -8.46505793] [ 0.18339588 0.9798461 0.07916798 9.35510378] [ 0.05067176 -0.08984947 0.99466549 0.1852711 ] [ 0. 0. 0. 1. ]] SLAMing on 51.86925976399999 meters Centerline goodness : 0.765648 with order 1 Centerline is valid? [False, False] Translation: X:-8.47, Y:9.36, Z:0.19 [[ 0.98274094 -0.1732048 -0.06496422 -8.47241689] [ 0.17793714 0.98110693 0.07594454 9.35792717] [ 0.05058289 -0.08619335 0.99499351 0.19338336] [ 0. 0. 0. 1. ]] SLAMing on 51.929259763999994 meters Centerline goodness : 0.763644 with order 1 Centerline is valid? [False, False] Translation: X:-8.46, Y:9.36, Z:0.20 [[ 0.9824993 -0.1739363 -0.06664298 -8.46354378] [ 0.17846835 0.98149204 0.06944369 9.36295764] [ 0.05333078 -0.08012204 0.99535737 0.1977664 ] [ 0. 0. 0. 1. ]] SLAMing on 51.989259763999996 meters Centerline goodness : 0.761489 with order 1 Centerline is valid? [False, False] Translation: X:-8.41, Y:9.36, Z:0.20 [[ 0.98060012 -0.18478298 -0.06541136 -8.41021274] [ 0.18943322 0.97910617 0.07393348 9.36175358] [ 0.05038302 -0.08489026 0.99511567 0.19586376] [ 0. 0. 0. 1. ]] SLAMing on 52.04925976399999 meters Centerline goodness : 0.760462 with order 1 Centerline is valid? [False, False] Translation: X:-8.41, Y:9.36, Z:0.20 [[ 0.97894915 -0.19321942 -0.06576336 -8.41137034] [ 0.1978175 0.97754976 0.07255833 9.36058804] [ 0.05026728 -0.08404006 0.99519368 0.20292307] [ 0. 0. 0. 1. ]] SLAMing on 52.109259763999994 meters Centerline goodness : 0.760587 with order 1 Centerline is valid? [False, False] Translation: X:-8.41, Y:9.36, Z:0.21 [[ 0.9779153 -0.1979421 -0.06708653 -8.40904907] [ 0.20271084 0.97645119 0.07383352 9.35875554] [ 0.05089196 -0.0858021 0.99501156 0.20620993] [ 0. 0. 0. 1. ]] SLAMing on 52.169259763999996 meters Centerline goodness : 0.756593 with order 1 Centerline is valid? [False, False] Translation: X:-8.41, Y:9.36, Z:0.21 [[ 0.9765797 -0.20475474 -0.06608777 -8.41053973] [ 0.20918896 0.9754322 0.06907963 9.35874567] [ 0.05031975 -0.0812866 0.99541972 0.20904061] [ 0. 0. 0. 1. ]] SLAMing on 52.22925976399999 meters Centerline goodness : 0.757610 with order 1 Centerline is valid? [False, False] Translation: X:-8.41, Y:9.35, Z:0.22 [[ 0.97651254 -0.1993297 -0.08179804 -8.40846213] [ 0.20510013 0.97627217 0.06947368 9.35439192] [ 0.06600899 -0.08461871 0.99422457 0.21700329] [ 0. 0. 0. 1. ]] SLAMing on 52.28925976399999 meters Centerline goodness : 0.756487 with order 1 Centerline is valid? [False, False] Translation: X:-8.41, Y:9.36, Z:0.22 [[ 0.97729203 -0.19506482 -0.0827648 -8.41009934] [ 0.20115613 0.97683503 0.0730037 9.35768878] [ 0.0666071 -0.08799458 0.99389157 0.21857925] [ 0. 0. 0. 1. ]] SLAMing on 52.349259763999996 meters Centerline goodness : 0.754809 with order 1 Centerline is valid? [False, False] Translation: X:-8.41, Y:9.36, Z:0.22 [[ 0.97839912 -0.18958847 -0.08240976 -8.41137419] [ 0.19567031 0.97792713 0.07329164 9.36253485] [ 0.06669549 -0.08783362 0.99389988 0.21508837] [ 0. 0. 0. 1. ]] SLAMing on 52.409259764 meters Centerline goodness : 0.753609 with order 1 Centerline is valid? [False, False] Translation: X:-8.41, Y:9.37, Z:0.21 [[ 0.97908517 -0.18662238 -0.08102047 -8.41306192] [ 0.19244343 0.97872329 0.07117759 9.36607954] [ 0.06601329 -0.08528078 0.99416771 0.21100554] [ 0. 0. 0. 1. ]] SLAMing on 52.46925976399999 meters Centerline goodness : 0.758274 with order 1 Centerline is valid? [False, False] Translation: X:-8.42, Y:9.37, Z:0.22 [[ 0.98034589 -0.18046199 -0.07972084 -8.4211968 ] [ 0.18614574 0.97997224 0.07074022 9.37158506] [ 0.06535829 -0.08418958 0.99430398 0.21845757] [ 0. 0. 0. 1. ]] SLAMing on 52.529259763999995 meters Centerline goodness : 0.758031 with order 1 Centerline is valid? [False, False] Translation: X:-8.42, Y:9.38, Z:0.22 [[ 0.98141781 -0.17467626 -0.07941845 -8.42305504] [ 0.1804546 0.98090521 0.07253349 9.37638385] [ 0.06523209 -0.08551709 0.99419898 0.21612549] [ 0. 0. 0. 1. ]] SLAMing on 52.589259764 meters Centerline goodness : 0.755995 with order 1 Centerline is valid? [False, False] Translation: X:-8.43, Y:9.38, Z:0.21 [[ 0.98219071 -0.17110703 -0.07761308 -8.42594311] [ 0.17648549 0.98190292 0.06869878 9.38047619] [ 0.06445366 -0.08117289 0.99461384 0.21204007] [ 0. 0. 0. 1. ]] SLAMing on 52.64925976399999 meters Centerline goodness : 0.756615 with order 1 Centerline is valid? [False, False] Translation: X:-8.43, Y:9.38, Z:0.21 [[ 0.98265924 -0.16854948 -0.07727803 -8.42738826] [ 0.17387035 0.9824028 0.06821902 9.38398367] [ 0.06441988 -0.08047241 0.99467295 0.21076914] [ 0. 0. 0. 1. ]] SLAMing on 52.709259763999995 meters Centerline goodness : 0.757128 with order 1 Centerline is valid? [False, False] Translation: X:-8.43, Y:9.39, Z:0.21 [[ 0.98274573 -0.17432291 -0.06182515 -8.43404047] [ 0.17814749 0.98198974 0.06292558 9.39015953] [ 0.0497423 -0.07285384 0.99610141 0.20979899] [ 0. 0. 0. 1. ]] SLAMing on 52.769259764 meters Centerline goodness : 0.757909 with order 1 Centerline is valid? [False, False] Translation: X:-8.44, Y:9.39, Z:0.21 [[ 0.98310486 -0.17265492 -0.06078746 -8.43788073] [ 0.1763662 0.98236169 0.06213268 9.3915375 ] [ 0.04898776 -0.07180379 0.99621504 0.21087355] [ 0. 0. 0. 1. ]] SLAMing on 52.82925976399999 meters Centerline goodness : 0.752762 with order 1 Centerline is valid? [False, False] Translation: X:-8.44, Y:9.39, Z:0.21 [[ 0.98296377 -0.17330616 -0.06121443 -8.43552663] [ 0.17699026 0.98232198 0.06097524 9.39275109] [ 0.0495649 -0.07077081 0.99626041 0.20861145] [ 0. 0. 0. 1. ]] SLAMing on 52.889259763999995 meters Centerline goodness : 0.753622 with order 1 Centerline is valid? [False, False] Translation: X:-8.44, Y:9.39, Z:0.21 [[ 0.98361964 -0.16987978 -0.0602765 -8.4386028 ] [ 0.17344963 0.98301606 0.05995548 9.39368924] [ 0.04906754 -0.06942832 0.99637949 0.2083876 ] [ 0. 0. 0. 1. ]] SLAMing on 52.949259764 meters Centerline goodness : 0.754662 with order 1 Centerline is valid? [False, False] Translation: X:-8.44, Y:9.40, Z:0.21 [[ 0.98361 -0.16989114 -0.06040165 -8.43881248] [ 0.17338282 0.98313327 0.05820113 9.39941434] [ 0.04949502 -0.06771983 0.99647592 0.21006052] [ 0. 0. 0. 1. ]] SLAMing on 53.00925976399999 meters Centerline goodness : 0.756733 with order 1 Centerline is valid? [False, False] Translation: X:-8.40, Y:9.40, Z:0.21 [[ 0.98472426 -0.16413184 -0.05812802 -8.40041339] [ 0.16776915 0.98371635 0.06446437 9.40194962] [ 0.04660082 -0.07323172 0.99622562 0.20789513] [ 0. 0. 0. 1. ]] SLAMing on 53.069259763999995 meters Centerline goodness : 0.759513 with order 1 Centerline is valid? [False, False] Translation: X:-8.40, Y:9.40, Z:0.20 [[ 0.98541812 -0.16045887 -0.05660457 -8.40220001] [ 0.16385481 0.98456282 0.06154386 9.40408856] [ 0.0458555 -0.06992136 0.99649801 0.2039534 ] [ 0. 0. 0. 1. ]] SLAMing on 53.129259764 meters Centerline goodness : 0.760096 with order 1 Centerline is valid? [False, False] Translation: X:-8.41, Y:9.41, Z:0.20 [[ 0.98620467 -0.15589303 -0.05565715 -8.40502483] [ 0.15924107 0.98529981 0.0618592 9.40528331] [ 0.04519556 -0.06986874 0.99653185 0.20304066] [ 0. 0. 0. 1. ]] SLAMing on 53.18925976399999 meters Centerline goodness : 0.762844 with order 1 Centerline is valid? [False, False] Translation: X:-8.39, Y:9.41, Z:0.20 [[ 0.98787514 -0.14798952 -0.04692343 -8.38634616] [ 0.15071404 0.98668704 0.06110622 9.40802664] [ 0.03725566 -0.06743733 0.99702769 0.19916054] [ 0. 0. 0. 1. ]] SLAMing on 53.249259763999994 meters Centerline goodness : 0.766612 with order 1 Centerline is valid? [False, False] Translation: X:-8.39, Y:9.41, Z:0.20 [[ 0.98794132 -0.14754411 -0.04693283 -8.38565481] [ 0.15024177 0.98680511 0.06035796 9.41079781] [ 0.0374081 -0.0666814 0.99707283 0.19921543] [ 0. 0. 0. 1. ]] SLAMing on 53.309259764 meters Centerline goodness : 0.767050 with order 1 Centerline is valid? [False, False] Translation: X:-8.39, Y:9.42, Z:0.20 [[ 0.98737518 -0.15143062 -0.04646524 -8.38543741] [ 0.15387548 0.98658442 0.05452989 9.41598511] [ 0.03758439 -0.06099132 0.99743043 0.20140177] [ 0. 0. 0. 1. ]] SLAMing on 53.36925976399999 meters Centerline goodness : 0.769585 with order 1 Centerline is valid? [False, False] Translation: X:-8.37, Y:9.41, Z:0.19 [[ 0.98842776 -0.14761036 -0.03495352 -8.37264616] [ 0.14941106 0.98717644 0.05620512 9.41285372] [ 0.02620884 -0.06077714 0.99780721 0.19357248] [ 0. 0. 0. 1. ]] SLAMing on 53.429259763999994 meters Centerline goodness : 0.772805 with order 1 Centerline is valid? [False, False] Translation: X:-8.37, Y:9.41, Z:0.20 [[ 0.98777381 -0.15212309 -0.03408032 -8.37458322] [ 0.15373636 0.98678625 0.05116663 9.41359231] [ 0.02584637 -0.05578045 0.99810846 0.19651072] [ 0. 0. 0. 1. ]] SLAMing on 53.489259763999996 meters Centerline goodness : 0.771356 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.39, Z:0.18 [[ 0.98671343 -0.16031606 -0.02636966 -8.32261221] [ 0.16199513 0.98318691 0.08426789 9.39252346] [ 0.01241681 -0.08742002 0.99609415 0.17589071] [ 0. 0. 0. 1. ]] SLAMing on 53.54925976399999 meters Centerline goodness : 0.773018 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.38, Z:0.19 [[ 0.98641915 -0.15907611 -0.04089061 -8.32491338] [ 0.16201473 0.98328439 0.08308456 9.38473125] [ 0.02699033 -0.08858108 0.99570323 0.191924 ] [ 0. 0. 0. 1. ]] SLAMing on 53.609259763999994 meters Centerline goodness : 0.772547 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.37, Z:0.18 [[ 0.9857357 -0.16496937 -0.03332017 -8.27113425] [ 0.16771462 0.97936743 0.11274417 9.37251582] [ 0.01403336 -0.11672423 0.99306521 0.17751534] [ 0. 0. 0. 1. ]] SLAMing on 53.669259763999996 meters Centerline goodness : 0.774496 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.37, Z:0.19 [[ 0.9861654 -0.16030816 -0.04217938 -8.28208373] [ 0.16406118 0.98028871 0.11008165 9.370363 ] [ 0.02370099 -0.11547872 0.99302715 0.19134469] [ 0. 0. 0. 1. ]] SLAMing on 53.72925976399999 meters Centerline goodness : 0.776705 with order 1 Centerline is valid? [False, False] Translation: X:-8.29, Y:9.37, Z:0.19 [[ 0.98673075 -0.15736604 -0.03997946 -8.28816113] [ 0.16084514 0.98101074 0.10838255 9.37232994] [ 0.02216455 -0.1133749 0.99330502 0.1921443 ] [ 0. 0. 0. 1. ]] SLAMing on 53.78925976399999 meters Centerline goodness : 0.776462 with order 1 Centerline is valid? [False, False] Translation: X:-8.29, Y:9.37, Z:0.19 [[ 0.98670042 -0.15793506 -0.03845517 -8.2923709 ] [ 0.16118812 0.98121512 0.10599663 9.37374122] [ 0.02099221 -0.11078544 0.99362262 0.19355806] [ 0. 0. 0. 1. ]] SLAMing on 53.849259763999996 meters Centerline goodness : 0.779258 with order 1 Centerline is valid? [False, False] Translation: X:-8.30, Y:9.38, Z:0.20 [[ 0.9869745 -0.1568386 -0.03581881 -8.29984252] [ 0.15977185 0.98164175 0.10417498 9.37553701] [ 0.01882258 -0.10854088 0.99391377 0.19616408] [ 0. 0. 0. 1. ]] SLAMing on 53.90925976399999 meters Centerline goodness : 0.780805 with order 1 Centerline is valid? [False, False] Translation: X:-8.30, Y:9.39, Z:0.20 [[ 0.9873271 -0.15441126 -0.03663831 -8.29592318] [ 0.15733826 0.98258294 0.09887085 9.38733279] [ 0.02073341 -0.10338248 0.99442556 0.20382043] [ 0. 0. 0. 1. ]] SLAMing on 53.96925976399999 meters Centerline goodness : 0.780747 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.40, Z:0.21 [[ 0.9878704 -0.14967601 -0.04134195 -8.30542877] [ 0.15273861 0.98460376 0.08500797 9.40072692] [ 0.02798178 -0.09029137 0.99552222 0.21373298] [ 0. 0. 0. 1. ]] SLAMing on 54.029259763999995 meters Centerline goodness : 0.780172 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.41, Z:0.22 [[ 0.98786959 -0.14964642 -0.0414683 -8.30525265] [ 0.15264521 0.98484336 0.08235894 9.40898289] [ 0.02851506 -0.08768983 0.99573962 0.21588532] [ 0. 0. 0. 1. ]] SLAMing on 54.089259764 meters Centerline goodness : 0.777901 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.42, Z:0.23 [[ 0.98901169 -0.14247537 -0.03945426 -8.31460253] [ 0.14527233 0.98610148 0.08062151 9.41689887] [ 0.02741932 -0.08546723 0.99596362 0.22627842] [ 0. 0. 0. 1. ]] SLAMing on 54.14925976399999 meters Centerline goodness : 0.773967 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.42, Z:0.22 [[ 0.98961991 -0.13807983 -0.03982965 -8.31403312] [ 0.14102626 0.98640592 0.08435024 9.42007921] [ 0.02764113 -0.0890917 0.99563981 0.22451847] [ 0. 0. 0. 1. ]] SLAMing on 54.209259763999995 meters Centerline goodness : 0.775495 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.42, Z:0.22 [[ 0.99020665 -0.13376113 -0.03998442 -8.31438445] [ 0.13684838 0.9866413 0.08838249 9.42061656] [ 0.02762814 -0.09298873 0.99528377 0.22341286] [ 0. 0. 0. 1. ]] SLAMing on 54.269259764 meters Centerline goodness : 0.778400 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.43, Z:0.22 [[ 0.99161044 -0.1251738 -0.03225284 -8.32570957] [ 0.12748572 0.98827485 0.08402512 9.42557452] [ 0.02135692 -0.08743196 0.99594153 0.2210063 ] [ 0. 0. 0. 1. ]] SLAMing on 54.32925976399999 meters Centerline goodness : 0.779574 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.43, Z:0.22 [[ 0.9916062 -0.12518995 -0.03232051 -8.32553973] [ 0.12749181 0.98833657 0.08328668 9.42824424] [ 0.02151689 -0.08670818 0.99600136 0.2212775 ] [ 0. 0. 0. 1. ]] SLAMing on 54.389259763999995 meters Centerline goodness : 0.781587 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.43, Z:0.22 [[ 0.99150872 -0.12601584 -0.03210092 -8.3276787 ] [ 0.1282598 0.98837791 0.08159987 9.43215078] [ 0.02144496 -0.08502424 0.99614808 0.2239345 ] [ 0. 0. 0. 1. ]] SLAMing on 54.449259764 meters Centerline goodness : 0.781922 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.44, Z:0.23 [[ 0.99156235 -0.12542776 -0.03274104 -8.32602873] [ 0.12769429 0.98857487 0.08008675 9.4384096 ] [ 0.02232186 -0.08359185 0.99625004 0.2251038 ] [ 0. 0. 0. 1. ]] SLAMing on 54.50925976399999 meters Centerline goodness : 0.779734 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.44, Z:0.22 [[ 0.99167848 -0.12439182 -0.03317341 -8.32382227] [ 0.12668184 0.98876064 0.07939845 9.4427334 ] [ 0.02292405 -0.0829402 0.99629083 0.22465821] [ 0. 0. 0. 1. ]] SLAMing on 54.569259763999995 meters Centerline goodness : 0.780529 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.44, Z:0.22 [[ 0.9916961 -0.12428498 -0.0330468 -8.32390337] [ 0.12655781 0.988801 0.07909305 9.44343324] [ 0.02284663 -0.0826186 0.99631933 0.22482709] [ 0. 0. 0. 1. ]] SLAMing on 54.629259764 meters Centerline goodness : 0.780257 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.44, Z:0.23 [[ 0.99165675 -0.12467917 -0.0327414 -8.32532931] [ 0.1269136 0.98879769 0.07856254 9.4443966 ] [ 0.02257951 -0.08206241 0.99637138 0.22577877] [ 0. 0. 0. 1. ]] SLAMing on 54.68925976399999 meters Centerline goodness : 0.782575 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.45, Z:0.23 [[ 0.99162966 -0.12496268 -0.03247985 -8.32640344] [ 0.12716529 0.98879901 0.07813773 9.44525457] [ 0.02235175 -0.081614 0.99641334 0.22652315] [ 0. 0. 0. 1. ]] SLAMing on 54.749259763999994 meters Centerline goodness : 0.783201 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.45, Z:0.23 [[ 0.99117909 -0.12849359 -0.03245635 -8.32519514] [ 0.13056858 0.98874897 0.07298844 9.44902701] [ 0.02271264 -0.07658239 0.99680453 0.22822347] [ 0. 0. 0. 1. ]] SLAMing on 54.809259764 meters Centerline goodness : 0.783125 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.45, Z:0.23 [[ 0.99113859 -0.12887228 -0.03219067 -8.32652784] [ 0.13091828 0.98872793 0.0726463 9.44927496] [ 0.02246572 -0.0762169 0.99683814 0.22910703] [ 0. 0. 0. 1. ]] SLAMing on 54.86925976399999 meters Centerline goodness : 0.783925 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.45, Z:0.23 [[ 0.99113033 -0.12899598 -0.03194865 -8.32790248] [ 0.13099281 0.98881695 0.0712876 9.4522815 ] [ 0.02239555 -0.07484034 0.99694401 0.23149515] [ 0. 0. 0. 1. ]] SLAMing on 54.929259763999994 meters Centerline goodness : 0.783884 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.23 [[ 0.99064083 -0.13273997 -0.03179378 -8.3273888 ] [ 0.13459363 0.98871356 0.06580317 9.45662361] [ 0.02270023 -0.06946655 0.99732597 0.23381143] [ 0. 0. 0. 1. ]] SLAMing on 54.989259763999996 meters Centerline goodness : 0.785736 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.23 [[ 0.99059924 -0.13314709 -0.03138466 -8.32893584] [ 0.13496098 0.98869474 0.06533174 9.45713108] [ 0.02233112 -0.06895328 0.99736992 0.23461309] [ 0. 0. 0. 1. ]] SLAMing on 55.04925976399999 meters Centerline goodness : 0.785311 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.23 [[ 0.9906506 -0.13274281 -0.03147585 -8.32797491] [ 0.13456207 0.9887541 0.06525626 9.4586769 ] [ 0.02245958 -0.06888161 0.99737199 0.23383128] [ 0. 0. 0. 1. ]] SLAMing on 55.109259763999994 meters Centerline goodness : 0.784368 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.23 [[ 0.99119783 -0.12861022 -0.03140489 -8.32931533] [ 0.1305177 0.98903889 0.06904499 9.45962178] [ 0.02218076 -0.07253614 0.99711911 0.23360605] [ 0. 0. 0. 1. ]] SLAMing on 55.169259763999996 meters Centerline goodness : 0.782208 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.23 [[ 0.99179708 -0.12413791 -0.0304684 -8.3322456 ] [ 0.12605689 0.98938545 0.07229175 9.46366048] [ 0.02117085 -0.0755395 0.99691804 0.2336843 ] [ 0. 0. 0. 1. ]] SLAMing on 55.22925976399999 meters Centerline goodness : 0.777618 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.47, Z:0.24 [[ 0.99224107 -0.11908773 -0.03571797 -8.34689174] [ 0.12116461 0.99062611 0.06307968 9.47128563] [ 0.02787114 -0.06691801 0.99736913 0.2423122 ] [ 0. 0. 0. 1. ]] SLAMing on 55.28925976399999 meters Centerline goodness : 0.773953 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.48, Z:0.25 [[ 0.99261738 -0.11430451 -0.04056123 -8.36347572] [ 0.1164143 0.9917235 0.05414995 9.47830765] [ 0.03403594 -0.05847209 0.99770866 0.25153958] [ 0. 0. 0. 1. ]] SLAMing on 55.349259763999996 meters Centerline goodness : 0.772512 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.48, Z:0.25 [[ 0.99268632 -0.11358604 -0.04089109 -8.36220247] [ 0.11569615 0.99183843 0.05358103 9.48124216] [ 0.0344713 -0.0579201 0.99772591 0.25208344] [ 0. 0. 0. 1. ]] SLAMing on 55.40925976399999 meters Centerline goodness : 0.769046 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.48, Z:0.25 [[ 0.99325532 -0.10848601 -0.04092267 -8.36182839] [ 0.11077829 0.99211201 0.05866801 9.47734909] [ 0.03423522 -0.06280565 0.99743842 0.25057651] [ 0. 0. 0. 1. ]] SLAMing on 55.46925976399999 meters Centerline goodness : 0.766305 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.48, Z:0.25 [[ 0.99326427 -0.10838984 -0.04096022 -8.36295944] [ 0.11065045 0.99218443 0.05767608 9.47877018] [ 0.03438859 -0.06181986 0.99749473 0.25363429] [ 0. 0. 0. 1. ]] SLAMing on 55.529259763999995 meters Centerline goodness : 0.761440 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.48, Z:0.25 [[ 0.99332119 -0.10788603 -0.04090993 -8.3629625 ] [ 0.11016255 0.99220738 0.0582127 9.47587196] [ 0.0343108 -0.06233065 0.99746562 0.25407319] [ 0. 0. 0. 1. ]] SLAMing on 55.58925976399999 meters Centerline goodness : 0.759184 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.47, Z:0.26 [[ 0.99333774 -0.10776841 -0.04081805 -8.36366365] [ 0.11004497 0.99221076 0.05837733 9.47390737] [ 0.03420887 -0.06248022 0.99745976 0.25505245] [ 0. 0. 0. 1. ]] SLAMing on 55.64925976399999 meters Centerline goodness : 0.756586 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.47, Z:0.26 [[ 0.99290227 -0.11176221 -0.04067303 -8.36367414] [ 0.11386554 0.99204352 0.05370564 9.47421675] [ 0.03434716 -0.05795571 0.99772812 0.25732217] [ 0. 0. 0. 1. ]] SLAMing on 55.709259763999995 meters Centerline goodness : 0.756561 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.48, Z:0.26 [[ 0.99239066 -0.11620403 -0.04071114 -8.36384738] [ 0.11813839 0.99179464 0.04885401 9.47551692] [ 0.03470006 -0.05329182 0.9979759 0.26042299] [ 0. 0. 0. 1. ]] SLAMing on 55.769259764 meters Centerline goodness : 0.756800 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.48, Z:0.26 [[ 0.99191067 -0.12028549 -0.04055409 -8.36348519] [ 0.1220507 0.99153524 0.04428878 9.47712825] [ 0.03488351 -0.04888017 0.99819531 0.26164368] [ 0. 0. 0. 1. ]] SLAMing on 55.82925976399999 meters Centerline goodness : 0.756948 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.48, Z:0.26 [[ 0.99138313 -0.12480481 -0.03979002 -8.36472036] [ 0.1263902 0.99116652 0.04018011 9.47580811] [ 0.03442387 -0.04486295 0.99839988 0.26249894] [ 0. 0. 0. 1. ]] SLAMing on 55.889259763999995 meters Centerline goodness : 0.754826 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.47, Z:0.26 [[ 0.99093827 -0.12975563 -0.03471069 -8.35030758] [ 0.13131883 0.99020849 0.0473552 9.47128205] [ 0.02822622 -0.05148425 0.99827484 0.25704884] [ 0. 0. 0. 1. ]] SLAMing on 55.949259764 meters Centerline goodness : 0.753387 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.25 [[ 0.99044003 -0.13471544 -0.02966987 -8.33613642] [ 0.13616735 0.98921023 0.0540516 9.46766602] [ 0.02206816 -0.05757493 0.99809725 0.25278863] [ 0. 0. 0. 1. ]] SLAMing on 56.00925976399999 meters Centerline goodness : 0.751768 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.25 [[ 0.98979559 -0.13953611 -0.02888545 -8.33760374] [ 0.14084018 0.98879258 0.04953051 9.46805149] [ 0.02165042 -0.05309332 0.99835483 0.25386181] [ 0. 0. 0. 1. ]] SLAMing on 56.069259763999995 meters Centerline goodness : 0.749691 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.46, Z:0.25 [[ 0.98974901 -0.13997589 -0.02834856 -8.33882787] [ 0.14126866 0.98868911 0.05036873 9.46496025] [ 0.0209775 -0.05385716 0.99832828 0.25284235] [ 0. 0. 0. 1. ]] SLAMing on 56.129259764 meters Centerline goodness : 0.751372 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.25 [[ 0.98889499 -0.14676471 -0.02338409 -8.32588369] [ 0.14788244 0.98737049 0.05683581 9.46222277] [ 0.01474727 -0.05966274 0.99810965 0.24714617] [ 0. 0. 0. 1. ]] SLAMing on 56.18925976399999 meters Centerline goodness : 0.750503 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.46, Z:0.26 [[ 0.98870751 -0.14419564 -0.04080544 -8.32186294] [ 0.14635535 0.98763997 0.05610165 9.45898241] [ 0.03221147 -0.06144022 0.99759086 0.26042368] [ 0. 0. 0. 1. ]] SLAMing on 56.249259763999994 meters Centerline goodness : 0.749219 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.46, Z:0.26 [[ 0.98750802 -0.15187358 -0.04198007 -8.31887492] [ 0.15399674 0.98664542 0.05306432 9.46197264] [ 0.03336037 -0.05886623 0.9977083 0.2615828 ] [ 0. 0. 0. 1. ]] SLAMing on 56.309259764 meters Centerline goodness : 0.749965 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.46, Z:0.26 [[ 0.98710194 -0.15406642 -0.04351215 -8.31651113] [ 0.15631855 0.98621715 0.05422402 9.46374794] [ 0.03455833 -0.06032639 0.9975803 0.2626429 ] [ 0. 0. 0. 1. ]] SLAMing on 56.36925976399999 meters Centerline goodness : 0.749260 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.47, Z:0.26 [[ 0.98755598 -0.1508864 -0.04434508 -8.31739044] [ 0.15328113 0.98655195 0.05674641 9.46769133] [ 0.03518646 -0.06283752 0.99740331 0.26379956] [ 0. 0. 0. 1. ]] SLAMing on 56.429259763999994 meters Centerline goodness : 0.746556 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.47, Z:0.26 [[ 0.9886953 -0.14352743 -0.04337614 -8.3198006 ] [ 0.14585486 0.98770028 0.05634279 9.47393827] [ 0.03475589 -0.06203247 0.9974688 0.26002975] [ 0. 0. 0. 1. ]] SLAMing on 56.489259763999996 meters Centerline goodness : 0.745467 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.48, Z:0.26 [[ 0.98872138 -0.14325882 -0.0436685 -8.31885935] [ 0.14557909 0.98778218 0.05561557 9.47657734] [ 0.03516755 -0.06134552 0.99749685 0.26040266] [ 0. 0. 0. 1. ]] SLAMing on 56.54925976399999 meters Centerline goodness : 0.747484 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.48, Z:0.26 [[ 0.98947935 -0.1381689 -0.04289494 -8.3210976 ] [ 0.14042373 0.98856498 0.05495874 9.48174658] [ 0.03481084 -0.06040401 0.99756682 0.25811629] [ 0. 0. 0. 1. ]] SLAMing on 56.609259763999994 meters Centerline goodness : 0.747831 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.49, Z:0.26 [[ 0.98949707 -0.13799454 -0.04304722 -8.3204621 ] [ 0.14023433 0.98863028 0.05426323 9.48583285] [ 0.03506976 -0.05973001 0.99759834 0.25799994] [ 0. 0. 0. 1. ]] SLAMing on 56.669259763999996 meters Centerline goodness : 0.748120 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.49, Z:0.26 [[ 0.98947007 -0.13824833 -0.04285294 -8.32150094] [ 0.14045852 0.98862619 0.05375555 9.48665363] [ 0.03493393 -0.05920857 0.99763418 0.25898561] [ 0. 0. 0. 1. ]] SLAMing on 56.72925976399999 meters Centerline goodness : 0.748256 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.49, Z:0.26 [[ 0.98889928 -0.14222132 -0.04302691 -8.31986786] [ 0.14426577 0.98833178 0.04886387 9.49011851] [ 0.03557538 -0.05452875 0.99787825 0.26008672] [ 0. 0. 0. 1. ]] SLAMing on 56.78925976399999 meters Centerline goodness : 0.747088 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.49, Z:0.26 [[ 0.988724 -0.14327941 -0.04354154 -8.31780048] [ 0.14533088 0.98820362 0.04829635 9.49144143] [ 0.03610803 -0.05407969 0.99788356 0.25856566] [ 0. 0. 0. 1. ]] SLAMing on 56.849259763999996 meters Centerline goodness : 0.749281 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.49, Z:0.26 [[ 0.98884348 -0.14239747 -0.04372109 -8.31903185] [ 0.14444723 0.98834908 0.04796978 9.49381401] [ 0.03638093 -0.05375 0.99789146 0.25976055] [ 0. 0. 0. 1. ]] SLAMing on 56.90925976399999 meters Centerline goodness : 0.749791 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.50, Z:0.26 [[ 0.98886039 -0.14228885 -0.04369236 -8.31882118] [ 0.14432726 0.98837968 0.04769953 9.49536274] [ 0.03639753 -0.05347417 0.99790567 0.25953529] [ 0. 0. 0. 1. ]] SLAMing on 56.96925976399999 meters Centerline goodness : 0.749826 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.50, Z:0.26 [[ 0.98911722 -0.14057424 -0.04342831 -8.31995796] [ 0.14253786 0.98871934 0.04601105 9.49763722] [ 0.03647044 -0.0517005 0.99799648 0.25912564] [ 0. 0. 0. 1. ]] SLAMing on 57.029259763999995 meters Centerline goodness : 0.750051 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.50, Z:0.26 [[ 0.98903286 -0.14129194 -0.04301848 -8.32222669] [ 0.14319172 0.98867862 0.04484107 9.50014495] [ 0.03619577 -0.05050919 0.99806748 0.26107906] [ 0. 0. 0. 1. ]] SLAMing on 57.08925976399999 meters Centerline goodness : 0.747673 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.50, Z:0.26 [[ 0.98905513 -0.14109166 -0.04316357 -8.3229124 ] [ 0.14297996 0.98873263 0.04432286 9.50199371] [ 0.03642365 -0.05000927 0.99808436 0.26173726] [ 0. 0. 0. 1. ]] SLAMing on 57.14925976399999 meters Centerline goodness : 0.749229 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.50, Z:0.26 [[ 0.98900695 -0.14143204 -0.04315346 -8.3235696 ] [ 0.14328316 0.9887331 0.04332207 9.50373136] [ 0.03654012 -0.04902899 0.99812874 0.26222127] [ 0. 0. 0. 1. ]] SLAMing on 57.209259763999995 meters Centerline goodness : 0.748133 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.51, Z:0.26 [[ 0.98894782 -0.1418746 -0.04305584 -8.32442053] [ 0.14368679 0.98871485 0.04239161 9.50622326] [ 0.03655566 -0.04810965 0.9981729 0.26326359] [ 0. 0. 0. 1. ]] SLAMing on 57.26925976399999 meters Centerline goodness : 0.747374 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.51, Z:0.26 [[ 0.98956659 -0.1374067 -0.04332862 -8.32435786] [ 0.13937884 0.98915378 0.04635007 9.50729609] [ 0.03648986 -0.05190558 0.99798512 0.26228404] [ 0. 0. 0. 1. ]] SLAMing on 57.32925976399999 meters Centerline goodness : 0.748167 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.51, Z:0.26 [[ 0.99011865 -0.13354703 -0.04278146 -8.32460345] [ 0.13544006 0.98976725 0.04490852 9.5082505 ] [ 0.03634629 -0.05025909 0.99807463 0.25939198] [ 0. 0. 0. 1. ]] SLAMing on 57.389259763999995 meters Centerline goodness : 0.748823 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.51, Z:0.26 [[ 0.99053251 -0.13031665 -0.04316158 -8.32547267] [ 0.13229138 0.99011596 0.04657666 9.50814219] [ 0.03666526 -0.0518456 0.99798181 0.260455 ] [ 0. 0. 0. 1. ]] SLAMing on 57.449259764 meters Centerline goodness : 0.749720 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.51, Z:0.26 [[ 0.99106053 -0.12629833 -0.04298559 -8.32762685] [ 0.12842294 0.9904131 0.05088662 9.50583496] [ 0.03614659 -0.05595206 0.99777893 0.26087058] [ 0. 0. 0. 1. ]] SLAMing on 57.50925976399999 meters Centerline goodness : 0.747529 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.50, Z:0.26 [[ 0.99110134 -0.12595371 -0.04305578 -8.32700721] [ 0.12809671 0.99043512 0.05127873 9.50393752] [ 0.03618521 -0.05633772 0.99775583 0.26058316] [ 0. 0. 0. 1. ]] SLAMing on 57.569259763999995 meters Centerline goodness : 0.746502 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.50, Z:0.26 [[ 0.99108993 -0.12614773 -0.04274939 -8.32822973] [ 0.12827789 0.99040507 0.05140607 9.50221564] [ 0.03585446 -0.05643184 0.99776245 0.26117608] [ 0. 0. 0. 1. ]] SLAMing on 57.629259764 meters Centerline goodness : 0.745037 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.50, Z:0.26 [[ 0.99051787 -0.13068272 -0.04238375 -8.32943159] [ 0.1326229 0.99006379 0.0467425 9.50113019] [ 0.03585418 -0.05192034 0.99800739 0.26454445] [ 0. 0. 0. 1. ]] SLAMing on 57.68925976399999 meters Centerline goodness : 0.743816 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.50, Z:0.27 [[ 0.98995794 -0.13506356 -0.04172652 -8.33055716] [ 0.1368463 0.98964515 0.0433078 9.4963034 ] [ 0.03544514 -0.04858302 0.99819003 0.26610416] [ 0. 0. 0. 1. ]] SLAMing on 57.749259763999994 meters Centerline goodness : 0.744313 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.49, Z:0.26 [[ 0.98928997 -0.14130885 -0.03656737 -8.31750964] [ 0.14305514 0.98842012 0.05060536 9.48734061] [ 0.02899294 -0.05529453 0.99804906 0.26108147] [ 0. 0. 0. 1. ]] SLAMing on 57.809259764 meters Centerline goodness : 0.743722 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.48, Z:0.27 [[ 0.98792573 -0.15055041 -0.03656946 -8.31906734] [ 0.152219 0.98717168 0.04818139 9.4812864 ] [ 0.02884661 -0.0531662 0.99816894 0.26838516] [ 0. 0. 0. 1. ]] SLAMing on 57.86925976399999 meters Centerline goodness : 0.744862 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.47, Z:0.29 [[ 0.9862305 -0.1563247 -0.05396282 -8.31514065] [ 0.15881956 0.98625785 0.04551704 9.47120036] [ 0.04610582 -0.05346065 0.99750499 0.28574473] [ 0. 0. 0. 1. ]] SLAMing on 57.929259763999994 meters Centerline goodness : 0.744421 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.47, Z:0.29 [[ 0.98464295 -0.16591711 -0.05431184 -8.31474569] [ 0.1683385 0.98476827 0.0435156 9.46515085] [ 0.0462646 -0.05199011 0.99757537 0.29145173] [ 0. 0. 0. 1. ]] SLAMing on 57.989259763999996 meters Centerline goodness : 0.743640 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.46, Z:0.29 [[ 0.98445481 -0.16690691 -0.05468824 -8.31586665] [ 0.16941557 0.98451843 0.04496479 9.46269137] [ 0.04633665 -0.05353084 0.99749053 0.29497899] [ 0. 0. 0. 1. ]] SLAMing on 58.04925976399999 meters Centerline goodness : 0.746042 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.46, Z:0.30 [[ 0.98476863 -0.16550761 -0.05327274 -8.31894651] [ 0.16784707 0.98487903 0.04290285 9.45962409] [ 0.04536646 -0.05119105 0.99765794 0.29549411] [ 0. 0. 0. 1. ]] SLAMing on 58.109259763999994 meters Centerline goodness : 0.746827 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.46, Z:0.30 [[ 0.98437989 -0.16808507 -0.05237987 -8.32022299] [ 0.17021565 0.98462465 0.03925478 9.457727 ] [ 0.04497637 -0.04755749 0.99785541 0.29628393] [ 0. 0. 0. 1. ]] SLAMing on 58.169259763999996 meters Centerline goodness : 0.748920 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.45, Z:0.30 [[ 0.983358 -0.17377519 -0.05300223 -8.32004149] [ 0.17592696 0.98362904 0.03903345 9.45408248] [ 0.04535149 -0.04770837 0.99783122 0.30117192] [ 0. 0. 0. 1. ]] SLAMing on 58.22925976399999 meters Centerline goodness : 0.749039 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.45, Z:0.30 [[ 0.9827443 -0.17694735 -0.05388209 -8.31902572] [ 0.17923202 0.98295275 0.04098511 9.45085698] [ 0.04571134 -0.04993528 0.99770584 0.30428425] [ 0. 0. 0. 1. ]] SLAMing on 58.28925976399999 meters Centerline goodness : 0.749247 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.44, Z:0.32 [[ 0.98321953 -0.16816486 -0.07071019 -8.31579282] [ 0.17147693 0.98421953 0.04367582 9.44307978] [ 0.06224961 -0.05506808 0.99654026 0.31513196] [ 0. 0. 0. 1. ]] SLAMing on 58.349259763999996 meters Centerline goodness : 0.748837 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.44, Z:0.32 [[ 0.98316908 -0.16917922 -0.06897063 -8.3188991 ] [ 0.17220682 0.9842251 0.04056789 9.44045335] [ 0.06101938 -0.05176231 0.99679351 0.3156176 ] [ 0. 0. 0. 1. ]] SLAMing on 58.40925976399999 meters Centerline goodness : 0.748019 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.44, Z:0.32 [[ 0.98269698 -0.17220737 -0.06820017 -8.32133021] [ 0.17507234 0.98380297 0.03848875 9.43855925] [ 0.06046749 -0.04976274 0.99692896 0.31841513] [ 0. 0. 0. 1. ]] SLAMing on 58.46925976399999 meters Centerline goodness : 0.748347 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.44, Z:0.32 [[ 0.98223926 -0.17497167 -0.06775658 -8.3239145 ] [ 0.17779485 0.98332929 0.03811162 9.43650453] [ 0.05995858 -0.0494815 0.9969737 0.32218426] [ 0. 0. 0. 1. ]] SLAMing on 58.529259763999995 meters Centerline goodness : 0.747126 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.44, Z:0.33 [[ 0.98180046 -0.17742875 -0.06772663 -8.32591524] [ 0.18028821 0.98285236 0.03869637 9.43504075] [ 0.05969943 -0.05020242 0.99695321 0.32607969] [ 0. 0. 0. 1. ]] SLAMing on 58.58925976399999 meters Centerline goodness : 0.749302 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.43, Z:0.33 [[ 0.98172819 -0.17782073 -0.06774619 -8.32639737] [ 0.18063941 0.98281533 0.03799262 9.43438539] [ 0.05982612 -0.04953606 0.99697894 0.32692521] [ 0. 0. 0. 1. ]] SLAMing on 58.64925976399999 meters Centerline goodness : 0.749705 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.43, Z:0.33 [[ 0.98194353 -0.17675503 -0.06741336 -8.32732792] [ 0.17954842 0.98302011 0.03786586 9.4335525 ] [ 0.05957571 -0.0492861 0.99700633 0.32697658] [ 0. 0. 0. 1. ]] SLAMing on 58.709259763999995 meters Centerline goodness : 0.747724 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.43, Z:0.33 [[ 0.98151099 -0.17876225 -0.06841219 -8.32628237] [ 0.18168943 0.98257354 0.03921987 9.43276175] [ 0.06020897 -0.05092451 0.99688594 0.32936659] [ 0. 0. 0. 1. ]] SLAMing on 58.76925976399999 meters Centerline goodness : 0.747911 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.43, Z:0.33 [[ 0.98228834 -0.17450111 -0.06825665 -8.32786924] [ 0.17747447 0.98330432 0.04019245 9.43332451] [ 0.06010343 -0.05159439 0.99685786 0.32879425] [ 0. 0. 0. 1. ]] SLAMing on 58.82925976399999 meters Centerline goodness : 0.748475 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.44, Z:0.33 [[ 0.98236085 -0.17443903 -0.06736601 -8.32915108] [ 0.1772028 0.98346147 0.03745261 9.43511782] [ 0.05971868 -0.04872943 0.99702514 0.3273753 ] [ 0. 0. 0. 1. ]] SLAMing on 58.889259763999995 meters Centerline goodness : 0.746915 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.44, Z:0.33 [[ 0.98268689 -0.17224742 -0.06824438 -8.32760635] [ 0.17512364 0.98378804 0.03863686 9.43637708] [ 0.0604829 -0.04991914 0.99692021 0.32627969] [ 0. 0. 0. 1. ]] SLAMing on 58.94925976399999 meters Centerline goodness : 0.747828 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.44, Z:0.33 [[ 0.98306348 -0.16961697 -0.06939943 -8.32745482] [ 0.17275816 0.9840665 0.04204449 9.43696099] [ 0.0611622 -0.05332172 0.99670255 0.32772402] [ 0. 0. 0. 1. ]] SLAMing on 59.00925976399999 meters Centerline goodness : 0.747202 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.44, Z:0.33 [[ 0.98338135 -0.16797073 -0.06889815 -8.32962889] [ 0.17104786 0.98438998 0.04146069 9.43720935] [ 0.06085847 -0.05255655 0.99676179 0.32817324] [ 0. 0. 0. 1. ]] SLAMing on 59.069259763999995 meters Centerline goodness : 0.747336 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.44, Z:0.33 [[ 0.98434199 -0.16246256 -0.0683869 -8.33199711] [ 0.16560974 0.98524692 0.04314989 9.43844856] [ 0.06036774 -0.05379979 0.9967253 0.32716795] [ 0. 0. 0. 1. ]] SLAMing on 59.129259764 meters Centerline goodness : 0.748160 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.44, Z:0.33 [[ 0.98457457 -0.16140759 -0.06753147 -8.33461628] [ 0.16445832 0.98547557 0.04232453 9.43891827] [ 0.05971911 -0.05277777 0.99681901 0.32749158] [ 0. 0. 0. 1. ]] SLAMing on 59.18925976399999 meters Centerline goodness : 0.749072 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.44, Z:0.33 [[ 0.98404153 -0.16485744 -0.06696487 -8.33597344] [ 0.16771368 0.98504392 0.03950441 9.43775068] [ 0.05945074 -0.05010491 0.99697297 0.32933025] [ 0. 0. 0. 1. ]] SLAMing on 59.249259763999994 meters Centerline goodness : 0.751399 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.44, Z:0.33 [[ 0.98347786 -0.16812368 -0.06712469 -8.33791142] [ 0.17097115 0.98449726 0.03916637 9.43647933] [ 0.05949928 -0.04999564 0.99697556 0.33373818] [ 0. 0. 0. 1. ]] SLAMing on 59.309259764 meters Centerline goodness : 0.750392 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.44, Z:0.34 [[ 0.98365935 -0.16710548 -0.0670078 -8.34092113] [ 0.17005423 0.984582 0.04098594 9.4366521 ] [ 0.0591257 -0.05171116 0.99691028 0.33668134] [ 0. 0. 0. 1. ]] SLAMing on 59.36925976399999 meters Centerline goodness : 0.751926 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.44, Z:0.34 [[ 0.98410849 -0.16473475 -0.06627934 -8.34345258] [ 0.16757011 0.98505901 0.03973662 9.43919788] [ 0.05874306 -0.05021158 0.99700955 0.33611326] [ 0. 0. 0. 1. ]] SLAMing on 59.429259763999994 meters Centerline goodness : 0.751052 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.44, Z:0.33 [[ 0.98473793 -0.16118482 -0.06565564 -8.3448988 ] [ 0.16392798 0.98571073 0.03875519 9.44213727] [ 0.05847072 -0.0489265 0.99708945 0.3339868 ] [ 0. 0. 0. 1. ]] SLAMing on 59.489259763999996 meters Centerline goodness : 0.751307 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.33 [[ 0.98530293 -0.1576557 -0.06574819 -8.34713347] [ 0.16050279 0.98620389 0.04050606 9.44712097] [ 0.05845511 -0.05046351 0.99701376 0.33430064] [ 0. 0. 0. 1. ]] SLAMing on 59.54925976399999 meters Centerline goodness : 0.752711 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.33 [[ 0.98595984 -0.15325133 -0.0663115 -8.34640908] [ 0.15632235 0.98673091 0.04387975 9.45164 ] [ 0.05870698 -0.05362964 0.99683366 0.33300102] [ 0. 0. 0. 1. ]] SLAMing on 59.609259763999994 meters Centerline goodness : 0.754466 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.46, Z:0.33 [[ 0.98662448 -0.14862672 -0.06694955 -8.3453638 ] [ 0.15192628 0.98726392 0.04720554 9.45684474] [ 0.05908087 -0.05674554 0.99663905 0.33183297] [ 0. 0. 0. 1. ]] SLAMing on 59.669259763999996 meters Centerline goodness : 0.753710 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.46, Z:0.33 [[ 0.98670449 -0.14797902 -0.06720461 -8.34369998] [ 0.15125674 0.98739536 0.04660254 9.4614117 ] [ 0.05946132 -0.05614809 0.99665026 0.33114091] [ 0. 0. 0. 1. ]] SLAMing on 59.72925976399999 meters Centerline goodness : 0.753795 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.33 [[ 0.98667931 -0.14798436 -0.06756161 -8.34264175] [ 0.15123762 0.98743305 0.04586015 9.46550326] [ 0.05992598 -0.05546712 0.99666056 0.330855 ] [ 0. 0. 0. 1. ]] SLAMing on 59.78925976399999 meters Centerline goodness : 0.752192 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.33 [[ 0.98666471 -0.14792988 -0.06789326 -8.34185714] [ 0.15116033 0.98747631 0.04517841 9.46876749] [ 0.06035975 -0.05483871 0.99666916 0.33108431] [ 0. 0. 0. 1. ]] SLAMing on 59.849259763999996 meters Centerline goodness : 0.753276 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.33 [[ 0.98670099 -0.14770969 -0.06784543 -8.34138809] [ 0.15093722 0.98751052 0.04517656 9.46903153] [ 0.06032506 -0.05481616 0.9966725 0.33051958] [ 0. 0. 0. 1. ]] SLAMing on 59.90925976399999 meters Centerline goodness : 0.753037 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.33 [[ 0.9866735 -0.14798303 -0.06764926 -8.34247697] [ 0.1511676 0.98749968 0.04464013 9.46971151] [ 0.06019764 -0.05427161 0.99671001 0.3316049 ] [ 0. 0. 0. 1. ]] SLAMing on 59.96925976399999 meters Centerline goodness : 0.752224 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.33 [[ 0.98669315 -0.1479098 -0.06752277 -8.34251379] [ 0.15110143 0.98749926 0.04487273 9.46891145] [ 0.06004156 -0.05447841 0.99670814 0.3313336 ] [ 0. 0. 0. 1. ]] SLAMing on 60.029259763999995 meters Centerline goodness : 0.750965 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.33 [[ 0.98601971 -0.15251783 -0.06710777 -8.34288876] [ 0.15540961 0.98703231 0.04018784 9.47024097] [ 0.06010818 -0.0500552 0.99693605 0.33286646] [ 0. 0. 0. 1. ]] SLAMing on 60.08925976399999 meters Centerline goodness : 0.750894 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.33 [[ 0.98596687 -0.15284049 -0.06714993 -8.34396684] [ 0.15568446 0.98702254 0.03935537 9.47229718] [ 0.0602634 -0.0492573 0.99696642 0.33476189] [ 0. 0. 0. 1. ]] SLAMing on 60.14925976399999 meters Centerline goodness : 0.748545 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.47, Z:0.34 [[ 0.98597201 -0.15297547 -0.06676606 -8.34560807] [ 0.15576486 0.9870334 0.03876057 9.47140628] [ 0.05997092 -0.04861665 0.9970155 0.33595647] [ 0. 0. 0. 1. ]] SLAMing on 60.209259763999995 meters Centerline goodness : 0.746753 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.47, Z:0.34 [[ 0.98662406 -0.14873605 -0.06671245 -8.34730569] [ 0.15177238 0.98747983 0.04299687 9.46959165] [ 0.05948201 -0.05254685 0.99684538 0.33602019] [ 0. 0. 0. 1. ]] SLAMing on 60.26925976399999 meters Centerline goodness : 0.746359 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.47, Z:0.34 [[ 0.98662341 -0.14873669 -0.06672066 -8.347358 ] [ 0.15176454 0.98748753 0.04284754 9.46984456] [ 0.05951282 -0.05240022 0.99685126 0.33633894] [ 0. 0. 0. 1. ]] SLAMing on 60.32925976399999 meters Centerline goodness : 0.747069 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.47, Z:0.34 [[ 0.98661935 -0.14881918 -0.06659667 -8.34774034] [ 0.15184507 0.98747187 0.04292296 9.46922627] [ 0.05937458 -0.052461 0.99685631 0.33638054] [ 0. 0. 0. 1. ]] SLAMing on 60.389259763999995 meters Centerline goodness : 0.745774 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.47, Z:0.34 [[ 0.98596472 -0.15324881 -0.06624484 -8.34733183] [ 0.15600775 0.98699853 0.03867152 9.47000184] [ 0.05945719 -0.04846346 0.99705373 0.33686331] [ 0. 0. 0. 1. ]] SLAMing on 60.44925976399999 meters Centerline goodness : 0.745293 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.47, Z:0.34 [[ 0.9859376 -0.15359847 -0.0658374 -8.34846922] [ 0.15637045 0.98691946 0.03922067 9.46793687] [ 0.05895198 -0.04896415 0.99705926 0.33650639] [ 0. 0. 0. 1. ]] SLAMing on 60.50925976399999 meters Centerline goodness : 0.747518 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.47, Z:0.34 [[ 0.9860927 -0.15273234 -0.06552873 -8.35052143] [ 0.15548614 0.98706063 0.03918378 9.46845288] [ 0.0586962 -0.04882765 0.99708105 0.33776894] [ 0. 0. 0. 1. ]] SLAMing on 60.569259763999995 meters Centerline goodness : 0.745835 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.47, Z:0.34 [[ 0.98631898 -0.15171589 -0.06447608 -8.35295712] [ 0.15433084 0.98729994 0.03769374 9.46902249] [ 0.05793849 -0.04712869 0.99720711 0.3375892 ] [ 0. 0. 0. 1. ]] SLAMing on 60.62925976399999 meters Centerline goodness : 0.747173 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.47, Z:0.34 [[ 0.98623004 -0.15221758 -0.06465384 -8.35122504] [ 0.1548213 0.98723629 0.03734808 9.46978895] [ 0.05814359 -0.04684359 0.9972086 0.33576138] [ 0. 0. 0. 1. ]] SLAMing on 60.68925976399999 meters Centerline goodness : 0.746712 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.47, Z:0.34 [[ 0.98632795 -0.15164818 -0.06449818 -8.35353556] [ 0.15427389 0.9873024 0.03786209 9.4712216 ] [ 0.05793749 -0.04729482 0.9971993 0.33773863] [ 0. 0. 0. 1. ]] SLAMing on 60.749259763999994 meters Centerline goodness : 0.747260 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.47, Z:0.34 [[ 0.9863116 -0.15151414 -0.06506071 -8.35221679] [ 0.15412247 0.98735448 0.03711336 9.47487221] [ 0.05861479 -0.04663266 0.99719091 0.33866429] [ 0. 0. 0. 1. ]] SLAMing on 60.809259764 meters Centerline goodness : 0.748243 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.48, Z:0.34 [[ 0.9865498 -0.15039749 -0.06403194 -8.35493542] [ 0.15289019 0.9875885 0.0359658 9.47640983] [ 0.05782804 -0.0452719 0.99729954 0.33868696] [ 0. 0. 0. 1. ]] SLAMing on 60.86925976399999 meters Centerline goodness : 0.748455 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.48, Z:0.34 [[ 0.98659284 -0.15028998 -0.06361987 -8.35563812] [ 0.15277815 0.98759677 0.03621401 9.4776884 ] [ 0.05738818 -0.04544821 0.99731693 0.33819658] [ 0. 0. 0. 1. ]] SLAMing on 60.929259763999994 meters Centerline goodness : 0.748618 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.48, Z:0.34 [[ 0.98718956 -0.14641542 -0.06339794 -8.35764495] [ 0.14897931 0.98811841 0.03777798 9.48034476] [ 0.0571134 -0.046739 0.99727304 0.33805885] [ 0. 0. 0. 1. ]] SLAMing on 60.989259763999996 meters Centerline goodness : 0.748460 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.48, Z:0.34 [[ 0.98719289 -0.14686288 -0.06230165 -8.35893468] [ 0.14923036 0.98817585 0.03519642 9.48201503] [ 0.05639594 -0.04404295 0.99743657 0.33666504] [ 0. 0. 0. 1. ]] SLAMing on 61.04925976399999 meters Centerline goodness : 0.749886 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.48, Z:0.34 [[ 0.98753059 -0.14450287 -0.06246801 -8.35898845] [ 0.14696076 0.98846113 0.0367032 9.48388413] [ 0.05644348 -0.04542588 0.99737186 0.33588934] [ 0. 0. 0. 1. ]] SLAMing on 61.109259763999994 meters Centerline goodness : 0.749971 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.49, Z:0.34 [[ 0.98794116 -0.14174775 -0.06228842 -8.36060213] [ 0.14424156 0.98883056 0.03752983 9.48673167] [ 0.05627293 -0.04606184 0.99735233 0.33563552] [ 0. 0. 0. 1. ]] SLAMing on 61.169259763999996 meters Centerline goodness : 0.749935 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.49, Z:0.33 [[ 0.98802205 -0.14102719 -0.06264 -8.35839694] [ 0.14355521 0.98891796 0.03785738 9.48745072] [ 0.0566069 -0.04639622 0.99731793 0.33426736] [ 0. 0. 0. 1. ]] SLAMing on 61.22925976399999 meters Centerline goodness : 0.750195 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.49, Z:0.34 [[ 0.9879789 -0.14140879 -0.06245994 -8.35955279] [ 0.14390226 0.98888532 0.0373892 9.48844743] [ 0.05647856 -0.04592787 0.99734688 0.33513371] [ 0. 0. 0. 1. ]] SLAMing on 61.28925976399999 meters Centerline goodness : 0.749711 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.49, Z:0.34 [[ 0.98790924 -0.1420411 -0.06212621 -8.36148546] [ 0.1444959 0.9888147 0.03696523 9.48876785] [ 0.05618073 -0.04549527 0.99738353 0.33647301] [ 0. 0. 0. 1. ]] SLAMing on 61.349259763999996 meters Centerline goodness : 0.750825 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.49, Z:0.34 [[ 0.98848387 -0.13803642 -0.06201283 -8.36329829] [ 0.1407167 0.98919472 0.04114147 9.48771496] [ 0.05566374 -0.04939392 0.99722705 0.33625045] [ 0. 0. 0. 1. ]] SLAMing on 61.40925976399999 meters Centerline goodness : 0.749790 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.49, Z:0.34 [[ 0.98843479 -0.13842274 -0.06193393 -8.3645171 ] [ 0.1410275 0.98920319 0.03985341 9.49038761] [ 0.05574862 -0.04812688 0.99728426 0.33852792] [ 0. 0. 0. 1. ]] SLAMing on 61.46925976399999 meters Centerline goodness : 0.749411 with order 1 Centerline is valid? [False, False] Translation: X:-8.37, Y:9.49, Z:0.34 [[ 0.98840747 -0.13863414 -0.06189704 -8.36512871] [ 0.14119858 0.98920644 0.03916091 9.49250917] [ 0.05579992 -0.04744671 0.99731398 0.33945555] [ 0. 0. 0. 1. ]] SLAMing on 61.529259763999995 meters Centerline goodness : 0.747540 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.49, Z:0.34 [[ 0.98846032 -0.13796188 -0.06255176 -8.36264257] [ 0.14056427 0.98929166 0.03928999 9.49375112] [ 0.05646141 -0.04762914 0.99726806 0.33863264] [ 0. 0. 0. 1. ]] SLAMing on 61.58925976399999 meters Centerline goodness : 0.747633 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.49, Z:0.34 [[ 0.98845434 -0.1380546 -0.06244152 -8.36312651] [ 0.14064998 0.98928075 0.03925794 9.49290774] [ 0.05635245 -0.04758708 0.99727623 0.33905118] [ 0. 0. 0. 1. ]] SLAMing on 61.64925976399999 meters Centerline goodness : 0.748137 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.49, Z:0.34 [[ 0.98848855 -0.13783467 -0.06238579 -8.36304263] [ 0.140493 0.98925606 0.04042493 9.48888126] [ 0.05614357 -0.04872435 0.99723309 0.338388 ] [ 0. 0. 0. 1. ]] SLAMing on 61.709259763999995 meters Centerline goodness : 0.747985 with order 1 Centerline is valid? [False, False] Translation: X:-8.37, Y:9.48, Z:0.34 [[ 0.9884535 -0.13846163 -0.06154713 -8.36589039] [ 0.14110245 0.98915226 0.04083994 9.48365709] [ 0.05522472 -0.04905283 0.99726829 0.33931694] [ 0. 0. 0. 1. ]] SLAMing on 61.76925976399999 meters Centerline goodness : 0.746691 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.48, Z:0.33 [[ 0.98803496 -0.14296815 -0.05785343 -8.3478554 ] [ 0.14584879 0.98808964 0.04906117 9.47566544] [ 0.05015019 -0.056912 0.99711884 0.33238608] [ 0. 0. 0. 1. ]] SLAMing on 61.82925976399999 meters Centerline goodness : 0.747643 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.47, Z:0.33 [[ 0.98763224 -0.14714231 -0.05414512 -8.33037195] [ 0.15016635 0.9870276 0.05680306 9.46959163] [ 0.0450846 -0.06423131 0.9969161 0.32716885] [ 0. 0. 0. 1. ]] SLAMing on 61.889259763999995 meters Centerline goodness : 0.746006 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.47, Z:0.33 [[ 0.98652452 -0.1541674 -0.05478861 -8.33004432] [ 0.15718137 0.98599424 0.05576172 9.46520607] [ 0.04542461 -0.06362205 0.99693974 0.33227071] [ 0. 0. 0. 1. ]] SLAMing on 61.94925976399999 meters Centerline goodness : 0.746486 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.34 [[ 0.9858579 -0.15859385 -0.05414974 -8.33142972] [ 0.16144228 0.98545603 0.05303586 9.46123299] [ 0.04495103 -0.06102788 0.99712336 0.33524847] [ 0. 0. 0. 1. ]] SLAMing on 62.00925976399999 meters Centerline goodness : 0.748326 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.34 [[ 0.98501723 -0.16373071 -0.05416011 -8.33218158] [ 0.1665176 0.98468228 0.05169817 9.45731617] [ 0.04486593 -0.0599422 0.99719305 0.33937558] [ 0. 0. 0. 1. ]] SLAMing on 62.069259763999995 meters Centerline goodness : 0.749118 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.45, Z:0.34 [[ 0.98496506 -0.16390441 -0.05458174 -8.33406134] [ 0.16681375 0.984517 0.05384652 9.45456884] [ 0.04491097 -0.06214192 0.99705636 0.34360651] [ 0. 0. 0. 1. ]] SLAMing on 62.12925976399999 meters Centerline goodness : 0.751572 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.45, Z:0.35 [[ 0.98449373 -0.16689557 -0.05401817 -8.33557772] [ 0.16967454 0.98414119 0.05173658 9.45240484] [ 0.0445269 -0.06009984 0.99719876 0.34589746] [ 0. 0. 0. 1. ]] SLAMing on 62.18925976399999 meters Centerline goodness : 0.750850 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.45, Z:0.35 [[ 0.98403545 -0.16961024 -0.05391294 -8.33611971] [ 0.17229503 0.9837864 0.04978704 9.45034368] [ 0.04459443 -0.05828115 0.99730369 0.3479595 ] [ 0. 0. 0. 1. ]] SLAMing on 62.249259763999994 meters Centerline goodness : 0.750477 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.45, Z:0.35 [[ 0.98405268 -0.16946634 -0.05405075 -8.33771901] [ 0.17219813 0.983759 0.05065598 9.44948964] [ 0.04458843 -0.05915559 0.99725247 0.35039764] [ 0. 0. 0. 1. ]] SLAMing on 62.309259764 meters Centerline goodness : 0.748792 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.45, Z:0.35 [[ 0.98354821 -0.17268544 -0.05303442 -8.33959559] [ 0.17522175 0.98337807 0.04759114 9.44716124] [ 0.04393458 -0.05610097 0.99745799 0.35218737] [ 0. 0. 0. 1. ]] SLAMing on 62.36925976399999 meters Centerline goodness : 0.748065 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.44, Z:0.35 [[ 0.9826005 -0.17786383 -0.05348576 -8.33810605] [ 0.18034507 0.98253672 0.04579575 9.44449141] [ 0.04440632 -0.05464482 0.99751793 0.35439293] [ 0. 0. 0. 1. ]] SLAMing on 62.429259763999994 meters Centerline goodness : 0.749768 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.44, Z:0.36 [[ 0.98270293 -0.17728359 -0.05353012 -8.33998925] [ 0.17982938 0.98256518 0.04719179 9.44364723] [ 0.0442305 -0.0560018 0.99745048 0.35690161] [ 0. 0. 0. 1. ]] SLAMing on 62.489259763999996 meters Centerline goodness : 0.748090 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.44, Z:0.37 [[ 0.98259902 -0.17189919 -0.07035508 -8.33502055] [ 0.17543847 0.98333775 0.04762567 9.43678567] [ 0.06099599 -0.05913992 0.99638444 0.36597947] [ 0. 0. 0. 1. ]] SLAMing on 62.54925976399999 meters Centerline goodness : 0.748188 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.43, Z:0.37 [[ 0.98273014 -0.17149751 -0.06949882 -8.33703528] [ 0.1749109 0.98349084 0.04638911 9.43479672] [ 0.06039583 -0.05774408 0.99650287 0.36659121] [ 0. 0. 0. 1. ]] SLAMing on 62.609259763999994 meters Centerline goodness : 0.748062 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.43, Z:0.37 [[ 0.98261484 -0.17229525 -0.06915503 -8.33855565] [ 0.17566609 0.98337434 0.04600363 9.43319169] [ 0.06007908 -0.05735204 0.99654465 0.3683351 ] [ 0. 0. 0. 1. ]] SLAMing on 62.669259763999996 meters Centerline goodness : 0.749364 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.43, Z:0.37 [[ 0.98161514 -0.17789806 -0.0691665 -8.33874852] [ 0.18113403 0.98248792 0.04368017 9.43014064] [ 0.06018463 -0.05540552 0.9966484 0.37181728] [ 0. 0. 0. 1. ]] SLAMing on 62.72925976399999 meters Centerline goodness : 0.751809 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.43, Z:0.38 [[ 0.98161438 -0.17782477 -0.06936542 -8.34044195] [ 0.18116654 0.98241094 0.04524859 9.42744755] [ 0.06009902 -0.05698335 0.9965646 0.37507393] [ 0. 0. 0. 1. ]] SLAMing on 62.78925976399999 meters Centerline goodness : 0.748484 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.43, Z:0.38 [[ 0.9811323 -0.18070136 -0.06874906 -8.34233149] [ 0.18386602 0.98201745 0.04283701 9.42671046] [ 0.05977207 -0.05466939 0.99671388 0.37721401] [ 0. 0. 0. 1. ]] SLAMing on 62.849259763999996 meters Centerline goodness : 0.750108 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.43, Z:0.38 [[ 0.98122628 -0.18025454 -0.0685806 -8.3436029 ] [ 0.18339452 0.98211654 0.04258579 9.42604533] [ 0.05967786 -0.0543636 0.99673625 0.37825539] [ 0. 0. 0. 1. ]] SLAMing on 62.90925976399999 meters Centerline goodness : 0.749615 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.43, Z:0.38 [[ 0.9814757 -0.17872612 -0.06901025 -8.3437574 ] [ 0.18194987 0.9823403 0.04360943 9.42718923] [ 0.05999741 -0.05535801 0.99666233 0.37846024] [ 0. 0. 0. 1. ]] SLAMing on 62.96925976399999 meters Centerline goodness : 0.749439 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.43, Z:0.38 [[ 0.98171355 -0.17763473 -0.06844274 -8.34432482] [ 0.18072683 0.98263821 0.04195199 9.42790963] [ 0.05980232 -0.05355427 0.9967726 0.37688383] [ 0. 0. 0. 1. ]] SLAMing on 63.029259763999995 meters Centerline goodness : 0.747550 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.43, Z:0.38 [[ 0.98238333 -0.17397196 -0.06824045 -8.34564791] [ 0.17710329 0.98325922 0.04284534 9.42912944] [ 0.05964416 -0.05417615 0.99674847 0.3761095 ] [ 0. 0. 0. 1. ]] SLAMing on 63.08925976399999 meters Centerline goodness : 0.745166 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.43, Z:0.38 [[ 0.98295794 -0.17056565 -0.06856416 -8.34654746] [ 0.17383381 0.98375187 0.04487827 9.43066194] [ 0.05979543 -0.05603222 0.99663679 0.37611843] [ 0. 0. 0. 1. ]] SLAMing on 63.14925976399999 meters Centerline goodness : 0.744924 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.43, Z:0.37 [[ 0.98334551 -0.16818627 -0.06888384 -8.34536164] [ 0.17153677 0.98410429 0.04597709 9.43184986] [ 0.06005616 -0.05702747 0.99656466 0.37407257] [ 0. 0. 0. 1. ]] SLAMing on 63.209259763999995 meters Centerline goodness : 0.742817 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.44, Z:0.38 [[ 0.98388195 -0.16536572 -0.06804767 -8.35058309] [ 0.16834385 0.98489161 0.04060629 9.43544661] [ 0.06030469 -0.0514072 0.99685538 0.38212624] [ 0. 0. 0. 1. ]] SLAMing on 63.26925976399999 meters Centerline goodness : 0.742413 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.44, Z:0.38 [[ 0.98451205 -0.16175736 -0.06760599 -8.35236254] [ 0.1647283 0.98548957 0.04092548 9.43781487] [ 0.060005 -0.05142825 0.99687238 0.38101774] [ 0. 0. 0. 1. ]] SLAMing on 63.32925976399999 meters Centerline goodness : 0.744559 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.44, Z:0.38 [[ 0.98523422 -0.15741186 -0.06734273 -8.35242852] [ 0.16046494 0.9861222 0.04259131 9.43939918] [ 0.05970379 -0.05276856 0.99682041 0.37809182] [ 0. 0. 0. 1. ]] SLAMing on 63.389259763999995 meters Centerline goodness : 0.747631 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.44, Z:0.38 [[ 0.98597751 -0.15301212 -0.06660066 -8.35452892] [ 0.15604728 0.98681252 0.04301518 9.4411725 ] [ 0.05914052 -0.05280485 0.99685207 0.37651908] [ 0. 0. 0. 1. ]] SLAMing on 63.44925976399999 meters Centerline goodness : 0.746755 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.38 [[ 0.98598715 -0.15267557 -0.06722725 -8.35302256] [ 0.15565378 0.98693875 0.04151867 9.44833869] [ 0.06001029 -0.05140105 0.99687346 0.37731929] [ 0. 0. 0. 1. ]] SLAMing on 63.50925976399999 meters Centerline goodness : 0.748854 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.45, Z:0.38 [[ 0.98674153 -0.14788107 -0.06687554 -8.3555673 ] [ 0.15088433 0.9876454 0.04231405 9.453498 ] [ 0.05979187 -0.0518435 0.99686367 0.37644218] [ 0. 0. 0. 1. ]] SLAMing on 63.569259763999995 meters Centerline goodness : 0.748737 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.46, Z:0.38 [[ 0.98733487 -0.1436591 -0.06731952 -8.35560643] [ 0.14685328 0.98812701 0.04515673 9.46013138] [ 0.06003306 -0.05447091 0.99670906 0.37588699] [ 0. 0. 0. 1. ]] SLAMing on 63.62925976399999 meters Centerline goodness : 0.752495 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.47, Z:0.37 [[ 0.98803261 -0.13847155 -0.06794989 -8.35379538] [ 0.14192027 0.98867234 0.04884293 9.46625371] [ 0.06041682 -0.05790187 0.99649244 0.37382946] [ 0. 0. 0. 1. ]] SLAMing on 63.68925976399999 meters Centerline goodness : 0.752404 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.47, Z:0.37 [[ 0.98863661 -0.13398876 -0.06815174 -8.35349028] [ 0.13770695 0.98904698 0.05313066 9.46676866] [ 0.06028636 -0.06191188 0.99625924 0.3719051 ] [ 0. 0. 0. 1. ]] SLAMing on 63.749259763999994 meters Centerline goodness : 0.755067 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.47, Z:0.37 [[ 0.98920086 -0.12972111 -0.06822083 -8.35384348] [ 0.13367321 0.98938778 0.05694991 9.4685681 ] [ 0.06010925 -0.06545419 0.99604349 0.37058376] [ 0. 0. 0. 1. ]] SLAMing on 63.80925976399999 meters Centerline goodness : 0.759905 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.47, Z:0.37 [[ 0.98968956 -0.12597098 -0.06816082 -8.35554655] [ 0.13012972 0.98965228 0.0604535 9.47089516] [ 0.05984012 -0.06869994 0.99584109 0.37031049] [ 0. 0. 0. 1. ]] SLAMing on 63.86925976399999 meters Centerline goodness : 0.760007 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.48, Z:0.37 [[ 0.98966177 -0.12611716 -0.06829379 -8.35477607] [ 0.13023387 0.98969011 0.05960398 9.47587003] [ 0.06007261 -0.06788194 0.99588319 0.36949359] [ 0. 0. 0. 1. ]] SLAMing on 63.929259763999994 meters Centerline goodness : 0.760908 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.48, Z:0.37 [[ 0.9896453 -0.12610451 -0.06855528 -8.35393863] [ 0.13015869 0.98977888 0.05827934 9.48226241] [ 0.06050528 -0.06659894 0.99594362 0.36965167] [ 0. 0. 0. 1. ]] SLAMing on 63.989259763999996 meters Centerline goodness : 0.761456 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.49, Z:0.37 [[ 0.98962784 -0.12612695 -0.06876581 -8.35365718] [ 0.13011097 0.98986545 0.05689921 9.48775458] [ 0.06089237 -0.06525623 0.99600891 0.37077395] [ 0. 0. 0. 1. ]] SLAMing on 64.049259764 meters Centerline goodness : 0.761675 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.49, Z:0.37 [[ 0.98965208 -0.12573965 -0.06912518 -8.35240104] [ 0.12970371 0.98995918 0.05619403 9.49171456] [ 0.06136529 -0.06457833 0.99602407 0.37095287] [ 0. 0. 0. 1. ]] SLAMing on 64.10925976399999 meters Centerline goodness : 0.762368 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.49, Z:0.37 [[ 0.9896201 -0.12600523 -0.06909954 -8.35304196] [ 0.12992566 0.98996857 0.05551166 9.49326648] [ 0.06141161 -0.06391326 0.99606411 0.37196349] [ 0. 0. 0. 1. ]] SLAMing on 64.16925976399999 meters Centerline goodness : 0.765237 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.50, Z:0.37 [[ 0.98959701 -0.12606722 -0.06931677 -8.35333219] [ 0.12993362 0.99002848 0.05441376 9.49601914] [ 0.06176579 -0.06285427 0.9961096 0.37396175] [ 0. 0. 0. 1. ]] SLAMing on 64.22925976399999 meters Centerline goodness : 0.763663 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.50, Z:0.37 [[ 0.98960951 -0.12597197 -0.06931154 -8.35362749] [ 0.12982757 0.99005162 0.05424568 9.49515538] [ 0.06178857 -0.06268059 0.99611913 0.37490334] [ 0. 0. 0. 1. ]] SLAMing on 64.289259764 meters Centerline goodness : 0.765131 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.50, Z:0.38 [[ 0.98904385 -0.13035756 -0.06927602 -8.35377915] [ 0.13389528 0.989777 0.04912786 9.49759342] [ 0.06216363 -0.05786534 0.99638712 0.37778738] [ 0. 0. 0. 1. ]] SLAMing on 64.349259764 meters Centerline goodness : 0.766661 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.50, Z:0.38 [[ 0.98846327 -0.1349983 -0.06867187 -8.35510956] [ 0.13824427 0.98937883 0.04492271 9.49528678] [ 0.06187801 -0.05389794 0.99662737 0.3799915 ] [ 0. 0. 0. 1. ]] SLAMing on 64.409259764 meters Centerline goodness : 0.764582 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.49, Z:0.37 [[ 0.98796638 -0.14065397 -0.06433421 -8.33900728] [ 0.14409679 0.98817442 0.05241585 9.48832694] [ 0.05620092 -0.06105545 0.9965509 0.37442691] [ 0. 0. 0. 1. ]] SLAMing on 64.46925976399999 meters Centerline goodness : 0.766942 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.48, Z:0.37 [[ 0.98795924 -0.14072055 -0.06429823 -8.33937959] [ 0.1442037 0.98811849 0.0531709 9.48491975] [ 0.05605203 -0.06180272 0.99651322 0.37444548] [ 0. 0. 0. 1. ]] SLAMing on 64.52925976399999 meters Centerline goodness : 0.761039 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.48, Z:0.37 [[ 0.9874643 -0.14412977 -0.06434949 -8.33647536] [ 0.14744258 0.98780195 0.0500799 9.48230977] [ 0.05634655 -0.05893997 0.99667003 0.37308058] [ 0. 0. 0. 1. ]] SLAMing on 64.58925976399999 meters Centerline goodness : 0.763292 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.49, Z:0.38 [[ 0.98682424 -0.14844783 -0.06435181 -8.3360724 ] [ 0.15145555 0.98745422 0.04466958 9.48671596] [ 0.05691336 -0.05382746 0.99692701 0.37589253] [ 0. 0. 0. 1. ]] SLAMing on 64.64925976399999 meters Centerline goodness : 0.765769 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.49, Z:0.38 [[ 0.98672555 -0.14936006 -0.0637515 -8.33917326] [ 0.15228557 0.98736646 0.04377863 9.48769265] [ 0.05640732 -0.05290593 0.9970051 0.3778602 ] [ 0. 0. 0. 1. ]] SLAMing on 64.709259764 meters Centerline goodness : 0.766937 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.49, Z:0.38 [[ 0.98669461 -0.1497617 -0.06328644 -8.34035962] [ 0.15267408 0.98729752 0.04398 9.48663172] [ 0.05589602 -0.05305703 0.99702587 0.37724225] [ 0. 0. 0. 1. ]] SLAMing on 64.769259764 meters Centerline goodness : 0.765859 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.48, Z:0.38 [[ 0.98659336 -0.15073261 -0.06255571 -8.34320553] [ 0.15359489 0.98716416 0.04376677 9.4849715 ] [ 0.05515568 -0.05278824 0.99708137 0.37808539] [ 0. 0. 0. 1. ]] SLAMing on 64.829259764 meters Centerline goodness : 0.767457 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.49, Z:0.38 [[ 0.9865052 -0.15130352 -0.06256791 -8.34453572] [ 0.154099 0.98713909 0.0425432 9.48838425] [ 0.05532629 -0.05161074 0.99713356 0.38011769] [ 0. 0. 0. 1. ]] SLAMing on 64.88925976399999 meters Centerline goodness : 0.767473 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.49, Z:0.38 [[ 0.98717468 -0.14680623 -0.0627223 -8.34493195] [ 0.1498572 0.9875874 0.04705254 9.48687299] [ 0.05503615 -0.05584846 0.99692125 0.37897438] [ 0. 0. 0. 1. ]] SLAMing on 64.94925976399999 meters Centerline goodness : 0.769523 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.49, Z:0.38 [[ 0.98720747 -0.14657846 -0.06273889 -8.34447192] [ 0.14962025 0.98763195 0.04687125 9.48780655] [ 0.05509262 -0.05565866 0.99692874 0.37873955] [ 0. 0. 0. 1. ]] SLAMing on 65.00925976399999 meters Centerline goodness : 0.767337 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.49, Z:0.38 [[ 0.98719823 -0.14664518 -0.06272829 -8.34485929] [ 0.14966296 0.98764551 0.04644721 9.48874213] [ 0.05514206 -0.0552407 0.99694926 0.37950657] [ 0. 0. 0. 1. ]] SLAMing on 65.069259764 meters Centerline goodness : 0.766809 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.49, Z:0.38 [[ 0.98661346 -0.15045426 -0.0629078 -8.34277137] [ 0.15325768 0.98727706 0.04238039 9.48967271] [ 0.05573112 -0.05145416 0.99711911 0.37977746] [ 0. 0. 0. 1. ]] SLAMing on 65.129259764 meters Centerline goodness : 0.767306 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.49, Z:0.38 [[ 0.98595192 -0.1549162 -0.06244822 -8.34289065] [ 0.15748857 0.9867664 0.03859292 9.48797605] [ 0.05564313 -0.04788564 0.99730176 0.38059831] [ 0. 0. 0. 1. ]] SLAMing on 65.189259764 meters Centerline goodness : 0.766902 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.48, Z:0.37 [[ 0.98499013 -0.16257903 -0.05798715 -8.32806521] [ 0.16524926 0.98524034 0.04465598 9.48174997] [ 0.04987115 -0.05356804 0.99731807 0.37440397] [ 0. 0. 0. 1. ]] SLAMing on 65.24925976399999 meters Centerline goodness : 0.766923 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.48, Z:0.38 [[ 0.98324981 -0.17251016 -0.0588222 -8.32637331] [ 0.17508769 0.98366186 0.04187654 9.47749386] [ 0.05063703 -0.05147415 0.99738975 0.37933386] [ 0. 0. 0. 1. ]] SLAMing on 65.30925976399999 meters Centerline goodness : 0.767313 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.47, Z:0.38 [[ 0.9829094 -0.17459166 -0.05836838 -8.32894058] [ 0.17714992 0.98328974 0.04194273 9.47457082] [ 0.05007018 -0.05156586 0.99741362 0.38311724] [ 0. 0. 0. 1. ]] SLAMing on 65.36925976399999 meters Centerline goodness : 0.767373 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.47, Z:0.38 [[ 0.98292613 -0.17471431 -0.05771594 -8.330825 ] [ 0.17714429 0.98337009 0.04003961 9.47386591] [ 0.04976064 -0.04958003 0.9975298 0.38407052] [ 0. 0. 0. 1. ]] SLAMing on 65.429259764 meters Centerline goodness : 0.765978 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.47, Z:0.38 [[ 0.98295278 -0.17479228 -0.05702184 -8.33131169] [ 0.17706853 0.98347907 0.03762519 9.47410318] [ 0.04950319 -0.04708056 0.9976637 0.38288849] [ 0. 0. 0. 1. ]] SLAMing on 65.489259764 meters Centerline goodness : 0.764600 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.48, Z:0.38 [[ 0.98293371 -0.17475504 -0.05746302 -8.33177018] [ 0.17702721 0.9835054 0.03712797 9.47527533] [ 0.05002689 -0.04666685 0.99765701 0.38409923] [ 0. 0. 0. 1. ]] SLAMing on 65.549259764 meters Centerline goodness : 0.765724 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.48, Z:0.39 [[ 0.98288239 -0.17515878 -0.05711044 -8.3337693 ] [ 0.1773787 0.98346906 0.03640607 9.47517973] [ 0.04978951 -0.04591306 0.99770386 0.38593184] [ 0. 0. 0. 1. ]] SLAMing on 65.60925976399999 meters Centerline goodness : 0.766637 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.47, Z:0.38 [[ 0.98301452 -0.17440068 -0.05715635 -8.33239413] [ 0.1766428 0.9835862 0.03681728 9.47487769] [ 0.04979724 -0.04628818 0.99768614 0.38392292] [ 0. 0. 0. 1. ]] SLAMing on 65.66925976399999 meters Centerline goodness : 0.763572 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.47, Z:0.39 [[ 0.98223039 -0.17896175 -0.05653458 -8.33305946] [ 0.18097238 0.98294544 0.03266905 9.47360927] [ 0.0497239 -0.04231973 0.99786601 0.38547658] [ 0. 0. 0. 1. ]] SLAMing on 65.72925976399999 meters Centerline goodness : 0.767191 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.47, Z:0.39 [[ 0.98165727 -0.17571109 -0.0739907 -8.32736833] [ 0.17859636 0.9833236 0.03432263 9.46828253] [ 0.06672594 -0.04690753 0.99666812 0.39472779] [ 0. 0. 0. 1. ]] SLAMing on 65.789259764 meters Centerline goodness : 0.769802 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.47, Z:0.40 [[ 0.98202839 -0.17391103 -0.07331571 -8.32995344] [ 0.1767737 0.98364648 0.03450584 9.46559357] [ 0.06611579 -0.046846 0.99671167 0.39627964] [ 0. 0. 0. 1. ]] SLAMing on 65.849259764 meters Centerline goodness : 0.772451 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.40 [[ 0.98191117 -0.17522112 -0.07174967 -8.33294862] [ 0.17782481 0.98355402 0.03162009 9.46385213] [ 0.06502917 -0.04380699 0.99692134 0.39717579] [ 0. 0. 0. 1. ]] SLAMing on 65.909259764 meters Centerline goodness : 0.773714 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.40 [[ 0.98104328 -0.18010528 -0.07152744 -8.33206441] [ 0.18256555 0.98275283 0.02943951 9.46132004] [ 0.06499158 -0.04193988 0.99700408 0.39814452] [ 0. 0. 0. 1. ]] SLAMing on 65.96925976399999 meters Centerline goodness : 0.778857 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.40 [[ 0.98045346 -0.18316655 -0.07184028 -8.33292599] [ 0.18566521 0.98216282 0.02974267 9.45911043] [ 0.06511099 -0.04249955 0.99697259 0.40182486] [ 0. 0. 0. 1. ]] SLAMing on 66.02925976399999 meters Centerline goodness : 0.777483 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.46, Z:0.40 [[ 0.98061269 -0.18252641 -0.07129413 -8.3351364 ] [ 0.18497797 0.98230303 0.02939224 9.45909277] [ 0.06466758 -0.04201025 0.99702219 0.40283785] [ 0. 0. 0. 1. ]] SLAMing on 66.08925976399999 meters Centerline goodness : 0.777224 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.46, Z:0.40 [[ 0.98121803 -0.17936508 -0.07098839 -8.33516119] [ 0.18177279 0.98291292 0.02899745 9.45839908] [ 0.06457427 -0.04135658 0.99705556 0.40086265] [ 0. 0. 0. 1. ]] SLAMing on 66.14925976399999 meters Centerline goodness : 0.776909 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.46, Z:0.40 [[ 0.98148316 -0.17821896 -0.07020543 -8.33591635] [ 0.18049098 0.98319438 0.02741933 9.45788925] [ 0.06413894 -0.03958306 0.99715564 0.39936685] [ 0. 0. 0. 1. ]] SLAMing on 66.209259764 meters Centerline goodness : 0.778620 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.46, Z:0.40 [[ 0.98144304 -0.17823895 -0.07071372 -8.33637729] [ 0.18057118 0.98316227 0.02803577 9.45743825] [ 0.064526 -0.04028437 0.99710259 0.4012776 ] [ 0. 0. 0. 1. ]] SLAMing on 66.269259764 meters Centerline goodness : 0.783474 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.46, Z:0.40 [[ 0.98170308 -0.17705371 -0.07007879 -8.33876976] [ 0.17936446 0.98338037 0.02813254 9.45730755] [ 0.06393314 -0.04018745 0.99714469 0.40223273] [ 0. 0. 0. 1. ]] SLAMing on 66.32925976399999 meters Centerline goodness : 0.784046 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.46, Z:0.40 [[ 0.98235554 -0.17411386 -0.06827848 -8.34286064] [ 0.17624213 0.98399145 0.02644881 9.45762949] [ 0.06258033 -0.03801568 0.99731565 0.40151763] [ 0. 0. 0. 1. ]] SLAMing on 66.38925976399999 meters Centerline goodness : 0.786615 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.46, Z:0.40 [[ 0.98237621 -0.17431017 -0.0674756 -8.34559009] [ 0.17635041 0.98399663 0.02551783 9.45716055] [ 0.06194775 -0.03696746 0.99739455 0.40307438] [ 0. 0. 0. 1. ]] SLAMing on 66.44925976399999 meters Centerline goodness : 0.790760 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.46, Z:0.40 [[ 0.98251624 -0.17337262 -0.06785111 -8.3466171 ] [ 0.17546599 0.9841376 0.02617012 9.45693532] [ 0.06223764 -0.03761813 0.99735217 0.4049978 ] [ 0. 0. 0. 1. ]] SLAMing on 66.50925976399999 meters Centerline goodness : 0.796195 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.46, Z:0.40 [[ 0.98237029 -0.17467663 -0.06660846 -8.34822339] [ 0.1764742 0.98405743 0.022087 9.45628996] [ 0.06168847 -0.03345229 0.9975347 0.40441946] [ 0. 0. 0. 1. ]] SLAMing on 66.569259764 meters Centerline goodness : 0.798892 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.46, Z:0.40 [[ 0.98223569 -0.17516551 -0.06730602 -8.34646838] [ 0.17701101 0.98395247 0.0224644 9.45517199] [ 0.06229093 -0.03397924 0.99747945 0.40437582] [ 0. 0. 0. 1. ]] SLAMing on 66.629259764 meters Centerline goodness : 0.799054 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.41 [[ 0.98172663 -0.17807974 -0.06708519 -8.34785393] [ 0.17987749 0.98344883 0.0217366 9.45343458] [ 0.062104 -0.03340651 0.99751045 0.40730653] [ 0. 0. 0. 1. ]] SLAMing on 66.689259764 meters Centerline goodness : 0.799128 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.41 [[ 0.9827295 -0.17272585 -0.06639666 -8.35023934] [ 0.17455837 0.98438228 0.02282345 9.45379286] [ 0.06141749 -0.03401937 0.99753224 0.40625715] [ 0. 0. 0. 1. ]] SLAMing on 66.74925976399999 meters Centerline goodness : 0.799712 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.40 [[ 0.98298038 -0.17168503 -0.06537453 -8.35103191] [ 0.17339719 0.98461853 0.02144226 9.45322376] [ 0.06068766 -0.03241308 0.99763039 0.40426725] [ 0. 0. 0. 1. ]] SLAMing on 66.80925976399999 meters Centerline goodness : 0.800135 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.41 [[ 0.9825521 -0.17413358 -0.06533661 -8.35116282] [ 0.17576836 0.98422585 0.02012358 9.45068272] [ 0.06080179 -0.03125658 0.99766035 0.40584562] [ 0. 0. 0. 1. ]] SLAMing on 66.86925976399999 meters Centerline goodness : 0.801286 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.41 [[ 0.9815515 -0.17945353 -0.06597782 -8.35054468] [ 0.18104962 0.9832901 0.01901611 9.44966283] [ 0.06146283 -0.03061055 0.99763987 0.40923043] [ 0. 0. 0. 1. ]] SLAMing on 66.929259764 meters Centerline goodness : 0.802200 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.41 [[ 0.98028401 -0.18618349 -0.06617379 -8.34888583] [ 0.18764664 0.98209675 0.01657454 9.44691061] [ 0.06190316 -0.02866505 0.99767044 0.41122994] [ 0. 0. 0. 1. ]] SLAMing on 66.989259764 meters Centerline goodness : 0.800760 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.44, Z:0.41 [[ 0.98035312 -0.18579953 -0.06622907 -8.3509322 ] [ 0.18735125 0.98212825 0.01798928 9.44466644] [ 0.06170304 -0.03004394 0.99764227 0.41440141] [ 0. 0. 0. 1. ]] SLAMing on 67.049259764 meters Centerline goodness : 0.798241 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.44, Z:0.42 [[ 0.98021249 -0.18633672 -0.06679894 -8.35042245] [ 0.187936 0.98200779 0.01845992 9.44383538] [ 0.06215732 -0.03064857 0.99759568 0.41559864] [ 0. 0. 0. 1. ]] SLAMing on 67.10925976399999 meters Centerline goodness : 0.799412 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.44, Z:0.41 [[ 0.97989849 -0.18823247 -0.06608698 -8.35009613] [ 0.1896651 0.98171747 0.01606134 9.44164061] [ 0.06185548 -0.02827287 0.99768459 0.41473899] [ 0. 0. 0. 1. ]] SLAMing on 67.16925976399999 meters Centerline goodness : 0.801863 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.44, Z:0.42 [[ 0.97993564 -0.18797555 -0.06626712 -8.35171513] [ 0.18947983 0.98173499 0.01714066 9.44131425] [ 0.06183472 -0.02935303 0.99765468 0.41721116] [ 0. 0. 0. 1. ]] SLAMing on 67.22925976399999 meters Centerline goodness : 0.798907 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.44, Z:0.42 [[ 0.97989941 -0.18827197 -0.06596067 -8.35200372] [ 0.1897214 0.98170116 0.01638971 9.44014538] [ 0.06166794 -0.02857442 0.99768761 0.41725328] [ 0. 0. 0. 1. ]] SLAMing on 67.289259764 meters Centerline goodness : 0.797476 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.44, Z:0.42 [[ 0.97960501 -0.18989317 -0.06568573 -8.35358035] [ 0.19130734 0.98140144 0.01589678 9.43876815] [ 0.06144539 -0.02813873 0.99771372 0.41978798] [ 0. 0. 0. 1. ]] SLAMing on 67.349259764 meters Centerline goodness : 0.798254 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.44, Z:0.42 [[ 0.97963042 -0.18957134 -0.066234 -8.35416914] [ 0.19106301 0.98143218 0.01690552 9.43879531] [ 0.06179938 -0.02921603 0.99766089 0.42168255] [ 0. 0. 0. 1. ]] SLAMing on 67.409259764 meters Centerline goodness : 0.799707 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.44, Z:0.42 [[ 0.98025643 -0.18638269 -0.06602138 -8.35585278] [ 0.18789315 0.98203525 0.01740485 9.44087286] [ 0.06159136 -0.02946618 0.9976664 0.42132121] [ 0. 0. 0. 1. ]] SLAMing on 67.46925976399999 meters Centerline goodness : 0.795354 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.44, Z:0.42 [[ 0.98099781 -0.18222518 -0.06661288 -8.35612143] [ 0.18383895 0.98277456 0.01890532 9.44477807] [ 0.06202042 -0.03079212 0.99759978 0.42030994] [ 0. 0. 0. 1. ]] SLAMing on 67.52925976399999 meters Centerline goodness : 0.794967 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.45, Z:0.42 [[ 0.98188931 -0.17728991 -0.06679575 -8.35620084] [ 0.17896197 0.98365486 0.01989295 9.44834807] [ 0.06217714 -0.03148657 0.99756834 0.41768138] [ 0. 0. 0. 1. ]] SLAMing on 67.58925976399999 meters Centerline goodness : 0.792722 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.45, Z:0.42 [[ 0.98269519 -0.17274665 -0.06684877 -8.35726652] [ 0.17444857 0.98445338 0.02047519 9.45175212] [ 0.06227248 -0.03178255 0.99755301 0.41630271] [ 0. 0. 0. 1. ]] SLAMing on 67.64925976399999 meters Centerline goodness : 0.791631 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.46, Z:0.42 [[ 0.98363498 -0.16723456 -0.06704351 -8.35972884] [ 0.16909648 0.98532895 0.02309192 9.45500924] [ 0.06219815 -0.03405084 0.9974828 0.41679139] [ 0. 0. 0. 1. ]] SLAMing on 67.709259764 meters Centerline goodness : 0.785706 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.46, Z:0.42 [[ 0.98408407 -0.16461341 -0.06694008 -8.35999015] [ 0.16642934 0.98579702 0.02248354 9.45723396] [ 0.06228824 -0.03326649 0.99750364 0.41514142] [ 0. 0. 0. 1. ]] SLAMing on 67.769259764 meters Centerline goodness : 0.784588 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.46, Z:0.41 [[ 0.98469513 -0.16080137 -0.06721917 -8.36078633] [ 0.16275528 0.98635867 0.02464325 9.45893376] [ 0.06233954 -0.03520636 0.99743385 0.41483819] [ 0. 0. 0. 1. ]] SLAMing on 67.82925976399999 meters Centerline goodness : 0.784592 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.46, Z:0.41 [[ 0.98567513 -0.15461224 -0.0673765 -8.36265945] [ 0.15671209 0.98727381 0.0270508 9.46232263] [ 0.06233667 -0.03722201 0.99736085 0.41427082] [ 0. 0. 0. 1. ]] SLAMing on 67.88925976399999 meters Centerline goodness : 0.782020 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.46, Z:0.41 [[ 0.98641896 -0.14948833 -0.06805051 -8.36041771] [ 0.15191112 0.98787884 0.03191236 9.4621204 ] [ 0.06245514 -0.04181659 0.99717136 0.41114205] [ 0. 0. 0. 1. ]] SLAMing on 67.94925976399999 meters Centerline goodness : 0.780190 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.46, Z:0.41 [[ 0.98703779 -0.14532547 -0.06809481 -8.36166992] [ 0.14802216 0.98831535 0.03636217 9.46034912] [ 0.0620148 -0.04597038 0.99701599 0.41055367] [ 0. 0. 0. 1. ]] SLAMing on 68.00925976399999 meters Centerline goodness : 0.780653 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.46, Z:0.41 [[ 0.98755064 -0.14172196 -0.06825401 -8.36420741] [ 0.14460316 0.98870974 0.03928063 9.46274655] [ 0.06191648 -0.04866136 0.99689439 0.41260778] [ 0. 0. 0. 1. ]] SLAMing on 68.069259764 meters Centerline goodness : 0.780610 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.46, Z:0.41 [[ 0.98759455 -0.1412429 -0.06861085 -8.36257285] [ 0.14412994 0.98878584 0.03910396 9.46461379] [ 0.06231828 -0.04850773 0.99687684 0.41201793] [ 0. 0. 0. 1. ]] SLAMing on 68.129259764 meters Centerline goodness : 0.779799 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.46, Z:0.41 [[ 0.9876195 -0.14101203 -0.06872654 -8.3617876 ] [ 0.14390343 0.98881946 0.03908818 9.46474638] [ 0.06244624 -0.04849424 0.99686949 0.41167749] [ 0. 0. 0. 1. ]] SLAMing on 68.189259764 meters Centerline goodness : 0.781573 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.47, Z:0.41 [[ 0.98755048 -0.14126813 -0.06919079 -8.36186179] [ 0.14406775 0.9888656 0.03727347 9.46997595] [ 0.06315484 -0.04677759 0.99690688 0.41451935] [ 0. 0. 0. 1. ]] SLAMing on 68.24925976399999 meters Centerline goodness : 0.781266 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.47, Z:0.41 [[ 0.98755864 -0.14109198 -0.06943333 -8.36122177] [ 0.14388754 0.98890083 0.0370342 9.4716066 ] [ 0.06343745 -0.04656404 0.99689893 0.41454595] [ 0. 0. 0. 1. ]] SLAMing on 68.30925976399999 meters Centerline goodness : 0.781029 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.47, Z:0.41 [[ 0.98758072 -0.14092329 -0.06946188 -8.36089788] [ 0.14371466 0.98892908 0.03695098 9.47185952] [ 0.06348562 -0.04647476 0.99690003 0.41450372] [ 0. 0. 0. 1. ]] SLAMing on 68.36925976399999 meters Centerline goodness : 0.780348 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.41 [[ 0.98759793 -0.14234989 -0.06623322 -8.34118721] [ 0.14557595 0.98824353 0.0467159 9.4672606 ] [ 0.05880455 -0.05577849 0.99670998 0.40805283] [ 0. 0. 0. 1. ]] SLAMing on 68.429259764 meters Centerline goodness : 0.781020 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.41 [[ 0.98755812 -0.14274773 -0.06597003 -8.34282878] [ 0.14593771 0.98820748 0.04634821 9.4668094 ] [ 0.05857598 -0.05539907 0.9967446 0.40960027] [ 0. 0. 0. 1. ]] SLAMing on 68.489259764 meters Centerline goodness : 0.781058 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.41 [[ 0.98699175 -0.14648926 -0.06624331 -8.34086145] [ 0.14945874 0.9878619 0.0423196 9.46714437] [ 0.05923988 -0.05166973 0.99690565 0.41050955] [ 0. 0. 0. 1. ]] SLAMing on 68.549259764 meters Centerline goodness : 0.782761 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.41 [[ 0.98700044 -0.14640183 -0.06630718 -8.3406868 ] [ 0.14936917 0.98787931 0.04222928 9.46752466] [ 0.05932105 -0.05158457 0.99690523 0.41058887] [ 0. 0. 0. 1. ]] SLAMing on 68.60925976399999 meters Centerline goodness : 0.781566 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.46, Z:0.41 [[ 0.98697135 -0.14680175 -0.06585444 -8.34232351] [ 0.14976286 0.98780746 0.04251481 9.46362131] [ 0.05881026 -0.05182344 0.99692311 0.4112115 ] [ 0. 0. 0. 1. ]] SLAMing on 68.66925976399999 meters Centerline goodness : 0.781976 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.41 [[ 0.98631044 -0.15122876 -0.06573869 -8.34209746] [ 0.15390043 0.98736881 0.03764964 9.46573891] [ 0.05921462 -0.04725145 0.99712634 0.41317109] [ 0. 0. 0. 1. ]] SLAMing on 68.72925976399999 meters Centerline goodness : 0.786227 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.41 [[ 0.98627877 -0.15136825 -0.0658926 -8.34243102] [ 0.15403429 0.98735629 0.03742988 9.46633857] [ 0.05939377 -0.04706601 0.99712445 0.41406617] [ 0. 0. 0. 1. ]] SLAMing on 68.789259764 meters Centerline goodness : 0.791443 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.46, Z:0.41 [[ 0.98627153 -0.15155095 -0.06558035 -8.34343243] [ 0.15420784 0.98732574 0.03752108 9.46480929] [ 0.05906281 -0.04711898 0.99714161 0.41433867] [ 0. 0. 0. 1. ]] SLAMing on 68.849259764 meters Centerline goodness : 0.789481 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.46, Z:0.41 [[ 0.98627129 -0.15165138 -0.06535142 -8.34386832] [ 0.15430003 0.98730973 0.03756321 9.46427513] [ 0.05882558 -0.04713124 0.99715505 0.41407595] [ 0. 0. 0. 1. ]] SLAMing on 68.909259764 meters Centerline goodness : 0.791476 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.41 [[ 0.9862793 -0.15148287 -0.06562078 -8.34301244] [ 0.15414238 0.98733545 0.03753438 9.46544962] [ 0.05910391 -0.04713433 0.99713845 0.41372071] [ 0. 0. 0. 1. ]] SLAMing on 68.96925976399999 meters Centerline goodness : 0.789412 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.41 [[ 0.98629161 -0.1514429 -0.06552786 -8.34312583] [ 0.15409379 0.98734573 0.03746358 9.46558405] [ 0.05902506 -0.04704745 0.99714722 0.41363939] [ 0. 0. 0. 1. ]] SLAMing on 69.02925976399999 meters Centerline goodness : 0.786938 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.41 [[ 0.98567554 -0.15532596 -0.06570832 -8.34096354] [ 0.15770754 0.98694335 0.03272849 9.46972629] [ 0.05976681 -0.04262237 0.99730199 0.41444552] [ 0. 0. 0. 1. ]] SLAMing on 69.08925976399999 meters Centerline goodness : 0.787864 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.42 [[ 0.98562181 -0.15580316 -0.06538362 -8.34272069] [ 0.15814424 0.9868885 0.03227212 9.47002541] [ 0.05949825 -0.04214815 0.9973382 0.41573281] [ 0. 0. 0. 1. ]] SLAMing on 69.14925976399999 meters Centerline goodness : 0.791848 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.47, Z:0.42 [[ 0.9856445 -0.15574977 -0.06516848 -8.34318839] [ 0.1581157 0.98687418 0.03284469 9.46771865] [ 0.05919753 -0.04267735 0.99733359 0.41532159] [ 0. 0. 0. 1. ]] SLAMing on 69.209259764 meters Centerline goodness : 0.793393 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.46, Z:0.41 [[ 0.98562392 -0.15619817 -0.064402 -8.34502387] [ 0.15857653 0.98677452 0.03360843 9.46299432] [ 0.05830067 -0.04333791 0.99735794 0.41463995] [ 0. 0. 0. 1. ]] SLAMing on 69.269259764 meters Centerline goodness : 0.789295 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.41 [[ 0.98519489 -0.16077964 -0.05950573 -8.33232588] [ 0.16342382 0.98563643 0.04258491 9.45830825] [ 0.05180423 -0.05167909 0.9973192 0.40865957] [ 0. 0. 0. 1. ]] SLAMing on 69.32925976399999 meters Centerline goodness : 0.791214 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.41 [[ 0.9851429 -0.16129647 -0.05896531 -8.33412543] [ 0.16390491 0.98556324 0.0424297 9.45708788] [ 0.05127028 -0.05146402 0.99735792 0.40923314] [ 0. 0. 0. 1. ]] SLAMing on 69.38925976399999 meters Centerline goodness : 0.787673 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.41 [[ 0.98515709 -0.16128439 -0.05876094 -8.33440282] [ 0.16387424 0.98557508 0.04227283 9.45749239] [ 0.05109537 -0.05127478 0.99737664 0.40906083] [ 0. 0. 0. 1. ]] SLAMing on 69.44925976399999 meters Centerline goodness : 0.782479 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.41 [[ 0.98516058 -0.16128929 -0.05868894 -8.33431279] [ 0.16385724 0.98559309 0.04191727 9.4590471 ] [ 0.05108261 -0.05091185 0.99739588 0.40889068] [ 0. 0. 0. 1. ]] SLAMing on 69.50925976399999 meters Centerline goodness : 0.777402 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.46, Z:0.41 [[ 0.98582842 -0.1571825 -0.05861736 -8.33578337] [ 0.15995767 0.9860475 0.04608557 9.45826849] [ 0.05055566 -0.05480876 0.99721619 0.40820036] [ 0. 0. 0. 1. ]] SLAMing on 69.569259764 meters Centerline goodness : 0.774153 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.46, Z:0.41 [[ 0.98580512 -0.1574379 -0.05832307 -8.3366471 ] [ 0.16017866 0.98602852 0.04572263 9.45901054] [ 0.05030973 -0.05441572 0.99725015 0.40837405] [ 0. 0. 0. 1. ]] SLAMing on 69.629259764 meters Centerline goodness : 0.770763 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.46, Z:0.40 [[ 0.98567782 -0.15975251 -0.05402197 -8.31874294] [ 0.16259587 0.98526247 0.05310784 9.45963704] [ 0.0447417 -0.06113097 0.99712646 0.4046328 ] [ 0. 0. 0. 1. ]] SLAMing on 69.68925976399998 meters Centerline goodness : 0.770222 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.46, Z:0.40 [[ 0.98560995 -0.1601942 -0.05395224 -8.31893122] [ 0.16296302 0.98528471 0.05154704 9.46036975] [ 0.04490078 -0.0595975 0.99721214 0.40463836] [ 0. 0. 0. 1. ]] SLAMing on 69.74925976399999 meters Centerline goodness : 0.767184 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.46, Z:0.41 [[ 0.98564071 -0.16003952 -0.05384921 -8.32033282] [ 0.16278842 0.98532959 0.05123993 9.46118305] [ 0.04485881 -0.05927019 0.99723354 0.40587752] [ 0. 0. 0. 1. ]] SLAMing on 69.80925976399999 meters Centerline goodness : 0.769633 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.46, Z:0.41 [[ 0.98547142 -0.16128951 -0.05321433 -8.32248461] [ 0.1639521 0.98519253 0.05015357 9.45991744] [ 0.04433712 -0.05814951 0.99732284 0.40770336] [ 0. 0. 0. 1. ]] SLAMing on 69.86925976399999 meters Centerline goodness : 0.768635 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.46, Z:0.41 [[ 0.98514026 -0.16351062 -0.0525637 -8.32411909] [ 0.1660488 0.98493904 0.04819624 9.45912315] [ 0.04389144 -0.0562082 0.99745385 0.40920988] [ 0. 0. 0. 1. ]] SLAMing on 69.929259764 meters Centerline goodness : 0.767261 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.46, Z:0.41 [[ 0.98538684 -0.16192727 -0.05284262 -8.32347174] [ 0.16448921 0.98519216 0.04837054 9.45985704] [ 0.04422762 -0.05635574 0.99743067 0.4080516 ] [ 0. 0. 0. 1. ]] SLAMing on 69.989259764 meters Centerline goodness : 0.765731 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.41 [[ 0.98620981 -0.15715416 -0.05189191 -8.32624646] [ 0.15966246 0.98598717 0.04834464 9.46136121] [ 0.04356719 -0.05596315 0.99748184 0.4070575 ] [ 0. 0. 0. 1. ]] SLAMing on 70.049259764 meters Centerline goodness : 0.766424 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.41 [[ 0.98704722 -0.15200273 -0.05131224 -8.3292484 ] [ 0.15454098 0.9867326 0.04975799 9.46364211] [ 0.04306811 -0.05704333 0.99744233 0.40697428] [ 0. 0. 0. 1. ]] SLAMing on 70.10925976399999 meters Centerline goodness : 0.764128 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.47, Z:0.41 [[ 0.98718147 -0.1510064 -0.05167025 -8.32710206] [ 0.15355361 0.98690037 0.04948694 9.46721148] [ 0.04352055 -0.05678674 0.99743733 0.40606004] [ 0. 0. 0. 1. ]] SLAMing on 70.16925976399999 meters Centerline goodness : 0.763190 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.47, Z:0.41 [[ 0.98758535 -0.14839864 -0.05150748 -8.3276152 ] [ 0.15093055 0.9873127 0.04933149 9.46698778] [ 0.04353326 -0.05649311 0.99745345 0.40514262] [ 0. 0. 0. 1. ]] SLAMing on 70.22925976399999 meters Centerline goodness : 0.763712 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.47, Z:0.41 [[ 0.98753177 -0.14884538 -0.05124515 -8.32968861] [ 0.15137076 0.98723555 0.04952633 9.46513705] [ 0.04321926 -0.05666584 0.99745731 0.40775573] [ 0. 0. 0. 1. ]] SLAMing on 70.289259764 meters Centerline goodness : 0.762065 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.41 [[ 0.98677368 -0.15404419 -0.05047871 -8.33252629] [ 0.15643247 0.98655244 0.04736209 9.46191139] [ 0.04250404 -0.05463217 0.99760149 0.41236076] [ 0. 0. 0. 1. ]] SLAMing on 70.349259764 meters Centerline goodness : 0.762899 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.42 [[ 0.98592104 -0.159405 -0.05049499 -8.33351443] [ 0.16172182 0.98577825 0.0456869 9.45956955] [ 0.04249415 -0.05320982 0.99767879 0.41635309] [ 0. 0. 0. 1. ]] SLAMing on 70.409259764 meters Centerline goodness : 0.761387 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.46, Z:0.42 [[ 0.98423042 -0.16934262 -0.05112295 -8.33344878] [ 0.17161992 0.98417967 0.04401114 9.45536665] [ 0.0428612 -0.05209082 0.99772214 0.42311186] [ 0. 0. 0. 1. ]] SLAMing on 70.46925976399999 meters Centerline goodness : 0.761366 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.45, Z:0.43 [[ 0.98382779 -0.17139869 -0.0520131 -8.33290147] [ 0.17377658 0.98374492 0.04525076 9.45330675] [ 0.04341171 -0.05355761 0.99762067 0.42604199] [ 0. 0. 0. 1. ]] SLAMing on 70.52925976399999 meters Centerline goodness : 0.760502 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.45, Z:0.43 [[ 0.98403009 -0.17037904 -0.05153412 -8.33409276] [ 0.17269091 0.9839787 0.04431437 9.45253008] [ 0.04315824 -0.05250615 0.99768756 0.42600883] [ 0. 0. 0. 1. ]] SLAMing on 70.58925976399999 meters Centerline goodness : 0.760234 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.45, Z:0.43 [[ 0.98428341 -0.1693742 -0.04998556 -8.33757122] [ 0.17152815 0.98426276 0.04248426 9.451292 ] [ 0.04200319 -0.05039048 0.99784595 0.42644329] [ 0. 0. 0. 1. ]] SLAMing on 70.64925976399999 meters Centerline goodness : 0.760987 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.45, Z:0.43 [[ 0.98494111 -0.16568555 -0.0493893 -8.34027099] [ 0.16784223 0.98486386 0.04326858 9.45129634] [ 0.04147276 -0.05090661 0.99784193 0.42684187] [ 0. 0. 0. 1. ]] SLAMing on 70.709259764 meters Centerline goodness : 0.761578 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.45, Z:0.43 [[ 0.98530609 -0.16382135 -0.04831641 -8.34372648] [ 0.16591907 0.98519459 0.04315638 9.45080021] [ 0.04053113 -0.05053886 0.99789932 0.42801325] [ 0. 0. 0. 1. ]] SLAMing on 70.769259764 meters Centerline goodness : 0.759291 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.43 [[ 0.98524978 -0.16431994 -0.04776853 -8.34594541] [ 0.16634188 0.98517494 0.04196097 9.44957369] [ 0.04016533 -0.04928794 0.99797668 0.42980685] [ 0. 0. 0. 1. ]] SLAMing on 70.82925976399999 meters Centerline goodness : 0.760841 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.44, Z:0.45 [[ 0.98492513 -0.16228888 -0.05987328 -8.34838171] [ 0.16471434 0.98560709 0.03805075 9.44332757] [ 0.05283632 -0.04733913 0.99748049 0.44623297] [ 0. 0. 0. 1. ]] SLAMing on 70.88925976399999 meters Centerline goodness : 0.763483 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.44, Z:0.45 [[ 0.98502011 -0.16169127 -0.05992753 -8.34968555] [ 0.16415797 0.98567116 0.03878816 9.44154871] [ 0.05279713 -0.0480447 0.99744883 0.44799021] [ 0. 0. 0. 1. ]] SLAMing on 70.94925976399999 meters Centerline goodness : 0.764393 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.44, Z:0.45 [[ 0.98466217 -0.16414074 -0.05914576 -8.35223191] [ 0.16642327 0.98539863 0.0359559 9.44051116] [ 0.05238032 -0.04524764 0.9976016 0.45040893] [ 0. 0. 0. 1. ]] SLAMing on 71.00925976399999 meters Centerline goodness : 0.762983 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.44, Z:0.45 [[ 0.98437775 -0.16593246 -0.05888009 -8.35412673] [ 0.1681519 0.98514119 0.03495382 9.43888593] [ 0.05220523 -0.04430856 0.99765293 0.45311189] [ 0. 0. 0. 1. ]] SLAMing on 71.069259764 meters Centerline goodness : 0.763644 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.44, Z:0.45 [[ 0.98494386 -0.16251204 -0.05895282 -8.35660408] [ 0.16485746 0.98560998 0.03734944 9.43843684] [ 0.05203475 -0.04650592 0.99756182 0.45495458] [ 0. 0. 0. 1. ]] SLAMing on 71.129259764 meters Centerline goodness : 0.765000 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.44, Z:0.45 [[ 0.98509236 -0.16177702 -0.05849126 -8.35776912] [ 0.16403675 0.9857927 0.03612065 9.43782273] [ 0.05181677 -0.04517689 0.99763424 0.45484201] [ 0. 0. 0. 1. ]] SLAMing on 71.18925976399998 meters Centerline goodness : 0.764951 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.44, Z:0.45 [[ 0.98523564 -0.16106347 -0.05804567 -8.35853926] [ 0.16321527 0.98598947 0.03443171 9.4370971 ] [ 0.05168672 -0.04339728 0.99771998 0.45454091] [ 0. 0. 0. 1. ]] SLAMing on 71.24925976399999 meters Centerline goodness : 0.763584 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.44, Z:0.46 [[ 0.98540369 -0.16008673 -0.05789483 -8.36174103] [ 0.16229776 0.98609504 0.03572137 9.4375173 ] [ 0.05137129 -0.04459617 0.9976834 0.4576502 ] [ 0. 0. 0. 1. ]] SLAMing on 71.30925976399999 meters Centerline goodness : 0.762559 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.44, Z:0.46 [[ 0.98602438 -0.15628063 -0.05772593 -8.36426918] [ 0.15868458 0.98653125 0.03969003 9.43589242] [ 0.05074566 -0.04829555 0.99754319 0.45817101] [ 0. 0. 0. 1. ]] SLAMing on 71.36925976399999 meters Centerline goodness : 0.761239 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.43, Z:0.46 [[ 0.9860634 -0.15609259 -0.05756802 -8.36418003] [ 0.15850166 0.98655042 0.03994364 9.4348471 ] [ 0.05055884 -0.04851158 0.99754219 0.45760038] [ 0. 0. 0. 1. ]] SLAMing on 71.429259764 meters Centerline goodness : 0.759806 with order 1 Centerline is valid? [False, False] Translation: X:-8.37, Y:9.43, Z:0.46 [[ 0.98603901 -0.15638884 -0.05718045 -8.36543051] [ 0.15879028 0.98649506 0.04016398 9.43290911] [ 0.05012703 -0.04868295 0.99755564 0.45770926] [ 0. 0. 0. 1. ]] SLAMing on 71.489259764 meters Centerline goodness : 0.756974 with order 1 Centerline is valid? [False, False] Translation: X:-8.37, Y:9.43, Z:0.46 [[ 0.98602651 -0.15637537 -0.05743224 -8.36521743] [ 0.15877218 0.98651155 0.03982917 9.43411411] [ 0.05042926 -0.04839126 0.9975546 0.45852557] [ 0. 0. 0. 1. ]] SLAMing on 71.549259764 meters Centerline goodness : 0.756870 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.44, Z:0.46 [[ 0.98537966 -0.16041471 -0.05739373 -8.36402127] [ 0.1625713 0.98607268 0.03508904 9.43761058] [ 0.05096559 -0.0439066 0.99773479 0.459495 ] [ 0. 0. 0. 1. ]] SLAMing on 71.60925976399999 meters Centerline goodness : 0.756022 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.44, Z:0.46 [[ 0.98480527 -0.16376626 -0.05778571 -8.36048025] [ 0.16573107 0.98568377 0.03099533 9.4404721 ] [ 0.05188245 -0.04010126 0.99784773 0.45915361] [ 0. 0. 0. 1. ]] SLAMing on 71.66925976399999 meters Centerline goodness : 0.755847 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.44, Z:0.46 [[ 0.98483582 -0.16371432 -0.05741098 -8.3629202 ] [ 0.16562969 0.98572148 0.03033096 9.44067526] [ 0.05162563 -0.03937998 0.99788978 0.46096856] [ 0. 0. 0. 1. ]] SLAMing on 71.72925976399999 meters Centerline goodness : 0.756715 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.44, Z:0.46 [[ 0.98493744 -0.16324155 -0.05701267 -8.36475841] [ 0.16510553 0.98583027 0.02964537 9.44096352] [ 0.05136546 -0.03861194 0.99793322 0.46180397] [ 0. 0. 0. 1. ]] SLAMing on 71.789259764 meters Centerline goodness : 0.753743 with order 1 Centerline is valid? [False, False] Translation: X:-8.37, Y:9.44, Z:0.46 [[ 0.98465017 -0.1651265 -0.05654443 -8.36614512] [ 0.16682025 0.98562735 0.02664087 9.44117042] [ 0.05133262 -0.03566469 0.99804458 0.46284017] [ 0. 0. 0. 1. ]] SLAMing on 71.849259764 meters Centerline goodness : 0.754033 with order 1 Centerline is valid? [False, False] Translation: X:-8.37, Y:9.44, Z:0.46 [[ 0.98451653 -0.16583849 -0.05678735 -8.36686484] [ 0.16753977 0.98550628 0.02660459 9.44133106] [ 0.05155222 -0.0357068 0.99803176 0.46440489] [ 0. 0. 0. 1. ]] SLAMing on 71.909259764 meters Centerline goodness : 0.751980 with order 1 Centerline is valid? [False, False] Translation: X:-8.37, Y:9.44, Z:0.47 [[ 0.98510103 -0.16240837 -0.05656392 -8.36982634] [ 0.16416235 0.9860401 0.02785053 9.44237691] [ 0.05125114 -0.03672125 0.99801046 0.46563728] [ 0. 0. 0. 1. ]] SLAMing on 71.96925976399999 meters Centerline goodness : 0.747851 with order 1 Centerline is valid? [False, False] Translation: X:-8.37, Y:9.44, Z:0.46 [[ 0.9849937 -0.16306553 -0.05654247 -8.36926548] [ 0.16468611 0.98602241 0.02526427 9.44340372] [ 0.05163241 -0.03419691 0.99808049 0.4642486 ] [ 0. 0. 0. 1. ]] SLAMing on 72.02925976399999 meters Centerline goodness : 0.746835 with order 1 Centerline is valid? [False, False] Translation: X:-8.37, Y:9.44, Z:0.47 [[ 0.98467422 -0.16508383 -0.05624946 -8.3705882 ] [ 0.16659838 0.98574805 0.02336151 9.44253974] [ 0.05159119 -0.03237455 0.9981434 0.46588691] [ 0. 0. 0. 1. ]] SLAMing on 72.08925976399999 meters Centerline goodness : 0.745370 with order 1 Centerline is valid? [False, False] Translation: X:-8.37, Y:9.44, Z:0.47 [[ 0.98441303 -0.16628756 -0.05726634 -8.37071281] [ 0.16788978 0.98550442 0.02437325 9.44144393] [ 0.05238326 -0.03360778 0.99806138 0.46903958] [ 0. 0. 0. 1. ]] SLAMing on 72.14925976399999 meters Centerline goodness : 0.742453 with order 1 Centerline is valid? [False, False] Translation: X:-8.37, Y:9.44, Z:0.47 [[ 0.98396714 -0.16917755 -0.05645903 -8.3731657 ] [ 0.17060161 0.98510766 0.02140087 9.43940858] [ 0.05199767 -0.03068975 0.99817553 0.4715517 ] [ 0. 0. 0. 1. ]] SLAMing on 72.209259764 meters Centerline goodness : 0.745508 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.44, Z:0.47 [[ 0.98373275 -0.17081811 -0.05559717 -8.37565861] [ 0.17208037 0.98490477 0.01873357 9.43822856] [ 0.05155788 -0.02799601 0.99827752 0.47330992] [ 0. 0. 0. 1. ]] SLAMing on 72.269259764 meters Centerline goodness : 0.744512 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.44, Z:0.47 [[ 0.98335004 -0.17313973 -0.05518461 -8.37666005] [ 0.17426079 0.98456695 0.01615856 9.43670544] [ 0.05153526 -0.02550603 0.99834541 0.4747915 ] [ 0. 0. 0. 1. ]] SLAMing on 72.32925976399999 meters Centerline goodness : 0.746707 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.43, Z:0.48 [[ 0.98275498 -0.17656534 -0.05493021 -8.37843764] [ 0.17759716 0.98399691 0.01446833 9.43479031] [ 0.05149655 -0.02397428 0.99838537 0.47806073] [ 0. 0. 0. 1. ]] SLAMing on 72.38925976399999 meters Centerline goodness : 0.746761 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.43, Z:0.48 [[ 0.98266364 -0.1772447 -0.05437358 -8.38060931] [ 0.17819488 0.98390779 0.01311642 9.43369748] [ 0.05117378 -0.02257813 0.99843451 0.47986643] [ 0. 0. 0. 1. ]] SLAMing on 72.44925976399999 meters Centerline goodness : 0.745858 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.43, Z:0.49 [[ 0.98264096 -0.17137653 -0.07104098 -8.37539146] [ 0.1727922 0.98485536 0.01423963 9.42973652] [ 0.06752475 -0.02626777 0.99737175 0.48630212] [ 0. 0. 0. 1. ]] SLAMing on 72.50925976399999 meters Centerline goodness : 0.744693 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.43, Z:0.48 [[ 0.98298298 -0.17000091 -0.06959997 -8.37710613] [ 0.17130753 0.98512901 0.01321205 9.43002377] [ 0.06631889 -0.02491022 0.99748749 0.4839124 ] [ 0. 0. 0. 1. ]] SLAMing on 72.569259764 meters Centerline goodness : 0.746390 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.43, Z:0.49 [[ 0.98299975 -0.16997683 -0.06942166 -8.3792818 ] [ 0.17127884 0.98513402 0.01321045 9.43098698] [ 0.06614417 -0.02487633 0.99749993 0.48583509] [ 0. 0. 0. 1. ]] SLAMing on 72.629259764 meters Centerline goodness : 0.747853 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.43, Z:0.48 [[ 0.98312311 -0.16889359 -0.07031291 -8.37525889] [ 0.17026269 0.98530049 0.01391281 9.43165092] [ 0.06692956 -0.02564967 0.99742796 0.48349969] [ 0. 0. 0. 1. ]] SLAMing on 72.68925976399998 meters Centerline goodness : 0.746452 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.43, Z:0.48 [[ 0.98379862 -0.1651144 -0.06983911 -8.37643795] [ 0.16649503 0.98593726 0.01439216 9.43412902] [ 0.06648063 -0.02578686 0.99745444 0.48145073] [ 0. 0. 0. 1. ]] SLAMing on 72.74925976399999 meters Centerline goodness : 0.743028 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.44, Z:0.48 [[ 0.98398805 -0.16458862 -0.06839672 -8.3797763 ] [ 0.16576022 0.98609568 0.01178353 9.43708219] [ 0.06550628 -0.02293231 0.99758861 0.48090789] [ 0. 0. 0. 1. ]] SLAMing on 72.80925976399999 meters Centerline goodness : 0.742385 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.44, Z:0.48 [[ 0.98418649 -0.16352756 -0.06808585 -8.38060932] [ 0.16472904 0.9862611 0.01238458 9.43933266] [ 0.0651252 -0.02340446 0.9976026 0.48025129] [ 0. 0. 0. 1. ]] SLAMing on 72.86925976399999 meters Centerline goodness : 0.739109 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.44, Z:0.48 [[ 0.98518788 -0.1571323 -0.06866063 -8.37937167] [ 0.15851886 0.98723892 0.01520138 9.44396769] [ 0.06539582 -0.02586022 0.99752425 0.47636812] [ 0. 0. 0. 1. ]] SLAMing on 72.929259764 meters Centerline goodness : 0.737034 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.45, Z:0.47 [[ 0.98577427 -0.15366918 -0.06807992 -8.38014477] [ 0.15507252 0.98777673 0.01579998 9.44610733] [ 0.06481979 -0.02613254 0.99755475 0.47386131] [ 0. 0. 0. 1. ]] SLAMing on 72.989259764 meters Centerline goodness : 0.740994 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.45, Z:0.47 [[ 0.98660783 -0.14891558 -0.06655185 -8.38301055] [ 0.15027909 0.98851501 0.01594599 9.44849009] [ 0.06341289 -0.02573379 0.99765554 0.47124824] [ 0. 0. 0. 1. ]] SLAMing on 73.04925976399998 meters Centerline goodness : 0.741905 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.45, Z:0.47 [[ 0.98729868 -0.14402451 -0.0670691 -8.38183155] [ 0.14563664 0.98914046 0.01977652 9.45204675] [ 0.06349245 -0.02929305 0.99755232 0.46949176] [ 0. 0. 0. 1. ]] SLAMing on 73.10925976399999 meters Centerline goodness : 0.747203 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.45, Z:0.47 [[ 0.98850824 -0.13527146 -0.06747667 -8.38267379] [ 0.13738611 0.99012937 0.02772887 9.45423371] [ 0.06305971 -0.03668058 0.99733545 0.46790228] [ 0. 0. 0. 1. ]] SLAMing on 73.16925976399999 meters Centerline goodness : 0.748262 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.46, Z:0.47 [[ 0.98912246 -0.13064015 -0.06760118 -8.3826856 ] [ 0.1329863 0.99061922 0.03143571 9.45705592] [ 0.06286026 -0.04008379 0.99721707 0.46676055] [ 0. 0. 0. 1. ]] SLAMing on 73.22925976399999 meters Centerline goodness : 0.752312 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.46, Z:0.46 [[ 0.98970324 -0.12622054 -0.06749714 -8.38328248] [ 0.12883468 0.99101699 0.03587419 9.45668875] [ 0.06236275 -0.04420077 0.99707431 0.46499081] [ 0. 0. 0. 1. ]] SLAMing on 73.289259764 meters Centerline goodness : 0.750220 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:9.46, Z:0.46 [[ 0.98973622 -0.12608077 -0.06727446 -8.38335279] [ 0.12869561 0.99102879 0.03604694 9.45687923] [ 0.0621261 -0.04433489 0.99708313 0.46421077] [ 0. 0. 0. 1. ]] SLAMing on 73.349259764 meters Centerline goodness : 0.750452 with order 1 Centerline is valid? [False, False] Translation: X:-8.39, Y:9.45, Z:0.46 [[ 0.98973114 -0.12646854 -0.0666182 -8.38534498] [ 0.12907831 0.99096499 0.03643041 9.45412719] [ 0.061409 -0.04465528 0.99711325 0.46420362] [ 0. 0. 0. 1. ]] SLAMing on 73.409259764 meters Centerline goodness : 0.751040 with order 1 Centerline is valid? [False, False] Translation: X:-8.37, Y:9.45, Z:0.46 [[ 0.98948034 -0.13102048 -0.06133755 -8.37065688] [ 0.13382246 0.99002654 0.04403417 9.44905675] [ 0.05495643 -0.05177928 0.99714527 0.45802077] [ 0. 0. 0. 1. ]] SLAMing on 73.46925976399999 meters Centerline goodness : 0.752664 with order 1 Centerline is valid? [False, False] Translation: X:-8.37, Y:9.45, Z:0.46 [[ 0.98944722 -0.13155929 -0.06071533 -8.3726684 ] [ 0.13435671 0.98993162 0.04453843 9.44666363] [ 0.05424459 -0.05222594 0.99716096 0.45782222] [ 0. 0. 0. 1. ]] SLAMing on 73.52925976399999 meters Centerline goodness : 0.751485 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.44, Z:0.45 [[ 0.9890753 -0.13653228 -0.05557864 -8.3586772 ] [ 0.13941991 0.98887313 0.0518847 9.44216132] [ 0.04787628 -0.05906665 0.99710531 0.45256706] [ 0. 0. 0. 1. ]] SLAMing on 73.58925976399999 meters Centerline goodness : 0.752079 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.44, Z:0.45 [[ 0.98844286 -0.14125993 -0.05501215 -8.35964989] [ 0.14388811 0.98846993 0.04715299 9.44305264] [ 0.04771702 -0.05452363 0.99737168 0.45455349] [ 0. 0. 0. 1. ]] SLAMing on 73.64925976399999 meters Centerline goodness : 0.751413 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.44, Z:0.46 [[ 0.98843686 -0.14135481 -0.05487609 -8.36036303] [ 0.14396897 0.98846474 0.04701478 9.44288643] [ 0.04759731 -0.0543716 0.9973857 0.45515084] [ 0. 0. 0. 1. ]] SLAMing on 73.709259764 meters Centerline goodness : 0.747421 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.44, Z:0.45 [[ 0.98790779 -0.14507807 -0.05468587 -8.35848133] [ 0.14751623 0.98810114 0.04353271 9.44226262] [ 0.04771953 -0.05107335 0.99755419 0.45452124] [ 0. 0. 0. 1. ]] SLAMing on 73.769259764 meters Centerline goodness : 0.750448 with order 1 Centerline is valid? [False, False] Translation: X:-8.36, Y:9.44, Z:0.46 [[ 0.98782228 -0.14597869 -0.05382713 -8.36154522] [ 0.14838028 0.98796498 0.04368627 9.43846904] [ 0.04680206 -0.05114115 0.99759418 0.45566445] [ 0. 0. 0. 1. ]] SLAMing on 73.82925976399999 meters Centerline goodness : 0.750843 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.43, Z:0.45 [[ 0.98720988 -0.15208931 -0.04780686 -8.35039937] [ 0.15444261 0.98672949 0.05012375 9.43385069] [ 0.03954915 -0.05686608 0.99759817 0.45201029] [ 0. 0. 0. 1. ]] SLAMing on 73.88925976399999 meters Centerline goodness : 0.747338 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.43, Z:0.45 [[ 0.98716987 -0.15245033 -0.04748211 -8.35155484] [ 0.15478178 0.98668044 0.0500431 9.43297344] [ 0.03922058 -0.05675041 0.99761773 0.45237548] [ 0. 0. 0. 1. ]] SLAMing on 73.94925976399999 meters Centerline goodness : 0.746589 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.44, Z:0.45 [[ 0.98718194 -0.15228618 -0.04775704 -8.35097444] [ 0.15460747 0.98674065 0.04939039 9.43605516] [ 0.03960234 -0.05614089 0.99763714 0.45288827] [ 0. 0. 0. 1. ]] SLAMing on 74.00925976399999 meters Centerline goodness : 0.744992 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.44, Z:0.45 [[ 0.98727869 -0.15148119 -0.048314 -8.34874031] [ 0.15379439 0.98691654 0.04840485 9.44111279] [ 0.04034946 -0.0552195 0.99765862 0.45299097] [ 0. 0. 0. 1. ]] SLAMing on 74.069259764 meters Centerline goodness : 0.743184 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.45 [[ 0.98718985 -0.15211196 -0.04814728 -8.35003389] [ 0.15435237 0.98690514 0.04683575 9.44575002] [ 0.04039253 -0.05366742 0.99774158 0.45463872] [ 0. 0. 0. 1. ]] SLAMing on 74.129259764 meters Centerline goodness : 0.740751 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.45 [[ 0.98753123 -0.14961978 -0.04894885 -8.35039893] [ 0.15195183 0.98722198 0.04799376 9.44964169] [ 0.04114257 -0.0548332 0.99764754 0.45495397] [ 0. 0. 0. 1. ]] SLAMing on 74.18925976399998 meters Centerline goodness : 0.740729 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.45 [[ 0.98791186 -0.14707346 -0.04898529 -8.35168299] [ 0.1493956 0.9876269 0.04768722 9.45348445] [ 0.04136566 -0.05442896 0.99766045 0.45470997] [ 0. 0. 0. 1. ]] SLAMing on 74.24925976399999 meters Centerline goodness : 0.739220 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.46, Z:0.45 [[ 0.98855268 -0.14254479 -0.04944269 -8.35152907] [ 0.14504354 0.98809565 0.05127736 9.45576283] [ 0.04154479 -0.05786172 0.9974598 0.45445697] [ 0. 0. 0. 1. ]] SLAMing on 74.30925976399999 meters Centerline goodness : 0.740772 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.46, Z:0.45 [[ 0.98862805 -0.14194268 -0.04966747 -8.35022275] [ 0.14443801 0.98820495 0.0508786 9.45856554] [ 0.04185979 -0.05747388 0.99746905 0.45418464] [ 0. 0. 0. 1. ]] SLAMing on 74.36925976399999 meters Centerline goodness : 0.738359 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.46, Z:0.45 [[ 0.98862931 -0.14199748 -0.04948539 -8.35042297] [ 0.14447658 0.98820636 0.05074159 9.45857966] [ 0.0416966 -0.0573141 0.99748508 0.45402169] [ 0. 0. 0. 1. ]] SLAMing on 74.429259764 meters Centerline goodness : 0.742457 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.46, Z:0.45 [[ 0.98955812 -0.13911276 -0.0377144 -8.34469331] [ 0.14095785 0.9886643 0.05170873 9.45691836] [ 0.03009353 -0.05648493 0.99794981 0.4476746 ] [ 0. 0. 0. 1. ]] SLAMing on 74.489259764 meters Centerline goodness : 0.745217 with order 1 Centerline is valid? [False, False] Translation: X:-8.34, Y:9.46, Z:0.45 [[ 0.98944772 -0.1396897 -0.03847081 -8.34442497] [ 0.14162411 0.98848795 0.053237 9.45597499] [ 0.03059127 -0.05812362 0.99784058 0.44982298] [ 0. 0. 0. 1. ]] SLAMing on 74.54925976399998 meters Centerline goodness : 0.744829 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.46, Z:0.45 [[ 0.98942327 -0.13990612 -0.03831278 -8.34569785] [ 0.14179878 0.98851935 0.05217854 9.45503468] [ 0.03057282 -0.05705937 0.99790257 0.45116227] [ 0. 0. 0. 1. ]] SLAMing on 74.60925976399999 meters Centerline goodness : 0.744426 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.45 [[ 0.98980734 -0.13718188 -0.03824345 -8.34783038] [ 0.13912411 0.98880994 0.05384589 9.45431218] [ 0.03042882 -0.05861764 0.99781665 0.45288599] [ 0. 0. 0. 1. ]] SLAMing on 74.66925976399999 meters Centerline goodness : 0.747330 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.45 [[ 0.99066342 -0.13110754 -0.03737379 -8.35080833] [ 0.13305044 0.98956166 0.05536517 9.45472886] [ 0.02972487 -0.05982085 0.99776645 0.45210703] [ 0. 0. 0. 1. ]] SLAMing on 74.72925976399999 meters Centerline goodness : 0.748469 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.45 [[ 0.99139716 -0.12584355 -0.03598708 -8.35363413] [ 0.1276408 0.9904042 0.05298433 9.45405584] [ 0.02897402 -0.05712194 0.99794669 0.45004335] [ 0. 0. 0. 1. ]] SLAMing on 74.789259764 meters Centerline goodness : 0.748575 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.45 [[ 0.99143814 -0.12541727 -0.03634446 -8.3526252 ] [ 0.12722687 0.99047291 0.05269477 9.45484574] [ 0.02938937 -0.05686759 0.99794907 0.45091161] [ 0. 0. 0. 1. ]] SLAMing on 74.849259764 meters Centerline goodness : 0.748774 with order 1 Centerline is valid? [False, False] Translation: X:-8.35, Y:9.45, Z:0.45 [[ 0.99132049 -0.12630651 -0.03647399 -8.35398853] [ 0.12810972 0.99038225 0.05225806 9.45230633] [ 0.02952266 -0.05647716 0.99796731 0.4537384 ] [ 0. 0. 0. 1. ]] SLAMing on 74.909259764 meters Centerline goodness : 0.749478 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.45, Z:0.45 [[ 0.99092832 -0.13029458 -0.03292997 -8.331299 ] [ 0.13203956 0.98954775 0.0579725 9.44823774] [ 0.02503227 -0.06179465 0.99777493 0.44798499] [ 0. 0. 0. 1. ]] SLAMing on 74.96925976399999 meters Centerline goodness : 0.749774 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.45, Z:0.45 [[ 0.99035173 -0.13466934 -0.03267435 -8.33153839] [ 0.13626265 0.98926653 0.0527657 9.45092739] [ 0.02521771 -0.0567089 0.99807223 0.45028912] [ 0. 0. 0. 1. ]] SLAMing on 75.02925976399999 meters Centerline goodness : 0.751450 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.45, Z:0.45 [[ 0.98997013 -0.13734444 -0.03310044 -8.33292416] [ 0.13898201 0.98883963 0.0536674 9.44881446] [ 0.02536011 -0.05772948 0.99801011 0.45495897] [ 0. 0. 0. 1. ]] SLAMing on 75.08925976399999 meters Centerline goodness : 0.755662 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.44, Z:0.47 [[ 0.98951053 -0.13491796 -0.05163388 -8.32733392] [ 0.13755891 0.98915123 0.05154987 9.44337826] [ 0.04411871 -0.05811184 0.99733473 0.47194559] [ 0. 0. 0. 1. ]] SLAMing on 75.14925976399999 meters Centerline goodness : 0.755961 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.45, Z:0.47 [[ 0.98895994 -0.13898255 -0.05140117 -8.32667305] [ 0.14141014 0.98883228 0.04705201 9.44535951] [ 0.04428773 -0.0538012 0.99756906 0.47253353] [ 0. 0. 0. 1. ]] SLAMing on 75.209259764 meters Centerline goodness : 0.758058 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.45, Z:0.46 [[ 0.98989433 -0.13584919 -0.04067202 -8.31334778] [ 0.13778943 0.98922614 0.0494542 9.44621379] [ 0.03351551 -0.0545586 0.99794793 0.4648439 ] [ 0. 0. 0. 1. ]] SLAMing on 75.269259764 meters Centerline goodness : 0.758729 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.45, Z:0.46 [[ 0.98994077 -0.13545292 -0.0408629 -8.31187444] [ 0.13739963 0.9892866 0.04932914 9.44842249] [ 0.03374335 -0.05444747 0.99794632 0.46361296] [ 0. 0. 0. 1. ]] SLAMing on 75.32925976399999 meters Centerline goodness : 0.757955 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.45, Z:0.46 [[ 0.99050156 -0.13118163 -0.04120731 -8.31233745] [ 0.133258 0.98969028 0.05249244 9.45145079] [ 0.03389643 -0.05748504 0.99777077 0.46425133] [ 0. 0. 0. 1. ]] SLAMing on 75.38925976399999 meters Centerline goodness : 0.759228 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.46, Z:0.46 [[ 0.9905482 -0.13067678 -0.04168737 -8.31080788] [ 0.13274358 0.98981656 0.05140345 9.45586761] [ 0.03454561 -0.05645132 0.99780752 0.46480368] [ 0. 0. 0. 1. ]] SLAMing on 75.44925976399999 meters Centerline goodness : 0.760566 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.46, Z:0.46 [[ 0.99107102 -0.12660793 -0.04181707 -8.31109854] [ 0.12868661 0.99034985 0.05144842 9.45636596] [ 0.03489975 -0.05637033 0.99779978 0.46358966] [ 0. 0. 0. 1. ]] SLAMing on 75.50925976399999 meters Centerline goodness : 0.761723 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.46, Z:0.46 [[ 0.99102842 -0.12694382 -0.04180823 -8.31183687] [ 0.12897922 0.99037412 0.05023417 9.46034452] [ 0.03502887 -0.05517588 0.99786201 0.46498582] [ 0. 0. 0. 1. ]] SLAMing on 75.569259764 meters Centerline goodness : 0.761572 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.46, Z:0.47 [[ 0.99101767 -0.12703942 -0.04177269 -8.31212751] [ 0.12906034 0.99038148 0.0498793 9.46121944] [ 0.03503426 -0.05482246 0.9978813 0.46554978] [ 0. 0. 0. 1. ]] SLAMing on 75.629259764 meters Centerline goodness : 0.764263 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.46, Z:0.46 [[ 0.99151763 -0.12313208 -0.04160873 -8.3138106 ] [ 0.12528821 0.9906531 0.05393801 9.46141164] [ 0.03457832 -0.05869357 0.997677 0.46497349] [ 0. 0. 0. 1. ]] SLAMing on 75.68925976399998 meters Centerline goodness : 0.764242 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.46, Z:0.46 [[ 0.99205811 -0.11869629 -0.04161607 -8.31407917] [ 0.12100305 0.99094694 0.05815856 9.46157085] [ 0.03433611 -0.06273235 0.99743956 0.46357408] [ 0. 0. 0. 1. ]] SLAMing on 75.74925976399999 meters Centerline goodness : 0.766156 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.47, Z:0.46 [[ 0.99206558 -0.11862316 -0.04164656 -8.3137792 ] [ 0.12090432 0.99100559 0.05735903 9.46507824] [ 0.03446786 -0.06193917 0.99748459 0.46374413] [ 0. 0. 0. 1. ]] SLAMing on 75.80925976399999 meters Centerline goodness : 0.767162 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.47, Z:0.47 [[ 0.99205437 -0.11857247 -0.04205589 -8.31361615] [ 0.12080576 0.99113637 0.05526907 9.47259243] [ 0.03512973 -0.05991051 0.9975854 0.46648606] [ 0. 0. 0. 1. ]] SLAMing on 75.86925976399999 meters Centerline goodness : 0.769382 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.48, Z:0.47 [[ 0.9921013 -0.11809534 -0.04229072 -8.31221331] [ 0.12032233 0.9912277 0.05468263 9.47662824] [ 0.03546197 -0.05933922 0.99760779 0.46595457] [ 0. 0. 0. 1. ]] SLAMing on 75.929259764 meters Centerline goodness : 0.768689 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.48, Z:0.47 [[ 0.99258199 -0.11389231 -0.04253861 -8.31244094] [ 0.11627369 0.99149415 0.05847895 9.47864055] [ 0.03551648 -0.06299127 0.99738191 0.46527146] [ 0. 0. 0. 1. ]] SLAMing on 75.989259764 meters Centerline goodness : 0.770991 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.48, Z:0.47 [[ 0.99302742 -0.11001137 -0.04235618 -8.31429984] [ 0.11250481 0.99172496 0.06184069 9.48083422] [ 0.0352025 -0.06617478 0.99718688 0.46566983] [ 0. 0. 0. 1. ]] SLAMing on 76.04925976399998 meters Centerline goodness : 0.773002 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.48, Z:0.47 [[ 0.9934724 -0.10596029 -0.04224929 -8.31551318] [ 0.10857992 0.99192955 0.06546886 9.48241565] [ 0.03497122 -0.06962893 0.99695979 0.46541462] [ 0. 0. 0. 1. ]] SLAMing on 76.10925976399999 meters Centerline goodness : 0.771578 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.49, Z:0.47 [[ 0.99343078 -0.10628775 -0.04240515 -8.31620471] [ 0.10885948 0.99200648 0.06381816 9.48715895] [ 0.0352831 -0.06801512 0.9970602 0.46781214] [ 0. 0. 0. 1. ]] SLAMing on 76.16925976399999 meters Centerline goodness : 0.770279 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.49, Z:0.47 [[ 0.99339956 -0.10648595 -0.04263867 -8.31663056] [ 0.10900919 0.99210393 0.0620225 9.49228808] [ 0.03569746 -0.06626113 0.99716355 0.47062056] [ 0. 0. 0. 1. ]] SLAMing on 76.22925976399999 meters Centerline goodness : 0.774931 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.49, Z:0.47 [[ 0.99340287 -0.10648562 -0.04256239 -8.31674981] [ 0.10900147 0.99210884 0.0619574 9.49184185] [ 0.03562895 -0.06618802 0.99717086 0.4706951 ] [ 0. 0. 0. 1. ]] SLAMing on 76.289259764 meters Centerline goodness : 0.775708 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.49, Z:0.47 [[ 0.99338061 -0.10656199 -0.04288946 -8.31673122] [ 0.10907671 0.99213971 0.06132752 9.49286646] [ 0.03601715 -0.06559981 0.99719578 0.47233374] [ 0. 0. 0. 1. ]] SLAMing on 76.349259764 meters Centerline goodness : 0.772466 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.49, Z:0.47 [[ 0.99336856 -0.10672353 -0.04276662 -8.31756275] [ 0.10922229 0.99213687 0.06111408 9.49235616] [ 0.03590803 -0.06537988 0.99721416 0.47326038] [ 0. 0. 0. 1. ]] SLAMing on 76.40925976399998 meters Centerline goodness : 0.774687 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.49, Z:0.47 [[ 0.99335645 -0.10690212 -0.04260174 -8.31839881] [ 0.1093935 0.99211175 0.06121547 9.49067504] [ 0.03572162 -0.06546913 0.997215 0.47373192] [ 0. 0. 0. 1. ]] SLAMing on 76.46925976399999 meters Centerline goodness : 0.770919 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.49, Z:0.47 [[ 0.99335121 -0.10693927 -0.04263063 -8.31880127] [ 0.10942708 0.99211736 0.06106431 9.49021048] [ 0.03576442 -0.06532325 0.99722303 0.47461132] [ 0. 0. 0. 1. ]] SLAMing on 76.52925976399999 meters Centerline goodness : 0.771759 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.49, Z:0.48 [[ 0.99334772 -0.10706475 -0.04239631 -8.31987112] [ 0.10953798 0.99210355 0.06108998 9.48879298] [ 0.03552095 -0.0653276 0.99723145 0.47533626] [ 0. 0. 0. 1. ]] SLAMing on 76.58925976399999 meters Centerline goodness : 0.771424 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.49, Z:0.48 [[ 0.9928524 -0.1116279 -0.04222944 -8.32068617] [ 0.11390449 0.99191152 0.05601168 9.4897428 ] [ 0.0356354 -0.06042145 0.99753665 0.47832487] [ 0. 0. 0. 1. ]] SLAMing on 76.64925976399999 meters Centerline goodness : 0.770016 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.49, Z:0.48 [[ 0.99235371 -0.11605393 -0.04201902 -8.3211793 ] [ 0.11816541 0.99163994 0.05183778 9.48803512] [ 0.03565176 -0.05640661 0.99777114 0.48041695] [ 0. 0. 0. 1. ]] SLAMing on 76.709259764 meters Centerline goodness : 0.771462 with order 1 Centerline is valid? [False, False] Translation: X:-8.32, Y:9.48, Z:0.48 [[ 0.99179549 -0.12105839 -0.04106795 -8.32422822] [ 0.12296501 0.99126894 0.04759717 9.48496235] [ 0.03494735 -0.05225658 0.99802201 0.48336933] [ 0. 0. 0. 1. ]] SLAMing on 76.769259764 meters Centerline goodness : 0.773164 with order 1 Centerline is valid? [False, False] Translation: X:-8.33, Y:9.48, Z:0.49 [[ 0.99117503 -0.12640136 -0.03993433 -8.32772486] [ 0.12811166 0.99079917 0.04363962 9.48023949] [ 0.03405079 -0.04837055 0.99824888 0.48569472] [ 0. 0. 0. 1. ]] SLAMing on 76.82925976399999 meters Centerline goodness : 0.769809 with order 1 Centerline is valid? [False, False] Translation: X:-8.31, Y:9.47, Z:0.48 [[ 0.99013449 -0.13576897 -0.03464799 -8.31384977] [ 0.13732205 0.98939797 0.04726844 9.47385548] [ 0.02786307 -0.05156005 0.99828113 0.48078662] [ 0. 0. 0. 1. ]] SLAMing on 76.88925976399999 meters Centerline goodness : 0.768806 with order 1 Centerline is valid? [False, False] Translation: X:-8.30, Y:9.47, Z:0.48 [[ 0.98938699 -0.14235739 -0.02911632 -8.30254886] [ 0.14375901 0.98815816 0.05363577 9.46783529] [ 0.02113608 -0.05725227 0.99813598 0.47764272] [ 0. 0. 0. 1. ]] SLAMing on 76.94925976399999 meters Centerline goodness : 0.765442 with order 1 Centerline is valid? [False, False] Translation: X:-8.30, Y:9.47, Z:0.48 [[ 0.98885238 -0.14602628 -0.02910829 -8.30092332] [ 0.14733284 0.98785245 0.04940223 9.46821075] [ 0.02154067 -0.05314012 0.99835471 0.47822094] [ 0. 0. 0. 1. ]] SLAMing on 77.00925976399999 meters Centerline goodness : 0.763901 with order 1 Centerline is valid? [False, False] Translation: X:-8.30, Y:9.47, Z:0.48 [[ 0.98825861 -0.15001353 -0.02899777 -8.2999662 ] [ 0.15121096 0.98748538 0.04480918 9.46919419] [ 0.02191289 -0.04866784 0.99857462 0.47958101] [ 0. 0. 0. 1. ]] SLAMing on 77.069259764 meters Centerline goodness : 0.763872 with order 1 Centerline is valid? [False, False] Translation: X:-8.30, Y:9.47, Z:0.48 [[ 0.98816126 -0.15071237 -0.02868996 -8.30219902] [ 0.15187509 0.98742322 0.04392432 9.4699532 ] [ 0.02170919 -0.04776161 0.99862282 0.48229174] [ 0. 0. 0. 1. ]] SLAMing on 77.129259764 meters Centerline goodness : 0.762240 with order 1 Centerline is valid? [False, False] Translation: X:-8.30, Y:9.47, Z:0.48 [[ 0.98752968 -0.15486649 -0.02831091 -8.30187766] [ 0.15591515 0.98697606 0.03960708 9.4702782 ] [ 0.02180838 -0.04352726 0.99881418 0.48310985] [ 0. 0. 0. 1. ]] SLAMing on 77.18925976399998 meters Centerline goodness : 0.764387 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.47, Z:0.48 [[ 0.98713363 -0.15809648 -0.02393109 -8.28366594] [ 0.15906616 0.98618253 0.04628142 9.46877474] [ 0.01628349 -0.04949257 0.99864174 0.47872268] [ 0. 0. 0. 1. ]] SLAMing on 77.24925976399999 meters Centerline goodness : 0.764300 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.47, Z:0.49 [[ 0.9877476 -0.15034315 -0.04185235 -8.27922742] [ 0.15226617 0.98720549 0.04733208 9.46706404] [ 0.03420082 -0.05312485 0.99800203 0.49048328] [ 0. 0. 0. 1. ]] SLAMing on 77.30925976399999 meters Centerline goodness : 0.764650 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.47, Z:0.49 [[ 0.98733438 -0.15271587 -0.04299637 -8.27280999] [ 0.15449295 0.98711884 0.0415731 9.47107002] [ 0.03609365 -0.04768919 0.99820989 0.49341887] [ 0. 0. 0. 1. ]] SLAMing on 77.36925976399999 meters Centerline goodness : 0.765637 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.47, Z:0.49 [[ 0.98795425 -0.14856224 -0.04330885 -8.27388803] [ 0.15043294 0.98765368 0.04370512 9.47226166] [ 0.03628122 -0.04969374 0.99810531 0.49356928] [ 0. 0. 0. 1. ]] SLAMing on 77.429259764 meters Centerline goodness : 0.763005 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.47, Z:0.49 [[ 0.98795084 -0.14864985 -0.04308558 -8.27443837] [ 0.15048595 0.98767409 0.0430566 9.4737669 ] [ 0.03615415 -0.04902158 0.99814316 0.49429541] [ 0. 0. 0. 1. ]] SLAMing on 77.489259764 meters Centerline goodness : 0.761385 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.48, Z:0.50 [[ 0.98736079 -0.15254621 -0.04299207 -8.27346256] [ 0.15419507 0.98730717 0.03805829 9.47761791] [ 0.03664073 -0.04420643 0.99835026 0.49555353] [ 0. 0. 0. 1. ]] SLAMing on 77.54925976399998 meters Centerline goodness : 0.761167 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.48, Z:0.50 [[ 0.98716469 -0.15366858 -0.04349538 -8.27392095] [ 0.15534347 0.98712322 0.03815949 9.47773216] [ 0.03707139 -0.04442643 0.9983246 0.49799485] [ 0. 0. 0. 1. ]] SLAMing on 77.60925976399999 meters Centerline goodness : 0.762013 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.48, Z:0.50 [[ 0.98690081 -0.15558681 -0.04265596 -8.27656245] [ 0.15715877 0.98690385 0.03635815 9.47718098] [ 0.03644048 -0.04258565 0.99842804 0.49998196] [ 0. 0. 0. 1. ]] SLAMing on 77.66925976399999 meters Centerline goodness : 0.759921 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.47, Z:0.51 [[ 0.98695131 -0.14965977 -0.05940591 -8.27225754] [ 0.15192302 0.98775154 0.03558501 9.47238369] [ 0.05335264 -0.0441458 0.99759944 0.50988313] [ 0. 0. 0. 1. ]] SLAMing on 77.72925976399999 meters Centerline goodness : 0.759036 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.47, Z:0.51 [[ 0.98697665 -0.14950926 -0.05936392 -8.27254673] [ 0.15177576 0.98777065 0.03568286 9.47163085] [ 0.05330302 -0.04422815 0.99759845 0.51050044] [ 0. 0. 0. 1. ]] SLAMing on 77.789259764 meters Centerline goodness : 0.759148 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.47, Z:0.51 [[ 0.98693021 -0.14983267 -0.05932057 -8.27376727] [ 0.15210033 0.98771881 0.03573574 9.4716577 ] [ 0.05323766 -0.04429136 0.99759913 0.51196393] [ 0. 0. 0. 1. ]] SLAMing on 77.849259764 meters Centerline goodness : 0.756540 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.47, Z:0.51 [[ 0.98694614 -0.14997012 -0.0587051 -8.27423371] [ 0.15226446 0.98765597 0.036759 9.46710273] [ 0.05246769 -0.04521785 0.99759836 0.51014168] [ 0. 0. 0. 1. ]] SLAMing on 77.90925976399998 meters Centerline goodness : 0.755296 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.47, Z:0.51 [[ 0.98690538 -0.15029008 -0.05857183 -8.27527351] [ 0.15257048 0.98761449 0.03660411 9.46726633] [ 0.05234515 -0.04506113 0.99761189 0.51090211] [ 0. 0. 0. 1. ]] SLAMing on 77.96925976399999 meters Centerline goodness : 0.754022 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.47, Z:0.51 [[ 0.9868795 -0.15032287 -0.0589227 -8.27509826] [ 0.15255256 0.98766312 0.03534521 9.47198264] [ 0.05288258 -0.04387028 0.99763662 0.5126328 ] [ 0. 0. 0. 1. ]] SLAMing on 78.02925976399999 meters Centerline goodness : 0.753411 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.47, Z:0.51 [[ 0.98723829 -0.14830715 -0.05801337 -8.27719237] [ 0.15042635 0.98803552 0.03402529 9.47326095] [ 0.05227308 -0.04231781 0.9977358 0.51173775] [ 0. 0. 0. 1. ]] SLAMing on 78.08925976399999 meters Centerline goodness : 0.753092 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.47, Z:0.50 [[ 0.9885497 -0.14367227 -0.04612766 -8.26773038] [ 0.14546441 0.98862706 0.038166 9.47109102] [ 0.04011966 -0.04443892 0.99820619 0.50131241] [ 0. 0. 0. 1. ]] SLAMing on 78.14925976399999 meters Centerline goodness : 0.752059 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.47, Z:0.50 [[ 0.98851044 -0.14405229 -0.04578264 -8.26881232] [ 0.1458308 0.98857143 0.03820874 9.47072483] [ 0.03975535 -0.04444625 0.99822044 0.50118732] [ 0. 0. 0. 1. ]] SLAMing on 78.209259764 meters Centerline goodness : 0.751875 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.47, Z:0.50 [[ 0.9884957 -0.14408013 -0.04601267 -8.26855005] [ 0.1458459 0.9885912 0.03763528 9.47332846] [ 0.04006522 -0.04391307 0.99823165 0.50175348] [ 0. 0. 0. 1. ]] SLAMing on 78.269259764 meters Centerline goodness : 0.751878 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.47, Z:0.50 [[ 0.98852538 -0.14398071 -0.04568515 -8.26893278] [ 0.14574122 0.98859786 0.0378651 9.47172221] [ 0.03971239 -0.04408882 0.998238 0.50135206] [ 0. 0. 0. 1. ]] SLAMing on 78.32925976399999 meters Centerline goodness : 0.750785 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.47, Z:0.50 [[ 0.98852749 -0.14403918 -0.04545463 -8.26970838] [ 0.14577392 0.98860805 0.03747123 9.47242139] [ 0.03953949 -0.04366744 0.99826338 0.5021909 ] [ 0. 0. 0. 1. ]] SLAMing on 78.38925976399999 meters Centerline goodness : 0.752542 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.47, Z:0.50 [[ 0.98844232 -0.14489133 -0.04459016 -8.27304895] [ 0.1465744 0.98850327 0.03711106 9.47090604] [ 0.03870044 -0.04321792 0.99831583 0.50380867] [ 0. 0. 0. 1. ]] SLAMing on 78.44925976399999 meters Centerline goodness : 0.752934 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.47, Z:0.51 [[ 0.98782979 -0.14912626 -0.04420028 -8.27317959] [ 0.15058194 0.98809067 0.03165289 9.47495078] [ 0.03895361 -0.03792344 0.99852112 0.50649403] [ 0. 0. 0. 1. ]] SLAMing on 78.50925976399999 meters Centerline goodness : 0.752487 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.47, Z:0.52 [[ 0.9885218 -0.14048741 -0.0555692 -8.27755227] [ 0.14231316 0.98935566 0.03037005 9.47074384] [ 0.05071109 -0.03792969 0.99799285 0.5188774 ] [ 0. 0. 0. 1. ]] SLAMing on 78.569259764 meters Centerline goodness : 0.752704 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.47, Z:0.52 [[ 0.9885159 -0.14051336 -0.05560854 -8.27798087] [ 0.1422985 0.98938282 0.02954282 9.47293599] [ 0.05086697 -0.03711656 0.99801549 0.52028479] [ 0. 0. 0. 1. ]] SLAMing on 78.629259764 meters Centerline goodness : 0.753312 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.47, Z:0.52 [[ 0.98853789 -0.14036864 -0.05558315 -8.27769446] [ 0.14214674 0.98940812 0.02942562 9.47392897] [ 0.05086399 -0.03698931 0.99802036 0.51995684] [ 0. 0. 0. 1. ]] SLAMing on 78.68925976399998 meters Centerline goodness : 0.755166 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.47, Z:0.52 [[ 0.98855421 -0.14039641 -0.05522149 -8.27832937] [ 0.14216235 0.98940517 0.0294497 9.47385649] [ 0.05050179 -0.03696304 0.99803973 0.51966191] [ 0. 0. 0. 1. ]] SLAMing on 78.74925976399999 meters Centerline goodness : 0.754947 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.47, Z:0.52 [[ 0.98858784 -0.14027388 -0.05493023 -8.27844597] [ 0.14205138 0.98940771 0.02989621 9.47328121] [ 0.05015474 -0.03735794 0.99804253 0.51872862] [ 0. 0. 0. 1. ]] SLAMing on 78.80925976399999 meters Centerline goodness : 0.756977 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.47, Z:0.52 [[ 0.98857128 -0.14047078 -0.05472456 -8.27933514] [ 0.14222061 0.98939547 0.0294941 9.4745376 ] [ 0.05000117 -0.03693998 0.99806579 0.51932287] [ 0. 0. 0. 1. ]] SLAMing on 78.86925976399999 meters Centerline goodness : 0.758376 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.47, Z:0.52 [[ 0.98920196 -0.13594233 -0.05476465 -8.27987715] [ 0.13793071 0.9898473 0.03431383 9.47181906] [ 0.04954394 -0.04149704 0.99790951 0.51801354] [ 0. 0. 0. 1. ]] SLAMing on 78.929259764 meters Centerline goodness : 0.757219 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.47, Z:0.52 [[ 0.98935571 -0.13468389 -0.05509565 -8.27714996] [ 0.13672758 0.98998446 0.03516155 9.47103237] [ 0.04980814 -0.04232038 0.99786178 0.51599293] [ 0. 0. 0. 1. ]] SLAMing on 78.989259764 meters Centerline goodness : 0.754194 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.47, Z:0.52 [[ 0.98938193 -0.13456471 -0.0549157 -8.27788893] [ 0.13659703 0.99000509 0.03508801 9.47039628] [ 0.04964521 -0.04221676 0.99787429 0.51680554] [ 0. 0. 0. 1. ]] SLAMing on 79.04925976399998 meters Centerline goodness : 0.758820 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.47, Z:0.52 [[ 0.98939454 -0.13455874 -0.05470268 -8.27867885] [ 0.13658831 0.9900018 0.03521461 9.46899368] [ 0.04941732 -0.04231289 0.99788153 0.51731136] [ 0. 0. 0. 1. ]] SLAMing on 79.10925976399999 meters Centerline goodness : 0.758422 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.47, Z:0.52 [[ 0.98940371 -0.1347185 -0.05414078 -8.28016088] [ 0.13675354 0.98995758 0.03581138 9.46523992] [ 0.04877262 -0.04283586 0.99789094 0.51722266] [ 0. 0. 0. 1. ]] SLAMing on 79.16925976399999 meters Centerline goodness : 0.762809 with order 1 Centerline is valid? [False, False] Translation: X:-8.28, Y:9.46, Z:0.52 [[ 0.98880755 -0.13940127 -0.05316874 -8.28240171] [ 0.14121199 0.98946351 0.03195508 9.46161794] [ 0.04815395 -0.03910548 0.99807412 0.51908624] [ 0. 0. 0. 1. ]] SLAMing on 79.22925976399999 meters Centerline goodness : 0.766948 with order 1 Centerline is valid? [False, False] Translation: X:-8.27, Y:9.45, Z:0.51 [[ 0.98817063 -0.1459658 -0.0470404 -8.27200574] [ 0.1478367 0.98823899 0.03908961 9.45369392] [ 0.04078141 -0.0455815 0.99812785 0.5146752 ] [ 0. 0. 0. 1. ]] SLAMing on 79.289259764 meters Centerline goodness : 0.764085 with order 1 Centerline is valid? [False, False] Translation: X:-8.26, Y:9.45, Z:0.51 [[ 0.98722491 -0.15380077 -0.04162097 -8.25829308] [ 0.15562104 0.98680345 0.04473308 9.44679153] [ 0.03419174 -0.05063871 0.99813158 0.509378 ] [ 0. 0. 0. 1. ]] SLAMing on 79.349259764 meters Centerline goodness : 0.766625 with order 1 Centerline is valid? [False, False] Translation: X:-8.26, Y:9.44, Z:0.52 [[ 0.98683748 -0.15103047 -0.05780641 -8.25610651] [ 0.15364834 0.98715121 0.04387118 9.44110439] [ 0.05043778 -0.05217559 0.99736339 0.5217681 ] [ 0. 0. 0. 1. ]] SLAMing on 79.40925976399998 meters Centerline goodness : 0.764005 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.43, Z:0.52 [[ 0.98577402 -0.15965198 -0.05254354 -8.23899468] [ 0.16220974 0.98555639 0.04864769 9.43321428] [ 0.04401792 -0.0564787 0.99743299 0.51633592] [ 0. 0. 0. 1. ]] SLAMing on 79.46925976399999 meters Centerline goodness : 0.762982 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.42, Z:0.53 [[ 0.98364025 -0.16581043 -0.07041844 -8.23300994] [ 0.16944635 0.98431 0.04921138 9.4248773 ] [ 0.06115381 -0.06033844 0.99630291 0.53055857] [ 0. 0. 0. 1. ]] SLAMing on 79.52925976399999 meters Centerline goodness : 0.763701 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.42, Z:0.53 [[ 0.98312419 -0.16877147 -0.07059057 -8.23465675] [ 0.17243804 0.98377543 0.04950787 9.42349634] [ 0.06108975 -0.06084489 0.99627604 0.53472231] [ 0. 0. 0. 1. ]] SLAMing on 79.58925976399999 meters Centerline goodness : 0.764179 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.42, Z:0.54 [[ 0.98295784 -0.16987897 -0.07024977 -8.23643613] [ 0.17345159 0.9836574 0.04829767 9.42395435] [ 0.06089694 -0.0596595 0.99635953 0.53626067] [ 0. 0. 0. 1. ]] SLAMing on 79.64925976399999 meters Centerline goodness : 0.765534 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.42, Z:0.54 [[ 0.98295192 -0.17037672 -0.06911792 -8.23908871] [ 0.17372062 0.98373787 0.0456175 9.42439744] [ 0.06022176 -0.05684702 0.99656498 0.53666612] [ 0. 0. 0. 1. ]] SLAMing on 79.709259764 meters Centerline goodness : 0.764941 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.42, Z:0.54 [[ 0.98259616 -0.17236393 -0.06924921 -8.23970547] [ 0.17568277 0.98341538 0.04505275 9.42493167] [ 0.06033527 -0.05643455 0.99658156 0.53854975] [ 0. 0. 0. 1. ]] SLAMing on 79.769259764 meters Centerline goodness : 0.765600 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.43, Z:0.54 [[ 0.98286599 -0.17067181 -0.06961014 -8.23970521] [ 0.1740497 0.98367541 0.04570977 9.42623197] [ 0.06067242 -0.0570422 0.99652649 0.53832138] [ 0. 0. 0. 1. ]] SLAMing on 79.82925976399999 meters Centerline goodness : 0.766818 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.43, Z:0.54 [[ 0.98336187 -0.16783147 -0.06951278 -8.24144444] [ 0.17122963 0.98414862 0.04617256 9.42828912] [ 0.0606617 -0.05730698 0.99651195 0.53844781] [ 0. 0. 0. 1. ]] SLAMing on 79.88925976399999 meters Centerline goodness : 0.768134 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.43, Z:0.54 [[ 0.98370315 -0.1659804 -0.06912754 -8.24176151] [ 0.16929282 0.98453113 0.04514855 9.42936626] [ 0.06056444 -0.05611557 0.99658567 0.53675778] [ 0. 0. 0. 1. ]] SLAMing on 79.94925976399999 meters Centerline goodness : 0.769449 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.43, Z:0.54 [[ 0.98410014 -0.16391749 -0.06839563 -8.24482892] [ 0.16715193 0.98492344 0.04456516 9.43167017] [ 0.06005945 -0.05528904 0.99666242 0.53737995] [ 0. 0. 0. 1. ]] SLAMing on 80.00925976399999 meters Centerline goodness : 0.768618 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.43, Z:0.54 [[ 0.98427215 -0.1625784 -0.06911288 -8.24416788] [ 0.16586514 0.98513084 0.0447882 9.43491531] [ 0.06080364 -0.05554719 0.99660294 0.53698156] [ 0. 0. 0. 1. ]] SLAMing on 80.069259764 meters Centerline goodness : 0.766057 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.44, Z:0.54 [[ 0.98445691 -0.16168655 -0.06857154 -8.24620395] [ 0.1648781 0.98534414 0.04372804 9.43714845] [ 0.06049633 -0.05435432 0.99668741 0.53722357] [ 0. 0. 0. 1. ]] SLAMing on 80.129259764 meters Centerline goodness : 0.766339 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.44, Z:0.54 [[ 0.98512841 -0.15767533 -0.06826794 -8.24872521] [ 0.16089665 0.98596521 0.044552 9.44021106] [ 0.06028506 -0.05487352 0.99667177 0.53723866] [ 0. 0. 0. 1. ]] SLAMing on 80.18925976399998 meters Centerline goodness : 0.767758 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.44, Z:0.54 [[ 0.98525186 -0.15735681 -0.06721314 -8.25070264] [ 0.1604231 0.98611439 0.04292824 9.44183852] [ 0.0595248 -0.05307766 0.99681471 0.5363454 ] [ 0. 0. 0. 1. ]] SLAMing on 80.24925976399999 meters Centerline goodness : 0.766010 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.44, Z:0.53 [[ 0.98572181 -0.15595033 -0.06349805 -8.22468488] [ 0.1592054 0.9859843 0.04988595 9.44080834] [ 0.05482835 -0.0592829 0.99673436 0.53345146] [ 0. 0. 0. 1. ]] SLAMing on 80.30925976399999 meters Centerline goodness : 0.765903 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.44, Z:0.53 [[ 0.98618842 -0.15299184 -0.06344994 -8.22598299] [ 0.15632489 0.98636895 0.05136956 9.44315082] [ 0.05472593 -0.06057887 0.99666207 0.53316611] [ 0. 0. 0. 1. ]] SLAMing on 80.36925976399999 meters Centerline goodness : 0.769085 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.45, Z:0.53 [[ 0.98628821 -0.15208606 -0.06407343 -8.22338838] [ 0.15541902 0.98654726 0.05068965 9.44715733] [ 0.05550227 -0.05995284 0.99665699 0.53278373] [ 0. 0. 0. 1. ]] SLAMing on 80.429259764 meters Centerline goodness : 0.767349 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.45, Z:0.53 [[ 0.98808565 -0.14392442 -0.05452071 -8.20067108] [ 0.14672222 0.98784444 0.05134151 9.44895139] [ 0.04646869 -0.05872921 0.99719183 0.52699459] [ 0. 0. 0. 1. ]] SLAMing on 80.489259764 meters Centerline goodness : 0.771088 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.45, Z:0.53 [[ 0.98814091 -0.14358714 -0.05440844 -8.2003077 ] [ 0.14632593 0.9879611 0.05021533 9.45380442] [ 0.04654315 -0.05758119 0.9972553 0.52720851] [ 0. 0. 0. 1. ]] SLAMing on 80.54925976399998 meters Centerline goodness : 0.772155 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.45, Z:0.52 [[ 0.98948463 -0.13793432 -0.04352352 -8.18307942] [ 0.14012327 0.98876532 0.05204426 9.45432966] [ 0.03585586 -0.05759566 0.99769589 0.52093745] [ 0. 0. 0. 1. ]] SLAMing on 80.60925976399999 meters Centerline goodness : 0.769759 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.46, Z:0.52 [[ 0.98953869 -0.13748561 -0.0437137 -8.1820539 ] [ 0.13965139 0.98888171 0.05109263 9.45928648] [ 0.03620318 -0.05666282 0.99773677 0.52108361] [ 0. 0. 0. 1. ]] SLAMing on 80.66925976399999 meters Centerline goodness : 0.770457 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.46, Z:0.52 [[ 0.99020618 -0.13244194 -0.04416847 -8.18082369] [ 0.13478024 0.98934822 0.05499451 9.4619198 ] [ 0.03641442 -0.06040894 0.99750927 0.51971785] [ 0. 0. 0. 1. ]] SLAMing on 80.72925976399999 meters Centerline goodness : 0.766839 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.46, Z:0.52 [[ 0.99083711 -0.12737939 -0.04490332 -8.17867621] [ 0.12991257 0.98977365 0.05891391 9.46473269] [ 0.0369397 -0.0642076 0.99725265 0.51784079] [ 0. 0. 0. 1. ]] SLAMing on 80.789259764 meters Centerline goodness : 0.762962 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.47, Z:0.52 [[ 0.99140472 -0.12274169 -0.04528966 -8.17786203] [ 0.12544994 0.99011092 0.06279082 9.46660224] [ 0.03713473 -0.0679327 0.99699858 0.51653991] [ 0. 0. 0. 1. ]] SLAMing on 80.849259764 meters Centerline goodness : 0.764067 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.47, Z:0.52 [[ 0.99142978 -0.12245447 -0.04551809 -8.1771921 ] [ 0.12513945 0.99021581 0.06174763 9.47089976] [ 0.03751146 -0.06691455 0.99705333 0.51737797] [ 0. 0. 0. 1. ]] SLAMing on 80.90925976399998 meters Centerline goodness : 0.763483 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.48, Z:0.52 [[ 0.99140796 -0.12249657 -0.04587866 -8.17694107] [ 0.1251381 0.99032504 0.05997306 9.47642587] [ 0.03808829 -0.06519893 0.99714512 0.51961421] [ 0. 0. 0. 1. ]] SLAMing on 80.96925976399999 meters Centerline goodness : 0.762809 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.48, Z:0.52 [[ 0.99141256 -0.12253124 -0.04568624 -8.17707097] [ 0.12516962 0.99030595 0.06022198 9.47503278] [ 0.03786428 -0.06542336 0.99713895 0.51904293] [ 0. 0. 0. 1. ]] SLAMing on 81.02925976399999 meters Centerline goodness : 0.761973 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.48, Z:0.52 [[ 0.99085489 -0.12715163 -0.04515575 -8.17778187] [ 0.12957456 0.9900132 0.05553651 9.47582644] [ 0.03764323 -0.06087966 0.99743504 0.52046726] [ 0. 0. 0. 1. ]] SLAMing on 81.08925976399999 meters Centerline goodness : 0.761629 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.47, Z:0.52 [[ 0.99031207 -0.1329941 -0.0399321 -8.16253963] [ 0.13525641 0.98895396 0.0606282 9.47325378] [ 0.03142781 -0.06544191 0.99736134 0.51668781] [ 0. 0. 0. 1. ]] SLAMing on 81.14925976399999 meters Centerline goodness : 0.760461 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.48, Z:0.52 [[ 0.99035455 -0.13251441 -0.04046982 -8.16104986] [ 0.13478313 0.98907439 0.05971059 9.47739607] [ 0.03211515 -0.0645893 0.99739503 0.51743271] [ 0. 0. 0. 1. ]] SLAMing on 81.209259764 meters Centerline goodness : 0.759092 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.48, Z:0.51 [[ 0.99103514 -0.12714467 -0.04103147 -8.15844803] [ 0.12961168 0.98946872 0.06443963 9.47747362] [ 0.0324062 -0.0691801 0.99707771 0.51433907] [ 0. 0. 0. 1. ]] SLAMing on 81.26925976399998 meters Centerline goodness : 0.759285 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.48, Z:0.51 [[ 0.9910615 -0.12686515 -0.04125941 -8.15748097] [ 0.12932947 0.98954305 0.0638627 9.47963264] [ 0.03272601 -0.06862792 0.99710542 0.51441337] [ 0. 0. 0. 1. ]] SLAMing on 81.32925976399999 meters Centerline goodness : 0.759252 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.48, Z:0.51 [[ 0.99161957 -0.1222539 -0.04176849 -8.15682637] [ 0.12488364 0.98986874 0.06755701 9.4818783 ] [ 0.03308622 -0.07220705 0.99684073 0.51391014] [ 0. 0. 0. 1. ]] SLAMing on 81.38925976399999 meters Centerline goodness : 0.756937 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.48, Z:0.51 [[ 0.9921275 -0.11807255 -0.04173606 -8.15796979] [ 0.12083853 0.99009341 0.07150583 9.48205978] [ 0.03287972 -0.07598623 0.99656661 0.51369821] [ 0. 0. 0. 1. ]] SLAMing on 81.44925976399999 meters Centerline goodness : 0.758990 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.48, Z:0.51 [[ 0.99212188 -0.1181554 -0.04163512 -8.15851428] [ 0.12088679 0.99014581 0.07069411 9.48389649] [ 0.03287195 -0.07517031 0.99662875 0.51479001] [ 0. 0. 0. 1. ]] SLAMing on 81.50925976399999 meters Centerline goodness : 0.758923 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.49, Z:0.52 [[ 0.99161083 -0.12240615 -0.04152948 -8.15833366] [ 0.12492798 0.99004564 0.06482775 9.48834916] [ 0.03318077 -0.0694721 0.99703193 0.51768269] [ 0. 0. 0. 1. ]] SLAMing on 81.569259764 meters Centerline goodness : 0.757490 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.49, Z:0.52 [[ 0.99155497 -0.12298377 -0.04115499 -8.16015996] [ 0.12546418 0.9900065 0.06438842 9.48855138] [ 0.03282498 -0.06900813 0.99707592 0.51876582] [ 0. 0. 0. 1. ]] SLAMing on 81.629259764 meters Centerline goodness : 0.757034 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.50, Z:0.52 [[ 0.99099007 -0.12739524 -0.04134178 -8.15960239] [ 0.12967644 0.9898465 0.05820596 9.49515467] [ 0.03350685 -0.06304258 0.99744821 0.52192238] [ 0. 0. 0. 1. ]] SLAMing on 81.68925976399998 meters Centerline goodness : 0.758081 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.50, Z:0.52 [[ 0.99040641 -0.13192901 -0.04110807 -8.15979345] [ 0.13398828 0.9896085 0.05217429 9.50109167] [ 0.03379759 -0.05718175 0.99779155 0.52456137] [ 0. 0. 0. 1. ]] SLAMing on 81.74925976399999 meters Centerline goodness : 0.756498 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.51, Z:0.53 [[ 0.98981408 -0.13641561 -0.04072913 -8.15996622] [ 0.13825798 0.98930502 0.046479 9.50711856] [ 0.03395307 -0.0516367 0.99808859 0.52627123] [ 0. 0. 0. 1. ]] SLAMing on 81.80925976399999 meters Centerline goodness : 0.757062 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.51, Z:0.53 [[ 0.98920061 -0.14078275 -0.0407722 -8.15903537] [ 0.14244135 0.98894922 0.04110851 9.5122074 ] [ 0.03453427 -0.04647221 0.99832245 0.52777154] [ 0. 0. 0. 1. ]] SLAMing on 81.86925976399999 meters Centerline goodness : 0.756110 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.51, Z:0.53 [[ 0.98885973 -0.14291062 -0.04162931 -8.15759956] [ 0.1445828 0.98866854 0.04037728 9.51281419] [ 0.03538724 -0.04594634 0.99831692 0.5286156 ] [ 0. 0. 0. 1. ]] SLAMing on 81.929259764 meters Centerline goodness : 0.755892 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.51, Z:0.53 [[ 0.98929937 -0.13991748 -0.04135032 -8.15954201] [ 0.14157709 0.98910384 0.04036741 9.51322206] [ 0.03525165 -0.04578971 0.99832892 0.52937167] [ 0. 0. 0. 1. ]] SLAMing on 81.989259764 meters Centerline goodness : 0.755495 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.51, Z:0.53 [[ 0.98970795 -0.13716154 -0.04080304 -8.16157689] [ 0.13879229 0.98950354 0.04024225 9.51249486] [ 0.03485507 -0.04549122 0.99835649 0.52983352] [ 0. 0. 0. 1. ]] SLAMing on 82.04925976399998 meters Centerline goodness : 0.758339 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.51, Z:0.53 [[ 0.99003704 -0.13498736 -0.04006347 -8.16362916] [ 0.13657369 0.9898255 0.03991369 9.51163587] [ 0.034268 -0.04498764 0.99839963 0.530163 ] [ 0. 0. 0. 1. ]] SLAMing on 82.10925976399999 meters Centerline goodness : 0.757754 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.51, Z:0.53 [[ 0.99006709 -0.13475798 -0.04009285 -8.16337748] [ 0.13634358 0.98985969 0.03985245 9.51156657] [ 0.03431586 -0.044923 0.99840089 0.53036351] [ 0. 0. 0. 1. ]] SLAMing on 82.16925976399999 meters Centerline goodness : 0.756560 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.51, Z:0.53 [[ 0.99010198 -0.13448865 -0.04013577 -8.16321524] [ 0.13607816 0.98989397 0.03990816 9.51122978] [ 0.03436296 -0.04497475 0.99839694 0.53065973] [ 0. 0. 0. 1. ]] SLAMing on 82.22925976399999 meters Centerline goodness : 0.753741 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.51, Z:0.53 [[ 0.99012698 -0.13427337 -0.04023951 -8.16343019] [ 0.13584947 0.98994637 0.03938412 9.51203986] [ 0.03454672 -0.04446179 0.99841358 0.53227128] [ 0. 0. 0. 1. ]] SLAMing on 82.289259764 meters Centerline goodness : 0.757120 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.51, Z:0.53 [[ 0.99016415 -0.13397807 -0.04030912 -8.16336404] [ 0.13555241 0.98999272 0.03924235 9.51209945] [ 0.03464812 -0.04432037 0.99841635 0.53298518] [ 0. 0. 0. 1. ]] SLAMing on 82.349259764 meters Centerline goodness : 0.756618 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.51, Z:0.53 [[ 0.99021175 -0.13362889 -0.04029889 -8.16339857] [ 0.13520484 0.99003795 0.03930014 9.51088771] [ 0.0346458 -0.04436407 0.99841449 0.53370782] [ 0. 0. 0. 1. ]] SLAMing on 82.40925976399998 meters Centerline goodness : 0.756038 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.51, Z:0.53 [[ 0.99030286 -0.132864 -0.04058815 -8.16192343] [ 0.13448239 0.99010256 0.04014232 9.50787094] [ 0.03485296 -0.04521144 0.99836927 0.53311057] [ 0. 0. 0. 1. ]] SLAMing on 82.46925976399999 meters Centerline goodness : 0.755715 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.50, Z:0.53 [[ 0.99039503 -0.13211398 -0.04078697 -8.16074995] [ 0.13377702 0.99015655 0.04115478 9.50463815] [ 0.03494836 -0.04621585 0.99831994 0.53237125] [ 0. 0. 0. 1. ]] SLAMing on 82.52925976399999 meters Centerline goodness : 0.754605 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.50, Z:0.53 [[ 0.99044174 -0.13191129 -0.04030585 -8.16210166] [ 0.1335821 0.99014636 0.04202392 9.49795578] [ 0.03436526 -0.04700639 0.99830327 0.53327681] [ 0. 0. 0. 1. ]] SLAMing on 82.58925976399999 meters Centerline goodness : 0.754527 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.49, Z:0.53 [[ 0.99041878 -0.13232209 -0.03951595 -8.1648792 ] [ 0.13396862 0.99007766 0.0424104 9.49351315] [ 0.03351202 -0.04729795 0.99831851 0.53460344] [ 0. 0. 0. 1. ]] SLAMing on 82.64925976399999 meters Centerline goodness : 0.755556 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.49, Z:0.54 [[ 0.98983882 -0.1368182 -0.03872839 -8.16691191] [ 0.13829227 0.98964884 0.03834617 9.48989494] [ 0.03308105 -0.04331237 0.99851374 0.53765577] [ 0. 0. 0. 1. ]] SLAMing on 82.709259764 meters Centerline goodness : 0.754519 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.48, Z:0.54 [[ 0.98920833 -0.14154328 -0.03784676 -8.16842704] [ 0.14287743 0.98911331 0.03522648 9.48302899] [ 0.03244866 -0.04025378 0.99866246 0.53875826] [ 0. 0. 0. 1. ]] SLAMing on 82.76925976399998 meters Centerline goodness : 0.755276 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.48, Z:0.53 [[ 0.9879101 -0.15167624 -0.03206169 -8.15681272] [ 0.15288483 0.98745941 0.03937194 9.47516042] [ 0.02568783 -0.04379769 0.99871012 0.53368802] [ 0. 0. 0. 1. ]] SLAMing on 82.82925976399999 meters Centerline goodness : 0.755996 with order 1 Centerline is valid? [False, False] Translation: X:-8.15, Y:9.46, Z:0.55 [[ 0.98593162 -0.15979532 -0.04903366 -8.15126312] [ 0.16169994 0.98612027 0.037682 9.46491777] [ 0.04233168 -0.04508061 0.99808605 0.5474451 ] [ 0. 0. 0. 1. ]] SLAMing on 82.88925976399999 meters Centerline goodness : 0.757727 with order 1 Centerline is valid? [False, False] Translation: X:-8.15, Y:9.46, Z:0.55 [[ 0.98421091 -0.16980368 -0.04995602 -8.14972212] [ 0.1716956 0.98447871 0.03636346 9.46109619] [ 0.04300599 -0.04436654 0.99808922 0.55296679] [ 0. 0. 0. 1. ]] SLAMing on 82.94925976399999 meters Centerline goodness : 0.758529 with order 1 Centerline is valid? [False, False] Translation: X:-8.14, Y:9.45, Z:0.56 [[ 0.97976932 -0.18740212 -0.07023194 -8.13548558] [ 0.19039498 0.98094817 0.03860627 9.44915705] [ 0.061659 -0.05119704 0.99678334 0.5643266 ] [ 0. 0. 0. 1. ]] SLAMing on 83.00925976399999 meters Centerline goodness : 0.755647 with order 1 Centerline is valid? [False, False] Translation: X:-8.14, Y:9.45, Z:0.57 [[ 0.97895416 -0.19146573 -0.07063732 -8.1362303 ] [ 0.19447555 0.98015296 0.03846332 9.44748451] [ 0.06187097 -0.05139106 0.99676022 0.56862925] [ 0. 0. 0. 1. ]] SLAMing on 83.069259764 meters Centerline goodness : 0.754336 with order 1 Centerline is valid? [False, False] Translation: X:-8.14, Y:9.45, Z:0.57 [[ 0.97921424 -0.18984266 -0.07140897 -8.13814116] [ 0.19305965 0.98032308 0.0411659 9.44993596] [ 0.06218882 -0.05409643 0.99659727 0.57176216] [ 0. 0. 0. 1. ]] SLAMing on 83.129259764 meters Centerline goodness : 0.754552 with order 1 Centerline is valid? [False, False] Translation: X:-8.14, Y:9.45, Z:0.57 [[ 0.9803939 -0.18471112 -0.0686266 -8.14266549] [ 0.18754192 0.9815467 0.03733778 9.45354844] [ 0.06046351 -0.0494761 0.99694347 0.56756133] [ 0. 0. 0. 1. ]] SLAMing on 83.18925976399998 meters Centerline goodness : 0.754617 with order 1 Centerline is valid? [False, False] Translation: X:-8.14, Y:9.45, Z:0.57 [[ 0.98115365 -0.18076121 -0.06828551 -8.144089 ] [ 0.18362577 0.98225165 0.03825267 9.45445786] [ 0.06015896 -0.05007073 0.99693221 0.56639644] [ 0. 0. 0. 1. ]] SLAMing on 83.24925976399999 meters Centerline goodness : 0.753883 with order 1 Centerline is valid? [False, False] Translation: X:-8.15, Y:9.46, Z:0.57 [[ 0.9828295 -0.17205732 -0.06665174 -8.15156108] [ 0.17482335 0.98386149 0.03812305 9.45786004] [ 0.05901673 -0.04912074 0.99704773 0.57048094] [ 0. 0. 0. 1. ]] SLAMing on 83.30925976399999 meters Centerline goodness : 0.755289 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.46, Z:0.57 [[ 0.98379819 -0.16680898 -0.06569533 -8.15625374] [ 0.16960623 0.98471782 0.03955419 9.46105979] [ 0.05809337 -0.05005568 0.99705546 0.57120295] [ 0. 0. 0. 1. ]] SLAMing on 83.36925976399999 meters Centerline goodness : 0.755073 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.46, Z:0.57 [[ 0.98390891 -0.16626613 -0.06541281 -8.15611313] [ 0.1690246 0.98483441 0.03913917 9.463506 ] [ 0.05791327 -0.04956575 0.99709041 0.56960398] [ 0. 0. 0. 1. ]] SLAMing on 83.429259764 meters Centerline goodness : 0.754515 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.46, Z:0.57 [[ 0.98363148 -0.16823901 -0.06453487 -8.15833809] [ 0.17082116 0.98461485 0.03679312 9.46448238] [ 0.05735195 -0.04721479 0.99723694 0.57093958] [ 0. 0. 0. 1. ]] SLAMing on 83.489259764 meters Centerline goodness : 0.751399 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.47, Z:0.57 [[ 0.98284566 -0.17234891 -0.06565254 -8.15642688] [ 0.17504344 0.98383732 0.03773494 9.46514776] [ 0.05808785 -0.04857967 0.99712879 0.57275466] [ 0. 0. 0. 1. ]] SLAMing on 83.54925976399998 meters Centerline goodness : 0.750028 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.47, Z:0.57 [[ 0.98299063 -0.17166804 -0.06526493 -8.15906487] [ 0.17434818 0.98395734 0.03782425 9.46636215] [ 0.05772469 -0.04855971 0.99715085 0.57448813] [ 0. 0. 0. 1. ]] SLAMing on 83.60925976399999 meters Centerline goodness : 0.746766 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.47, Z:0.58 [[ 0.98334739 -0.17026512 -0.06354284 -8.16620184] [ 0.17251585 0.98449469 0.0317566 9.46896992] [ 0.05715055 -0.04218991 0.99747372 0.58401283] [ 0. 0. 0. 1. ]] SLAMing on 83.66925976399999 meters Centerline goodness : 0.747405 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.47, Z:0.58 [[ 0.98403015 -0.16629174 -0.06349584 -8.16704085] [ 0.16858178 0.98514982 0.03255771 9.47026765] [ 0.05713884 -0.04274201 0.99745089 0.58284669] [ 0. 0. 0. 1. ]] SLAMing on 83.72925976399999 meters Centerline goodness : 0.747820 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.47, Z:0.58 [[ 0.9840906 -0.16587963 -0.06363679 -8.16870004] [ 0.16813582 0.98524846 0.03187183 9.47255699] [ 0.05741116 -0.04206439 0.99746406 0.58455983] [ 0. 0. 0. 1. ]] SLAMing on 83.789259764 meters Centerline goodness : 0.746996 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.47, Z:0.59 [[ 0.9837596 -0.1679116 -0.06342502 -8.17019768] [ 0.170112 0.98493658 0.03101357 9.4725868 ] [ 0.05726208 -0.04129925 0.9975046 0.58668816] [ 0. 0. 0. 1. ]] SLAMing on 83.849259764 meters Centerline goodness : 0.747099 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.47, Z:0.59 [[ 0.98448386 -0.16360941 -0.06343097 -8.17215292] [ 0.16590062 0.98560084 0.03267972 9.47476812] [ 0.05717091 -0.04269589 0.99745103 0.58688072] [ 0. 0. 0. 1. ]] SLAMing on 83.90925976399998 meters Centerline goodness : 0.750369 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.48, Z:0.59 [[ 0.98481922 -0.1615956 -0.06338737 -8.17309709] [ 0.16383982 0.98596995 0.03193371 9.47695351] [ 0.05733769 -0.04183431 0.99747796 0.5865552 ] [ 0. 0. 0. 1. ]] SLAMing on 83.96925976399999 meters Centerline goodness : 0.751899 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.48, Z:0.59 [[ 0.98508843 -0.15959758 -0.0642604 -8.17281295] [ 0.16196755 0.98622721 0.03350242 9.48001691] [ 0.05802845 -0.04341094 0.99737064 0.58674978] [ 0. 0. 0. 1. ]] SLAMing on 84.02925976399999 meters Centerline goodness : 0.751086 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.48, Z:0.59 [[ 0.98597346 -0.15420005 -0.06386456 -8.17532754] [ 0.15660133 0.98706103 0.03444626 9.48440331] [ 0.0577266 -0.04396437 0.99736391 0.58570191] [ 0. 0. 0. 1. ]] SLAMing on 84.08925976399999 meters Centerline goodness : 0.751379 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.49, Z:0.58 [[ 0.98658454 -0.15060054 -0.06301132 -8.17701026] [ 0.1528538 0.98771141 0.03258652 9.48787555] [ 0.05732945 -0.04178088 0.99748067 0.58341803] [ 0. 0. 0. 1. ]] SLAMing on 84.14925976399999 meters Centerline goodness : 0.753140 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.49, Z:0.58 [[ 0.98719137 -0.14633904 -0.06354594 -8.17682339] [ 0.14884671 0.98817972 0.03668088 9.48907511] [ 0.05742696 -0.04566965 0.99730458 0.58231017] [ 0. 0. 0. 1. ]] SLAMing on 84.209259764 meters Centerline goodness : 0.753731 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.49, Z:0.58 [[ 0.98733667 -0.14505275 -0.06423394 -8.17288482] [ 0.14761763 0.9883468 0.03714351 9.49192354] [ 0.05809764 -0.04615521 0.99724338 0.57959521] [ 0. 0. 0. 1. ]] SLAMing on 84.26925976399998 meters Centerline goodness : 0.751056 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.49, Z:0.58 [[ 0.98798951 -0.14038244 -0.06457163 -8.17204564] [ 0.14323792 0.98879969 0.04192939 9.4909611 ] [ 0.05796226 -0.0506749 0.99703181 0.5771181 ] [ 0. 0. 0. 1. ]] SLAMing on 84.32925976399999 meters Centerline goodness : 0.749375 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.49, Z:0.58 [[ 0.98798031 -0.14047706 -0.06450668 -8.17221508] [ 0.1433082 0.98880485 0.04156597 9.49263957] [ 0.05794545 -0.0503107 0.99705123 0.57709825] [ 0. 0. 0. 1. ]] SLAMing on 84.38925976399999 meters Centerline goodness : 0.749224 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.49, Z:0.58 [[ 0.98794314 -0.14091896 -0.0641109 -8.17378934] [ 0.14370007 0.98876998 0.04103931 9.49334497] [ 0.05760772 -0.04975724 0.99709857 0.57791558] [ 0. 0. 0. 1. ]] SLAMing on 84.44925976399999 meters Centerline goodness : 0.748894 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.49, Z:0.58 [[ 0.98794695 -0.14101269 -0.06384545 -8.17453548] [ 0.14376899 0.98876834 0.04083696 9.49356299] [ 0.05736983 -0.04952375 0.99712391 0.57813198] [ 0. 0. 0. 1. ]] SLAMing on 84.50925976399999 meters Centerline goodness : 0.747650 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.49, Z:0.58 [[ 0.98793558 -0.14129658 -0.0633921 -8.17584507] [ 0.14402138 0.98873825 0.04067563 9.49287399] [ 0.05693086 -0.04931472 0.99715943 0.57841686] [ 0. 0. 0. 1. ]] SLAMing on 84.569259764 meters Centerline goodness : 0.748717 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.49, Z:0.58 [[ 0.98790879 -0.14160048 -0.06313109 -8.17675058] [ 0.14429657 0.9887097 0.04039346 9.49327741] [ 0.05669859 -0.04901466 0.99718746 0.57866269] [ 0. 0. 0. 1. ]] SLAMing on 84.62925976399998 meters Centerline goodness : 0.748270 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.49, Z:0.58 [[ 0.98790578 -0.14168592 -0.0629862 -8.17721111] [ 0.14435389 0.98871643 0.04002216 9.49458402] [ 0.05660492 -0.04863042 0.9972116 0.57894482] [ 0. 0. 0. 1. ]] SLAMing on 84.68925976399998 meters Centerline goodness : 0.750467 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.50, Z:0.58 [[ 0.98796017 -0.14122391 -0.06317053 -8.17602183] [ 0.14388309 0.98879737 0.03971685 9.49670498] [ 0.05685388 -0.04832783 0.99721214 0.57852203] [ 0. 0. 0. 1. ]] SLAMing on 84.74925976399999 meters Centerline goodness : 0.747197 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.50, Z:0.58 [[ 0.98806903 -0.14031509 -0.06349221 -8.17343723] [ 0.14300033 0.98891753 0.03991268 9.49903851] [ 0.05718821 -0.04851589 0.99718389 0.57646912] [ 0. 0. 0. 1. ]] SLAMing on 84.80925976399999 meters Centerline goodness : 0.750532 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.50, Z:0.58 [[ 0.98814367 -0.13974608 -0.0635856 -8.17204081] [ 0.14242691 0.98900621 0.03976536 9.50092328] [ 0.0573295 -0.04835019 0.99718383 0.5755107 ] [ 0. 0. 0. 1. ]] SLAMing on 84.86925976399999 meters Centerline goodness : 0.750051 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.50, Z:0.58 [[ 0.98813241 -0.13986496 -0.06349914 -8.17240978] [ 0.14251294 0.98901383 0.03926467 9.50278212] [ 0.05730977 -0.04784814 0.99720918 0.57589786] [ 0. 0. 0. 1. ]] SLAMing on 84.929259764 meters Centerline goodness : 0.751851 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.50, Z:0.58 [[ 0.98810747 -0.14026321 -0.06300684 -8.17402014] [ 0.14286945 0.98897519 0.03894078 9.5027574 ] [ 0.05685024 -0.04747943 0.9972531 0.57641024] [ 0. 0. 0. 1. ]] SLAMing on 84.989259764 meters Centerline goodness : 0.750353 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.51, Z:0.58 [[ 0.98749465 -0.14470406 -0.0625703 -8.17429899] [ 0.14700699 0.98855457 0.03389393 9.50578221] [ 0.05694957 -0.04266835 0.99746487 0.5780709 ] [ 0. 0. 0. 1. ]] SLAMing on 85.04925976399998 meters Centerline goodness : 0.750830 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.51, Z:0.58 [[ 0.98747821 -0.14491604 -0.06233884 -8.17496865] [ 0.14724847 0.98849474 0.03458377 9.50694615] [ 0.05660987 -0.04333001 0.99745568 0.57812841] [ 0. 0. 0. 1. ]] SLAMing on 85.10925976399999 meters Centerline goodness : 0.749523 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.51, Z:0.58 [[ 0.98750407 -0.14467051 -0.06249931 -8.17448287] [ 0.14697597 0.98855581 0.03399228 9.50984491] [ 0.05686638 -0.04275342 0.99746597 0.57857559] [ 0. 0. 0. 1. ]] SLAMing on 85.16925976399999 meters Centerline goodness : 0.748544 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.51, Z:0.58 [[ 0.98819392 -0.13971697 -0.06286457 -8.17319476] [ 0.14230059 0.9890678 0.03867074 9.50962588] [ 0.05677436 -0.04715986 0.99727259 0.57599124] [ 0. 0. 0. 1. ]] SLAMing on 85.22925976399999 meters Centerline goodness : 0.743918 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.51, Z:0.57 [[ 0.98831549 -0.13887755 -0.06281331 -8.17176674] [ 0.14146605 0.98918197 0.03881218 9.51038492] [ 0.05674366 -0.04724463 0.99727033 0.57471626] [ 0. 0. 0. 1. ]] SLAMing on 85.289259764 meters Centerline goodness : 0.745696 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.51, Z:0.58 [[ 0.98832288 -0.13887808 -0.06269581 -8.17222523] [ 0.14143647 0.98920306 0.0383801 9.51234153] [ 0.05668873 -0.0467994 0.99729444 0.5751978 ] [ 0. 0. 0. 1. ]] SLAMing on 85.349259764 meters Centerline goodness : 0.742408 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.51, Z:0.57 [[ 0.98834383 -0.13898142 -0.06213398 -8.17345214] [ 0.14155858 0.98915418 0.03918142 9.50816585] [ 0.0560146 -0.04752031 0.99729844 0.57463594] [ 0. 0. 0. 1. ]] SLAMing on 85.40925976399998 meters Centerline goodness : 0.743616 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.51, Z:0.57 [[ 0.98833007 -0.13941754 -0.06137117 -8.17569134] [ 0.1419743 0.98908339 0.03946314 9.50563568] [ 0.05519936 -0.04771574 0.99733457 0.57481435] [ 0. 0. 0. 1. ]] SLAMing on 85.46925976399999 meters Centerline goodness : 0.743861 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.50, Z:0.58 [[ 0.98832547 -0.13967132 -0.06086611 -8.17725452] [ 0.14221154 0.98904389 0.03959883 9.50417082] [ 0.05466844 -0.0477924 0.99736014 0.57512323] [ 0. 0. 0. 1. ]] SLAMing on 85.52925976399999 meters Centerline goodness : 0.747044 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.51, Z:0.58 [[ 0.98778652 -0.14354621 -0.06059923 -8.17657391] [ 0.14581866 0.98869601 0.03488722 9.50611123] [ 0.05490629 -0.04329762 0.99755231 0.57656648] [ 0. 0. 0. 1. ]] SLAMing on 85.58925976399999 meters Centerline goodness : 0.745014 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.50, Z:0.57 [[ 0.98762315 -0.1464729 -0.05609095 -8.1583137 ] [ 0.1489738 0.98789113 0.04333497 9.50102753] [ 0.04906435 -0.0511547 0.99748478 0.56916858] [ 0. 0. 0. 1. ]] SLAMing on 85.64925976399999 meters Centerline goodness : 0.747565 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.50, Z:0.57 [[ 0.98704496 -0.15043764 -0.0557743 -8.16006108] [ 0.15286988 0.98734323 0.04223924 9.49850149] [ 0.048714 -0.05021824 0.99754953 0.57282861] [ 0. 0. 0. 1. ]] SLAMing on 85.709259764 meters Centerline goodness : 0.747943 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.50, Z:0.58 [[ 0.98691328 -0.15132443 -0.05570547 -8.16165614] [ 0.1537788 0.98717966 0.04275968 9.49666591] [ 0.04852072 -0.05076642 0.99753121 0.57558193] [ 0. 0. 0. 1. ]] SLAMing on 85.76925976399998 meters Centerline goodness : 0.745884 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.50, Z:0.58 [[ 0.98641514 -0.15467901 -0.05531344 -8.16033217] [ 0.15691304 0.98685773 0.03860206 9.49931249] [ 0.04861557 -0.04675706 0.99772256 0.57557738] [ 0. 0. 0. 1. ]] SLAMing on 85.82925976399999 meters Centerline goodness : 0.743807 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.50, Z:0.58 [[ 0.9861177 -0.15668626 -0.05496636 -8.16047494] [ 0.15878565 0.98665131 0.03614276 9.49903564] [ 0.04856956 -0.04436888 0.99783385 0.5757972 ] [ 0. 0. 0. 1. ]] SLAMing on 85.88925976399999 meters Centerline goodness : 0.746102 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.50, Z:0.58 [[ 0.98612323 -0.15672383 -0.05475956 -8.16271829] [ 0.15884168 0.98662122 0.03671351 9.49923174] [ 0.04827306 -0.04490215 0.99782439 0.5782843 ] [ 0. 0. 0. 1. ]] SLAMing on 85.94925976399999 meters Centerline goodness : 0.746885 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.50, Z:0.58 [[ 0.98646841 -0.15458328 -0.05462675 -8.1629316 ] [ 0.15668863 0.98696964 0.0366007 9.49989655] [ 0.04825709 -0.04466483 0.99783581 0.57732444] [ 0. 0. 0. 1. ]] SLAMing on 86.00925976399999 meters Centerline goodness : 0.745235 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.50, Z:0.58 [[ 0.98654031 -0.15427329 -0.05420301 -8.16324058] [ 0.15626216 0.98711022 0.03457686 9.49799802] [ 0.04817005 -0.04258134 0.9979311 0.57705147] [ 0. 0. 0. 1. ]] SLAMing on 86.069259764 meters Centerline goodness : 0.748093 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.50, Z:0.58 [[ 0.98643896 -0.15483869 -0.05443491 -8.16402282] [ 0.15683645 0.9870201 0.03454914 9.49679188] [ 0.04837881 -0.042618 0.99791943 0.57929976] [ 0. 0. 0. 1. ]] SLAMing on 86.12925976399998 meters Centerline goodness : 0.748192 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.49, Z:0.58 [[ 0.9862659 -0.15611365 -0.05392683 -8.16668681] [ 0.15810024 0.98681127 0.03475388 9.49434094] [ 0.04779005 -0.04280241 0.99793991 0.58264561] [ 0. 0. 0. 1. ]] SLAMing on 86.18925976399998 meters Centerline goodness : 0.750064 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.49, Z:0.58 [[ 0.98585121 -0.15855717 -0.05437836 -8.16593966] [ 0.16057564 0.98640336 0.03498383 9.49131281] [ 0.04809206 -0.04322069 0.99790737 0.58459156] [ 0. 0. 0. 1. ]] SLAMing on 86.24925976399999 meters Centerline goodness : 0.749887 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.49, Z:0.59 [[ 0.98583393 -0.1588687 -0.05377912 -8.16810582] [ 0.16083895 0.98637707 0.03451241 9.48913878] [ 0.04756355 -0.04267328 0.99795626 0.58644644] [ 0. 0. 0. 1. ]] SLAMing on 86.30925976399999 meters Centerline goodness : 0.751753 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.49, Z:0.59 [[ 0.98557372 -0.16066483 -0.05320955 -8.16980116] [ 0.1625216 0.9861662 0.03260299 9.48663432] [ 0.0472353 -0.04078035 0.998051 0.58852387] [ 0. 0. 0. 1. ]] SLAMing on 86.36925976399999 meters Centerline goodness : 0.751163 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.48, Z:0.59 [[ 0.9856379 -0.16022038 -0.05336075 -8.1706935 ] [ 0.16213893 0.98618952 0.03378166 9.4841005 ] [ 0.0472113 -0.04194834 0.99800372 0.59058901] [ 0. 0. 0. 1. ]] SLAMing on 86.429259764 meters Centerline goodness : 0.752876 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.48, Z:0.59 [[ 0.98572783 -0.15986507 -0.05276172 -8.17307102] [ 0.16174865 0.98626064 0.03357578 9.482312 ] [ 0.04666921 -0.04163072 0.99804252 0.59246127] [ 0. 0. 0. 1. ]] SLAMing on 86.489259764 meters Centerline goodness : 0.753217 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.48, Z:0.59 [[ 0.98579654 -0.15967775 -0.05204034 -8.17487189] [ 0.16147511 0.98634605 0.03236121 9.48024472] [ 0.04616242 -0.04030479 0.99812051 0.59356921] [ 0. 0. 0. 1. ]] SLAMing on 86.54925976399998 meters Centerline goodness : 0.754291 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.48, Z:0.60 [[ 0.98588294 -0.1591901 -0.05189735 -8.17657232] [ 0.16100029 0.98641016 0.0327706 9.47953792] [ 0.04597532 -0.04066346 0.9981146 0.59523361] [ 0. 0. 0. 1. ]] SLAMing on 86.60925976399999 meters Centerline goodness : 0.752545 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.48, Z:0.60 [[ 0.98563986 -0.16077919 -0.05161509 -8.17785664] [ 0.16252733 0.98619633 0.03164909 9.47744678] [ 0.0458141 -0.03958347 0.99816543 0.59747803] [ 0. 0. 0. 1. ]] SLAMing on 86.66925976399999 meters Centerline goodness : 0.753599 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.48, Z:0.60 [[ 0.98580024 -0.15985352 -0.05142707 -8.17868623] [ 0.16159598 0.98634776 0.03169915 9.47624427] [ 0.04565775 -0.03955944 0.99817354 0.5979398 ] [ 0. 0. 0. 1. ]] SLAMing on 86.72925976399999 meters Centerline goodness : 0.753086 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.47, Z:0.60 [[ 0.98545891 -0.16213586 -0.05082033 -8.18051572] [ 0.16377199 0.98604646 0.02985168 9.47350912] [ 0.04527118 -0.03774055 0.99826157 0.60047604] [ 0. 0. 0. 1. ]] SLAMing on 86.789259764 meters Centerline goodness : 0.752752 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.47, Z:0.60 [[ 0.98457137 -0.16753037 -0.05052522 -8.18159717] [ 0.16908673 0.98519603 0.02825712 9.46887785] [ 0.04504332 -0.0363643 0.99832296 0.60456819] [ 0. 0. 0. 1. ]] SLAMing on 86.849259764 meters Centerline goodness : 0.753692 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.46, Z:0.61 [[ 0.98384514 -0.1717016 -0.0506686 -8.18320499] [ 0.17328036 0.9844578 0.02857894 9.46488313] [ 0.04497404 -0.03689712 0.99830653 0.61002032] [ 0. 0. 0. 1. ]] SLAMing on 86.90925976399998 meters Centerline goodness : 0.751948 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.46, Z:0.62 [[ 0.98325776 -0.16983778 -0.066025 -8.1819424 ] [ 0.17190097 0.98474704 0.02689456 9.45696135] [ 0.06045021 -0.03779405 0.99745545 0.62369077] [ 0. 0. 0. 1. ]] SLAMing on 86.96925976399999 meters Centerline goodness : 0.752681 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.46, Z:0.63 [[ 0.98285318 -0.1723533 -0.06552829 -8.18335273] [ 0.17426308 0.98439186 0.02459755 9.45536178] [ 0.06026605 -0.03559494 0.99754749 0.6254956 ] [ 0. 0. 0. 1. ]] SLAMing on 87.02925976399999 meters Centerline goodness : 0.754176 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.45, Z:0.63 [[ 0.98165742 -0.178898 -0.06591067 -8.18295279] [ 0.18072498 0.98326849 0.02283784 9.45189288] [ 0.06072224 -0.03433064 0.99756414 0.62971771] [ 0. 0. 0. 1. ]] SLAMing on 87.08925976399999 meters Centerline goodness : 0.753106 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.45, Z:0.63 [[ 0.98095411 -0.18234766 -0.06692063 -8.18283176] [ 0.18430019 0.9825717 0.02421346 9.44951653] [ 0.06133905 -0.03608578 0.99746445 0.63422207] [ 0. 0. 0. 1. ]] SLAMing on 87.14925976399999 meters Centerline goodness : 0.752608 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.45, Z:0.64 [[ 0.98052956 -0.18465518 -0.06681505 -8.18336957] [ 0.18652578 0.9821836 0.02288034 9.44719383] [ 0.06139967 -0.03489758 0.997503 0.63623875] [ 0. 0. 0. 1. ]] SLAMing on 87.209259764 meters Centerline goodness : 0.752686 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.45, Z:0.64 [[ 0.98034996 -0.18552935 -0.0670285 -8.18428734] [ 0.18741821 0.98201018 0.0230309 9.44620175] [ 0.06154976 -0.0351407 0.99748522 0.63856031] [ 0. 0. 0. 1. ]] SLAMing on 87.26925976399998 meters Centerline goodness : 0.749926 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:9.44, Z:0.64 [[ 0.98004717 -0.18695593 -0.06749097 -8.183738 ] [ 0.18886485 0.9817325 0.02305127 9.44413695] [ 0.06194851 -0.035338 0.99745356 0.6401853 ] [ 0. 0. 0. 1. ]] SLAMing on 87.32925976399999 meters Centerline goodness : 0.752423 with order 1 Centerline is valid? [False, False] Translation: X:-8.19, Y:9.44, Z:0.64 [[ 0.9802755 -0.18569311 -0.06766103 -8.185739 ] [ 0.18766978 0.98193702 0.02407799 9.44410041] [ 0.06196775 -0.036301 0.99741778 0.6426576 ] [ 0. 0. 0. 1. ]] SLAMing on 87.38925976399999 meters Centerline goodness : 0.750873 with order 1 Centerline is valid? [False, False] Translation: X:-8.19, Y:9.45, Z:0.64 [[ 0.98075941 -0.1831689 -0.0675287 -8.18773533] [ 0.18514439 0.98241318 0.0242055 9.44634155] [ 0.06190739 -0.03624234 0.99742367 0.64306971] [ 0. 0. 0. 1. ]] SLAMing on 87.44925976399999 meters Centerline goodness : 0.749405 with order 1 Centerline is valid? [False, False] Translation: X:-8.19, Y:9.45, Z:0.64 [[ 0.98118662 -0.18109332 -0.06691808 -8.19075521] [ 0.18296437 0.98285217 0.02292688 9.44929769] [ 0.06161867 -0.03473918 0.99749503 0.6435222 ] [ 0. 0. 0. 1. ]] SLAMing on 87.50925976399999 meters Centerline goodness : 0.749565 with order 1 Centerline is valid? [False, False] Translation: X:-8.19, Y:9.45, Z:0.64 [[ 0.98140012 -0.17993518 -0.06691141 -8.19253862] [ 0.18177406 0.98308419 0.0224424 9.45293019] [ 0.06174138 -0.03418773 0.99750649 0.64439548] [ 0. 0. 0. 1. ]] SLAMing on 87.569259764 meters Centerline goodness : 0.750246 with order 1 Centerline is valid? [False, False] Translation: X:-8.19, Y:9.46, Z:0.64 [[ 0.98228915 -0.17494795 -0.0670913 -8.19495424] [ 0.17691003 0.98392287 0.02446693 9.45664498] [ 0.06173222 -0.03590272 0.9974468 0.64473484] [ 0. 0. 0. 1. ]] SLAMing on 87.62925976399998 meters Centerline goodness : 0.751666 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.46, Z:0.64 [[ 0.98308073 -0.17083453 -0.06608968 -8.19828964] [ 0.17272363 0.98467862 0.02396989 9.4610353 ] [ 0.06098221 -0.03497959 0.99752574 0.64354967] [ 0. 0. 0. 1. ]] SLAMing on 87.68925976399998 meters Centerline goodness : 0.753343 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.46, Z:0.64 [[ 0.98339201 -0.16903527 -0.06608498 -8.19995201] [ 0.17086877 0.98502267 0.02311287 9.46477804] [ 0.06118831 -0.03402087 0.99754628 0.64391055] [ 0. 0. 0. 1. ]] SLAMing on 87.74925976399999 meters Centerline goodness : 0.753151 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.47, Z:0.64 [[ 0.98352369 -0.16783453 -0.06717673 -8.19768822] [ 0.169875 0.98512597 0.02587111 9.46688931] [ 0.06183547 -0.0368565 0.99740562 0.64258733] [ 0. 0. 0. 1. ]] SLAMing on 87.80925976399999 meters Centerline goodness : 0.755814 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.47, Z:0.64 [[ 0.98404989 -0.16461889 -0.06742723 -8.1998739 ] [ 0.16676402 0.98561357 0.02748899 9.47040434] [ 0.06193199 -0.03829498 0.99734544 0.64378179] [ 0. 0. 0. 1. ]] SLAMing on 87.86925976399999 meters Centerline goodness : 0.757956 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.47, Z:0.64 [[ 0.98511695 -0.15827254 -0.06704022 -8.20114654] [ 0.16044533 0.98663788 0.02833719 9.47440105] [ 0.06165942 -0.03867174 0.99734779 0.64117449] [ 0. 0. 0. 1. ]] SLAMing on 87.929259764 meters Centerline goodness : 0.759734 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.48, Z:0.64 [[ 0.98605136 -0.15272845 -0.06615695 -8.20405831] [ 0.15486518 0.98752609 0.02844294 9.478134 ] [ 0.06098766 -0.03829161 0.99740376 0.63963633] [ 0. 0. 0. 1. ]] SLAMing on 87.98925976399998 meters Centerline goodness : 0.761700 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.48, Z:0.64 [[ 0.98684517 -0.14749931 -0.06618587 -8.20487168] [ 0.14980092 0.98822225 0.03124852 9.48187348] [ 0.06079722 -0.04075216 0.99731788 0.63784697] [ 0. 0. 0. 1. ]] SLAMing on 88.04925976399998 meters Centerline goodness : 0.759762 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.49, Z:0.64 [[ 0.98708007 -0.14629711 -0.06534594 -8.20788113] [ 0.1484386 0.98849073 0.02918992 9.48614091] [ 0.06032346 -0.03851265 0.99743564 0.63825761] [ 0. 0. 0. 1. ]] SLAMing on 88.10925976399999 meters Centerline goodness : 0.760683 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.49, Z:0.64 [[ 0.9876721 -0.14217769 -0.0654929 -8.20871258] [ 0.14453279 0.98895879 0.03272299 9.48845358] [ 0.06011729 -0.04178546 0.99731634 0.63786155] [ 0. 0. 0. 1. ]] SLAMing on 88.16925976399999 meters Centerline goodness : 0.761959 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.49, Z:0.64 [[ 0.98823369 -0.13812872 -0.06568578 -8.20992597] [ 0.14069904 0.98938889 0.03624098 9.49054031] [ 0.05998286 -0.04505648 0.99718201 0.63809832] [ 0. 0. 0. 1. ]] SLAMing on 88.22925976399999 meters Centerline goodness : 0.763864 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.49, Z:0.63 [[ 0.98888915 -0.13315486 -0.06609108 -8.20816655] [ 0.13602568 0.98985631 0.04100609 9.49056806] [ 0.05996051 -0.04954057 0.99697065 0.63497092] [ 0. 0. 0. 1. ]] SLAMing on 88.289259764 meters Centerline goodness : 0.764308 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.50, Z:0.64 [[ 0.98885586 -0.13345505 -0.0659836 -8.20920252] [ 0.13620967 0.98990583 0.03915828 9.49644859] [ 0.06009168 -0.0477095 0.99705205 0.63723588] [ 0. 0. 0. 1. ]] SLAMing on 88.349259764 meters Centerline goodness : 0.765277 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.50, Z:0.64 [[ 0.98936402 -0.12962911 -0.06599344 -8.21096439] [ 0.13258949 0.99025369 0.04263393 9.49816909] [ 0.05982365 -0.05093051 0.99690883 0.63758003] [ 0. 0. 0. 1. ]] SLAMing on 88.40925976399998 meters Centerline goodness : 0.765203 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.50, Z:0.64 [[ 0.98938656 -0.12932651 -0.06624865 -8.20993015] [ 0.13224624 0.99033731 0.04174852 9.5018188 ] [ 0.06020932 -0.05006657 0.99692937 0.63804408] [ 0. 0. 0. 1. ]] SLAMing on 88.46925976399999 meters Centerline goodness : 0.767530 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.50, Z:0.64 [[ 0.98935016 -0.12964396 -0.06617182 -8.21074475] [ 0.13249561 0.99034846 0.04067974 9.5047076 ] [ 0.06025928 -0.04901398 0.99697866 0.63945484] [ 0. 0. 0. 1. ]] SLAMing on 88.52925976399999 meters Centerline goodness : 0.766992 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.51, Z:0.64 [[ 0.98991696 -0.12500191 -0.0666253 -8.21065165] [ 0.12809782 0.99076698 0.04440417 9.50569569] [ 0.06045955 -0.052491 0.99678952 0.63980444] [ 0. 0. 0. 1. ]] SLAMing on 88.58925976399999 meters Centerline goodness : 0.764291 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.51, Z:0.64 [[ 0.98993506 -0.12480445 -0.06672647 -8.21014441] [ 0.12788855 0.9908065 0.04412492 9.50645052] [ 0.06060604 -0.05221435 0.99679515 0.64002343] [ 0. 0. 0. 1. ]] SLAMing on 88.64925976399999 meters Centerline goodness : 0.763448 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.51, Z:0.64 [[ 0.98994953 -0.1247544 -0.06660536 -8.21066169] [ 0.12782337 0.99082131 0.04398091 9.5054048 ] [ 0.0605072 -0.0520526 0.99680961 0.64088527] [ 0. 0. 0. 1. ]] SLAMing on 88.709259764 meters Centerline goodness : 0.764214 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.50, Z:0.64 [[ 0.98991482 -0.12515245 -0.06637411 -8.21234617] [ 0.12819357 0.99078527 0.04371448 9.50433972] [ 0.06029152 -0.05178234 0.99683676 0.64246964] [ 0. 0. 0. 1. ]] SLAMing on 88.76925976399998 meters Centerline goodness : 0.760522 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.51, Z:0.64 [[ 0.98937344 -0.12946049 -0.0661829 -8.21215022] [ 0.13220429 0.99045914 0.03889365 9.50635867] [ 0.06051626 -0.04723001 0.9970492 0.64411418] [ 0. 0. 0. 1. ]] SLAMing on 88.82925976399999 meters Centerline goodness : 0.762342 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.51, Z:0.64 [[ 0.98890952 -0.13274707 -0.06660461 -8.20901971] [ 0.13524964 0.99020835 0.03456815 9.50852823] [ 0.06136362 -0.04319302 0.99718046 0.6446716 ] [ 0. 0. 0. 1. ]] SLAMing on 88.88925976399999 meters Centerline goodness : 0.762039 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.51, Z:0.65 [[ 0.98888682 -0.13302245 -0.06639188 -8.2100768 ] [ 0.13550261 0.99018145 0.03434742 9.50836768] [ 0.06117103 -0.04296199 0.99720227 0.645347 ] [ 0. 0. 0. 1. ]] SLAMing on 88.94925976399999 meters Centerline goodness : 0.760769 with order 1 Centerline is valid? [False, False] Translation: X:-8.19, Y:9.51, Z:0.64 [[ 0.98893168 -0.1347706 -0.06205659 -8.19408466] [ 0.13760851 0.98951033 0.04396821 9.50536132] [ 0.05548001 -0.05202107 0.99710369 0.63988766] [ 0. 0. 0. 1. ]] SLAMing on 89.00925976399999 meters Centerline goodness : 0.761167 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.50, Z:0.64 [[ 0.98887633 -0.13538091 -0.06160858 -8.19591668] [ 0.13818775 0.98943607 0.04382246 9.50421717] [ 0.05502502 -0.05184854 0.99713789 0.64055736] [ 0. 0. 0. 1. ]] SLAMing on 89.069259764 meters Centerline goodness : 0.760349 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.50, Z:0.64 [[ 0.98883196 -0.13589642 -0.06118429 -8.19742389] [ 0.13869371 0.98935534 0.04404609 9.50238042] [ 0.0545473 -0.05204005 0.99715416 0.64084268] [ 0. 0. 0. 1. ]] SLAMing on 89.12925976399998 meters Centerline goodness : 0.760680 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.50, Z:0.64 [[ 0.98880136 -0.1363588 -0.06064776 -8.19907387] [ 0.13913109 0.98929166 0.04409698 9.50149006] [ 0.05398531 -0.05204114 0.99718469 0.64090283] [ 0. 0. 0. 1. ]] SLAMing on 89.18925976399998 meters Centerline goodness : 0.759527 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.50, Z:0.64 [[ 0.98874561 -0.1368201 -0.06051762 -8.19905352] [ 0.1396132 0.98920099 0.0446045 9.50005221] [ 0.05376129 -0.05255156 0.99717002 0.63978147] [ 0. 0. 0. 1. ]] SLAMing on 89.24925976399999 meters Centerline goodness : 0.756668 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.50, Z:0.64 [[ 0.98914076 -0.1341719 -0.05998719 -8.20081364] [ 0.13700852 0.98950292 0.04596349 9.50164954] [ 0.05319049 -0.05368312 0.99714036 0.63938753] [ 0. 0. 0. 1. ]] SLAMing on 89.30925976399999 meters Centerline goodness : 0.757499 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.50, Z:0.64 [[ 0.98962085 -0.13119933 -0.05862849 -8.20413697] [ 0.13389569 0.98998708 0.04469368 9.50350528] [ 0.05217767 -0.0520799 0.99727889 0.63884172] [ 0. 0. 0. 1. ]] SLAMing on 89.36925976399999 meters Centerline goodness : 0.757562 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.51, Z:0.64 [[ 0.98971075 -0.13032612 -0.05905698 -8.20158127] [ 0.13304655 0.99009983 0.04473188 9.50518854] [ 0.05264257 -0.05212895 0.99725189 0.63766427] [ 0. 0. 0. 1. ]] SLAMing on 89.429259764 meters Centerline goodness : 0.754047 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.51, Z:0.64 [[ 0.99010699 -0.12752635 -0.05852507 -8.20383616] [ 0.13025933 0.99043436 0.04552227 9.50591094] [ 0.05215995 -0.05269535 0.99724748 0.63815912] [ 0. 0. 0. 1. ]] SLAMing on 89.48925976399998 meters Centerline goodness : 0.755314 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.51, Z:0.64 [[ 0.99045735 -0.12536809 -0.05724581 -8.20723102] [ 0.12802062 0.9907373 0.04528044 9.50599875] [ 0.05103884 -0.05217699 0.99733274 0.63866325] [ 0. 0. 0. 1. ]] SLAMing on 89.54925976399998 meters Centerline goodness : 0.750882 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.51, Z:0.64 [[ 0.99083875 -0.12306774 -0.05561382 -8.2113353 ] [ 0.1255886 0.99109034 0.04435588 9.50504812] [ 0.04965954 -0.05093399 0.99746662 0.63925301] [ 0. 0. 0. 1. ]] SLAMing on 89.60925976399999 meters Centerline goodness : 0.752900 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.51, Z:0.64 [[ 0.99083775 -0.12314585 -0.05545855 -8.21189758] [ 0.12564066 0.99110003 0.04399048 9.50608178] [ 0.04954773 -0.05055528 0.99749145 0.63970077] [ 0. 0. 0. 1. ]] SLAMing on 89.66925976399999 meters Centerline goodness : 0.748867 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.51, Z:0.64 [[ 0.99086187 -0.12306697 -0.05520213 -8.21221531] [ 0.12555265 0.99110769 0.04406908 9.50571733] [ 0.04928781 -0.05059715 0.9975022 0.63941858] [ 0. 0. 0. 1. ]] SLAMing on 89.72925976399999 meters Centerline goodness : 0.750160 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.50, Z:0.64 [[ 0.99087019 -0.12315244 -0.05486104 -8.21290294] [ 0.12562692 0.99109276 0.04419302 9.504451 ] [ 0.0489299 -0.05068157 0.99751554 0.63926448] [ 0. 0. 0. 1. ]] SLAMing on 89.789259764 meters Centerline goodness : 0.750182 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.50, Z:0.64 [[ 0.99086082 -0.12338827 -0.05449921 -8.21384047] [ 0.12585984 0.99104902 0.04451009 9.50248872] [ 0.04851937 -0.05096256 0.99752127 0.63895009] [ 0. 0. 0. 1. ]] SLAMing on 89.849259764 meters Centerline goodness : 0.750813 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.50, Z:0.64 [[ 0.99081302 -0.12413565 -0.05366478 -8.21661236] [ 0.12656343 0.99096064 0.04448275 9.50022805] [ 0.04765779 -0.05086608 0.99756773 0.63967751] [ 0. 0. 0. 1. ]] SLAMing on 89.90925976399998 meters Centerline goodness : 0.752516 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.50, Z:0.64 [[ 0.99022527 -0.12903876 -0.05294259 -8.21845917] [ 0.1311979 0.99056691 0.03955135 9.5013611 ] [ 0.04733952 -0.0461107 0.997814 0.6420036 ] [ 0. 0. 0. 1. ]] SLAMing on 89.96925976399999 meters Centerline goodness : 0.751031 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.50, Z:0.64 [[ 0.98965942 -0.13361271 -0.05217151 -8.21960215] [ 0.13552853 0.99015222 0.03507977 9.50142812] [ 0.04697063 -0.04178776 0.99802181 0.64337436] [ 0. 0. 0. 1. ]] SLAMing on 90.02925976399999 meters Centerline goodness : 0.751264 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.50, Z:0.65 [[ 0.98932029 -0.13632816 -0.05157512 -8.22159139] [ 0.13809471 0.98988954 0.03238134 9.50112381] [ 0.04663919 -0.03915777 0.99814401 0.64561708] [ 0. 0. 0. 1. ]] SLAMing on 90.08925976399999 meters Centerline goodness : 0.751209 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.50, Z:0.65 [[ 0.98895573 -0.13937943 -0.05039785 -8.22357933] [ 0.14098078 0.98956564 0.02973653 9.5000206 ] [ 0.04572733 -0.03651324 0.99828643 0.64669426] [ 0. 0. 0. 1. ]] SLAMing on 90.14925976399999 meters Centerline goodness : 0.751163 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.50, Z:0.65 [[ 0.98888853 -0.14011426 -0.04967363 -8.22622104] [ 0.14168003 0.98947211 0.02952483 9.49901788] [ 0.04501382 -0.03623452 0.99832901 0.64750249] [ 0. 0. 0. 1. ]] SLAMing on 90.209259764 meters Centerline goodness : 0.751296 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.50, Z:0.65 [[ 0.98889342 -0.14026142 -0.0491583 -8.22706226] [ 0.14182187 0.98944284 0.02982331 9.49740396] [ 0.04445627 -0.03646379 0.99834565 0.64690942] [ 0. 0. 0. 1. ]] SLAMing on 90.26925976399998 meters Centerline goodness : 0.752847 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.50, Z:0.65 [[ 0.98892878 -0.14023504 -0.04851798 -8.22813143] [ 0.14178492 0.98943929 0.0301153 9.49528678] [ 0.04378238 -0.036661 0.99836821 0.64658647] [ 0. 0. 0. 1. ]] SLAMing on 90.32925976399999 meters Centerline goodness : 0.755204 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.49, Z:0.65 [[ 0.98892718 -0.14038149 -0.04812556 -8.22940907] [ 0.14191207 0.98942453 0.03000098 9.49460154] [ 0.04340503 -0.03649838 0.99839064 0.64715381] [ 0. 0. 0. 1. ]] SLAMing on 90.38925976399999 meters Centerline goodness : 0.756324 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.49, Z:0.65 [[ 0.98897822 -0.14019565 -0.04761579 -8.22967353] [ 0.14177646 0.9893939 0.03160935 9.48906031] [ 0.04267928 -0.03801175 0.99836546 0.64502628] [ 0. 0. 0. 1. ]] SLAMing on 90.44925976399999 meters Centerline goodness : 0.757925 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.49, Z:0.64 [[ 0.98895885 -0.14056422 -0.04692658 -8.23132262] [ 0.14215469 0.98931206 0.03246057 9.48504944] [ 0.04186223 -0.038773 0.99837078 0.64421867] [ 0. 0. 0. 1. ]] SLAMing on 90.50925976399999 meters Centerline goodness : 0.759235 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.48, Z:0.64 [[ 0.98834216 -0.14517805 -0.04585975 -8.23296468] [ 0.14656443 0.98879177 0.02845513 9.48353709] [ 0.04121468 -0.03484481 0.99854253 0.6448609 ] [ 0. 0. 0. 1. ]] SLAMing on 90.569259764 meters Centerline goodness : 0.760780 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.48, Z:0.64 [[ 0.98786002 -0.15005183 -0.04021222 -8.22097866] [ 0.15153597 0.9877661 0.03681011 9.48027518] [ 0.03419684 -0.04245684 0.99851289 0.63808195] [ 0. 0. 0. 1. ]] SLAMing on 90.62925976399998 meters Centerline goodness : 0.759511 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.48, Z:0.64 [[ 0.98840323 -0.14653434 -0.03983402 -8.2243816 ] [ 0.14811079 0.98816125 0.04000666 9.48123574] [ 0.03350009 -0.04544256 0.99840509 0.63965271] [ 0. 0. 0. 1. ]] SLAMing on 90.68925976399998 meters Centerline goodness : 0.765129 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.48, Z:0.64 [[ 0.9885659 -0.1454777 -0.03966987 -8.22244583] [ 0.14704597 0.98832145 0.03997738 9.48433932] [ 0.03339077 -0.04535357 0.9984128 0.63733703] [ 0. 0. 0. 1. ]] SLAMing on 90.74925976399999 meters Centerline goodness : 0.761427 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.48, Z:0.64 [[ 0.98918466 -0.14119671 -0.03971383 -8.22264767] [ 0.1429079 0.98875002 0.04416713 9.48489235] [ 0.0330308 -0.04936487 0.99823448 0.63548666] [ 0. 0. 0. 1. ]] SLAMing on 90.80925976399999 meters Centerline goodness : 0.764028 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.49, Z:0.64 [[ 0.98914432 -0.14156503 -0.03940636 -8.22392872] [ 0.14323655 0.98873526 0.04342663 9.48703555] [ 0.03281476 -0.04859963 0.99827915 0.63632866] [ 0. 0. 0. 1. ]] SLAMing on 90.86925976399999 meters Centerline goodness : 0.764809 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.49, Z:0.64 [[ 0.98969184 -0.1377041 -0.03934 -8.22583013] [ 0.13947454 0.98913354 0.04649393 9.48988864] [ 0.03251011 -0.05150159 0.99814362 0.6372632 ] [ 0. 0. 0. 1. ]] SLAMing on 90.929259764 meters Centerline goodness : 0.764194 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.49, Z:0.64 [[ 0.98982347 -0.13680846 -0.03915294 -8.22467932] [ 0.13856346 0.98927071 0.04629943 9.49249072] [ 0.0323987 -0.05125343 0.99816001 0.63620353] [ 0. 0. 0. 1. ]] SLAMing on 90.98925976399998 meters Centerline goodness : 0.764823 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.49, Z:0.64 [[ 0.98985307 -0.13664608 -0.0389712 -8.22482094] [ 0.13838123 0.98931154 0.04597075 9.49418488] [ 0.03227293 -0.05089717 0.99818232 0.63608637] [ 0. 0. 0. 1. ]] SLAMing on 91.04925976399998 meters Centerline goodness : 0.766965 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.50, Z:0.64 [[ 0.98985663 -0.1366327 -0.0389276 -8.22494839] [ 0.13834807 0.98934128 0.04542733 9.49563818] [ 0.03230583 -0.0503521 0.9982089 0.63692 ] [ 0. 0. 0. 1. ]] SLAMing on 91.10925976399999 meters Centerline goodness : 0.767982 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.49, Z:0.64 [[ 0.98984825 -0.13683842 -0.0384148 -8.22581801] [ 0.13853515 0.98930453 0.04565703 9.49420749] [ 0.0317563 -0.05051533 0.99821828 0.63618857] [ 0. 0. 0. 1. ]] SLAMing on 91.16925976399999 meters Centerline goodness : 0.767245 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.50, Z:0.64 [[ 0.98930867 -0.14077861 -0.0380755 -8.22526115] [ 0.1423003 0.98898499 0.04073456 9.49685957] [ 0.03192154 -0.04571721 0.99844427 0.63756063] [ 0. 0. 0. 1. ]] SLAMing on 91.22925976399999 meters Centerline goodness : 0.769151 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.50, Z:0.64 [[ 0.98916699 -0.14207406 -0.03692728 -8.22971904] [ 0.14352066 0.98883799 0.04001573 9.49591563] [ 0.0308299 -0.04488207 0.99851646 0.63971303] [ 0. 0. 0. 1. ]] SLAMing on 91.289259764 meters Centerline goodness : 0.771365 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.50, Z:0.64 [[ 0.9890617 -0.14305092 -0.0359638 -8.23317968] [ 0.14444466 0.98871595 0.0397054 9.49515623] [ 0.02987809 -0.04446587 0.99856401 0.64049378] [ 0. 0. 0. 1. ]] SLAMing on 91.34925976399998 meters Centerline goodness : 0.767107 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.49, Z:0.64 [[ 0.98897583 -0.14385322 -0.03511482 -8.23545595] [ 0.14521613 0.98859293 0.03995374 9.49396013] [ 0.02896679 -0.04461252 0.99858432 0.63951183] [ 0. 0. 0. 1. ]] SLAMing on 91.40925976399998 meters Centerline goodness : 0.771931 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.49, Z:0.64 [[ 0.98878599 -0.14543673 -0.03391785 -8.24010102] [ 0.14673278 0.98838752 0.03949172 9.49437009] [ 0.02778043 -0.04402572 0.99864407 0.64012957] [ 0. 0. 0. 1. ]] SLAMing on 91.46925976399999 meters Centerline goodness : 0.770654 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.50, Z:0.64 [[ 0.98863128 -0.14667994 -0.03306326 -8.2441066 ] [ 0.14790135 0.98826642 0.03814029 9.49686737] [ 0.02708089 -0.04259679 0.99872526 0.64252824] [ 0. 0. 0. 1. ]] SLAMing on 91.52925976399999 meters Centerline goodness : 0.770724 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.50, Z:0.64 [[ 0.98918569 -0.14299005 -0.03264233 -8.2465837 ] [ 0.14429623 0.98864488 0.04195113 9.49688352] [ 0.02627308 -0.04620762 0.99858629 0.64229345] [ 0. 0. 0. 1. ]] SLAMing on 91.58925976399999 meters Centerline goodness : 0.776197 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.50, Z:0.64 [[ 0.98923864 -0.14263347 -0.03259762 -8.24621813] [ 0.14392338 0.98872228 0.04140423 9.49944697] [ 0.02632437 -0.04565023 0.99861058 0.64240078] [ 0. 0. 0. 1. ]] SLAMing on 91.64925976399999 meters Centerline goodness : 0.773893 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.50, Z:0.64 [[ 0.98921937 -0.14281206 -0.03239985 -8.24733418] [ 0.14407066 0.98873589 0.04055834 9.50141194] [ 0.02624268 -0.04478896 0.99865173 0.64404295] [ 0. 0. 0. 1. ]] SLAMing on 91.709259764 meters Centerline goodness : 0.774132 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.50, Z:0.66 [[ 0.98965717 -0.13630153 -0.04472794 -8.2520236 ] [ 0.13811127 0.98959985 0.04021719 9.49769942] [ 0.0387811 -0.04597867 0.99818936 0.65724523] [ 0. 0. 0. 1. ]] SLAMing on 91.76925976399998 meters Centerline goodness : 0.779347 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.50, Z:0.66 [[ 0.98963323 -0.13665661 -0.04417053 -8.25371283] [ 0.13845926 0.98953133 0.04070349 9.49501084] [ 0.03814572 -0.04639734 0.99819447 0.65712648] [ 0. 0. 0. 1. ]] SLAMing on 91.82925976399999 meters Centerline goodness : 0.781645 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.49, Z:0.65 [[ 0.98917916 -0.14142093 -0.03904749 -8.23935696] [ 0.14323715 0.98850097 0.04846608 9.48933117] [ 0.03174436 -0.05353469 0.99806129 0.65091355] [ 0. 0. 0. 1. ]] SLAMing on 91.88925976399999 meters Centerline goodness : 0.781703 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.48, Z:0.67 [[ 0.98874284 -0.13944997 -0.05423381 -8.23983623] [ 0.14202702 0.98874777 0.04696992 9.48231694] [ 0.04707361 -0.05414384 0.99742294 0.6672258 ] [ 0. 0. 0. 1. ]] SLAMing on 91.94925976399999 meters Centerline goodness : 0.782342 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.48, Z:0.67 [[ 0.98869906 -0.13996809 -0.05369443 -8.24178993] [ 0.142531 0.98865978 0.04729426 9.4806591 ] [ 0.04646583 -0.05441291 0.9974368 0.66730413] [ 0. 0. 0. 1. ]] SLAMing on 92.00925976399999 meters Centerline goodness : 0.779464 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.48, Z:0.67 [[ 0.98851139 -0.14198738 -0.05181514 -8.2448513 ] [ 0.1443418 0.98850744 0.04492761 9.47833847] [ 0.0448405 -0.05189054 0.99764558 0.66827016] [ 0. 0. 0. 1. ]] SLAMing on 92.069259764 meters Centerline goodness : 0.783880 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.48, Z:0.67 [[ 0.98823972 -0.14461889 -0.04967527 -8.24921991] [ 0.14673426 0.98828609 0.04194825 9.47636946] [ 0.04302687 -0.04874399 0.99788412 0.67029189] [ 0. 0. 0. 1. ]] SLAMing on 92.12925976399998 meters Centerline goodness : 0.788456 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.48, Z:0.67 [[ 0.98820401 -0.14498365 -0.04932126 -8.25085676] [ 0.14707861 0.98823801 0.04187494 9.47595042] [ 0.04266997 -0.04863508 0.99790476 0.67112289] [ 0. 0. 0. 1. ]] SLAMing on 92.18925976399998 meters Centerline goodness : 0.788273 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.47, Z:0.67 [[ 0.98817191 -0.14541132 -0.04870134 -8.25264456] [ 0.14748485 0.98816864 0.04208275 9.47457017] [ 0.04200583 -0.0487677 0.99792646 0.67081629] [ 0. 0. 0. 1. ]] SLAMing on 92.24925976399999 meters Centerline goodness : 0.784744 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.47, Z:0.66 [[ 0.98796479 -0.14831349 -0.0439167 -8.23597936] [ 0.15046997 0.98731295 0.05071421 9.47030757] [ 0.03583792 -0.056712 0.99774716 0.66389773] [ 0. 0. 0. 1. ]] SLAMing on 92.30925976399999 meters Centerline goodness : 0.786053 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.47, Z:0.67 [[ 0.98798726 -0.14817511 -0.04387837 -8.23691646] [ 0.15027285 0.98742253 0.04914075 9.47434184] [ 0.03604505 -0.05514416 0.99782758 0.66690974] [ 0. 0. 0. 1. ]] SLAMing on 92.36925976399999 meters Centerline goodness : 0.784999 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.47, Z:0.67 [[ 0.98818945 -0.1472657 -0.04236064 -8.24009728] [ 0.14916443 0.9877502 0.04582056 9.47241231] [ 0.03509394 -0.05159809 0.99805113 0.66723363] [ 0. 0. 0. 1. ]] SLAMing on 92.429259764 meters Centerline goodness : 0.783849 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.47, Z:0.67 [[ 0.98817757 -0.14753286 -0.04170297 -8.24228428] [ 0.14937856 0.98774313 0.045272 9.47027834] [ 0.03451272 -0.05096631 0.99810386 0.66901802] [ 0. 0. 0. 1. ]] SLAMing on 92.48925976399998 meters Centerline goodness : 0.784539 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.47, Z:0.67 [[ 0.98798818 -0.14901439 -0.04091544 -8.24486195] [ 0.15078763 0.98757145 0.04433634 9.46838421] [ 0.03380017 -0.04997332 0.99817845 0.67153013] [ 0. 0. 0. 1. ]] SLAMing on 92.54925976399998 meters Centerline goodness : 0.786471 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.46, Z:0.69 [[ 0.98750764 -0.14743187 -0.05561034 -8.24556219] [ 0.14985395 0.98780635 0.04221854 9.45940592] [ 0.04870789 -0.05002456 0.99755956 0.6878207 ] [ 0. 0. 0. 1. ]] SLAMing on 92.60925976399999 meters Centerline goodness : 0.787841 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.45, Z:0.68 [[ 0.98720407 -0.15089127 -0.05157469 -8.22114188] [ 0.15332768 0.9870534 0.04707673 9.45368783] [ 0.0438035 -0.05438216 0.99755894 0.68430578] [ 0. 0. 0. 1. ]] SLAMing on 92.66925976399999 meters Centerline goodness : 0.787646 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.45, Z:0.69 [[ 0.9863326 -0.1564842 -0.05158191 -8.22170208] [ 0.1588418 0.98626487 0.04528673 9.44999398] [ 0.04378677 -0.05286114 0.99764143 0.6884598 ] [ 0. 0. 0. 1. ]] SLAMing on 92.72925976399999 meters Centerline goodness : 0.788473 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.45, Z:0.69 [[ 0.98635897 -0.15637046 -0.05142236 -8.22322865] [ 0.15872806 0.98627429 0.04548001 9.44960178] [ 0.04360482 -0.05302179 0.99764087 0.68989704] [ 0. 0. 0. 1. ]] SLAMing on 92.789259764 meters Centerline goodness : 0.788638 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.45, Z:0.69 [[ 0.98641259 -0.15631175 -0.05056523 -8.2266177 ] [ 0.15861691 0.98629964 0.04531762 9.44888327] [ 0.04278879 -0.05272237 0.99769207 0.6922169 ] [ 0. 0. 0. 1. ]] SLAMing on 92.84925976399998 meters Centerline goodness : 0.789262 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.45, Z:0.69 [[ 0.98708134 -0.15267396 -0.04859112 -8.23095334] [ 0.15482985 0.98695183 0.04420174 9.44996457] [ 0.04120864 -0.05115407 0.99784022 0.69117349] [ 0. 0. 0. 1. ]] SLAMing on 92.90925976399998 meters Centerline goodness : 0.789887 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.45, Z:0.69 [[ 0.9877179 -0.14844218 -0.04876749 -8.23096165] [ 0.15078607 0.98737523 0.0485152 9.44995927] [ 0.04095011 -0.05527279 0.9976312 0.6891579 ] [ 0. 0. 0. 1. ]] SLAMing on 92.96925976399999 meters Centerline goodness : 0.789068 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.46, Z:0.69 [[ 0.98785008 -0.14733561 -0.04944127 -8.22835417] [ 0.14966828 0.987602 0.04734663 9.45606377] [ 0.04185246 -0.05417116 0.99765418 0.6893831 ] [ 0. 0. 0. 1. ]] SLAMing on 93.02925976399999 meters Centerline goodness : 0.789817 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.46, Z:0.69 [[ 0.9892778 -0.13848734 -0.04637554 -8.23374579] [ 0.14091411 0.98855151 0.05393634 9.45782937] [ 0.03837511 -0.05989299 0.99746688 0.68610328] [ 0. 0. 0. 1. ]] SLAMing on 93.08925976399999 meters Centerline goodness : 0.790436 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.46, Z:0.68 [[ 0.99112625 -0.12709975 -0.0389155 -8.24453469] [ 0.12918394 0.98999368 0.05678048 9.46093183] [ 0.03130932 -0.06130388 0.99762797 0.68069631] [ 0. 0. 0. 1. ]] SLAMing on 93.14925976399999 meters Centerline goodness : 0.789158 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.46, Z:0.68 [[ 0.99171206 -0.12241209 -0.03901891 -8.2443373 ] [ 0.12463147 0.99034478 0.06069767 9.46317547] [ 0.03121204 -0.06505759 0.99739326 0.67924365] [ 0. 0. 0. 1. ]] SLAMing on 93.209259764 meters Centerline goodness : 0.791660 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.47, Z:0.69 [[ 0.99269532 -0.11247535 -0.04364961 -8.25028357] [ 0.114618 0.99214286 0.05015246 9.47481446] [ 0.03766573 -0.05478915 0.99778727 0.68934665] [ 0. 0. 0. 1. ]] SLAMing on 93.26925976399998 meters Centerline goodness : 0.789007 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.48, Z:0.69 [[ 0.99318431 -0.10807971 -0.04363149 -8.25090105] [ 0.11037714 0.99241004 0.0542143 9.47545498] [ 0.03744087 -0.05866071 0.99757561 0.68853558] [ 0. 0. 0. 1. ]] SLAMing on 93.32925976399999 meters Centerline goodness : 0.788761 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.48, Z:0.69 [[ 0.99324002 -0.10755836 -0.0436517 -8.25090875] [ 0.1098022 0.99255278 0.05274902 9.4802647 ] [ 0.03765301 -0.05718549 0.99765328 0.69058522] [ 0. 0. 0. 1. ]] SLAMing on 93.38925976399999 meters Centerline goodness : 0.790826 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.48, Z:0.69 [[ 0.99325074 -0.10755375 -0.04341834 -8.25162155] [ 0.10977659 0.9925664 0.05254555 9.48048667] [ 0.03744411 -0.05695723 0.9976742 0.69104871] [ 0. 0. 0. 1. ]] SLAMing on 93.44925976399999 meters Centerline goodness : 0.788530 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.48, Z:0.69 [[ 0.99279552 -0.11170389 -0.04335076 -8.25132101] [ 0.11374547 0.99235502 0.04789023 9.48178662] [ 0.03766982 -0.05247616 0.99791144 0.69278796] [ 0. 0. 0. 1. ]] SLAMing on 93.50925976399999 meters Centerline goodness : 0.789676 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.48, Z:0.69 [[ 0.99240063 -0.11701818 -0.03804921 -8.23650599] [ 0.11895001 0.99147168 0.05324289 9.47841544] [ 0.03149432 -0.05736423 0.99785643 0.68925289] [ 0. 0. 0. 1. ]] SLAMing on 93.569259764 meters Centerline goodness : 0.790642 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.48, Z:0.69 [[ 0.99231423 -0.1180237 -0.03718708 -8.24013634] [ 0.11989712 0.99137151 0.05298318 9.47684737] [ 0.03061294 -0.05703458 0.99790275 0.69067927] [ 0. 0. 0. 1. ]] SLAMing on 93.62925976399998 meters Centerline goodness : 0.792015 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.48, Z:0.69 [[ 0.99176425 -0.12267514 -0.03680323 -8.24061026] [ 0.12439056 0.99104047 0.04863916 9.47695672] [ 0.03050668 -0.05281655 0.99813814 0.69170831] [ 0. 0. 0. 1. ]] SLAMing on 93.68925976399998 meters Centerline goodness : 0.791215 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.48, Z:0.69 [[ 0.99168253 -0.12355253 -0.03606295 -8.24340243] [ 0.12522832 0.99093473 0.04864394 9.47502414] [ 0.02972595 -0.05275544 0.99816493 0.69227177] [ 0. 0. 0. 1. ]] SLAMing on 93.74925976399999 meters Centerline goodness : 0.793992 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.48, Z:0.70 [[ 0.99107421 -0.12852096 -0.03541561 -8.24587771] [ 0.12998534 0.9905953 0.04271731 9.47883779] [ 0.02959247 -0.04693953 0.9984593 0.69631883] [ 0. 0. 0. 1. ]] SLAMing on 93.80925976399999 meters Centerline goodness : 0.792920 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.48, Z:0.70 [[ 0.99101561 -0.12912688 -0.03484683 -8.24839216] [ 0.13054651 0.99054762 0.04210719 9.47918757] [ 0.02908027 -0.04627801 0.99850522 0.69804324] [ 0. 0. 0. 1. ]] SLAMing on 93.86925976399999 meters Centerline goodness : 0.791563 with order 1 Centerline is valid? [False, False] Translation: X:-8.25, Y:9.48, Z:0.70 [[ 0.99097195 -0.12962823 -0.03422144 -8.25065301] [ 0.13101299 0.99049449 0.04190775 9.47868229] [ 0.02846372 -0.04601286 0.99853524 0.69865507] [ 0. 0. 0. 1. ]] SLAMing on 93.929259764 meters Centerline goodness : 0.790551 with order 1 Centerline is valid? [False, False] Translation: X:-8.23, Y:9.47, Z:0.69 [[ 0.99079856 -0.13203228 -0.02976046 -8.23428584] [ 0.13343637 0.98971584 0.05154891 9.47327358] [ 0.02264828 -0.05504571 0.99822694 0.69160773] [ 0. 0. 0. 1. ]] SLAMing on 93.98925976399998 meters Centerline goodness : 0.793033 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.47, Z:0.69 [[ 0.9907711 -0.13234058 -0.02930182 -8.23619703] [ 0.13372254 0.98966909 0.05170477 9.47109542] [ 0.02215647 -0.05514591 0.99823245 0.69249994] [ 0. 0. 0. 1. ]] SLAMing on 94.04925976399998 meters Centerline goodness : 0.789879 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.47, Z:0.69 [[ 0.9902845 -0.13593658 -0.02928921 -8.23531209] [ 0.13722086 0.98939948 0.04753001 9.47068151] [ 0.02251766 -0.05108732 0.9984403 0.69428568] [ 0. 0. 0. 1. ]] SLAMing on 94.10925976399999 meters Centerline goodness : 0.789990 with order 1 Centerline is valid? [False, False] Translation: X:-8.24, Y:9.47, Z:0.70 [[ 0.99025746 -0.13625944 -0.02869723 -8.23754675] [ 0.13752505 0.98933111 0.04807089 9.46582156] [ 0.02184095 -0.05154914 0.9984316 0.69544448] [ 0. 0. 0. 1. ]] SLAMing on 94.16925976399999 meters Centerline goodness : 0.789501 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.46, Z:0.69 [[ 0.98980665 -0.140429 -0.02371703 -8.2217144 ] [ 0.141535 0.98844837 0.05420023 9.46007459] [ 0.01583177 -0.05700454 0.99824838 0.69295223] [ 0. 0. 0. 1. ]] SLAMing on 94.22925976399999 meters Centerline goodness : 0.788807 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.46, Z:0.69 [[ 0.98918397 -0.14484439 -0.02313396 -8.22293796] [ 0.14584877 0.9880357 0.05013572 9.4584855 ] [ 0.0155953 -0.05296751 0.99847445 0.69472193] [ 0. 0. 0. 1. ]] SLAMing on 94.289259764 meters Centerline goodness : 0.796138 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.46, Z:0.70 [[ 0.98854178 -0.14925865 -0.02251675 -8.2240204 ] [ 0.15015938 0.98760139 0.04577824 9.45839858] [ 0.01540478 -0.0486348 0.99869783 0.69629572] [ 0. 0. 0. 1. ]] SLAMing on 94.34925976399998 meters Centerline goodness : 0.785357 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.45, Z:0.69 [[ 0.98752749 -0.1564577 -0.01761932 -8.20858249] [ 0.15715345 0.98632349 0.04968668 9.45466654] [ 0.00960449 -0.05183589 0.99860943 0.69343005] [ 0. 0. 0. 1. ]] SLAMing on 94.40925976399998 meters Centerline goodness : 0.787125 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.46, Z:0.70 [[ 0.98746722 -0.15683553 -0.0176384 -8.20988278] [ 0.15752123 0.9863191 0.0485973 9.45722021] [ 0.0097753 -0.05076667 0.9986627 0.69574027] [ 0. 0. 0. 1. ]] SLAMing on 94.46925976399999 meters Centerline goodness : 0.786815 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.46, Z:0.70 [[ 0.98743292 -0.15705267 -0.01762618 -8.21055557] [ 0.15772974 0.98632438 0.04780736 9.45862245] [ 0.00987686 -0.04998674 0.99870104 0.69714639] [ 0. 0. 0. 1. ]] SLAMing on 94.52925976399999 meters Centerline goodness : 0.788468 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.46, Z:0.70 [[ 0.98810999 -0.15269992 -0.01792707 -8.21081538] [ 0.15343629 0.98680496 0.05170373 9.45882831] [ 0.00979536 -0.05383963 0.99850155 0.69678044] [ 0. 0. 0. 1. ]] SLAMing on 94.58925976399999 meters Centerline goodness : 0.787330 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.46, Z:0.70 [[ 0.98814323 -0.15244432 -0.01826717 -8.21030491] [ 0.15319056 0.98688781 0.05084385 9.46178783] [ 0.01027679 -0.05303936 0.99853954 0.69782917] [ 0. 0. 0. 1. ]] SLAMing on 94.64925976399999 meters Centerline goodness : 0.788500 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.46, Z:0.70 [[ 0.98878896 -0.14816296 -0.0185507 -8.21073166] [ 0.14897016 0.98732793 0.05469408 9.4627293 ] [ 0.01021198 -0.0568444 0.99833082 0.69733219] [ 0. 0. 0. 1. ]] SLAMing on 94.709259764 meters Centerline goodness : 0.789501 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.47, Z:0.70 [[ 0.98873807 -0.14852893 -0.0183354 -8.21237712] [ 0.14930873 0.98735588 0.05324716 9.46567392] [ 0.01019482 -0.05538513 0.99841302 0.69981883] [ 0. 0. 0. 1. ]] SLAMing on 94.76925976399998 meters Centerline goodness : 0.790161 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.47, Z:0.70 [[ 0.98862997 -0.14929258 -0.01795854 -8.21477533] [ 0.1500388 0.98730806 0.05206882 9.46801234] [ 0.00995713 -0.05417128 0.99848201 0.70213006] [ 0. 0. 0. 1. ]] SLAMing on 94.82925976399999 meters Centerline goodness : 0.792354 with order 1 Centerline is valid? [False, False] Translation: X:-8.21, Y:9.47, Z:0.70 [[ 0.98798776 -0.1535222 -0.01763838 -8.21487869] [ 0.1541942 0.98692884 0.04685744 9.47153416] [ 0.01021417 -0.04901431 0.99874585 0.70419451] [ 0. 0. 0. 1. ]] SLAMing on 94.88925976399999 meters Centerline goodness : 0.791774 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.47, Z:0.72 [[ 0.98898251 -0.14450191 -0.03213701 -8.21684172] [ 0.14584139 0.98832015 0.04419916 9.46971392] [ 0.02537479 -0.0483991 0.99850571 0.72177414] [ 0. 0. 0. 1. ]] SLAMing on 94.94925976399999 meters Centerline goodness : 0.789692 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.47, Z:0.72 [[ 0.98964693 -0.13982059 -0.03239065 -8.21641467] [ 0.14129409 0.9887622 0.04883948 9.46787168] [ 0.02519789 -0.05291045 0.9982813 0.72010398] [ 0. 0. 0. 1. ]] SLAMing on 95.00925976399999 meters Centerline goodness : 0.787030 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.47, Z:0.72 [[ 0.98967966 -0.13962348 -0.03224067 -8.21667462] [ 0.14108863 0.98879269 0.04881619 9.46671967] [ 0.02506345 -0.05286118 0.99828729 0.72053901] [ 0. 0. 0. 1. ]] SLAMing on 95.069259764 meters Centerline goodness : 0.785323 with order 1 Centerline is valid? [False, False] Translation: X:-8.22, Y:9.47, Z:0.72 [[ 0.98905186 -0.14401728 -0.03217822 -8.21703877] [ 0.14534387 0.98841991 0.04360313 9.46929604] [ 0.02552599 -0.04780266 0.99853059 0.72375071] [ 0. 0. 0. 1. ]] SLAMing on 95.12925976399998 meters Centerline goodness : 0.785744 with order 1 Centerline is valid? [False, False] Translation: X:-8.20, Y:9.46, Z:0.72 [[ 0.98846623 -0.14886016 -0.02784161 -8.19664688] [ 0.15008999 0.98745349 0.04907753 9.4647925 ] [ 0.02018661 -0.05269023 0.99840685 0.71939384] [ 0. 0. 0. 1. ]] SLAMing on 95.18925976399998 meters Centerline goodness : 0.784128 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.46, Z:0.72 [[ 0.98848827 -0.14928515 -0.02459454 -8.17233426] [ 0.15046268 0.98701203 0.05628713 9.46163281] [ 0.01587228 -0.05933973 0.99811165 0.71594437] [ 0. 0. 0. 1. ]] SLAMing on 95.24925976399999 meters Centerline goodness : 0.783538 with order 1 Centerline is valid? [False, False] Translation: X:-8.17, Y:9.46, Z:0.72 [[ 0.98794644 -0.15283456 -0.02456461 -8.17097865] [ 0.15393361 0.98672114 0.05182507 9.46309872] [ 0.01631776 -0.05498171 0.99835402 0.7170973 ] [ 0. 0. 0. 1. ]] SLAMing on 95.30925976399999 meters Centerline goodness : 0.782396 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.47, Z:0.72 [[ 0.98766111 -0.15435395 -0.02646479 -8.16281957] [ 0.15543983 0.98679281 0.0455895 9.46805736] [ 0.01907835 -0.04914066 0.99860964 0.72184207] [ 0. 0. 0. 1. ]] SLAMing on 95.36925976399999 meters Centerline goodness : 0.779700 with order 1 Centerline is valid? [False, False] Translation: X:-8.16, Y:9.46, Z:0.73 [[ 0.98783536 -0.14922369 -0.04374464 -8.1578336 ] [ 0.15120829 0.9874202 0.046232 9.46401933] [ 0.03629543 -0.05228416 0.99797245 0.73265053] [ 0. 0. 0. 1. ]] SLAMing on 95.429259764 meters Centerline goodness : 0.778235 with order 1 Centerline is valid? [False, False] Translation: X:-8.15, Y:9.46, Z:0.72 [[ 0.98863901 -0.14645478 -0.03382166 -8.14628267] [ 0.14795079 0.98787561 0.04703562 9.46008773] [ 0.02652301 -0.05150519 0.99832046 0.72369124] [ 0. 0. 0. 1. ]] SLAMing on 95.48925976399998 meters Centerline goodness : 0.779809 with order 1 Centerline is valid? [False, False] Translation: X:-8.14, Y:9.46, Z:0.72 [[ 0.98869085 -0.14602044 -0.03418237 -8.14494186] [ 0.14754169 0.98792562 0.04726972 9.46037369] [ 0.0268673 -0.05177846 0.99829712 0.72329702] [ 0. 0. 0. 1. ]] SLAMing on 95.54925976399998 meters Centerline goodness : 0.778414 with order 1 Centerline is valid? [False, False] Translation: X:-8.14, Y:9.46, Z:0.72 [[ 0.98873027 -0.14577879 -0.03407343 -8.14489283] [ 0.14730597 0.98794036 0.04769472 9.45843675] [ 0.02670964 -0.05217643 0.99828063 0.7232314 ] [ 0. 0. 0. 1. ]] SLAMing on 95.60925976399999 meters Centerline goodness : 0.780186 with order 1 Centerline is valid? [False, False] Translation: X:-8.13, Y:9.45, Z:0.72 [[ 0.98846295 -0.14845998 -0.03001054 -8.12627217] [ 0.14995429 0.98711103 0.05590637 9.45399611] [ 0.02132387 -0.05976158 0.99798489 0.71755582] [ 0. 0. 0. 1. ]] SLAMing on 95.66925976399999 meters Centerline goodness : 0.780418 with order 1 Centerline is valid? [False, False] Translation: X:-8.13, Y:9.46, Z:0.72 [[ 0.98843763 -0.14861607 -0.03007187 -8.12719393] [ 0.15009698 0.98713349 0.05512134 9.45548818] [ 0.02149303 -0.05899771 0.99802671 0.71969844] [ 0. 0. 0. 1. ]] SLAMing on 95.72925976399999 meters Centerline goodness : 0.777497 with order 1 Centerline is valid? [False, False] Translation: X:-8.13, Y:9.45, Z:0.72 [[ 0.98851304 -0.14810859 -0.03009676 -8.1264084 ] [ 0.14959941 0.98718882 0.05548191 9.45406523] [ 0.02149384 -0.05934705 0.99800598 0.71917579] [ 0. 0. 0. 1. ]] SLAMing on 95.789259764 meters Centerline goodness : 0.777973 with order 1 Centerline is valid? [False, False] Translation: X:-8.12, Y:9.45, Z:0.73 [[ 0.98854381 -0.14347894 -0.04685012 -8.12214341] [ 0.14594896 0.98779463 0.05441211 9.44970483] [ 0.0384713 -0.06062648 0.99741886 0.72915563] [ 0. 0. 0. 1. ]] SLAMing on 95.84925976399998 meters Centerline goodness : 0.777927 with order 1 Centerline is valid? [False, False] Translation: X:-8.12, Y:9.45, Z:0.73 [[ 0.98801806 -0.14697819 -0.04709266 -8.1202927 ] [ 0.14927658 0.98754593 0.04969455 9.45257371] [ 0.03920215 -0.05612894 0.99765361 0.73044927] [ 0. 0. 0. 1. ]] SLAMing on 95.90925976399998 meters Centerline goodness : 0.776627 with order 1 Centerline is valid? [False, False] Translation: X:-8.12, Y:9.45, Z:0.73 [[ 0.98794825 -0.14759602 -0.04662263 -8.12297448] [ 0.14983619 0.98750165 0.04888371 9.45299712] [ 0.03882488 -0.05528034 0.99771575 0.73290752] [ 0. 0. 0. 1. ]] SLAMing on 95.96925976399999 meters Centerline goodness : 0.775139 with order 1 Centerline is valid? [False, False] Translation: X:-8.12, Y:9.45, Z:0.73 [[ 0.98739942 -0.15109862 -0.0470275 -8.12014055] [ 0.15318882 0.98719211 0.04455247 9.45447509] [ 0.03969336 -0.05119517 0.99789954 0.73342329] [ 0. 0. 0. 1. ]] SLAMing on 96.02925976399999 meters Centerline goodness : 0.777578 with order 1 Centerline is valid? [False, False] Translation: X:-8.10, Y:9.45, Z:0.73 [[ 0.98732321 -0.15285702 -0.04275062 -8.0999124 ] [ 0.15497536 0.9865688 0.05162024 9.45034649] [ 0.03428591 -0.05759116 0.99775134 0.72946151] [ 0. 0. 0. 1. ]] SLAMing on 96.08925976399999 meters Centerline goodness : 0.779169 with order 1 Centerline is valid? [False, False] Translation: X:-8.09, Y:9.45, Z:0.72 [[ 0.98804766 -0.15093497 -0.03131208 -8.08759224] [ 0.15240054 0.98698229 0.05138129 9.44761891] [ 0.02314923 -0.05553914 0.99818812 0.7223596 ] [ 0. 0. 0. 1. ]] SLAMing on 96.14925976399999 meters Centerline goodness : 0.776704 with order 1 Centerline is valid? [False, False] Translation: X:-8.08, Y:9.44, Z:0.71 [[ 0.98870854 -0.14859266 -0.0193815 -8.07789324] [ 0.14944344 0.98727174 0.05441665 9.44345755] [ 0.01104889 -0.05669864 0.9983302 0.7125661 ] [ 0. 0. 0. 1. ]] SLAMing on 96.20925976399998 meters Centerline goodness : 0.774334 with order 1 Centerline is valid? [False, False] Translation: X:-8.03, Y:9.44, Z:0.71 [[ 9.87735048e-01 -1.54878144e-01 -1.98049394e-02 -8.02956200e+00] [ 1.55866351e-01 9.85540962e-01 6.64431589e-02 9.43688272e+00] [ 9.22798588e-03 -6.87151604e-02 9.97593640e-01 7.05586778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26925976399998 meters Centerline goodness : 0.775517 with order 1 Centerline is valid? [False, False] Translation: X:-8.03, Y:9.43, Z:0.72 [[ 0.98816082 -0.14920331 -0.03572905 -8.02952215] [ 0.15132558 0.98622589 0.06677617 9.43152891] [ 0.02527369 -0.07139231 0.99712807 0.72122015] [ 0. 0. 0. 1. ]] SLAMing on 96.32925976399999 meters Centerline goodness : 0.772214 with order 1 Centerline is valid? [False, False] Translation: X:-8.00, Y:9.43, Z:0.72 [[ 0.98821767 -0.14928868 -0.03374516 -7.99797878] [ 0.15137616 0.98589303 0.07141561 9.42860383] [ 0.02260758 -0.07568238 0.99687566 0.71803857] [ 0. 0. 0. 1. ]] SLAMing on 96.38925976399999 meters Centerline goodness : 0.772446 with order 1 Centerline is valid? [False, False] Translation: X:-7.98, Y:9.43, Z:0.71 [[ 0.98897982 -0.14611042 -0.02388843 -7.97577779] [ 0.1474479 0.98659078 0.06998394 9.42756531] [ 0.01334273 -0.072735 0.99726205 0.7123771 ] [ 0. 0. 0. 1. ]] SLAMing on 96.44925976399999 meters Centerline goodness : 0.771318 with order 1 Centerline is valid? [False, False] Translation: X:-7.98, Y:9.43, Z:0.71 [[ 0.98839512 -0.15007138 -0.02353024 -7.97572481] [ 0.15130354 0.986369 0.06467943 9.43145245] [ 0.01350297 -0.06748904 0.99762864 0.7142549 ] [ 0. 0. 0. 1. ]] SLAMing on 96.50925976399999 meters Centerline goodness : 0.770404 with order 1 Centerline is valid? [False, False] Translation: X:-7.94, Y:9.43, Z:0.71 [[ 0.9883514 -0.15071914 -0.02110104 -7.94348049] [ 0.15181916 0.98608737 0.06769522 9.43022097] [ 0.0106045 -0.07011021 0.99748288 0.71219346] [ 0. 0. 0. 1. ]] SLAMing on 96.569259764 meters Centerline goodness : 0.768188 with order 1 Centerline is valid? [False, False] Translation: X:-7.94, Y:9.43, Z:0.71 [[ 0.98780325 -0.15426057 -0.02117583 -7.94201905] [ 0.15530209 0.98588355 0.06256909 9.43378113] [ 0.01122496 -0.0650946 0.99781596 0.71387225] [ 0. 0. 0. 1. ]] SLAMing on 96.62925976399998 meters Centerline goodness : 0.768286 with order 1 Centerline is valid? [False, False] Translation: X:-7.92, Y:9.43, Z:0.71 [[ 9.88889824e-01 -1.48196661e-01 -1.16045598e-02 -7.92287399e+00] [ 1.48633784e-01 9.86926476e-01 6.23227858e-02 9.43364775e+00] [ 2.21681855e-03 -6.33551983e-02 9.97988579e-01 7.08029303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68925976399998 meters Centerline goodness : 0.766195 with order 1 Centerline is valid? [False, False] Translation: X:-7.90, Y:9.43, Z:0.70 [[ 9.89569431e-01 -1.44044423e-01 -1.88267272e-03 -7.90125356e+00] [ 1.43876824e-01 9.87596282e-01 6.28732316e-02 9.43257463e+00] [-7.19721780e-03 -6.24883010e-02 9.98019745e-01 7.01010388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74925976399999 meters Centerline goodness : 0.765553 with order 1 Centerline is valid? [False, False] Translation: X:-7.89, Y:9.44, Z:0.70 [[ 9.89595105e-01 -1.43838540e-01 -3.46433857e-03 -7.89208784e+00] [ 1.43802416e-01 9.87981105e-01 5.66939243e-02 9.43902666e+00] [-4.73207025e-03 -5.66022102e-02 9.98385596e-01 7.04820621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80925976399999 meters Centerline goodness : 0.766991 with order 1 Centerline is valid? [False, False] Translation: X:-7.86, Y:9.44, Z:0.70 [[ 9.89590706e-01 -1.43899832e-01 -1.75278696e-03 -7.85929998e+00] [ 1.43752057e-01 9.87856420e-01 5.89494681e-02 9.44120873e+00] [-6.75131673e-03 -5.85878125e-02 9.98259429e-01 7.02858454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86925976399999 meters Centerline goodness : 0.766264 with order 1 Centerline is valid? [False, False] Translation: X:-7.82, Y:9.44, Z:0.70 [[ 9.89814817e-01 -1.42357273e-01 -1.01749685e-03 -7.82305355e+00] [ 1.42144140e-01 9.87888141e-01 6.22259079e-02 9.44242808e+00] [-7.85313746e-03 -6.17367568e-02 9.98061572e-01 6.99276779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.929259764 meters Centerline goodness : 0.765683 with order 1 Centerline is valid? [False, False] Translation: X:-7.82, Y:9.45, Z:0.70 [[ 9.90433398e-01 -1.37984245e-01 -1.42570513e-03 -7.82299668e+00] [ 1.37778958e-01 9.88280940e-01 6.57095356e-02 9.44552383e+00] [-7.65788342e-03 -6.52773508e-02 9.97837775e-01 6.98888393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98925976399998 meters Centerline goodness : 0.763434 with order 1 Centerline is valid? [False, False] Translation: X:-7.83, Y:9.45, Z:0.70 [[ 9.91218608e-01 -1.32171650e-01 4.04053698e-03 -7.83044378e+00] [ 1.31610605e-01 9.89051625e-01 6.67497758e-02 9.44815946e+00] [-1.28187277e-02 -6.56318424e-02 9.97761565e-01 6.95062736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04925976399998 meters Centerline goodness : 0.761275 with order 1 Centerline is valid? [False, False] Translation: X:-7.82, Y:9.46, Z:0.70 [[ 9.91085705e-01 -1.33198158e-01 2.71570814e-03 -7.82356417e+00] [ 1.32801366e-01 9.89348617e-01 5.96079775e-02 9.45587484e+00] [-1.06264549e-02 -5.87159647e-02 9.98218170e-01 7.00523297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10925976399999 meters Centerline goodness : 0.761208 with order 1 Centerline is valid? [False, False] Translation: X:-7.82, Y:9.46, Z:0.70 [[ 9.90632017e-01 -1.36541789e-01 2.13240045e-03 -7.82123256e+00] [ 1.36237698e-01 9.89254393e-01 5.30569108e-02 9.46332796e+00] [-9.35397201e-03 -5.22693612e-02 9.98589213e-01 7.04558352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16925976399999 meters Centerline goodness : 0.760086 with order 1 Centerline is valid? [False, False] Translation: X:-7.79, Y:9.46, Z:0.70 [[ 9.90360743e-01 -1.38440904e-01 4.44018494e-03 -7.78983073e+00] [ 1.37983557e-01 9.88872424e-01 5.56045549e-02 9.46288214e+00] [-1.20887213e-02 -5.44558958e-02 9.98442997e-01 7.01575305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22925976399999 meters Centerline goodness : 0.760903 with order 1 Centerline is valid? [False, False] Translation: X:-7.79, Y:9.47, Z:0.70 [[ 9.90484060e-01 -1.37575877e-01 3.76885636e-03 -7.78780090e+00] [ 1.37170559e-01 9.89054994e-01 5.43549167e-02 9.46792494e+00] [-1.12055316e-02 -5.33207025e-02 9.98514566e-01 7.02689004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.289259764 meters Centerline goodness : 0.760014 with order 1 Centerline is valid? [False, False] Translation: X:-7.77, Y:9.47, Z:0.70 [[ 0.99133237 -0.13066901 0.0136284 -7.76708337] [ 0.12972341 0.98997867 0.05580383 9.46794741] [-0.02078365 -0.05355222 0.99834874 0.69547681] [ 0. 0. 0. 1. ]] SLAMing on 97.34925976399998 meters Centerline goodness : 0.759891 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:9.46, Z:0.69 [[ 0.99173434 -0.12605788 0.023925 -7.74579292] [ 0.12451287 0.99053689 0.05773391 9.46473078] [-0.03097641 -0.05427773 0.99804528 0.68542226] [ 0. 0. 0. 1. ]] SLAMing on 97.40925976399998 meters Centerline goodness : 0.760919 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:9.47, Z:0.69 [[ 0.99114444 -0.13055995 0.02422379 -7.74675123] [ 0.12918396 0.99027616 0.05162016 9.46988542] [-0.03072777 -0.04803371 0.99837296 0.68898245] [ 0. 0. 0. 1. ]] SLAMing on 97.46925976399999 meters Centerline goodness : 0.761334 with order 1 Centerline is valid? [False, False] Translation: X:-7.74, Y:9.47, Z:0.69 [[ 0.99070768 -0.13389566 0.02387966 -7.74466605] [ 0.13268557 0.99006271 0.04658713 9.47425025] [-0.02988018 -0.04298574 0.99862876 0.6902227 ] [ 0. 0. 0. 1. ]] SLAMing on 97.52925976399999 meters Centerline goodness : 0.759920 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:9.48, Z:0.69 [[ 0.99125129 -0.12986613 0.02357252 -7.74503238] [ 0.12856572 0.9904313 0.05016659 9.47622141] [-0.0298619 -0.04669708 0.99846264 0.69023133] [ 0. 0. 0. 1. ]] SLAMing on 97.58925976399999 meters Centerline goodness : 0.761407 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:9.48, Z:0.69 [[ 0.9912282 -0.12998865 0.02386648 -7.74581784] [ 0.12870742 0.9904678 0.04907074 9.47947579] [-0.03001762 -0.04556851 0.99851012 0.69107828] [ 0. 0. 0. 1. ]] SLAMing on 97.64925976399999 meters Centerline goodness : 0.761327 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:9.48, Z:0.69 [[ 0.99122962 -0.13001079 0.02368638 -7.74594811] [ 0.12878755 0.99053882 0.04739843 9.48441346] [-0.02962458 -0.04393221 0.99859519 0.69332647] [ 0. 0. 0. 1. ]] SLAMing on 97.70925976399998 meters Centerline goodness : 0.762241 with order 1 Centerline is valid? [False, False] Translation: X:-7.74, Y:9.49, Z:0.69 [[ 0.99190193 -0.12488106 0.02313618 -7.74389234] [ 0.12357215 0.99100891 0.05129589 9.48943349] [-0.02933404 -0.0480215 0.99841547 0.69104777] [ 0. 0. 0. 1. ]] SLAMing on 97.76925976399998 meters Centerline goodness : 0.758476 with order 1 Centerline is valid? [False, False] Translation: X:-7.74, Y:9.49, Z:0.69 [[ 0.99240976 -0.1207819 0.02312131 -7.74462057] [ 0.11936926 0.99132672 0.05497557 9.4905355 ] [-0.02956083 -0.05179832 0.99821996 0.69078972] [ 0. 0. 0. 1. ]] SLAMing on 97.82925976399999 meters Centerline goodness : 0.754383 with order 1 Centerline is valid? [False, False] Translation: X:-7.74, Y:9.50, Z:0.70 [[ 0.99247683 -0.12026114 0.0229566 -7.74448348] [ 0.11898853 0.99161133 0.05048457 9.49983051] [-0.02883535 -0.0473732 0.99846097 0.69851332] [ 0. 0. 0. 1. ]] SLAMing on 97.88925976399999 meters Centerline goodness : 0.754599 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:9.50, Z:0.70 [[ 0.99243738 -0.12057666 0.02300702 -7.74566497] [ 0.11935369 0.99165815 0.04867041 9.5049674 ] [-0.02868361 -0.04555636 0.99854988 0.70139005] [ 0. 0. 0. 1. ]] SLAMing on 97.94925976399999 meters Centerline goodness : 0.754325 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:9.51, Z:0.70 [[ 0.99246287 -0.12038288 0.02292178 -7.74532946] [ 0.11919037 0.99172274 0.04774586 9.50841029] [-0.02847984 -0.04465394 0.99859648 0.70217796] [ 0. 0. 0. 1. ]] SLAMing on 98.00925976399999 meters Centerline goodness : 0.754396 with order 1 Centerline is valid? [False, False] Translation: X:-7.74, Y:9.51, Z:0.70 [[ 0.99247812 -0.12029176 0.02273933 -7.74484362] [ 0.11912286 0.99175687 0.04720229 9.51001925] [-0.02822993 -0.04413846 0.99862649 0.70274875] [ 0. 0. 0. 1. ]] SLAMing on 98.069259764 meters Centerline goodness : 0.753531 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:9.51, Z:0.70 [[ 0.99243708 -0.12061235 0.02283214 -7.74552952] [ 0.11946382 0.99175698 0.04633021 9.51239843] [-0.02823193 -0.0432522 0.99866521 0.70383543] [ 0. 0. 0. 1. ]] SLAMing on 98.12925976399998 meters Centerline goodness : 0.754945 with order 1 Centerline is valid? [False, False] Translation: X:-7.74, Y:9.51, Z:0.70 [[ 0.99249469 -0.1201819 0.02259637 -7.74404616] [ 0.11905047 0.99181765 0.04609476 9.51477531] [-0.02795124 -0.0430587 0.99868147 0.70284289] [ 0. 0. 0. 1. ]] SLAMing on 98.18925976399998 meters Centerline goodness : 0.753882 with order 1 Centerline is valid? [False, False] Translation: X:-7.74, Y:9.52, Z:0.70 [[ 0.99261874 -0.11922068 0.02223671 -7.7423764 ] [ 0.11812191 0.9919563 0.04549627 9.51893889] [-0.02748194 -0.0425338 0.99871699 0.70292762] [ 0. 0. 0. 1. ]] SLAMing on 98.24925976399999 meters Centerline goodness : 0.753035 with order 1 Centerline is valid? [False, False] Translation: X:-7.74, Y:9.52, Z:0.70 [[ 0.99311999 -0.11506704 0.02173148 -7.74266576] [ 0.11391585 0.9923137 0.0483394 9.52298682] [-0.02712672 -0.04553127 0.99859453 0.70474646] [ 0. 0. 0. 1. ]] SLAMing on 98.30925976399999 meters Centerline goodness : 0.755360 with order 1 Centerline is valid? [False, False] Translation: X:-7.74, Y:9.52, Z:0.70 [[ 0.99313209 -0.114954 0.02177674 -7.74276621] [ 0.11380381 0.99233185 0.04823063 9.52329836] [-0.02715406 -0.04542111 0.99859881 0.70496383] [ 0. 0. 0. 1. ]] SLAMing on 98.36925976399999 meters Centerline goodness : 0.755927 with order 1 Centerline is valid? [False, False] Translation: X:-7.74, Y:9.52, Z:0.71 [[ 0.9931335 -0.11492197 0.02188147 -7.74323679] [ 0.11376613 0.99233455 0.04826398 9.52220068] [-0.02726033 -0.0454432 0.99859491 0.70556108] [ 0. 0. 0. 1. ]] SLAMing on 98.429259764 meters Centerline goodness : 0.756031 with order 1 Centerline is valid? [False, False] Translation: X:-7.74, Y:9.52, Z:0.71 [[ 0.99310125 -0.11514094 0.02219152 -7.74455138] [ 0.11397026 0.9923101 0.04828496 9.5205502 ] [-0.02758044 -0.04542268 0.99858705 0.70653834] [ 0. 0. 0. 1. ]] SLAMing on 98.48925976399998 meters Centerline goodness : 0.752632 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:9.52, Z:0.71 [[ 0.99306782 -0.11535676 0.02256367 -7.74589273] [ 0.11416171 0.99227541 0.04854502 9.51811651] [-0.02798937 -0.04563259 0.9985661 0.70733263] [ 0. 0. 0. 1. ]] SLAMing on 98.54925976399998 meters Centerline goodness : 0.753639 with order 1 Centerline is valid? [False, False] Translation: X:-7.74, Y:9.52, Z:0.71 [[ 0.99262806 -0.11910042 0.02246366 -7.7447729 ] [ 0.11800926 0.99199797 0.0448758 9.51593092] [-0.02762863 -0.04189406 0.99873998 0.70849703] [ 0. 0. 0. 1. ]] SLAMing on 98.60925976399999 meters Centerline goodness : 0.752651 with order 1 Centerline is valid? [False, False] Translation: X:-7.75, Y:9.51, Z:0.71 [[ 0.99257154 -0.11947964 0.02294242 -7.74643319] [ 0.11836295 0.99194741 0.0450615 9.51359042] [-0.02814161 -0.04201123 0.99872074 0.70921026] [ 0. 0. 0. 1. ]] SLAMing on 98.66925976399999 meters Centerline goodness : 0.752108 with order 1 Centerline is valid? [False, False] Translation: X:-7.73, Y:9.51, Z:0.70 [[ 0.9921395 -0.12220067 0.02694832 -7.72717262] [ 0.12064363 0.99126159 0.05334393 9.50805768] [-0.0332315 -0.04967348 0.99821251 0.70197346] [ 0. 0. 0. 1. ]] SLAMing on 98.72925976399999 meters Centerline goodness : 0.753491 with order 1 Centerline is valid? [False, False] Translation: X:-7.72, Y:9.50, Z:0.72 [[ 9.93605250e-01 -1.12776525e-01 -5.48298592e-03 -7.71561047e+00] [ 1.12907621e-01 9.92117428e-01 5.43587968e-02 9.49739865e+00] [-6.90630343e-04 -5.46302568e-02 9.98506414e-01 7.22888684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.789259764 meters Centerline goodness : 0.754413 with order 1 Centerline is valid? [False, False] Translation: X:-7.71, Y:9.50, Z:0.73 [[ 9.93149441e-01 -1.16702983e-01 -5.88234137e-03 -7.71440060e+00] [ 1.16851087e-01 9.91936491e-01 4.90695651e-02 9.50057594e+00] [ 1.08344421e-04 -4.94207691e-02 9.98778041e-01 7.25702265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84925976399998 meters Centerline goodness : 0.753311 with order 1 Centerline is valid? [False, False] Translation: X:-7.71, Y:9.50, Z:0.72 [[ 9.93197315e-01 -1.16281157e-01 -6.14697838e-03 -7.71304393e+00] [ 1.16443073e-01 9.91954506e-01 4.96716156e-02 9.49959459e+00] [ 3.21649984e-04 -5.00494883e-02 9.98746687e-01 7.24768817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90925976399998 meters Centerline goodness : 0.752310 with order 1 Centerline is valid? [False, False] Translation: X:-7.71, Y:9.50, Z:0.73 [[ 9.93192049e-01 -1.16324254e-01 -6.18242186e-03 -7.71315439e+00] [ 1.16487601e-01 9.91985427e-01 4.89443754e-02 9.50169203e+00] [ 4.39454448e-04 -4.93313400e-02 9.98782372e-01 7.25602284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96925976399999 meters Centerline goodness : 0.751515 with order 1 Centerline is valid? [False, False] Translation: X:-7.71, Y:9.50, Z:0.73 [[ 9.93163400e-01 -1.16569274e-01 -6.16965661e-03 -7.71370395e+00] [ 1.16731260e-01 9.92001946e-01 4.80203368e-02 9.50425073e+00] [ 5.22615575e-04 -4.84122328e-02 9.98827304e-01 7.26838504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02925976399999 meters Centerline goodness : 0.751368 with order 1 Centerline is valid? [False, False] Translation: X:-7.71, Y:9.51, Z:0.73 [[ 9.92800903e-01 -1.19587095e-01 -6.73003327e-03 -7.71067082e+00] [ 1.19765777e-01 9.91890707e-01 4.25321471e-02 9.50983312e+00] [ 1.58916154e-03 -4.30319817e-02 9.99072431e-01 7.28825096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08925976399999 meters Centerline goodness : 0.749815 with order 1 Centerline is valid? [False, False] Translation: X:-7.71, Y:9.51, Z:0.73 [[ 9.92754855e-01 -1.19985302e-01 -6.42855012e-03 -7.71190406e+00] [ 1.20150408e-01 9.91852241e-01 4.23439687e-02 9.50927919e+00] [ 1.29551799e-03 -4.28095734e-02 9.99082410e-01 7.29515003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14925976399999 meters Centerline goodness : 0.749986 with order 1 Centerline is valid? [False, False] Translation: X:-7.71, Y:9.51, Z:0.73 [[ 9.92289922e-01 -1.23773492e-01 -6.39015443e-03 -7.71056651e+00] [ 1.23927613e-01 9.91562621e-01 3.80199389e-02 9.51100504e+00] [ 1.63037767e-03 -3.85187187e-02 9.99256549e-01 7.29969790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20925976399998 meters Centerline goodness : 0.748475 with order 1 Centerline is valid? [False, False] Translation: X:-7.71, Y:9.51, Z:0.73 [[ 9.92225690e-01 -1.24312662e-01 -5.87727989e-03 -7.71213241e+00] [ 1.24447589e-01 9.91462590e-01 3.89195404e-02 9.50740949e+00] [ 9.88911476e-04 -3.93483811e-02 9.99225063e-01 7.29274211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26925976399998 meters Centerline goodness : 0.749859 with order 1 Centerline is valid? [False, False] Translation: X:-7.69, Y:9.50, Z:0.72 [[ 9.91918886e-01 -1.26869082e-01 -1.07701882e-03 -7.69250586e+00] [ 1.26779509e-01 9.90820171e-01 4.69291413e-02 9.50322440e+00] [-4.88672510e-03 -4.66864455e-02 9.98897640e-01 7.24479278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32925976399999 meters Centerline goodness : 0.748771 with order 1 Centerline is valid? [False, False] Translation: X:-7.68, Y:9.50, Z:0.72 [[ 9.91443762e-01 -1.30486522e-01 3.54033059e-03 -7.67672696e+00] [ 1.30092485e-01 9.89952936e-01 5.53997361e-02 9.49927769e+00] [-1.07336796e-02 -5.44651524e-02 9.98457979e-01 7.17256145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38925976399999 meters Centerline goodness : 0.750205 with order 1 Centerline is valid? [False, False] Translation: X:-7.67, Y:9.49, Z:0.74 [[ 0.99265678 -0.11791815 -0.02697818 -7.66656667] [ 0.1193117 0.99117604 0.05774756 9.49056503] [ 0.01993064 -0.06054232 0.99796663 0.73715419] [ 0. 0. 0. 1. ]] SLAMing on 99.44925976399999 meters Centerline goodness : 0.746993 with order 1 Centerline is valid? [False, False] Translation: X:-7.67, Y:9.49, Z:0.74 [[ 0.9926784 -0.11769546 -0.02715462 -7.66655254] [ 0.1190794 0.99126289 0.05672729 9.49368701] [ 0.02024082 -0.05954551 0.99802036 0.73880003] [ 0. 0. 0. 1. ]] SLAMing on 99.50925976399999 meters Centerline goodness : 0.747173 with order 1 Centerline is valid? [False, False] Translation: X:-7.67, Y:9.49, Z:0.74 [[ 0.9927229 -0.11731482 -0.02717499 -7.66568961] [ 0.11870384 0.99129855 0.05689098 9.49321193] [ 0.02026437 -0.05970276 0.99801049 0.73800155] [ 0. 0. 0. 1. ]] SLAMing on 99.56925976399998 meters Centerline goodness : 0.749183 with order 1 Centerline is valid? [False, False] Translation: X:-7.67, Y:9.50, Z:0.74 [[ 0.99268082 -0.11768711 -0.02710219 -7.66648712] [ 0.1190552 0.99130157 0.05609868 9.49551439] [ 0.02026435 -0.05891474 0.99805732 0.73893126] [ 0. 0. 0. 1. ]] SLAMing on 99.62925976399998 meters Centerline goodness : 0.751670 with order 1 Centerline is valid? [False, False] Translation: X:-7.67, Y:9.50, Z:0.74 [[ 0.99264152 -0.11797932 -0.02727055 -7.66676985] [ 0.11933112 0.99133875 0.05484121 9.49901381] [ 0.02056422 -0.05769189 0.99812262 0.74056664] [ 0. 0. 0. 1. ]] SLAMing on 99.68925976399998 meters Centerline goodness : 0.752381 with order 1 Centerline is valid? [False, False] Translation: X:-7.67, Y:9.50, Z:0.74 [[ 0.99266869 -0.11769094 -0.0275267 -7.66595607] [ 0.11904458 0.99140824 0.05420414 9.50273711] [ 0.02091086 -0.05708366 0.99815039 0.74075959] [ 0. 0. 0. 1. ]] SLAMing on 99.74925976399999 meters Centerline goodness : 0.752704 with order 1 Centerline is valid? [False, False] Translation: X:-7.66, Y:9.51, Z:0.74 [[ 0.99272555 -0.11714849 -0.02778876 -7.664329 ] [ 0.1185004 0.99151774 0.05338748 9.50726434] [ 0.02129879 -0.0562921 0.99818714 0.74029185] [ 0. 0. 0. 1. ]] SLAMing on 99.80925976399999 meters Centerline goodness : 0.754112 with order 1 Centerline is valid? [False, False] Translation: X:-7.66, Y:9.51, Z:0.74 [[ 0.99272902 -0.11713753 -0.02771085 -7.66443936] [ 0.11846002 0.9915851 0.05221315 9.51131211] [ 0.02136155 -0.05511613 0.99825142 0.74115581] [ 0. 0. 0. 1. ]] SLAMing on 99.86925976399999 meters Centerline goodness : 0.755491 with order 1 Centerline is valid? [False, False] Translation: X:-7.66, Y:9.51, Z:0.74 [[ 0.99269551 -0.11738382 -0.02786859 -7.66472116] [ 0.11868757 0.99162326 0.05095665 9.51477471] [ 0.02165365 -0.05389209 0.99831196 0.74283929] [ 0. 0. 0. 1. ]] SLAMing on 99.929259764 meters Centerline goodness : 0.755851 with order 1 Centerline is valid? [False, False] Translation: X:-7.67, Y:9.52, Z:0.74 [[ 0.99265644 -0.11773302 -0.02778714 -7.66568552] [ 0.1190084 0.99164022 0.0498665 9.51780442] [ 0.02168391 -0.0528072 0.99836927 0.7443796 ] [ 0. 0. 0. 1. ]] SLAMing on 99.98925976399998 meters Centerline goodness : 0.755830 with order 1 Centerline is valid? [False, False] Translation: X:-7.66, Y:9.52, Z:0.74 [[ 0.99265749 -0.1176824 -0.02796353 -7.66493276] [ 0.11895353 0.99167782 0.04924596 9.52112687] [ 0.02193542 -0.05221073 0.99839515 0.74413266] [ 0. 0. 0. 1. ]] SLAMing on 100.04925976399998 meters Centerline goodness : 0.756957 with order 1 Centerline is valid? [False, False] Translation: X:-7.66, Y:9.53, Z:0.75 [[ 0.99268552 -0.11732161 -0.02847965 -7.66359832] [ 0.11859135 0.99178355 0.04797374 9.52636194] [ 0.02261729 -0.05100028 0.9984425 0.74520445] [ 0. 0. 0. 1. ]] SLAMing on 100.10925976399999 meters Centerline goodness : 0.756803 with order 1 Centerline is valid? [False, False] Translation: X:-7.66, Y:9.53, Z:0.74 [[ 0.99314649 -0.11336764 -0.0284224 -7.66495077] [ 0.11472809 0.99203695 0.05196297 9.5265581 ] [ 0.02230515 -0.05486769 0.99824447 0.74492589] [ 0. 0. 0. 1. ]] SLAMing on 100.16925976399999 meters Centerline goodness : 0.756948 with order 1 Centerline is valid? [False, False] Translation: X:-7.66, Y:9.53, Z:0.75 [[ 0.99321198 -0.11272665 -0.02868227 -7.66354933] [ 0.11408194 0.99215757 0.05107518 9.53116237] [ 0.02269979 -0.05400061 0.99828285 0.74520348] [ 0. 0. 0. 1. ]] SLAMing on 100.22925976399999 meters Centerline goodness : 0.757368 with order 1 Centerline is valid? [False, False] Translation: X:-7.66, Y:9.53, Z:0.74 [[ 0.99323633 -0.11249755 -0.02873851 -7.6628767 ] [ 0.11384895 0.99220047 0.05076066 9.5326343 ] [ 0.02280392 -0.05368918 0.99829728 0.74486629] [ 0. 0. 0. 1. ]] SLAMing on 100.289259764 meters Centerline goodness : 0.758893 with order 1 Centerline is valid? [False, False] Translation: X:-7.66, Y:9.54, Z:0.75 [[ 0.99319296 -0.11284339 -0.02888119 -7.66365589] [ 0.11416321 0.99224917 0.04907491 9.53704547] [ 0.02311956 -0.05203802 0.99837745 0.74768758] [ 0. 0. 0. 1. ]] SLAMing on 100.34925976399998 meters Centerline goodness : 0.757539 with order 1 Centerline is valid? [False, False] Translation: X:-7.66, Y:9.54, Z:0.75 [[ 0.99315836 -0.11318379 -0.02873858 -7.66461215] [ 0.11448065 0.99224505 0.04841427 9.53833351] [ 0.023036 -0.05137305 0.99841382 0.74874766] [ 0. 0. 0. 1. ]] SLAMing on 100.40925976399998 meters Centerline goodness : 0.758628 with order 1 Centerline is valid? [False, False] Translation: X:-7.67, Y:9.54, Z:0.75 [[ 0.99313992 -0.11338764 -0.02857171 -7.66536368] [ 0.11466977 0.99223588 0.04815392 9.53829725] [ 0.02288982 -0.0510999 0.9984312 0.74931725] [ 0. 0. 0. 1. ]] SLAMing on 100.46925976399999 meters Centerline goodness : 0.760711 with order 1 Centerline is valid? [False, False] Translation: X:-7.67, Y:9.54, Z:0.75 [[ 0.99308264 -0.11398662 -0.02817654 -7.66732069] [ 0.11522955 0.99221042 0.04733529 9.53907982] [ 0.02256146 -0.05025463 0.99848157 0.75111048] [ 0. 0. 0. 1. ]] SLAMing on 100.52925976399999 meters Centerline goodness : 0.760608 with order 1 Centerline is valid? [False, False] Translation: X:-7.67, Y:9.54, Z:0.75 [[ 0.9930098 -0.11466135 -0.02800543 -7.66902451] [ 0.11586509 0.99219916 0.04600107 9.5421042 ] [ 0.02251242 -0.04892436 0.99854875 0.75339293] [ 0. 0. 0. 1. ]] SLAMing on 100.58925976399999 meters Centerline goodness : 0.758922 with order 1 Centerline is valid? [False, False] Translation: X:-7.67, Y:9.54, Z:0.75 [[ 0.99298327 -0.11484859 -0.02817858 -7.66897388] [ 0.11604511 0.99220958 0.04531762 9.54411804] [ 0.02275439 -0.04826962 0.99857513 0.754163 ] [ 0. 0. 0. 1. ]] SLAMing on 100.64925976399999 meters Centerline goodness : 0.757953 with order 1 Centerline is valid? [False, False] Translation: X:-7.67, Y:9.54, Z:0.75 [[ 0.99299922 -0.11473347 -0.0280854 -7.6688043 ] [ 0.11592438 0.99222611 0.04526463 9.54390832] [ 0.0226737 -0.04820352 0.99858015 0.75395121] [ 0. 0. 0. 1. ]] SLAMing on 100.70925976399998 meters Centerline goodness : 0.758371 with order 1 Centerline is valid? [False, False] Translation: X:-7.67, Y:9.54, Z:0.76 [[ 0.99296757 -0.11507158 -0.02781969 -7.67038831] [ 0.11623206 0.99222507 0.04449188 9.54460862] [ 0.02248365 -0.04741254 0.99862232 0.75589713] [ 0. 0. 0. 1. ]] SLAMing on 100.76925976399998 meters Centerline goodness : 0.758874 with order 1 Centerline is valid? [False, False] Translation: X:-7.67, Y:9.55, Z:0.76 [[ 0.99295153 -0.1152332 -0.02772299 -7.67160651] [ 0.11637035 0.99224567 0.04366317 9.54508128] [ 0.02247657 -0.04658155 0.99866159 0.7583369 ] [ 0. 0. 0. 1. ]] SLAMing on 100.82925976399999 meters Centerline goodness : 0.757188 with order 1 Centerline is valid? [False, False] Translation: X:-7.67, Y:9.54, Z:0.76 [[ 0.9925092 -0.11901216 -0.02759694 -7.6708476 ] [ 0.12005151 0.99197408 0.03968711 9.54356074] [ 0.0226522 -0.04270287 0.99883099 0.7593217 ] [ 0. 0. 0. 1. ]] SLAMing on 100.88925976399999 meters Centerline goodness : 0.756578 with order 1 Centerline is valid? [False, False] Translation: X:-7.66, Y:9.53, Z:0.75 [[ 0.99199944 -0.12419712 -0.02263163 -7.65570774] [ 0.12515356 0.99100554 0.0473773 9.53444099] [ 0.01654395 -0.04983068 0.99862065 0.7529375 ] [ 0. 0. 0. 1. ]] SLAMing on 100.94925976399999 meters Centerline goodness : 0.754919 with order 1 Centerline is valid? [False, False] Translation: X:-7.64, Y:9.52, Z:0.75 [[ 0.99120602 -0.13120608 -0.01719267 -7.64360803] [ 0.13196031 0.9897507 0.05458972 9.5244347 ] [ 0.00985395 -0.05637841 0.99836084 0.74728923] [ 0. 0. 0. 1. ]] SLAMing on 101.00925976399999 meters Centerline goodness : 0.755673 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.51, Z:0.74 [[ 9.89658896e-01 -1.42898691e-01 -1.24592791e-02 -7.60801841e+00] [ 1.43420438e-01 9.87242707e-01 6.91550092e-02 9.51191345e+00] [ 2.41817209e-03 -7.02267853e-02 9.97528120e-01 7.35929130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06925976399998 meters Centerline goodness : 0.758429 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.50, Z:0.75 [[ 0.9885845 -0.14782257 -0.02914056 -7.60431934] [ 0.14950674 0.98640728 0.06817927 9.50226012] [ 0.01866602 -0.07175768 0.99724742 0.75005422] [ 0. 0. 0. 1. ]] SLAMing on 101.12925976399998 meters Centerline goodness : 0.760237 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.49, Z:0.76 [[ 0.98864767 -0.1429585 -0.0462456 -7.60112343] [ 0.14600605 0.98672602 0.07109146 9.49389734] [ 0.03546861 -0.07703654 0.99639718 0.76248858] [ 0. 0. 0. 1. ]] SLAMing on 101.18925976399998 meters Centerline goodness : 0.760953 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.49, Z:0.76 [[ 0.98850594 -0.14421827 -0.04535533 -7.60335216] [ 0.14713122 0.98668881 0.06926472 9.49112888] [ 0.03476235 -0.07514177 0.99656675 0.76420178] [ 0. 0. 0. 1. ]] SLAMing on 101.24925976399999 meters Centerline goodness : 0.759943 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.49, Z:0.77 [[ 0.98851686 -0.14427605 -0.0449314 -7.60407241] [ 0.14715018 0.98669983 0.06906714 9.48636675] [ 0.03436907 -0.0748857 0.99659967 0.76512158] [ 0. 0. 0. 1. ]] SLAMing on 101.30925976399999 meters Centerline goodness : 0.761004 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.48, Z:0.77 [[ 0.98863119 -0.14352229 -0.04483 -7.60519759] [ 0.1464043 0.98678203 0.06947672 9.4848283 ] [ 0.03426598 -0.07525016 0.99657577 0.76637019] [ 0. 0. 0. 1. ]] SLAMing on 101.36925976399999 meters Centerline goodness : 0.759311 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.48, Z:0.77 [[ 0.98837372 -0.14559063 -0.04382645 -7.6084253 ] [ 0.14833659 0.98661135 0.06778132 9.48219114] [ 0.03337134 -0.07349435 0.99673714 0.76931903] [ 0. 0. 0. 1. ]] SLAMing on 101.429259764 meters Centerline goodness : 0.757350 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.48, Z:0.77 [[ 0.98830481 -0.14617992 -0.04341693 -7.61086949] [ 0.14889622 0.98652385 0.06782782 9.47969077] [ 0.03291678 -0.07349918 0.9967519 0.77239704] [ 0. 0. 0. 1. ]] SLAMing on 101.48925976399998 meters Centerline goodness : 0.757181 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.48, Z:0.77 [[ 0.98844653 -0.14536517 -0.04292351 -7.61321318] [ 0.1480384 0.98667032 0.06757453 9.47798617] [ 0.03252837 -0.07314813 0.99679048 0.77418141] [ 0. 0. 0. 1. ]] SLAMing on 101.54925976399998 meters Centerline goodness : 0.757037 with order 1 Centerline is valid? [False, False] Translation: X:-7.58, Y:9.47, Z:0.77 [[ 0.98833795 -0.1471865 -0.03904144 -7.58072441] [ 0.14966882 0.98618747 0.0709473 9.47417304] [ 0.02805969 -0.07596319 0.99671573 0.77134669] [ 0. 0. 0. 1. ]] SLAMing on 101.60925976399999 meters Centerline goodness : 0.757680 with order 1 Centerline is valid? [False, False] Translation: X:-7.58, Y:9.47, Z:0.79 [[ 0.9876138 -0.14675721 -0.05550946 -7.57915289] [ 0.15045985 0.98615337 0.06973781 9.46661413] [ 0.04450632 -0.07722597 0.99601975 0.78643496] [ 0. 0. 0. 1. ]] SLAMing on 101.66925976399999 meters Centerline goodness : 0.756405 with order 1 Centerline is valid? [False, False] Translation: X:-7.58, Y:9.46, Z:0.79 [[ 0.98697711 -0.15099583 -0.05546572 -7.58068862] [ 0.15461466 0.9856271 0.06806998 9.46452091] [ 0.04439023 -0.07575933 0.99613756 0.79052039] [ 0. 0. 0. 1. ]] SLAMing on 101.72925976399999 meters Centerline goodness : 0.755584 with order 1 Centerline is valid? [False, False] Translation: X:-7.58, Y:9.46, Z:0.79 [[ 0.98664755 -0.15334724 -0.05487474 -7.58357041] [ 0.15687774 0.98533231 0.06715362 9.46213849] [ 0.04377203 -0.07486558 0.99623248 0.79435764] [ 0. 0. 0. 1. ]] SLAMing on 101.789259764 meters Centerline goodness : 0.757863 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.46, Z:0.80 [[ 0.98647339 -0.15499724 -0.05334896 -7.58692912] [ 0.15828972 0.9852969 0.06429919 9.45838398] [ 0.04259836 -0.07187403 0.99650364 0.79634196] [ 0. 0. 0. 1. ]] SLAMing on 101.84925976399998 meters Centerline goodness : 0.758766 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.45, Z:0.80 [[ 0.98567714 -0.16010684 -0.05297532 -7.58897119] [ 0.16329739 0.98458463 0.06266631 9.45482172] [ 0.04212538 -0.07041948 0.99662759 0.80128542] [ 0. 0. 0. 1. ]] SLAMing on 101.90925976399998 meters Centerline goodness : 0.758693 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.45, Z:0.81 [[ 0.98478847 -0.16559138 -0.05264176 -7.59021931] [ 0.16863634 0.983857 0.05989316 9.45265363] [ 0.04187417 -0.06785941 0.99681576 0.80503035] [ 0. 0. 0. 1. ]] SLAMing on 101.96925976399999 meters Centerline goodness : 0.758962 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.45, Z:0.82 [[ 0.98443732 -0.1627546 -0.0662881 -7.59260777] [ 0.16659762 0.984361 0.0572596 9.44609451] [ 0.05593216 -0.06741193 0.99615623 0.81898799] [ 0. 0. 0. 1. ]] SLAMing on 102.02925976399999 meters Centerline goodness : 0.759560 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.44, Z:0.82 [[ 0.98419685 -0.1642726 -0.06611417 -7.59468593] [ 0.16814718 0.98405185 0.05803855 9.44404481] [ 0.05552563 -0.06823827 0.9961227 0.82265196] [ 0. 0. 0. 1. ]] SLAMing on 102.08925976399999 meters Centerline goodness : 0.759475 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.44, Z:0.82 [[ 0.98452712 -0.16272902 -0.06500468 -7.59856373] [ 0.16655191 0.98429729 0.05847489 9.44255217] [ 0.05446837 -0.06839677 0.99617021 0.82477254] [ 0. 0. 0. 1. ]] SLAMing on 102.14925976399999 meters Centerline goodness : 0.761761 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.44, Z:0.82 [[ 0.98466448 -0.16246645 -0.06356511 -7.60165779] [ 0.16604368 0.98454264 0.05572512 9.44164611] [ 0.0535291 -0.06542513 0.99642069 0.82492809] [ 0. 0. 0. 1. ]] SLAMing on 102.20925976399998 meters Centerline goodness : 0.759698 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.44, Z:0.83 [[ 0.98431728 -0.16497815 -0.06246369 -7.60477705] [ 0.16832617 0.98431863 0.05275539 9.44084505] [ 0.05278069 -0.06244232 0.99665197 0.8272651 ] [ 0. 0. 0. 1. ]] SLAMing on 102.26925976399998 meters Centerline goodness : 0.761313 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.44, Z:0.83 [[ 0.98415781 -0.16574727 -0.06293838 -7.60494068] [ 0.1691699 0.98412855 0.05359619 9.44027773] [ 0.05305604 -0.06339439 0.99657725 0.82933957] [ 0. 0. 0. 1. ]] SLAMing on 102.32925976399999 meters Centerline goodness : 0.763259 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.44, Z:0.83 [[ 0.98392241 -0.1672715 -0.06258547 -7.60762674] [ 0.1706754 0.98386465 0.05366798 9.43915479] [ 0.05259851 -0.06348693 0.99659561 0.83288068] [ 0. 0. 0. 1. ]] SLAMing on 102.38925976399999 meters Centerline goodness : 0.763166 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.44, Z:0.83 [[ 0.9841016 -0.1666504 -0.06141413 -7.61021 ] [ 0.16987167 0.98411538 0.05158033 9.44005048] [ 0.05184271 -0.0611928 0.9967787 0.83251552] [ 0. 0. 0. 1. ]] SLAMing on 102.44925976399999 meters Centerline goodness : 0.765018 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.44, Z:0.83 [[ 0.98398756 -0.16766618 -0.06046934 -7.61242195] [ 0.17065457 0.98415274 0.04817061 9.44128704] [ 0.05143448 -0.05771865 0.99700705 0.83276545] [ 0. 0. 0. 1. ]] SLAMing on 102.50925976399999 meters Centerline goodness : 0.766112 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.44, Z:0.83 [[ 0.98390149 -0.1681129 -0.06062923 -7.61183858] [ 0.17106871 0.98412013 0.04736105 9.44236128] [ 0.05170445 -0.05697037 0.99703612 0.83234057] [ 0. 0. 0. 1. ]] SLAMing on 102.56925976399998 meters Centerline goodness : 0.767296 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.44, Z:0.83 [[ 0.98326394 -0.1715284 -0.06140052 -7.61024068] [ 0.17449217 0.98355264 0.04665505 9.44301974] [ 0.05238798 -0.05658814 0.99702221 0.83365776] [ 0. 0. 0. 1. ]] SLAMing on 102.62925976399998 meters Centerline goodness : 0.768442 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.45, Z:0.83 [[ 0.98435085 -0.16542098 -0.0607397 -7.61430846] [ 0.16846498 0.98449157 0.04894787 9.44553064] [ 0.05170071 -0.05841439 0.99695275 0.83399317] [ 0. 0. 0. 1. ]] SLAMing on 102.68925976399998 meters Centerline goodness : 0.765296 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:9.45, Z:0.83 [[ 0.98478901 -0.16290965 -0.06042387 -7.61658055] [ 0.16591859 0.98493947 0.04863406 9.44768332] [ 0.05159089 -0.05791973 0.9969873 0.83434105] [ 0. 0. 0. 1. ]] SLAMing on 102.74925976399999 meters Centerline goodness : 0.767105 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:9.45, Z:0.83 [[ 0.98585677 -0.15662374 -0.05962752 -7.61840864] [ 0.15953347 0.9860434 0.04761816 9.45154007] [ 0.05133719 -0.05645727 0.99708428 0.83058382] [ 0. 0. 0. 1. ]] SLAMing on 102.80925976399999 meters Centerline goodness : 0.766547 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.45, Z:0.82 [[ 0.98648496 -0.15348879 -0.05734653 -7.59584128] [ 0.15680911 0.98588097 0.0587334 9.45329097] [ 0.04752194 -0.06693207 0.99662519 0.82399977] [ 0. 0. 0. 1. ]] SLAMing on 102.86925976399999 meters Centerline goodness : 0.765383 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.46, Z:0.82 [[ 0.98732371 -0.14783535 -0.05776324 -7.59688983] [ 0.15127581 0.98663403 0.06057162 9.45946352] [ 0.04803655 -0.06854197 0.99649109 0.82256931] [ 0. 0. 0. 1. ]] SLAMing on 102.92925976399998 meters Centerline goodness : 0.766737 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.46, Z:0.82 [[ 0.98796496 -0.14316264 -0.05856361 -7.59540254] [ 0.14682088 0.98710188 0.06382406 9.46493719] [ 0.04867103 -0.07165429 0.99624133 0.82113695] [ 0. 0. 0. 1. ]] SLAMing on 102.98925976399998 meters Centerline goodness : 0.765978 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.47, Z:0.82 [[ 0.98805792 -0.14246092 -0.05870633 -7.59450675] [ 0.14606004 0.98730576 0.06240033 9.47216568] [ 0.04907149 -0.07022979 0.99632312 0.82159839] [ 0. 0. 0. 1. ]] SLAMing on 103.04925976399998 meters Centerline goodness : 0.766524 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.48, Z:0.82 [[ 0.98800108 -0.14278913 -0.05886536 -7.59544125] [ 0.1462943 0.98740265 0.06028259 9.4782923 ] [ 0.04951611 -0.06817093 0.99644412 0.82443662] [ 0. 0. 0. 1. ]] SLAMing on 103.10925976399999 meters Centerline goodness : 0.764294 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.48, Z:0.82 [[ 0.98859468 -0.13835548 -0.05948384 -7.59450349] [ 0.14207569 0.98780652 0.06366141 9.48285922] [ 0.04995062 -0.07138653 0.99619722 0.82321669] [ 0. 0. 0. 1. ]] SLAMing on 103.16925976399999 meters Centerline goodness : 0.763756 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.49, Z:0.82 [[ 0.98859808 -0.13805158 -0.06012979 -7.59293206] [ 0.14175075 0.98793784 0.06233411 9.48915391] [ 0.05079918 -0.07014682 0.99624237 0.8237885 ] [ 0. 0. 0. 1. ]] SLAMing on 103.22925976399999 meters Centerline goodness : 0.764621 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.49, Z:0.82 [[ 0.98913609 -0.13397644 -0.06049885 -7.593468 ] [ 0.13785113 0.9883053 0.0651897 9.49385698] [ 0.05105745 -0.07282132 0.99603724 0.82407165] [ 0. 0. 0. 1. ]] SLAMing on 103.289259764 meters Centerline goodness : 0.763896 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.50, Z:0.82 [[ 0.98973738 -0.12913183 -0.06119549 -7.59229489] [ 0.13322338 0.98872979 0.06830032 9.49927787] [ 0.05168606 -0.07575205 0.99578621 0.82366753] [ 0. 0. 0. 1. ]] SLAMing on 103.34925976399998 meters Centerline goodness : 0.765535 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.51, Z:0.83 [[ 0.98978968 -0.12849537 -0.06168742 -7.59101707] [ 0.13253357 0.98894106 0.06656146 9.50651716] [ 0.05245238 -0.0740575 0.9958736 0.82536282] [ 0. 0. 0. 1. ]] SLAMing on 103.40925976399998 meters Centerline goodness : 0.765737 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.51, Z:0.83 [[ 0.9897226 -0.12895096 -0.06181284 -7.5914706 ] [ 0.13291689 0.98899181 0.06502537 9.51194765] [ 0.05274731 -0.07257304 0.99596731 0.82673759] [ 0. 0. 0. 1. ]] SLAMing on 103.46925976399999 meters Centerline goodness : 0.767302 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.52, Z:0.83 [[ 0.98960822 -0.12991562 -0.06162388 -7.5931194 ] [ 0.13378166 0.98898022 0.06340812 9.51669349] [ 0.05270709 -0.07099334 0.99608328 0.82824065] [ 0. 0. 0. 1. ]] SLAMing on 103.52925976399999 meters Centerline goodness : 0.770404 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.52, Z:0.83 [[ 0.98954743 -0.13039624 -0.06158494 -7.59384032] [ 0.13419838 0.98899679 0.06225876 9.52047788] [ 0.052789 -0.06987259 0.99615819 0.82925166] [ 0. 0. 0. 1. ]] SLAMing on 103.58925976399999 meters Centerline goodness : 0.768099 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.53, Z:0.83 [[ 0.98966737 -0.12924393 -0.06208459 -7.59163038] [ 0.13302407 0.98922247 0.06118409 9.52807827] [ 0.0535078 -0.06881064 0.99619376 0.82943533] [ 0. 0. 0. 1. ]] SLAMing on 103.64925976399999 meters Centerline goodness : 0.765423 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.53, Z:0.83 [[ 0.98965894 -0.12910527 -0.06250602 -7.59068747] [ 0.13283967 0.98933173 0.05980262 9.53300721] [ 0.05411836 -0.06748748 0.9962513 0.83051024] [ 0. 0. 0. 1. ]] SLAMing on 103.70925976399998 meters Centerline goodness : 0.765102 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.54, Z:0.83 [[ 0.98960599 -0.12948243 -0.06256429 -7.59160559] [ 0.13310522 0.98942181 0.05768438 9.53919065] [ 0.05443336 -0.06541244 0.99637253 0.83329638] [ 0. 0. 0. 1. ]] SLAMing on 103.76925976399998 meters Centerline goodness : 0.765234 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.54, Z:0.84 [[ 0.9895187 -0.13045215 -0.06192723 -7.5945911 ] [ 0.13397066 0.98937155 0.05653132 9.54091184] [ 0.0538944 -0.06423523 0.99647841 0.83528508] [ 0. 0. 0. 1. ]] SLAMing on 103.82925976399999 meters Centerline goodness : 0.764500 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.54, Z:0.84 [[ 0.98947489 -0.13093084 -0.06161616 -7.59634272] [ 0.13436805 0.98938197 0.05539447 9.54293184] [ 0.05370908 -0.06309068 0.99656154 0.83779322] [ 0. 0. 0. 1. ]] SLAMing on 103.88925976399999 meters Centerline goodness : 0.766640 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.54, Z:0.84 [[ 0.98949924 -0.13064748 -0.06182628 -7.59564259] [ 0.13408869 0.98942949 0.05522228 9.54337751] [ 0.05395809 -0.06293261 0.99655808 0.8380578 ] [ 0. 0. 0. 1. ]] SLAMing on 103.94925976399999 meters Centerline goodness : 0.765066 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.54, Z:0.84 [[ 0.98896608 -0.13464081 -0.06178949 -7.59443819] [ 0.13783098 0.98916056 0.0506361 9.54480284] [ 0.05430204 -0.0585939 0.99680391 0.83913812] [ 0. 0. 0. 1. ]] SLAMing on 104.00925976399999 meters Centerline goodness : 0.764924 with order 2 Centerline is valid? [False, False] Translation: X:-7.58, Y:9.54, Z:0.83 [[ 0.9883286 -0.14097273 -0.05773443 -7.57670011] [ 0.14418517 0.98797276 0.05586107 9.53969104] [ 0.04916516 -0.06353354 0.99676791 0.83488606] [ 0. 0. 0. 1. ]] SLAMing on 104.06925976399998 meters Centerline goodness : 0.764747 with order 1 Centerline is valid? [False, False] Translation: X:-7.58, Y:9.54, Z:0.84 [[ 0.98766257 -0.14559751 -0.05765425 -7.57744449] [ 0.14872837 0.98738408 0.05433738 9.5369551 ] [ 0.0490155 -0.06224182 0.99685678 0.83788564] [ 0. 0. 0. 1. ]] SLAMing on 104.12925976399998 meters Centerline goodness : 0.764675 with order 1 Centerline is valid? [False, False] Translation: X:-7.58, Y:9.53, Z:0.84 [[ 0.98741715 -0.14715479 -0.05790371 -7.57707754] [ 0.15031555 0.98712718 0.05463663 9.53397101] [ 0.04911828 -0.06265298 0.99682596 0.83920581] [ 0. 0. 0. 1. ]] SLAMing on 104.18925976399998 meters Centerline goodness : 0.764224 with order 1 Centerline is valid? [False, False] Translation: X:-7.58, Y:9.53, Z:0.84 [[ 0.98730837 -0.14800045 -0.05760258 -7.5792796 ] [ 0.15113263 0.98701304 0.05444426 9.53153792] [ 0.04879672 -0.0624589 0.99685393 0.84208363] [ 0. 0. 0. 1. ]] SLAMing on 104.24925976399999 meters Centerline goodness : 0.764014 with order 1 Centerline is valid? [False, False] Translation: X:-7.58, Y:9.53, Z:0.84 [[ 0.9872885 -0.14842603 -0.05684301 -7.58160613] [ 0.15143584 0.98705068 0.05289748 9.52962777] [ 0.04825557 -0.06083314 0.99698081 0.84356708] [ 0. 0. 0. 1. ]] SLAMing on 104.30925976399999 meters Centerline goodness : 0.764714 with order 1 Centerline is valid? [False, False] Translation: X:-7.58, Y:9.53, Z:0.85 [[ 0.9875577 -0.14673701 -0.05655128 -7.58389189] [ 0.1497399 0.98729775 0.05311416 9.52807127] [ 0.04803914 -0.06092128 0.99698588 0.84536384] [ 0. 0. 0. 1. ]] SLAMing on 104.36925976399999 meters Centerline goodness : 0.762552 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.53, Z:0.85 [[ 0.98741962 -0.14784044 -0.05608661 -7.58616494] [ 0.15073807 0.98723079 0.05151128 9.52708777] [ 0.04775498 -0.05931763 0.99709622 0.84757151] [ 0. 0. 0. 1. ]] SLAMing on 104.42925976399998 meters Centerline goodness : 0.765146 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.52, Z:0.85 [[ 0.98710908 -0.15020569 -0.05526224 -7.58883984] [ 0.15292555 0.98703254 0.04879088 9.52498796] [ 0.04721696 -0.05661293 0.99727907 0.85006914] [ 0. 0. 0. 1. ]] SLAMing on 104.48925976399998 meters Centerline goodness : 0.762700 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.52, Z:0.85 [[ 0.98702981 -0.1507663 -0.05515143 -7.59071745] [ 0.15349043 0.98693371 0.04901564 9.52308185] [ 0.0470409 -0.05684511 0.99727418 0.85281619] [ 0. 0. 0. 1. ]] SLAMing on 104.54925976399998 meters Centerline goodness : 0.764769 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.52, Z:0.85 [[ 0.98701046 -0.15111746 -0.05453312 -7.59286662] [ 0.15375074 0.98695169 0.04782326 9.52063223] [ 0.04659463 -0.05558657 0.99736607 0.85463136] [ 0. 0. 0. 1. ]] SLAMing on 104.60925976399999 meters Centerline goodness : 0.765066 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.52, Z:0.86 [[ 0.98695668 -0.15159686 -0.0541747 -7.59424141] [ 0.15414472 0.98695749 0.04641474 9.51892071] [ 0.0464318 -0.05416008 0.99745214 0.85598065] [ 0. 0. 0. 1. ]] SLAMing on 104.66925976399999 meters Centerline goodness : 0.766348 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.52, Z:0.86 [[ 0.98663362 -0.15373323 -0.05403886 -7.59631995] [ 0.15627367 0.98662266 0.04641416 9.5163659 ] [ 0.04618056 -0.05423863 0.99745954 0.85980402] [ 0. 0. 0. 1. ]] SLAMing on 104.72925976399999 meters Centerline goodness : 0.768393 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.51, Z:0.86 [[ 0.9863576 -0.15564997 -0.05358897 -7.59846249] [ 0.15815701 0.98633163 0.04621986 9.51433759] [ 0.04566238 -0.05406478 0.99749283 0.86270746] [ 0. 0. 0. 1. ]] SLAMing on 104.789259764 meters Centerline goodness : 0.766407 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.51, Z:0.86 [[ 0.98633938 -0.15569408 -0.05379574 -7.59880742] [ 0.15818888 0.98635026 0.04571046 9.51186451] [ 0.0459446 -0.05359591 0.99750517 0.86423401] [ 0. 0. 0. 1. ]] SLAMing on 104.84925976399998 meters Centerline goodness : 0.767074 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.51, Z:0.86 [[ 0.98666504 -0.15389226 -0.05300247 -7.60126158] [ 0.15630797 0.98668703 0.04490579 9.51095663] [ 0.04538619 -0.05259168 0.99758419 0.86485671] [ 0. 0. 0. 1. ]] SLAMing on 104.90925976399998 meters Centerline goodness : 0.766723 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.51, Z:0.87 [[ 0.98725967 -0.15037303 -0.05202214 -7.60435353] [ 0.15276031 0.98721884 0.04542296 9.50973951] [ 0.04452685 -0.05279117 0.99761238 0.86534966] [ 0. 0. 0. 1. ]] SLAMing on 104.96925976399999 meters Centerline goodness : 0.766194 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.51, Z:0.87 [[ 0.98816706 -0.14461847 -0.05110149 -7.60754691] [ 0.1470174 0.98802681 0.04678576 9.50833361] [ 0.04372356 -0.05374496 0.99759698 0.8651475 ] [ 0. 0. 0. 1. ]] SLAMing on 105.02925976399999 meters Centerline goodness : 0.767148 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.51, Z:0.87 [[ 0.98823645 -0.14404603 -0.0513757 -7.60643067] [ 0.14644621 0.98812616 0.04647795 9.50974493] [ 0.04407071 -0.05345498 0.99759728 0.86534049] [ 0. 0. 0. 1. ]] SLAMing on 105.08925976399999 meters Centerline goodness : 0.766796 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.51, Z:0.87 [[ 0.98771433 -0.14745054 -0.05175652 -7.60398766] [ 0.14962749 0.98789019 0.04104364 9.51366651] [ 0.04507785 -0.04828359 0.99781596 0.86810745] [ 0. 0. 0. 1. ]] SLAMing on 105.14925976399999 meters Centerline goodness : 0.766280 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.51, Z:0.87 [[ 0.98758895 -0.14826631 -0.05181858 -7.60555443] [ 0.15043134 0.98778189 0.04071045 9.51146167] [ 0.04514947 -0.04800032 0.99782638 0.87105991] [ 0. 0. 0. 1. ]] SLAMing on 105.20925976399998 meters Centerline goodness : 0.766199 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.51, Z:0.87 [[ 0.98736842 -0.14986737 -0.05141377 -7.60767599] [ 0.1519857 0.98756905 0.04009638 9.50980644] [ 0.04476551 -0.04740406 0.99787219 0.87368696] [ 0. 0. 0. 1. ]] SLAMing on 105.26925976399998 meters Centerline goodness : 0.765319 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.51, Z:0.88 [[ 0.9866346 -0.15453535 -0.05168156 -7.60729624] [ 0.15658871 0.98691909 0.03834943 9.50540756] [ 0.04507918 -0.04592962 0.99792702 0.8766421 ] [ 0. 0. 0. 1. ]] SLAMing on 105.32925976399999 meters Centerline goodness : 0.766590 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.50, Z:0.88 [[ 0.98590689 -0.1589537 -0.05216629 -7.60715902] [ 0.16096711 0.98626777 0.03695243 9.50348513] [ 0.04557621 -0.04482872 0.99795451 0.8797805 ] [ 0. 0. 0. 1. ]] SLAMing on 105.38925976399999 meters Centerline goodness : 0.767048 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.50, Z:0.89 [[ 0.98432886 -0.16839295 -0.0523498 -7.6078969 ] [ 0.17027888 0.98481243 0.03390552 9.49974569] [ 0.04584529 -0.04228824 0.99805306 0.88603508] [ 0. 0. 0. 1. ]] SLAMing on 105.44925976399999 meters Centerline goodness : 0.765430 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.50, Z:0.89 [[ 0.98376928 -0.17163606 -0.05233612 -7.60979462] [ 0.17353293 0.98423675 0.03412261 9.49743203] [ 0.04565446 -0.04265082 0.99804638 0.89042417] [ 0. 0. 0. 1. ]] SLAMing on 105.50925976399999 meters Centerline goodness : 0.767947 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.50, Z:0.89 [[ 0.98410148 -0.16971066 -0.05236957 -7.61116656] [ 0.17164496 0.98453947 0.03492895 9.49746815] [ 0.04563209 -0.0433626 0.99801673 0.89144594] [ 0. 0. 0. 1. ]] SLAMing on 105.56925976399998 meters Centerline goodness : 0.768250 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.50, Z:0.89 [[ 0.98479294 -0.16578731 -0.05193672 -7.61195388] [ 0.16768008 0.98523878 0.03446639 9.49788295] [ 0.04545598 -0.04265101 0.99805543 0.88933845] [ 0. 0. 0. 1. ]] SLAMing on 105.62925976399998 meters Centerline goodness : 0.767287 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.50, Z:0.89 [[ 0.98534077 -0.16237832 -0.05231492 -7.61284462] [ 0.16437618 0.98572447 0.03643829 9.50029731] [ 0.0456513 -0.04450346 0.99796563 0.88933918] [ 0. 0. 0. 1. ]] SLAMing on 105.68925976399998 meters Centerline goodness : 0.765782 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:9.50, Z:0.89 [[ 0.98646335 -0.15542403 -0.05228224 -7.61539896] [ 0.15753657 0.98674144 0.03903275 9.50433318] [ 0.04552243 -0.04674075 0.99786924 0.88876737] [ 0. 0. 0. 1. ]] SLAMing on 105.74925976399999 meters Centerline goodness : 0.765790 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:9.51, Z:0.88 [[ 0.98800569 -0.14541077 -0.05196607 -7.61729336] [ 0.1475842 0.98820959 0.04075183 9.51256469] [ 0.04542761 -0.04793241 0.99781703 0.88434673] [ 0. 0. 0. 1. ]] SLAMing on 105.80925976399999 meters Centerline goodness : 0.767274 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:9.52, Z:0.88 [[ 0.98925994 -0.13682378 -0.05142016 -7.6192148 ] [ 0.13897991 0.98944675 0.04098422 9.51996889] [ 0.04526989 -0.04769042 0.99783579 0.88043126] [ 0. 0. 0. 1. ]] SLAMing on 105.86925976399999 meters Centerline goodness : 0.768302 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:9.53, Z:0.89 [[ 0.99089746 -0.12127913 -0.05842591 -7.62076415] [ 0.12351827 0.99167596 0.03635969 9.5340051 ] [ 0.0535299 -0.04324539 0.99762938 0.88659811] [ 0. 0. 0. 1. ]] SLAMing on 105.92925976399998 meters Centerline goodness : 0.765663 with order 1 Centerline is valid? [False, False] Translation: X:-7.63, Y:9.55, Z:0.88 [[ 0.99353672 -0.0990486 -0.05544508 -7.62916535] [ 0.10084942 0.99442867 0.03067592 9.54501533] [ 0.05209777 -0.03606926 0.9979904 0.88308934] [ 0. 0. 0. 1. ]] SLAMing on 105.98925976399998 meters Centerline goodness : 0.762646 with order 1 Centerline is valid? [False, False] Translation: X:-7.62, Y:9.56, Z:0.88 [[ 0.99513799 -0.07878938 -0.05909837 -7.61658474] [ 0.08041588 0.99643095 0.02566429 9.55704393] [ 0.05686537 -0.03029196 0.9979222 0.88446009] [ 0. 0. 0. 1. ]] SLAMing on 106.04925976399998 meters Centerline goodness : 0.762255 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.56, Z:0.88 [[ 0.99551133 -0.0736437 -0.0594457 -7.614305 ] [ 0.07552503 0.99669118 0.03004425 9.5587431 ] [ 0.05703644 -0.03439903 0.99777931 0.88198813] [ 0. 0. 0. 1. ]] SLAMing on 106.10925976399999 meters Centerline goodness : 0.760725 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.57, Z:0.88 [[ 0.99631126 -0.0530153 -0.06747773 -7.61172693] [ 0.0552897 0.99794791 0.03229569 9.56800749] [ 0.06562709 -0.03590738 0.99719795 0.88270116] [ 0. 0. 0. 1. ]] SLAMing on 106.16925976399999 meters Centerline goodness : 0.759978 with order 1 Centerline is valid? [False, False] Translation: X:-7.61, Y:9.57, Z:0.88 [[ 0.99657821 -0.04690958 -0.06805418 -7.60688845] [ 0.04953155 0.99807337 0.03736531 9.56959351] [ 0.06617027 -0.04060828 0.99698168 0.87855317] [ 0. 0. 0. 1. ]] SLAMing on 106.22925976399999 meters Centerline goodness : 0.763058 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.57, Z:0.88 [[ 0.99662199 -0.04515505 -0.06859754 -7.60234314] [ 0.04784997 0.9981252 0.03816368 9.57160821] [ 0.06674565 -0.04131715 0.99691419 0.8756821 ] [ 0. 0. 0. 1. ]] SLAMing on 106.28925976399998 meters Centerline goodness : 0.758839 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:9.57, Z:0.87 [[ 0.99642287 -0.04941521 -0.06855369 -7.60213494] [ 0.05195537 0.9980083 0.03577816 9.5652029 ] [ 0.06664917 -0.03921191 0.99700567 0.87426593] [ 0. 0. 0. 1. ]] SLAMing on 106.34925976399998 meters Centerline goodness : 0.758213 with order 1 Centerline is valid? [False, False] Translation: X:-7.59, Y:9.55, Z:0.87 [[ 0.99589106 -0.0654451 -0.06259344 -7.59252148] [ 0.06781265 0.99703103 0.03647685 9.55193469] [ 0.06002038 -0.0405716 0.9973723 0.86760574] [ 0. 0. 0. 1. ]] SLAMing on 106.40925976399998 meters Centerline goodness : 0.754240 with order 1 Centerline is valid? [False, False] Translation: X:-7.57, Y:9.54, Z:0.87 [[ 0.99351884 -0.09430091 -0.06346372 -7.574073 ] [ 0.09691321 0.9945119 0.03941972 9.5381721 ] [ 0.05939811 -0.04531471 0.99720532 0.86504372] [ 0. 0. 0. 1. ]] SLAMing on 106.46925976399999 meters Centerline goodness : 0.754415 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.52, Z:0.85 [[ 0.99148811 -0.11664811 -0.05783205 -7.55035551] [ 0.11955107 0.99159015 0.0495633 9.52472255] [ 0.05156423 -0.0560553 0.99709525 0.85436659] [ 0. 0. 0. 1. ]] SLAMing on 106.52925976399999 meters Centerline goodness : 0.750930 with order 1 Centerline is valid? [False, False] Translation: X:-7.48, Y:9.49, Z:0.83 [[ 0.9863266 -0.15638668 -0.05199086 -7.47935892] [ 0.16094901 0.98189579 0.09988035 9.48750189] [ 0.03542965 -0.10688252 0.99364021 0.82737325] [ 0. 0. 0. 1. ]] SLAMing on 106.58925976399999 meters Centerline goodness : 0.753380 with order 1 Centerline is valid? [False, False] Translation: X:-7.48, Y:9.49, Z:0.83 [[ 0.98486986 -0.16550979 -0.05136028 -7.48077257] [ 0.16958483 0.98148381 0.08905345 9.49223492] [ 0.03567007 -0.09641599 0.99470177 0.83479687] [ 0. 0. 0. 1. ]] SLAMing on 106.64925976399999 meters Centerline goodness : 0.750640 with order 1 Centerline is valid? [False, False] Translation: X:-7.48, Y:9.48, Z:0.84 [[ 0.9835827 -0.17377173 -0.04866671 -7.48373563] [ 0.1772894 0.98082453 0.08094264 9.48286691] [ 0.03366796 -0.08824187 0.99552993 0.83810269] [ 0. 0. 0. 1. ]] SLAMing on 106.70925976399998 meters Centerline goodness : 0.755607 with order 1 Centerline is valid? [False, False] Translation: X:-7.49, Y:9.47, Z:0.84 [[ 0.98282853 -0.17851601 -0.04669174 -7.48814258] [ 0.18175812 0.98023088 0.07817555 9.47265005] [ 0.0318131 -0.08531976 0.9958456 0.84398708] [ 0. 0. 0. 1. ]] SLAMing on 106.76925976399998 meters Centerline goodness : 0.756290 with order 1 Centerline is valid? [False, False] Translation: X:-7.49, Y:9.45, Z:0.85 [[ 0.98148003 -0.18220379 -0.05915006 -7.49067774] [ 0.1866105 0.9791459 0.08031077 9.45460554] [ 0.04328361 -0.08986144 0.99501329 0.85474299] [ 0. 0. 0. 1. ]] SLAMing on 106.82925976399999 meters Centerline goodness : 0.763529 with order 1 Centerline is valid? [False, False] Translation: X:-7.50, Y:9.44, Z:0.87 [[ 0.97936234 -0.19385944 -0.0571658 -7.49515781] [ 0.19791666 0.97720322 0.07683007 9.4399574 ] [ 0.04096837 -0.08655854 0.99540404 0.86563689] [ 0. 0. 0. 1. ]] SLAMing on 106.88925976399999 meters Centerline goodness : 0.766823 with order 1 Centerline is valid? [False, False] Translation: X:-7.50, Y:9.43, Z:0.88 [[ 0.97719956 -0.20490268 -0.05564099 -7.49993584] [ 0.2087357 0.97508352 0.07511016 9.42607777] [ 0.03886434 -0.08501187 0.99562169 0.87793572] [ 0. 0. 0. 1. ]] SLAMing on 106.94925976399999 meters Centerline goodness : 0.771118 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.41, Z:0.90 [[ 0.97540557 -0.2125914 -0.05821401 -7.51272814] [ 0.21640338 0.97381402 0.06968385 9.41137283] [ 0.04187543 -0.08056772 0.99586911 0.89794295] [ 0. 0. 0. 1. ]] SLAMing on 107.00925976399999 meters Centerline goodness : 0.772990 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.40, Z:0.91 [[ 0.97399093 -0.21584386 -0.06894265 -7.51777365] [ 0.22056013 0.97284195 0.07022657 9.39736445] [ 0.05191233 -0.08360605 0.99514579 0.90584818] [ 0. 0. 0. 1. ]] SLAMing on 107.06925976399998 meters Centerline goodness : 0.777544 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.38, Z:0.92 [[ 0.97084304 -0.22605005 -0.07978201 -7.52582981] [ 0.23169379 0.97023884 0.0703888 9.3765296 ] [ 0.06149621 -0.08682147 0.99432402 0.92349767] [ 0. 0. 0. 1. ]] SLAMing on 107.12925976399998 meters Centerline goodness : 0.779750 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.37, Z:0.93 [[ 0.96985524 -0.23058248 -0.0788196 -7.52956833] [ 0.23611144 0.96920644 0.06993041 9.36958763] [ 0.06026774 -0.08643258 0.99443311 0.93059353] [ 0. 0. 0. 1. ]] SLAMing on 107.18925976399998 meters Centerline goodness : 0.783468 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.35, Z:0.94 [[ 0.96712691 -0.23837298 -0.08856553 -7.53730679] [ 0.24459936 0.96726318 0.06762468 9.35342965] [ 0.06954628 -0.08706472 0.99377213 0.94219957] [ 0. 0. 0. 1. ]] SLAMing on 107.24925976399999 meters Centerline goodness : 0.786837 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.34, Z:0.96 [[ 0.96570449 -0.23971271 -0.09976303 -7.54402838] [ 0.24668585 0.96694545 0.06451811 9.34128259] [ 0.08099959 -0.08691556 0.99291729 0.95887152] [ 0. 0. 0. 1. ]] SLAMing on 107.30925976399999 meters Centerline goodness : 0.788186 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.34, Z:0.96 [[ 0.96566312 -0.23998168 -0.09951647 -7.54781377] [ 0.24710225 0.966698 0.06659923 9.33690994] [ 0.08021978 -0.08890317 0.99280462 0.96447706] [ 0. 0. 0. 1. ]] SLAMing on 107.36925976399999 meters Centerline goodness : 0.788683 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.33, Z:0.97 [[ 0.96596494 -0.23920962 -0.09844028 -7.55155892] [ 0.2462336 0.96691919 0.06660543 9.33440776] [ 0.07925114 -0.08857781 0.99291149 0.96666527] [ 0. 0. 0. 1. ]] SLAMing on 107.42925976399998 meters Centerline goodness : 0.789129 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.34, Z:0.97 [[ 0.96640469 -0.23687391 -0.09976333 -7.55271505] [ 0.24428464 0.96717708 0.06995363 9.33675032] [ 0.07991861 -0.09197417 0.99254913 0.9693158 ] [ 0. 0. 0. 1. ]] SLAMing on 107.48925976399998 meters Centerline goodness : 0.788135 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.34, Z:0.97 [[ 0.9681094 -0.22976608 -0.09985857 -7.55508969] [ 0.237277 0.96883278 0.07115238 9.34376117] [ 0.08039785 -0.09257743 0.99245433 0.9660581 ] [ 0. 0. 0. 1. ]] SLAMing on 107.54925976399998 meters Centerline goodness : 0.787156 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.35, Z:0.96 [[ 0.96852846 -0.2276524 -0.10063298 -7.55244444] [ 0.23526744 0.96929265 0.07156113 9.34723506] [ 0.08125174 -0.09298466 0.99234672 0.96230665] [ 0. 0. 0. 1. ]] SLAMing on 107.60925976399999 meters Centerline goodness : 0.784662 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.36, Z:0.96 [[ 0.9709228 -0.21672724 -0.10167706 -7.55411387] [ 0.22471734 0.9715337 0.07499596 9.35604602] [ 0.08252903 -0.09566389 0.99198658 0.95844069] [ 0. 0. 0. 1. ]] SLAMing on 107.66925976399999 meters Centerline goodness : 0.781411 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.36, Z:0.95 [[ 0.97216947 -0.21076748 -0.10229167 -7.55209352] [ 0.21890706 0.97277239 0.07611551 9.3626042 ] [ 0.08346384 -0.09638954 0.99183811 0.95216894] [ 0. 0. 0. 1. ]] SLAMing on 107.72925976399999 meters Centerline goodness : 0.777712 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.38, Z:0.95 [[ 0.97445988 -0.20634061 -0.08860868 -7.5554199 ] [ 0.2131471 0.97408015 0.07573754 9.37594437] [ 0.07068423 -0.09268987 0.99318293 0.94505995] [ 0. 0. 0. 1. ]] SLAMing on 107.78925976399998 meters Centerline goodness : 0.774501 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.38, Z:0.94 [[ 0.97590288 -0.19915756 -0.08916182 -7.55645713] [ 0.20615738 0.97543162 0.07766776 9.38309868] [ 0.07150314 -0.09417756 0.99298433 0.94194544] [ 0. 0. 0. 1. ]] SLAMing on 107.84925976399998 meters Centerline goodness : 0.773192 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.39, Z:0.94 [[ 0.97775932 -0.18982786 -0.08917454 -7.55742879] [ 0.19697268 0.97717328 0.0795873 9.39082099] [ 0.07203109 -0.09538217 0.99283119 0.9361123 ] [ 0. 0. 0. 1. ]] SLAMing on 107.90925976399998 meters Centerline goodness : 0.769909 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.41, Z:0.93 [[ 0.97989416 -0.18422826 -0.0765989 -7.55861586] [ 0.19006822 0.97870109 0.07757735 9.40519101] [ 0.06067549 -0.09057661 0.99403942 0.92903536] [ 0. 0. 0. 1. ]] SLAMing on 107.96925976399999 meters Centerline goodness : 0.769397 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.41, Z:0.93 [[ 0.98059546 -0.18063622 -0.07617802 -7.5599853 ] [ 0.18643303 0.97941213 0.07742484 9.40826597] [ 0.06062394 -0.09012455 0.99408365 0.92688827] [ 0. 0. 0. 1. ]] SLAMing on 108.02925976399999 meters Centerline goodness : 0.766224 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.42, Z:0.92 [[ 0.98210316 -0.17267924 -0.0752015 -7.56174315] [ 0.17835477 0.98097069 0.07672077 9.41541071] [ 0.06052238 -0.08876026 0.99421258 0.9206723 ] [ 0. 0. 0. 1. ]] SLAMing on 108.08925976399999 meters Centerline goodness : 0.762981 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.42, Z:0.92 [[ 0.98304454 -0.16696587 -0.07580126 -7.56284773] [ 0.17278695 0.98185743 0.07810665 9.42381087] [ 0.06138489 -0.08987979 0.99405911 0.9188484 ] [ 0. 0. 0. 1. ]] SLAMing on 108.14925976399999 meters Centerline goodness : 0.764878 with order 1 Centerline is valid? [False, False] Translation: X:-7.57, Y:9.43, Z:0.91 [[ 0.98473282 -0.15673467 -0.07573322 -7.56511673] [ 0.1627355 0.98334815 0.0808924 9.43217439] [ 0.06179348 -0.09198189 0.99384149 0.91492137] [ 0. 0. 0. 1. ]] SLAMing on 108.20925976399998 meters Centerline goodness : 0.761441 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.43, Z:0.90 [[ 0.98574415 -0.15291625 -0.07017896 -7.53059761] [ 0.15975768 0.98152524 0.10528856 9.43154886] [ 0.05278209 -0.11499921 0.99196231 0.9040696 ] [ 0. 0. 0. 1. ]] SLAMing on 108.26925976399998 meters Centerline goodness : 0.761569 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.44, Z:0.90 [[ 0.986642 -0.15248142 -0.05733213 -7.53249657] [ 0.15769185 0.98228275 0.10126147 9.44415574] [ 0.04087587 -0.10894963 0.99320649 0.89989753] [ 0. 0. 0. 1. ]] SLAMing on 108.32925976399999 meters Centerline goodness : 0.760285 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.46, Z:0.91 [[ 0.98732232 -0.14557567 -0.06326414 -7.54235743] [ 0.15099707 0.98428037 0.09160802 9.45590504] [ 0.04893375 -0.09999935 0.99378349 0.90730846] [ 0. 0. 0. 1. ]] SLAMing on 108.38925976399999 meters Centerline goodness : 0.760385 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.46, Z:0.91 [[ 0.98797817 -0.14041862 -0.06466641 -7.53942811] [ 0.14612533 0.98477671 0.09413934 9.4628722 ] [ 0.05046306 -0.10245701 0.99345661 0.9070448 ] [ 0. 0. 0. 1. ]] SLAMing on 108.44925976399999 meters Centerline goodness : 0.760298 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.47, Z:0.90 [[ 0.98894749 -0.13509336 -0.06109538 -7.54516158] [ 0.14055847 0.98537087 0.09637198 9.4674937 ] [ 0.0471824 -0.10389431 0.99346857 0.90479051] [ 0. 0. 0. 1. ]] SLAMing on 108.50925976399999 meters Centerline goodness : 0.758064 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.47, Z:0.90 [[ 0.98949802 -0.13089327 -0.06132391 -7.54559747] [ 0.13656053 0.98559407 0.09977747 9.47046283] [ 0.04738028 -0.10710404 0.99311824 0.90418876] [ 0. 0. 0. 1. ]] SLAMing on 108.56925976399998 meters Centerline goodness : 0.757922 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.48, Z:0.91 [[ 0.98963942 -0.12761829 -0.06578295 -7.55554501] [ 0.13302535 0.98740183 0.08568477 9.4801691 ] [ 0.05401926 -0.09354782 0.99414824 0.91450821] [ 0. 0. 0. 1. ]] SLAMing on 108.62925976399998 meters Centerline goodness : 0.757098 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.49, Z:0.92 [[ 0.98924088 -0.13008563 -0.06693434 -7.55018198] [ 0.1352023 0.98769322 0.07862853 9.48799182] [ 0.05588216 -0.08683223 0.99465439 0.91939581] [ 0. 0. 0. 1. ]] SLAMing on 108.68925976399998 meters Centerline goodness : 0.755067 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.49, Z:0.92 [[ 0.98861543 -0.13486955 -0.06670637 -7.55063049] [ 0.13961963 0.98754258 0.07256734 9.49395624] [ 0.05608826 -0.08105471 0.99513026 0.92232837] [ 0. 0. 0. 1. ]] SLAMing on 108.74925976399999 meters Centerline goodness : 0.754368 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.50, Z:0.92 [[ 0.98794947 -0.13993406 -0.06613845 -7.55198801] [ 0.14431373 0.98727078 0.06685774 9.49812613] [ 0.05594088 -0.07559675 0.99556805 0.92478971] [ 0. 0. 0. 1. ]] SLAMing on 108.80925976399999 meters Centerline goodness : 0.754811 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.50, Z:0.93 [[ 0.98733394 -0.14406305 -0.06646454 -7.55046378] [ 0.14815019 0.98706313 0.06130176 9.50381779] [ 0.05677337 -0.07037204 0.99590389 0.92672452] [ 0. 0. 0. 1. ]] SLAMing on 108.86925976399999 meters Centerline goodness : 0.754158 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.50, Z:0.93 [[ 0.98797114 -0.13959087 -0.06653883 -7.55102241] [ 0.14393703 0.98740172 0.06572651 9.50247881] [ 0.05652574 -0.0745133 0.9956167 0.92571243] [ 0. 0. 0. 1. ]] SLAMing on 108.92925976399998 meters Centerline goodness : 0.753096 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.50, Z:0.93 [[ 0.98802107 -0.13920353 -0.06660894 -7.55033766] [ 0.14355295 0.98746022 0.06568765 9.50240377] [ 0.05662972 -0.07446269 0.99561457 0.92559314] [ 0. 0. 0. 1. ]] SLAMing on 108.98925976399998 meters Centerline goodness : 0.751586 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.50, Z:0.92 [[ 0.98818955 -0.13950796 -0.06339514 -7.52475209] [ 0.14395149 0.98696493 0.0719597 9.49974276] [ 0.05252983 -0.08023565 0.99539081 0.923922 ] [ 0. 0. 0. 1. ]] SLAMing on 109.04925976399998 meters Centerline goodness : 0.750274 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.50, Z:0.93 [[ 0.98752991 -0.14435422 -0.06282142 -7.52599764] [ 0.1484872 0.98664132 0.06701084 9.50021672] [ 0.05230891 -0.07550339 0.99577257 0.92676484] [ 0. 0. 0. 1. ]] SLAMing on 109.10925976399999 meters Centerline goodness : 0.750941 with order 1 Centerline is valid? [False, False] Translation: X:-7.50, Y:9.50, Z:0.93 [[ 0.98726714 -0.14742333 -0.05974908 -7.49733013] [ 0.15148676 0.98594956 0.0703934 9.49800451] [ 0.04853195 -0.07854828 0.99572828 0.92513476] [ 0. 0. 0. 1. ]] SLAMing on 109.16925976399999 meters Centerline goodness : 0.750614 with order 1 Centerline is valid? [False, False] Translation: X:-7.50, Y:9.50, Z:0.93 [[ 0.98644312 -0.15306405 -0.05917243 -7.50022781] [ 0.15699663 0.98520192 0.06876937 9.49549406] [ 0.04777067 -0.07712695 0.9958762 0.93038009] [ 0. 0. 0. 1. ]] SLAMing on 109.22925976399999 meters Centerline goodness : 0.750578 with order 1 Centerline is valid? [False, False] Translation: X:-7.50, Y:9.49, Z:0.93 [[ 0.98623327 -0.15457452 -0.05874224 -7.5026935 ] [ 0.15845423 0.98499448 0.06839681 9.49344421] [ 0.04728838 -0.07676316 0.99592732 0.9333855 ] [ 0. 0. 0. 1. ]] SLAMing on 109.28925976399998 meters Centerline goodness : 0.750902 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.49, Z:0.94 [[ 0.98603708 -0.15627682 -0.0575189 -7.50559981] [ 0.15992749 0.98495103 0.06553364 9.49156794] [ 0.04641191 -0.07381745 0.99619121 0.93516876] [ 0. 0. 0. 1. ]] SLAMing on 109.34925976399998 meters Centerline goodness : 0.753887 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.49, Z:0.94 [[ 0.98528265 -0.16124509 -0.05672845 -7.50775678] [ 0.16468676 0.98437241 0.06236365 9.48866909] [ 0.04578608 -0.07078825 0.99643999 0.93862518] [ 0. 0. 0. 1. ]] SLAMing on 109.40925976399998 meters Centerline goodness : 0.751655 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.49, Z:0.94 [[ 0.98473217 -0.16438004 -0.05728659 -7.50770739] [ 0.16788924 0.98378892 0.06302829 9.48611694] [ 0.04599732 -0.07168379 0.99636624 0.94176584] [ 0. 0. 0. 1. ]] SLAMing on 109.46925976399999 meters Centerline goodness : 0.756388 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.48, Z:0.95 [[ 0.98399302 -0.16867711 -0.05749577 -7.50918735] [ 0.17214177 0.98313004 0.06182662 9.48320574] [ 0.04609708 -0.07073438 0.99642948 0.94675296] [ 0. 0. 0. 1. ]] SLAMing on 109.52925976399999 meters Centerline goodness : 0.756071 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.48, Z:0.95 [[ 0.98435363 -0.16669379 -0.05710609 -7.51151514] [ 0.17013544 0.98347535 0.06188841 9.48302009] [ 0.04584601 -0.07063585 0.99644805 0.94775848] [ 0. 0. 0. 1. ]] SLAMing on 109.58925976399999 meters Centerline goodness : 0.754215 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.48, Z:0.95 [[ 0.98501496 -0.16287219 -0.05672898 -7.51381225] [ 0.16632828 0.98407434 0.06271041 9.48450834] [ 0.04561175 -0.07120632 0.9964182 0.94776543] [ 0. 0. 0. 1. ]] SLAMing on 109.64925976399999 meters Centerline goodness : 0.755971 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.49, Z:0.96 [[ 0.9858393 -0.15787942 -0.05652398 -7.51853916] [ 0.1611589 0.98515718 0.05910287 9.48817553] [ 0.04635388 -0.06737527 0.99665034 0.95616606] [ 0. 0. 0. 1. ]] SLAMing on 109.70925976399998 meters Centerline goodness : 0.755145 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.49, Z:0.96 [[ 0.98692282 -0.15104591 -0.05628925 -7.52145968] [ 0.15440547 0.98611894 0.06106058 9.49290354] [ 0.04628494 -0.06895345 0.9965456 0.95552962] [ 0. 0. 0. 1. ]] SLAMing on 109.76925976399998 meters Centerline goodness : 0.754000 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.50, Z:0.95 [[ 0.98780212 -0.14571922 -0.05488965 -7.52534019] [ 0.14893951 0.98702305 0.06002104 9.49703797] [ 0.04543113 -0.06746415 0.99668681 0.95403067] [ 0. 0. 0. 1. ]] SLAMing on 109.82925976399999 meters Centerline goodness : 0.753659 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.50, Z:0.95 [[ 0.98779697 -0.14576814 -0.05485245 -7.52529249] [ 0.14895983 0.98705456 0.05944968 9.49899482] [ 0.04547649 -0.06689503 0.9967231 0.95408963] [ 0. 0. 0. 1. ]] SLAMing on 109.88925976399999 meters Centerline goodness : 0.753282 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.50, Z:0.95 [[ 0.98844636 -0.14115415 -0.05522042 -7.52456201] [ 0.14457169 0.98743858 0.06375007 9.49980353] [ 0.04552819 -0.07099683 0.99643697 0.95214411] [ 0. 0. 0. 1. ]] SLAMing on 109.94925976399999 meters Centerline goodness : 0.752243 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.50, Z:0.95 [[ 0.98844886 -0.14103275 -0.05548529 -7.52401538] [ 0.1444318 0.98751128 0.06293589 9.50383557] [ 0.04591632 -0.07022275 0.99647401 0.95267255] [ 0. 0. 0. 1. ]] SLAMing on 110.00925976399999 meters Centerline goodness : 0.751441 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.51, Z:0.95 [[ 0.98842491 -0.14126391 -0.0553236 -7.52513633] [ 0.14460185 0.98755443 0.06185921 9.50629169] [ 0.04589659 -0.06914308 0.99655042 0.9544717 ] [ 0. 0. 0. 1. ]] SLAMing on 110.06925976399998 meters Centerline goodness : 0.750170 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.51, Z:0.96 [[ 0.98787349 -0.14525055 -0.05484746 -7.52500676] [ 0.14832409 0.98730218 0.05687144 9.50828214] [ 0.04589041 -0.06431699 0.99687381 0.95624801] [ 0. 0. 0. 1. ]] SLAMing on 110.12925976399998 meters Centerline goodness : 0.750825 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.51, Z:0.96 [[ 0.98781552 -0.1459619 -0.05399653 -7.52826801] [ 0.14897408 0.9872121 0.0567362 9.50556841] [ 0.0450247 -0.06408898 0.99692797 0.95782872] [ 0. 0. 0. 1. ]] SLAMing on 110.18925976399998 meters Centerline goodness : 0.753484 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.50, Z:0.96 [[ 0.98738476 -0.15065097 -0.04874027 -7.51365995] [ 0.15354158 0.98617682 0.06229172 9.50137751] [ 0.03868222 -0.06898956 0.99686716 0.95624809] [ 0. 0. 0. 1. ]] SLAMing on 110.24925976399999 meters Centerline goodness : 0.753791 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.50, Z:0.96 [[ 0.98687821 -0.15406251 -0.04833357 -7.51645005] [ 0.1568855 0.98570826 0.06136913 9.49797662] [ 0.03818811 -0.0681467 0.99694418 0.96130938] [ 0. 0. 0. 1. ]] SLAMing on 110.30925976399999 meters Centerline goodness : 0.754656 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.50, Z:0.96 [[ 0.9865788 -0.15615885 -0.0477146 -7.51779555] [ 0.15887532 0.9854902 0.05973029 9.49611522] [ 0.03769485 -0.06650931 0.99707352 0.9629499 ] [ 0. 0. 0. 1. ]] SLAMing on 110.36925976399999 meters Centerline goodness : 0.751742 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.50, Z:0.97 [[ 0.98612268 -0.15924285 -0.04694442 -7.52003093] [ 0.16178187 0.98521215 0.05642377 9.49534494] [ 0.03726513 -0.06323552 0.99730265 0.96533439] [ 0. 0. 0. 1. ]] SLAMing on 110.42925976399998 meters Centerline goodness : 0.752737 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.49, Z:0.97 [[ 0.98605288 -0.15985494 -0.04632621 -7.52208701] [ 0.16233431 0.98515219 0.05588134 9.49430409] [ 0.03670546 -0.06262229 0.9973621 0.96719942] [ 0. 0. 0. 1. ]] SLAMing on 110.48925976399998 meters Centerline goodness : 0.753199 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.49, Z:0.98 [[ 0.98604491 -0.15523707 -0.0601405 -7.52414747] [ 0.15845511 0.98594107 0.05303002 9.48896991] [ 0.05106276 -0.06181955 0.99678029 0.98243606] [ 0. 0. 0. 1. ]] SLAMing on 110.54925976399998 meters Centerline goodness : 0.753997 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.49, Z:0.98 [[ 0.98550545 -0.15903967 -0.05903728 -7.52403177] [ 0.16205906 0.98549101 0.05044139 9.48588505] [ 0.05015852 -0.05927779 0.99698057 0.98178219] [ 0. 0. 0. 1. ]] SLAMing on 110.60925976399999 meters Centerline goodness : 0.756836 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.48, Z:0.99 [[ 0.98476376 -0.16375552 -0.05851897 -7.52599922] [ 0.16667483 0.98479115 0.04904986 9.48170781] [ 0.04959678 -0.05805616 0.99708056 0.98615987] [ 0. 0. 0. 1. ]] SLAMing on 110.66925976399999 meters Centerline goodness : 0.753549 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.48, Z:0.99 [[ 0.9847384 -0.16383106 -0.05873391 -7.52828225] [ 0.16688992 0.9846242 0.05160364 9.47833134] [ 0.04937655 -0.06061818 0.99693901 0.99074167] [ 0. 0. 0. 1. ]] SLAMing on 110.72925976399999 meters Centerline goodness : 0.754318 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.48, Z:0.99 [[ 0.9848675 -0.16389499 -0.05634211 -7.53247455] [ 0.16662969 0.98485889 0.04782796 9.47635546] [ 0.04765026 -0.05649247 0.99726529 0.990806 ] [ 0. 0. 0. 1. ]] SLAMing on 110.78925976399998 meters Centerline goodness : 0.755749 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.48, Z:0.99 [[ 0.98537681 -0.16143413 -0.05451199 -7.53687254] [ 0.16400226 0.98536547 0.0464559 9.47519794] [ 0.04621467 -0.05471666 0.99743185 0.99121879] [ 0. 0. 0. 1. ]] SLAMing on 110.84925976399998 meters Centerline goodness : 0.756438 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.47, Z:0.99 [[ 0.9850832 -0.16361747 -0.05329551 -7.54037398] [ 0.16601575 0.98513316 0.04417501 9.47303871] [ 0.04527537 -0.05236395 0.9976012 0.9942815 ] [ 0. 0. 0. 1. ]] SLAMing on 110.90925976399998 meters Centerline goodness : 0.755047 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.47, Z:1.00 [[ 0.98432617 -0.16825279 -0.05284869 -7.54145746] [ 0.17050561 0.98448423 0.04145643 9.47245738] [ 0.04505354 -0.04981764 0.99774164 0.9965402 ] [ 0. 0. 0. 1. ]] SLAMing on 110.96925976399999 meters Centerline goodness : 0.757592 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.47, Z:1.00 [[ 0.98311742 -0.17510695 -0.05308199 -7.54171775] [ 0.17724911 0.98340364 0.0387302 9.47250706] [ 0.04541909 -0.04748507 0.9978388 1.00057183] [ 0. 0. 0. 1. ]] SLAMing on 111.02925976399999 meters Centerline goodness : 0.758843 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.47, Z:1.00 [[ 0.98369394 -0.17176163 -0.05333086 -7.54359197] [ 0.17402596 0.98388025 0.04116575 9.47436147] [ 0.04540048 -0.04977545 0.99772802 1.00182135] [ 0. 0. 0. 1. ]] SLAMing on 111.08925976399999 meters Centerline goodness : 0.759441 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.48, Z:1.00 [[ 0.98408132 -0.16959608 -0.05311423 -7.54356544] [ 0.17182057 0.98429394 0.04053557 9.4758707 ] [ 0.04540534 -0.04901642 0.99776538 0.99980788] [ 0. 0. 0. 1. ]] SLAMing on 111.14925976399998 meters Centerline goodness : 0.760690 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.48, Z:1.01 [[ 0.98538672 -0.16239072 -0.05140289 -7.55043424] [ 0.16440426 0.98567246 0.03769667 9.48042457] [ 0.04454483 -0.04559665 0.99796628 1.00558644] [ 0. 0. 0. 1. ]] SLAMing on 111.20925976399998 meters Centerline goodness : 0.756619 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.49, Z:1.00 [[ 0.98585466 -0.15984865 -0.05038852 -7.55347716] [ 0.16168257 0.98623327 0.0346797 9.48598718] [ 0.04415134 -0.04233609 0.9981274 1.00473599] [ 0. 0. 0. 1. ]] SLAMing on 111.26925976399998 meters Centerline goodness : 0.757740 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.49, Z:1.00 [[ 0.98585799 -0.1600793 -0.04958459 -7.55524544] [ 0.161773 0.98630107 0.03224419 9.48869425] [ 0.04374371 -0.03980964 0.99824931 1.00446205] [ 0. 0. 0. 1. ]] SLAMing on 111.32925976399999 meters Centerline goodness : 0.753001 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.49, Z:1.00 [[ 0.98657022 -0.15545518 -0.05012861 -7.55630025] [ 0.15722677 0.98699222 0.03355754 9.49324227] [ 0.04425986 -0.04098843 0.99817885 1.00431511] [ 0. 0. 0. 1. ]] SLAMing on 111.38925976399999 meters Centerline goodness : 0.753009 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.50, Z:1.00 [[ 0.98754954 -0.1492573 -0.04968057 -7.55788224] [ 0.15100198 0.98796828 0.03342262 9.49779798] [ 0.04409426 -0.04050835 0.99820578 1.00162568] [ 0. 0. 0. 1. ]] SLAMing on 111.44925976399999 meters Centerline goodness : 0.752724 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.50, Z:1.00 [[ 0.9881934 -0.1448843 -0.04982316 -7.55791464] [ 0.14680162 0.98846474 0.03723906 9.49936687] [ 0.04385308 -0.04411351 0.99806358 1.00018517] [ 0. 0. 0. 1. ]] SLAMing on 111.50925976399999 meters Centerline goodness : 0.753154 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.50, Z:1.00 [[ 0.98817094 -0.14507703 -0.04970764 -7.55849415] [ 0.14692993 0.98849568 0.03588725 9.50378638] [ 0.04392938 -0.04276628 0.99811886 1.00167058] [ 0. 0. 0. 1. ]] SLAMing on 111.56925976399998 meters Centerline goodness : 0.754738 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.50, Z:1.00 [[ 0.98797601 -0.14773267 -0.04559016 -7.53902802] [ 0.14970953 0.9877727 0.04349895 9.50178623] [ 0.0386065 -0.0498012 0.99801271 0.99614905] [ 0. 0. 0. 1. ]] SLAMing on 111.62925976399998 meters Centerline goodness : 0.754545 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.50, Z:1.00 [[ 0.98810618 -0.14693822 -0.04533588 -7.53971433] [ 0.14888392 0.98791868 0.04301469 9.50128262] [ 0.03846766 -0.04925286 0.99804529 0.9959404 ] [ 0. 0. 0. 1. ]] SLAMing on 111.68925976399998 meters Centerline goodness : 0.752815 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.50, Z:1.00 [[ 0.98831844 -0.1458899 -0.04407718 -7.54390889] [ 0.14777523 0.98808354 0.04305113 9.4999428 ] [ 0.03727121 -0.04906174 0.9981001 0.99812263] [ 0. 0. 0. 1. ]] SLAMing on 111.74925976399999 meters Centerline goodness : 0.753678 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.50, Z:1.00 [[ 0.98842896 -0.14537586 -0.04329025 -7.54630378] [ 0.14720722 0.98818664 0.04262856 9.49955746] [ 0.03658168 -0.04850794 0.99815267 0.9990345 ] [ 0. 0. 0. 1. ]] SLAMing on 111.80925976399999 meters Centerline goodness : 0.751696 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.50, Z:1.00 [[ 0.98866001 -0.14418875 -0.04196418 -7.54961381] [ 0.1458958 0.98845296 0.04092884 9.49873192] [ 0.03557814 -0.04658711 0.99828044 0.99935056] [ 0. 0. 0. 1. ]] SLAMing on 111.86925976399999 meters Centerline goodness : 0.752876 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.50, Z:1.00 [[ 0.98884791 -0.14331524 -0.04050379 -7.55377489] [ 0.14489803 0.98866644 0.03928403 9.49897293] [ 0.03441473 -0.04471485 0.99840684 1.0006647 ] [ 0. 0. 0. 1. ]] SLAMing on 111.92925976399998 meters Centerline goodness : 0.755465 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.50, Z:1.00 [[ 0.98881909 -0.14365275 -0.04000872 -7.55609763] [ 0.14516333 0.98868473 0.03781669 9.49909127] [ 0.03412354 -0.04320166 0.99848345 1.00242238] [ 0. 0. 0. 1. ]] SLAMing on 111.98925976399998 meters Centerline goodness : 0.756661 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.50, Z:1.00 [[ 0.98944067 -0.13961749 -0.03891176 -7.5597796 ] [ 0.14106467 0.98929693 0.03731419 9.49973324] [ 0.03328557 -0.04240925 0.99854571 1.00264987] [ 0. 0. 0. 1. ]] SLAMing on 112.04925976399998 meters Centerline goodness : 0.756786 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.50, Z:1.00 [[ 0.9895375 -0.13914362 -0.03813903 -7.56074634] [ 0.14048833 0.98945702 0.03518287 9.49863936] [ 0.03284145 -0.04017286 0.99865288 1.00164856] [ 0. 0. 0. 1. ]] SLAMing on 112.10925976399999 meters Centerline goodness : 0.758462 with order 1 Centerline is valid? [False, False] Translation: X:-7.56, Y:9.50, Z:1.00 [[ 0.98946668 -0.13989314 -0.03722362 -7.56342677] [ 0.14120704 0.98934797 0.03537174 9.4955436 ] [ 0.03187885 -0.0402554 0.99868075 1.00168312] [ 0. 0. 0. 1. ]] SLAMing on 112.16925976399999 meters Centerline goodness : 0.760442 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.49, Z:1.00 [[ 0.98900687 -0.14455109 -0.03115104 -7.5503865 ] [ 0.14579536 0.98841146 0.04226694 9.49224333] [ 0.02468032 -0.04634397 0.99862061 0.99685058] [ 0. 0. 0. 1. ]] SLAMing on 112.22925976399999 meters Centerline goodness : 0.763315 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.49, Z:0.99 [[ 0.98967968 -0.14217067 -0.01793402 -7.54567924] [ 0.14283956 0.98875734 0.04422427 9.48980206] [ 0.011445 -0.04632954 0.99886064 0.98847741] [ 0. 0. 0. 1. ]] SLAMing on 112.28925976399998 meters Centerline goodness : 0.766097 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.49, Z:1.00 [[ 0.98996464 -0.13736003 -0.0332 -7.54268555] [ 0.13871907 0.9894047 0.04284101 9.48507279] [ 0.0269636 -0.04701656 0.99853012 0.9952086 ] [ 0. 0. 0. 1. ]] SLAMing on 112.34925976399998 meters Centerline goodness : 0.763085 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.49, Z:1.00 [[ 0.9899035 -0.13786533 -0.03292749 -7.54416699] [ 0.1391845 0.98938213 0.04184117 9.48820886] [ 0.02680942 -0.04600172 0.99858154 0.99640834] [ 0. 0. 0. 1. ]] SLAMing on 112.40925976399998 meters Centerline goodness : 0.765850 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.49, Z:1.00 [[ 0.98988257 -0.13796226 -0.03314991 -7.54419279] [ 0.13926014 0.98941985 0.04068144 9.49217682] [ 0.02718667 -0.04488631 0.9986221 0.99777561] [ 0. 0. 0. 1. ]] SLAMing on 112.46925976399999 meters Centerline goodness : 0.767150 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.50, Z:1.00 [[ 0.98993372 -0.13759 -0.0331696 -7.5438681 ] [ 0.13886451 0.98951181 0.03978739 9.49592291] [ 0.02734737 -0.04399296 0.99865747 0.998335 ] [ 0. 0. 0. 1. ]] SLAMing on 112.52925976399999 meters Centerline goodness : 0.771094 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.50, Z:1.00 [[ 0.99055794 -0.1329886 -0.03330173 -7.54352831] [ 0.13438595 0.98995253 0.04398176 9.49717365] [ 0.02711806 -0.04804177 0.99847714 0.99636821] [ 0. 0. 0. 1. ]] SLAMing on 112.58925976399999 meters Centerline goodness : 0.769300 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.50, Z:1.00 [[ 0.99057524 -0.13284841 -0.03334652 -7.54376743] [ 0.13419279 0.99006636 0.04196295 9.50388088] [ 0.02744055 -0.04604233 0.99856253 0.99869955] [ 0. 0. 0. 1. ]] SLAMing on 112.64925976399998 meters Centerline goodness : 0.769819 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.51, Z:1.00 [[ 0.9911179 -0.12870817 -0.0334593 -7.54430741] [ 0.13016419 0.9904363 0.04575163 9.50586519] [ 0.0272507 -0.04970046 0.99839234 0.99775973] [ 0. 0. 0. 1. ]] SLAMing on 112.70925976399998 meters Centerline goodness : 0.771670 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.51, Z:1.00 [[ 0.99173764 -0.12377663 -0.03370152 -7.54300705] [ 0.12537256 0.99083486 0.05027924 9.50666561] [ 0.02716924 -0.05408906 0.99816642 0.99502575] [ 0. 0. 0. 1. ]] SLAMing on 112.76925976399998 meters Centerline goodness : 0.773060 with order 1 Centerline is valid? [False, False] Translation: X:-7.54, Y:9.51, Z:0.99 [[ 0.99177034 -0.12354996 -0.03357096 -7.54259049] [ 0.12513596 0.9908705 0.05016623 9.50732748] [ 0.02706644 -0.05395431 0.99817651 0.99430237] [ 0. 0. 0. 1. ]] SLAMing on 112.82925976399999 meters Centerline goodness : 0.773762 with order 1 Centerline is valid? [False, False] Translation: X:-7.55, Y:9.51, Z:1.00 [[ 0.99170482 -0.12421056 -0.03306485 -7.54503634] [ 0.12575621 0.99081553 0.04969867 9.50695082] [ 0.02658806 -0.05344452 0.99821679 0.99596018] [ 0. 0. 0. 1. ]] SLAMing on 112.88925976399999 meters Centerline goodness : 0.776608 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.50, Z:0.99 [[ 0.99079329 -0.13253868 -0.02760701 -7.5308489 ] [ 0.13385688 0.98957356 0.05316492 9.50339288] [ 0.02027276 -0.05637084 0.99820406 0.99259003] [ 0. 0. 0. 1. ]] SLAMing on 112.94925976399999 meters Centerline goodness : 0.777880 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.51, Z:1.00 [[ 0.99015092 -0.13737049 -0.02702789 -7.53244264] [ 0.1385447 0.98919941 0.04785273 9.50562707] [ 0.02016242 -0.05112599 0.99848866 0.99539171] [ 0. 0. 0. 1. ]] SLAMing on 113.00925976399999 meters Centerline goodness : 0.778166 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.50, Z:1.01 [[ 0.99078703 -0.12822397 -0.04358526 -7.52870615] [ 0.13033922 0.99022043 0.04975128 9.49755845] [ 0.03677971 -0.05497379 0.99781017 1.00578924] [ 0. 0. 0. 1. ]] SLAMing on 113.06925976399998 meters Centerline goodness : 0.778004 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.50, Z:1.00 [[ 0.99083697 -0.12795366 -0.04324296 -7.52881408] [ 0.1300677 0.99023198 0.0502296 9.4952643 ] [ 0.0363935 -0.05539386 0.9978011 1.00495881] [ 0. 0. 0. 1. ]] SLAMing on 113.12925976399998 meters Centerline goodness : 0.778351 with order 1 Centerline is valid? [False, False] Translation: X:-7.53, Y:9.50, Z:1.01 [[ 0.99030707 -0.13214967 -0.04275947 -7.52904136] [ 0.13407704 0.98990879 0.04586862 9.49508509] [ 0.03626645 -0.05115708 0.99803191 1.00618269] [ 0. 0. 0. 1. ]] SLAMing on 113.18925976399998 meters Centerline goodness : 0.778852 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.49, Z:1.00 [[ 0.98978822 -0.13743455 -0.03782894 -7.51129089] [ 0.13927472 0.98892492 0.05128415 9.49025398] [ 0.03036177 -0.05602906 0.99796739 1.00328533] [ 0. 0. 0. 1. ]] SLAMing on 113.24925976399999 meters Centerline goodness : 0.779203 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.49, Z:1.00 [[ 0.99036174 -0.13598507 -0.02630002 -7.50645769] [ 0.1371549 0.98931345 0.04947155 9.48866629] [ 0.01929157 -0.0526019 0.9984292 0.99871071] [ 0. 0. 0. 1. ]] SLAMing on 113.30925976399999 meters Centerline goodness : 0.778866 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.49, Z:1.00 [[ 0.98985291 -0.13968633 -0.02605649 -7.50519891] [ 0.14075392 0.98902056 0.0450186 9.49099217] [ 0.01948192 -0.04822934 0.99864628 0.99887951] [ 0. 0. 0. 1. ]] SLAMing on 113.36925976399999 meters Centerline goodness : 0.780147 with order 1 Centerline is valid? [False, False] Translation: X:-7.50, Y:9.49, Z:0.99 [[ 9.90139228e-01 -1.39455437e-01 -1.32849715e-02 -7.50177684e+00] [ 1.39905508e-01 9.89224254e-01 4.31488569e-02 9.49093201e+00] [ 7.12447329e-03 -4.45820166e-02 9.98980323e-01 9.93474825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42925976399998 meters Centerline goodness : 0.782272 with order 1 Centerline is valid? [False, False] Translation: X:-7.50, Y:9.49, Z:0.99 [[ 9.90677057e-01 -1.35570233e-01 -1.34044790e-02 -7.50282268e+00] [ 1.36057755e-01 9.89578839e-01 4.71381888e-02 9.49118049e+00] [ 6.87425359e-03 -4.85225055e-02 9.98798434e-01 9.92993864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48925976399998 meters Centerline goodness : 0.784978 with order 1 Centerline is valid? [False, False] Translation: X:-7.50, Y:9.49, Z:0.99 [[ 9.91803822e-01 -1.27002600e-01 -1.39828007e-02 -7.50236755e+00] [ 1.27587763e-01 9.90283763e-01 5.53121214e-02 9.49412704e+00] [ 6.82215726e-03 -5.66428076e-02 9.98371199e-01 9.90108524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54925976399998 meters Centerline goodness : 0.787798 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.51, Z:1.00 [[ 0.99295981 -0.11716606 -0.01740491 -7.508993 ] [ 0.11782468 0.99208188 0.04348438 9.50728459] [ 0.0121722 -0.04522897 0.99890249 1.00141581] [ 0. 0. 0. 1. ]] SLAMing on 113.60925976399999 meters Centerline goodness : 0.786864 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.51, Z:1.00 [[ 0.99394962 -0.10835698 -0.01797002 -7.50797379] [ 0.10915084 0.99268992 0.05150548 9.51062844] [ 0.01225768 -0.05315529 0.99851102 0.9986659 ] [ 0. 0. 0. 1. ]] SLAMing on 113.66925976399999 meters Centerline goodness : 0.784368 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.51, Z:1.00 [[ 0.99441546 -0.10396526 -0.01814156 -7.50754733] [ 0.10482455 0.99293657 0.05557682 9.5120836 ] [ 0.01223536 -0.05716813 0.99828959 0.99701753] [ 0. 0. 0. 1. ]] SLAMing on 113.72925976399999 meters Centerline goodness : 0.783728 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.51, Z:1.00 [[ 0.99483576 -0.09985085 -0.01821048 -7.50822708] [ 0.10076647 0.99314027 0.05931709 9.51342472] [ 0.01216269 -0.06084577 0.99807307 0.99681767] [ 0. 0. 0. 1. ]] SLAMing on 113.78925976399998 meters Centerline goodness : 0.778278 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.52, Z:1.00 [[ 0.99522095 -0.09587757 -0.01851363 -7.50895884] [ 0.09684908 0.99338176 0.06174897 9.51938831] [ 0.01247077 -0.0632469 0.99791999 0.99833085] [ 0. 0. 0. 1. ]] SLAMing on 113.84925976399998 meters Centerline goodness : 0.777871 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.52, Z:1.00 [[ 0.99523967 -0.09570002 -0.0184257 -7.50859737] [ 0.09666655 0.99339825 0.06176974 9.51945665] [ 0.01239269 -0.06325684 0.99792033 0.99766101] [ 0. 0. 0. 1. ]] SLAMing on 113.90925976399998 meters Centerline goodness : 0.776849 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.53, Z:1.00 [[ 0.99491827 -0.09889175 -0.01892225 -7.50662343] [ 0.09978631 0.99352532 0.05431514 9.5274979 ] [ 0.01342841 -0.05592731 0.99834454 1.00424573] [ 0. 0. 0. 1. ]] SLAMing on 113.96925976399999 meters Centerline goodness : 0.776609 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.53, Z:1.01 [[ 0.99485942 -0.0994943 -0.01885769 -7.50796519] [ 0.10037064 0.99352206 0.05328842 9.53009606] [ 0.01343364 -0.05490725 0.99840109 1.00597489] [ 0. 0. 0. 1. ]] SLAMing on 114.02925976399999 meters Centerline goodness : 0.776763 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.53, Z:1.01 [[ 0.99449158 -0.1030644 -0.01908468 -7.50544762] [ 0.1038926 0.99337024 0.04921281 9.53116418] [ 0.01388607 -0.05092448 0.99860597 1.00544567] [ 0. 0. 0. 1. ]] SLAMing on 114.08925976399999 meters Centerline goodness : 0.775119 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.54, Z:1.01 [[ 0.99439239 -0.10401851 -0.01907674 -7.50784082] [ 0.10481443 0.99338023 0.04700694 9.53636451] [ 0.01406087 -0.04874287 0.99871238 1.0098628 ] [ 0. 0. 0. 1. ]] SLAMing on 114.14925976399998 meters Centerline goodness : 0.774096 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.54, Z:1.01 [[ 0.99435913 -0.1043699 -0.01889009 -7.50842373] [ 0.10515009 0.99336602 0.04655554 9.53737531] [ 0.01390577 -0.04827922 0.99873708 1.01002536] [ 0. 0. 0. 1. ]] SLAMing on 114.20925976399998 meters Centerline goodness : 0.772442 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.54, Z:1.01 [[ 0.99392738 -0.10834246 -0.01924244 -7.50688445] [ 0.1090614 0.99317333 0.04138058 9.54218573] [ 0.0146278 -0.0432279 0.99895815 1.01132846] [ 0. 0. 0. 1. ]] SLAMing on 114.26925976399998 meters Centerline goodness : 0.772423 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.55, Z:1.02 [[ 0.99375849 -0.10997868 -0.0186751 -7.51135745] [ 0.1106297 0.99311932 0.03840687 9.54827994] [ 0.01432266 -0.04023317 0.99908766 1.01703646] [ 0. 0. 0. 1. ]] SLAMing on 114.32925976399999 meters Centerline goodness : 0.774198 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.55, Z:1.02 [[ 0.99370045 -0.11053324 -0.01848826 -7.51264899] [ 0.11115861 0.99310789 0.03715485 9.55187726] [ 0.01425399 -0.03897592 0.99913848 1.01855999] [ 0. 0. 0. 1. ]] SLAMing on 114.38925976399999 meters Centerline goodness : 0.772178 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.55, Z:1.02 [[ 0.99370768 -0.11046497 -0.01850756 -7.51182131] [ 0.11109043 0.99311737 0.03710533 9.55352254] [ 0.01428134 -0.03892786 0.99913996 1.01720395] [ 0. 0. 0. 1. ]] SLAMing on 114.44925976399999 meters Centerline goodness : 0.771063 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.56, Z:1.02 [[ 0.99406052 -0.10723682 -0.01854599 -7.51456485] [ 0.10790222 0.99337027 0.03965613 9.55763649] [ 0.01417044 -0.04142175 0.99904126 1.0197584 ] [ 0. 0. 0. 1. ]] SLAMing on 114.50925976399998 meters Centerline goodness : 0.772668 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.56, Z:1.02 [[ 0.99447461 -0.10334986 -0.01841357 -7.51608753] [ 0.10405922 0.99364175 0.0429855 9.55997129] [ 0.01385394 -0.04466409 0.998906 1.02019362] [ 0. 0. 0. 1. ]] SLAMing on 114.56925976399998 meters Centerline goodness : 0.769491 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.56, Z:1.02 [[ 0.99453184 -0.10281412 -0.01832168 -7.51472357] [ 0.10352358 0.99368588 0.0432578 9.55975343] [ 0.01375849 -0.04491798 0.99889593 1.0183529 ] [ 0. 0. 0. 1. ]] SLAMing on 114.62925976399998 meters Centerline goodness : 0.767315 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.56, Z:1.02 [[ 0.99444705 -0.10366491 -0.01812889 -7.51701707] [ 0.1043497 0.99364776 0.04213404 9.56120254] [ 0.01364591 -0.04379182 0.99894748 1.02116181] [ 0. 0. 0. 1. ]] SLAMing on 114.68925976399998 meters Centerline goodness : 0.768681 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.56, Z:1.02 [[ 0.99439381 -0.10419234 -0.01802496 -7.51853962] [ 0.10486377 0.99361964 0.04151632 9.56192285] [ 0.01358427 -0.04317374 0.99897522 1.02302446] [ 0. 0. 0. 1. ]] SLAMing on 114.74925976399999 meters Centerline goodness : 0.770322 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.56, Z:1.02 [[ 0.99444969 -0.10362234 -0.01822722 -7.51664431] [ 0.10430602 0.99366906 0.04173796 9.56175932] [ 0.01378684 -0.04340751 0.99896232 1.02148468] [ 0. 0. 0. 1. ]] SLAMing on 114.80925976399999 meters Centerline goodness : 0.770072 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.56, Z:1.02 [[ 0.99445361 -0.10359927 -0.01814394 -7.51673331] [ 0.10427818 0.99367554 0.04165311 9.56212723] [ 0.01371396 -0.0433141 0.99896737 1.02133418] [ 0. 0. 0. 1. ]] SLAMing on 114.86925976399999 meters Centerline goodness : 0.769233 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.56, Z:1.02 [[ 0.99435963 -0.10454536 -0.01786599 -7.51976706] [ 0.10520327 0.99360348 0.04104151 9.56124908] [ 0.01346101 -0.04268959 0.9989977 1.02444782] [ 0. 0. 0. 1. ]] SLAMing on 114.92925976399998 meters Centerline goodness : 0.769572 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.56, Z:1.02 [[ 0.99436063 -0.10458721 -0.01756306 -7.52040896] [ 0.10524019 0.99357412 0.04165292 9.55847461] [ 0.01309384 -0.04326637 0.99897776 1.02405807] [ 0. 0. 0. 1. ]] SLAMing on 114.98925976399998 meters Centerline goodness : 0.770246 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.56, Z:1.02 [[ 0.99393812 -0.10858837 -0.01719248 -7.52032679] [ 0.1091707 0.99331049 0.03763012 9.55693094] [ 0.01299128 -0.03927893 0.99914383 1.02467515] [ 0. 0. 0. 1. ]] SLAMing on 115.04925976399998 meters Centerline goodness : 0.768967 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.56, Z:1.03 [[ 0.99345803 -0.1129682 -0.01671325 -7.52171965] [ 0.1134769 0.99297579 0.03349739 9.55505279] [ 0.01281171 -0.03517482 0.99929905 1.02682988] [ 0. 0. 0. 1. ]] SLAMing on 115.10925976399999 meters Centerline goodness : 0.771213 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.55, Z:1.03 [[ 0.99334242 -0.1140348 -0.01633719 -7.52452571] [ 0.11453639 0.99283593 0.03403294 9.54964021] [ 0.01233921 -0.03567756 0.99928717 1.02832526] [ 0. 0. 0. 1. ]] SLAMing on 115.16925976399999 meters Centerline goodness : 0.771070 with order 1 Centerline is valid? [False, False] Translation: X:-7.52, Y:9.55, Z:1.03 [[ 0.99285112 -0.11830859 -0.01580283 -7.52491833] [ 0.11875004 0.99244777 0.03075459 9.5459859 ] [ 0.01204495 -0.03241132 0.99940203 1.02830515] [ 0. 0. 0. 1. ]] SLAMing on 115.22925976399999 meters Centerline goodness : 0.769024 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.54, Z:1.02 [[ 9.92464016e-01 -1.22064531e-01 -1.07437474e-02 -7.51009480e+00] [ 1.22397748e-01 9.91693265e-01 3.95380813e-02 9.54025983e+00] [ 5.82830458e-03 -4.05551335e-02 9.99160303e-01 1.02148767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28925976399998 meters Centerline goodness : 0.768433 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.54, Z:1.02 [[ 9.92469692e-01 -1.22029860e-01 -1.06124104e-02 -7.51045088e+00] [ 1.22359578e-01 9.91685304e-01 3.98546380e-02 9.53820584e+00] [ 5.66071558e-03 -4.08530504e-02 9.99149130e-01 1.02171620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34925976399998 meters Centerline goodness : 0.769178 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.53, Z:1.02 [[ 9.92540388e-01 -1.21446836e-01 -1.06885460e-02 -7.50859074e+00] [ 1.21790992e-01 9.91676109e-01 4.17785770e-02 9.53330949e+00] [ 5.52569971e-03 -4.27686937e-02 9.99069720e-01 1.01827558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40925976399998 meters Centerline goodness : 0.769054 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.53, Z:1.02 [[ 9.92557810e-01 -1.21294125e-01 -1.08041493e-02 -7.50837870e+00] [ 1.21641694e-01 9.91706755e-01 4.14850567e-02 9.53436691e+00] [ 5.68265423e-03 -4.24905520e-02 9.99080708e-01 1.01875005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46925976399999 meters Centerline goodness : 0.768039 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.54, Z:1.02 [[ 9.92555148e-01 -1.21311513e-01 -1.08533709e-02 -7.50902717e+00] [ 1.21657183e-01 9.91733407e-01 4.07968115e-02 9.53561114e+00] [ 5.81452756e-03 -4.18134758e-02 9.99108515e-01 1.02060142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52925976399999 meters Centerline goodness : 0.769023 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.54, Z:1.02 [[ 9.92559842e-01 -1.21262183e-01 -1.09746590e-02 -7.50913356e+00] [ 1.21612152e-01 9.91744552e-01 4.06599195e-02 9.53572063e+00] [ 5.95354767e-03 -4.16920552e-02 9.99112770e-01 1.02146406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58925976399999 meters Centerline goodness : 0.772200 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.54, Z:1.02 [[ 9.92552356e-01 -1.21318462e-01 -1.10295563e-02 -7.50926380e+00] [ 1.21669063e-01 9.91748493e-01 4.03926413e-02 9.53652322e+00] [ 6.03817270e-03 -4.14337671e-02 9.99123007e-01 1.02190766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64925976399998 meters Centerline goodness : 0.771019 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.54, Z:1.02 [[ 9.92613261e-01 -1.20801920e-01 -1.12164835e-02 -7.50806438e+00] [ 1.21162540e-01 9.91798342e-01 4.06901534e-02 9.53570520e+00] [ 6.20904113e-03 -4.17486035e-02 9.99108854e-01 1.02167566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70925976399998 meters Centerline goodness : 0.768417 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.53, Z:1.02 [[ 9.93072588e-01 -1.16976016e-01 -1.11106939e-02 -7.51031098e+00] [ 1.17359452e-01 9.92083842e-01 4.46812080e-02 9.53369768e+00] [ 5.79611015e-03 -4.56756278e-02 9.98939509e-01 1.02293119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76925976399998 meters Centerline goodness : 0.771931 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.53, Z:1.02 [[ 9.93039004e-01 -1.17280459e-01 -1.09009464e-02 -7.51181780e+00] [ 1.17649843e-01 9.92082569e-01 4.39396234e-02 9.53452225e+00] [ 5.66137973e-03 -4.49162545e-02 9.98974714e-01 1.02490329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82925976399999 meters Centerline goodness : 0.773314 with order 1 Centerline is valid? [False, False] Translation: X:-7.51, Y:9.53, Z:1.02 [[ 9.93055072e-01 -1.17154164e-01 -1.07946828e-02 -7.51195457e+00] [ 1.17525207e-01 9.92045860e-01 4.50870018e-02 9.53024142e+00] [ 5.42669040e-03 -4.60425231e-02 9.98924740e-01 1.02449826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88925976399999 meters Centerline goodness : 0.772544 with order 1 Centerline is valid? [False, False] Translation: X:-7.50, Y:9.52, Z:1.02 [[ 9.92410673e-01 -1.22832856e-01 -5.75728986e-03 -7.49823258e+00] [ 1.22965077e-01 9.90994925e-01 5.29966897e-02 9.52207862e+00] [-8.04289724e-04 -5.33024260e-02 9.98578091e-01 1.01777608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94925976399999 meters Centerline goodness : 0.772779 with order 1 Centerline is valid? [False, False] Translation: X:-7.49, Y:9.52, Z:1.01 [[ 9.91119983e-01 -1.32970488e-01 -1.68029555e-04 -7.48667069e+00] [ 1.32767075e-01 9.89532341e-01 5.65566088e-02 9.51581481e+00] [-7.35408920e-03 -5.60766939e-02 9.98399380e-01 1.01378306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00925976399998 meters Centerline goodness : 0.771051 with order 1 Centerline is valid? [False, False] Translation: X:-7.48, Y:9.51, Z:1.03 [[ 0.99017354 -0.13872924 -0.01762266 -7.48359798] [ 0.13948721 0.98877021 0.05363577 9.50547042] [ 0.00998392 -0.05556685 0.99840505 1.03240781] [ 0. 0. 0. 1. ]] SLAMing on 116.06925976399998 meters Centerline goodness : 0.772041 with order 1 Centerline is valid? [False, False] Translation: X:-7.47, Y:9.50, Z:1.03 [[ 9.89632934e-01 -1.42922849e-01 -1.41320831e-02 -7.46527855e+00] [ 1.43525671e-01 9.87747177e-01 6.12853693e-02 9.50015190e+00] [ 5.19984561e-03 -6.26783365e-02 9.98020234e-01 1.02678771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12925976399998 meters Centerline goodness : 0.774752 with order 1 Centerline is valid? [False, False] Translation: X:-7.44, Y:9.50, Z:1.02 [[ 9.89301973e-01 -1.45546896e-01 -9.88472738e-03 -7.43981549e+00] [ 1.45882120e-01 9.87082531e-01 6.62305377e-02 9.49654705e+00] [ 1.17392537e-04 -6.69640066e-02 9.97755385e-01 1.02319289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18925976399998 meters Centerline goodness : 0.774635 with order 1 Centerline is valid? [False, False] Translation: X:-7.44, Y:9.49, Z:1.03 [[ 0.98993111 -0.13926707 -0.02531952 -7.43793733] [ 0.14064911 0.98791553 0.0651209 9.48993009] [ 0.01594435 -0.06802637 0.99755611 1.0344128 ] [ 0. 0. 0. 1. ]] SLAMing on 116.24925976399999 meters Centerline goodness : 0.776467 with order 1 Centerline is valid? [False, False] Translation: X:-7.44, Y:9.49, Z:1.04 [[ 0.98932247 -0.14358774 -0.02497225 -7.43849856] [ 0.14485233 0.98764948 0.05971855 9.4929723 ] [ 0.01608898 -0.06269819 0.99790284 1.03747144] [ 0. 0. 0. 1. ]] SLAMing on 116.30925976399999 meters Centerline goodness : 0.774914 with order 1 Centerline is valid? [False, False] Translation: X:-7.40, Y:9.48, Z:1.02 [[ 9.88947209e-01 -1.47440228e-01 -1.56459600e-02 -7.39858096e+00] [ 1.48219721e-01 9.85799306e-01 7.89344151e-02 9.48045729e+00] [ 3.78566836e-03 -8.03810094e-02 9.96757023e-01 1.02466744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36925976399999 meters Centerline goodness : 0.772813 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.48, Z:1.02 [[ 9.88769732e-01 -1.48941895e-01 -1.22771620e-02 -7.37700660e+00] [ 1.49445553e-01 9.85051685e-01 8.56691620e-02 9.47703240e+00] [-6.66088223e-04 -8.65418416e-02 9.96247994e-01 1.02219315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42925976399998 meters Centerline goodness : 0.773501 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.46, Z:1.00 [[ 9.87762898e-01 -1.55962224e-01 -4.91342878e-04 -7.32871447e+00] [ 1.54889392e-01 9.80589535e-01 1.20222462e-01 9.45806193e+00] [-1.82683569e-02 -1.18827391e-01 9.92746855e-01 1.00068173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48925976399998 meters Centerline goodness : 0.772638 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.45, Z:1.02 [[ 9.88581854e-01 -1.49901702e-01 -1.53426721e-02 -7.32913671e+00] [ 1.50658790e-01 9.81381318e-01 1.19132859e-01 9.45241687e+00] [-2.80120663e-03 -1.20084091e-01 9.92759772e-01 1.01880035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54925976399998 meters Centerline goodness : 0.771354 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.45, Z:1.03 [[ 0.98916408 -0.14344092 -0.03129103 -7.326696 ] [ 0.14620491 0.98182327 0.12102555 9.44660421] [ 0.01336224 -0.12428903 0.99215608 1.02975811] [ 0. 0. 0. 1. ]] SLAMing on 116.60925976399999 meters Centerline goodness : 0.772298 with order 1 Centerline is valid? [False, False] Translation: X:-7.28, Y:9.41, Z:0.99 [[ 0.98817411 -0.15284658 -0.0122415 -7.2776316 ] [ 0.15226756 0.96874826 0.19580958 9.40916983] [-0.01806989 -0.19535794 0.98056553 0.98874518] [ 0. 0. 0. 1. ]] SLAMing on 116.66925976399999 meters Centerline goodness : 0.773004 with order 1 Centerline is valid? [False, False] Translation: X:-7.28, Y:9.41, Z:1.01 [[ 9.88987161e-01 -1.46323289e-01 -2.22236261e-02 -7.28252435e+00] [ 1.47859528e-01 9.70265539e-01 1.91630747e-01 9.41082059e+00] [-6.47722264e-03 -1.92806323e-01 9.81215454e-01 1.00678678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72925976399999 meters Centerline goodness : 0.773327 with order 1 Centerline is valid? [False, False] Translation: X:-7.23, Y:9.39, Z:0.98 [[ 9.88162500e-01 -1.53349764e-01 -4.32702266e-03 -7.22561090e+00] [ 1.49895551e-01 9.59132266e-01 2.39992960e-01 9.38860268e+00] [-3.26526769e-02 -2.37800645e-01 9.70764985e-01 9.79574140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78925976399998 meters Centerline goodness : 0.776473 with order 1 Centerline is valid? [False, False] Translation: X:-7.23, Y:9.39, Z:1.00 [[ 0.9891607 -0.14587707 -0.01676295 -7.22984027] [ 0.14568733 0.96074169 0.23611566 9.39038178] [-0.018339 -0.23599848 0.97158036 0.99600197] [ 0. 0. 0. 1. ]] SLAMing on 116.84925976399998 meters Centerline goodness : 0.775868 with order 1 Centerline is valid? [False, False] Translation: X:-7.23, Y:9.39, Z:1.00 [[ 0.98958985 -0.14299269 -0.01627953 -7.23465744] [ 0.14281743 0.9617774 0.23363951 9.39437709] [-0.01775146 -0.23353229 0.972187 1.00041556] [ 0. 0. 0. 1. ]] SLAMing on 116.90925976399998 meters Centerline goodness : 0.775217 with order 1 Centerline is valid? [False, False] Translation: X:-7.24, Y:9.40, Z:1.02 [[ 9.89928376e-01 -1.38463413e-01 -2.94905662e-02 -7.23766608e+00] [ 1.41530224e-01 9.63064249e-01 2.29077386e-01 9.39589903e+00] [-3.31752672e-03 -2.30944011e-01 9.72961386e-01 1.01938229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96925976399999 meters Centerline goodness : 0.773689 with order 1 Centerline is valid? [False, False] Translation: X:-7.24, Y:9.41, Z:1.03 [[ 9.90503235e-01 -1.33475105e-01 -3.29808766e-02 -7.24401283e+00] [ 1.37441448e-01 9.67584162e-01 2.11874343e-01 9.41140534e+00] [ 3.63182385e-03 -2.14395161e-01 9.76740254e-01 1.03216954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02925976399999 meters Centerline goodness : 0.773764 with order 1 Centerline is valid? [False, False] Translation: X:-7.25, Y:9.42, Z:1.04 [[ 0.99074588 -0.13061036 -0.03692617 -7.24575832] [ 0.13530613 0.97188114 0.19271559 9.4246955 ] [ 0.01071719 -0.19592852 0.98055961 1.04286186] [ 0. 0. 0. 1. ]] SLAMing on 117.08925976399999 meters Centerline goodness : 0.770636 with order 1 Centerline is valid? [False, False] Translation: X:-7.26, Y:9.44, Z:1.06 [[ 0.99089759 -0.12840433 -0.0404264 -7.25807561] [ 0.13355272 0.97538487 0.17546517 9.43819513] [ 0.01690081 -0.17926707 0.98365526 1.05751203] [ 0. 0. 0. 1. ]] SLAMing on 117.14925976399998 meters Centerline goodness : 0.771077 with order 1 Centerline is valid? [False, False] Translation: X:-7.24, Y:9.45, Z:1.07 [[ 0.99091478 -0.12882314 -0.03863293 -7.24019465] [ 0.13343202 0.97765832 0.16241952 9.44577365] [ 0.01684642 -0.16609877 0.98596521 1.06691837] [ 0. 0. 0. 1. ]] SLAMing on 117.20925976399998 meters Centerline goodness : 0.771733 with order 1 Centerline is valid? [False, False] Translation: X:-7.25, Y:9.45, Z:1.08 [[ 0.99060982 -0.12985034 -0.04279097 -7.24989827] [ 0.13474065 0.98027952 0.14455802 9.45467539] [ 0.02317621 -0.14896628 0.98857064 1.0775841 ] [ 0. 0. 0. 1. ]] SLAMing on 117.26925976399998 meters Centerline goodness : 0.771912 with order 1 Centerline is valid? [False, False] Translation: X:-7.26, Y:9.47, Z:1.09 [[ 0.99081118 -0.12665162 -0.04746128 -7.26161229] [ 0.13186103 0.98262895 0.13058722 9.4659063 ] [ 0.03009774 -0.13564557 0.99030016 1.08856098] [ 0. 0. 0. 1. ]] SLAMing on 117.32925976399999 meters Centerline goodness : 0.770818 with order 1 Centerline is valid? [False, False] Translation: X:-7.26, Y:9.47, Z:1.09 [[ 0.99035261 -0.1298008 -0.04851252 -7.25775281] [ 0.13491424 0.98309067 0.12381797 9.47270961] [ 0.03162053 -0.12916848 0.99111838 1.09301188] [ 0. 0. 0. 1. ]] SLAMing on 117.38925976399999 meters Centerline goodness : 0.769519 with order 1 Centerline is valid? [False, False] Translation: X:-7.27, Y:9.48, Z:1.10 [[ 0.99006336 -0.13022042 -0.05307714 -7.27464497] [ 0.13542271 0.98461803 0.1103994 9.48264438] [ 0.03788445 -0.11649025 0.99246904 1.1017203 ] [ 0. 0. 0. 1. ]] SLAMing on 117.44925976399999 meters Centerline goodness : 0.768900 with order 1 Centerline is valid? [False, False] Translation: X:-7.27, Y:9.49, Z:1.10 [[ 0.99008154 -0.12965608 -0.05410953 -7.27213277] [ 0.13492523 0.98484705 0.10895625 9.48850292] [ 0.03916277 -0.11517631 0.99257277 1.10291695] [ 0. 0. 0. 1. ]] SLAMing on 117.50925976399998 meters Centerline goodness : 0.768109 with order 1 Centerline is valid? [False, False] Translation: X:-7.28, Y:9.49, Z:1.10 [[ 0.99067478 -0.12665803 -0.05021171 -7.27924499] [ 0.13147176 0.98538415 0.10832017 9.49355469] [ 0.03575821 -0.11391149 0.99284718 1.10457479] [ 0. 0. 0. 1. ]] SLAMing on 117.56925976399998 meters Centerline goodness : 0.767777 with order 1 Centerline is valid? [False, False] Translation: X:-7.28, Y:9.50, Z:1.11 [[ 0.99063874 -0.12657964 -0.05111251 -7.27733898] [ 0.13139769 0.9856836 0.10565271 9.50010843] [ 0.03700728 -0.11137974 0.99308862 1.10767061] [ 0. 0. 0. 1. ]] SLAMing on 117.62925976399998 meters Centerline goodness : 0.768517 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.51, Z:1.12 [[ 0.99048431 -0.12560323 -0.05625536 -7.29201033] [ 0.13045328 0.9870844 0.0929856 9.51034291] [ 0.0438495 -0.09943948 0.99407696 1.11573613] [ 0. 0. 0. 1. ]] SLAMing on 117.68925976399998 meters Centerline goodness : 0.771662 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.52, Z:1.12 [[ 0.99058037 -0.12454708 -0.05690834 -7.28940285] [ 0.12941005 0.98733787 0.09174409 9.517119 ] [ 0.0447613 -0.09824441 0.99415515 1.11609497] [ 0. 0. 0. 1. ]] SLAMing on 117.74925976399999 meters Centerline goodness : 0.771740 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.52, Z:1.12 [[ 0.99060595 -0.12415657 -0.05731487 -7.28816302] [ 0.12900029 0.98751414 0.09041428 9.52222991] [ 0.04537371 -0.09695855 0.99425362 1.11690905] [ 0. 0. 0. 1. ]] SLAMing on 117.80925976399999 meters Centerline goodness : 0.770438 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.53, Z:1.12 [[ 0.99065852 -0.12378052 -0.05721954 -7.28776876] [ 0.12856183 0.98767951 0.08922462 9.52649989] [ 0.04547029 -0.09574738 0.99436658 1.11735591] [ 0. 0. 0. 1. ]] SLAMing on 117.86925976399998 meters Centerline goodness : 0.772826 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.53, Z:1.12 [[ 0.99060029 -0.12436262 -0.05696487 -7.28929794] [ 0.1290713 0.98770477 0.08820363 9.52897924] [ 0.04529524 -0.09472707 0.99447228 1.11867594] [ 0. 0. 0. 1. ]] SLAMing on 117.92925976399998 meters Centerline goodness : 0.771303 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.54, Z:1.12 [[ 0.9900838 -0.12834103 -0.0571196 -7.28876302] [ 0.13273543 0.98781395 0.08127058 9.53702098] [ 0.04599319 -0.08804648 0.99505399 1.12353755] [ 0. 0. 0. 1. ]] SLAMing on 117.98925976399998 meters Centerline goodness : 0.772092 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.54, Z:1.12 [[ 0.99012775 -0.12797275 -0.05718398 -7.28784914] [ 0.13236633 0.98787651 0.08111195 9.53778059] [ 0.04611059 -0.08788043 0.99506324 1.12310334] [ 0. 0. 0. 1. ]] SLAMing on 118.04925976399998 meters Centerline goodness : 0.772781 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.54, Z:1.12 [[ 0.99014567 -0.12782517 -0.0572039 -7.28729185] [ 0.13222729 0.98788371 0.08125097 9.53762822] [ 0.04612488 -0.08801421 0.99505075 1.12239167] [ 0. 0. 0. 1. ]] SLAMing on 118.10925976399999 meters Centerline goodness : 0.773916 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.54, Z:1.12 [[ 0.98962255 -0.1317484 -0.05735473 -7.28550564] [ 0.13594373 0.9877426 0.07670626 9.53915567] [ 0.04654579 -0.08370726 0.99540272 1.12347534] [ 0. 0. 0. 1. ]] SLAMing on 118.16925976399999 meters Centerline goodness : 0.774337 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.54, Z:1.13 [[ 0.98898297 -0.13676934 -0.05662896 -7.28726911] [ 0.14066883 0.98744935 0.0718057 9.54005342] [ 0.04609741 -0.07898054 0.99580977 1.12545783] [ 0. 0. 0. 1. ]] SLAMing on 118.22925976399999 meters Centerline goodness : 0.774771 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.55, Z:1.13 [[ 0.988317 -0.14167664 -0.05618935 -7.2890233 ] [ 0.145235 0.98723964 0.06530455 9.54506335] [ 0.04622022 -0.07270226 0.99628212 1.13025864] [ 0. 0. 0. 1. ]] SLAMing on 118.28925976399998 meters Centerline goodness : 0.776038 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.55, Z:1.13 [[ 0.98832529 -0.14167108 -0.05605737 -7.28939639] [ 0.14518697 0.98729338 0.06459516 9.54749777] [ 0.04619381 -0.07197983 0.99633581 1.13081634] [ 0. 0. 0. 1. ]] SLAMing on 118.34925976399998 meters Centerline goodness : 0.774172 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.55, Z:1.13 [[ 0.98834292 -0.14156672 -0.05601023 -7.28892711] [ 0.14508105 0.98730649 0.06463271 9.54790899] [ 0.04614943 -0.0720053 0.99633602 1.1299934 ] [ 0. 0. 0. 1. ]] SLAMing on 118.40925976399998 meters Centerline goodness : 0.775581 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.55, Z:1.13 [[ 0.98825432 -0.14234632 -0.05559602 -7.29097627] [ 0.14577848 0.98727646 0.06351242 9.55016237] [ 0.04584788 -0.07087113 0.99643126 1.13148822] [ 0. 0. 0. 1. ]] SLAMing on 118.46925976399999 meters Centerline goodness : 0.773852 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.56, Z:1.13 [[ 0.98823007 -0.14243144 -0.05580871 -7.29050292] [ 0.14582455 0.9873441 0.06234449 9.55602465] [ 0.04622259 -0.06974898 0.99649313 1.13174098] [ 0. 0. 0. 1. ]] SLAMing on 118.52925976399999 meters Centerline goodness : 0.774597 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.56, Z:1.13 [[ 0.98884106 -0.13802017 -0.05606951 -7.29040486] [ 0.14160407 0.98772368 0.06595617 9.55875216] [ 0.0462779 -0.07315984 0.99624595 1.1305396 ] [ 0. 0. 0. 1. ]] SLAMing on 118.58925976399999 meters Centerline goodness : 0.772331 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.56, Z:1.13 [[ 0.98946267 -0.13332123 -0.0564719 -7.28983075] [ 0.13708503 0.98814997 0.0690458 9.56407371] [ 0.04659744 -0.0760597 0.99601386 1.13000491] [ 0. 0. 0. 1. ]] SLAMing on 118.64925976399998 meters Centerline goodness : 0.771851 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.58, Z:1.14 [[ 0.99022478 -0.12581494 -0.06021196 -7.3002717 ] [ 0.12927966 0.98993467 0.05758581 9.57603826] [ 0.05236075 -0.06480708 0.99652315 1.1409511 ] [ 0. 0. 0. 1. ]] SLAMing on 118.70925976399998 meters Centerline goodness : 0.768047 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.58, Z:1.14 [[ 0.99022102 -0.12578425 -0.0603379 -7.2998978 ] [ 0.12921634 0.98998768 0.05681131 9.57857239] [ 0.05258781 -0.0640524 0.99655999 1.14139968] [ 0. 0. 0. 1. ]] SLAMing on 118.76925976399998 meters Centerline goodness : 0.768600 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.58, Z:1.14 [[ 0.99019796 -0.12597798 -0.06031206 -7.30021735] [ 0.12938585 0.98998995 0.05638448 9.58019839] [ 0.05260513 -0.06363533 0.99658579 1.14169079] [ 0. 0. 0. 1. ]] SLAMing on 118.82925976399999 meters Centerline goodness : 0.767767 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.58, Z:1.14 [[ 0.99012624 -0.12660346 -0.06017961 -7.30151609] [ 0.12996347 0.98995647 0.05563888 9.58257793] [ 0.05253111 -0.06291067 0.99663571 1.14263807] [ 0. 0. 0. 1. ]] SLAMing on 118.88925976399999 meters Centerline goodness : 0.766871 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.59, Z:1.14 [[ 0.98958948 -0.13075392 -0.06013375 -7.30065792] [ 0.13381421 0.98974287 0.05002804 9.58826932] [ 0.05297559 -0.05755397 0.99693587 1.14453777] [ 0. 0. 0. 1. ]] SLAMing on 118.94925976399999 meters Centerline goodness : 0.764666 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.60, Z:1.15 [[ 0.9890695 -0.13474442 -0.05987877 -7.30061316] [ 0.13745396 0.98954424 0.04368753 9.59565663] [ 0.05336604 -0.05144058 0.99724918 1.14837232] [ 0. 0. 0. 1. ]] SLAMing on 119.00925976399998 meters Centerline goodness : 0.765382 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.60, Z:1.15 [[ 0.9889874 -0.13525944 -0.06007332 -7.30134609] [ 0.13790579 0.98954076 0.04232108 9.59984469] [ 0.05372067 -0.05013947 0.99729641 1.15029935] [ 0. 0. 0. 1. ]] SLAMing on 119.06925976399998 meters Centerline goodness : 0.765363 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.60, Z:1.15 [[ 0.98897531 -0.13526616 -0.06025691 -7.30072601] [ 0.13787705 0.98957976 0.0414947 9.60425315] [ 0.05401619 -0.04934528 0.99732006 1.1502632 ] [ 0. 0. 0. 1. ]] SLAMing on 119.12925976399998 meters Centerline goodness : 0.765251 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.61, Z:1.15 [[ 0.98901245 -0.1349555 -0.06034386 -7.29982856] [ 0.13753742 0.98965238 0.04088555 9.6073882 ] [ 0.05420171 -0.04873586 0.99733996 1.15007477] [ 0. 0. 0. 1. ]] SLAMing on 119.18925976399998 meters Centerline goodness : 0.763779 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.61, Z:1.15 [[ 0.98896261 -0.13536816 -0.06023636 -7.30113692] [ 0.137852 0.9896779 0.03917232 9.6122732 ] [ 0.05431191 -0.04704366 0.99741521 1.15257477] [ 0. 0. 0. 1. ]] SLAMing on 119.24925976399999 meters Centerline goodness : 0.762839 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.61, Z:1.15 [[ 0.98896621 -0.13541373 -0.0600746 -7.30159696] [ 0.13789078 0.98967191 0.0391872 9.61160116] [ 0.05414766 -0.04703855 0.99742439 1.15277357] [ 0. 0. 0. 1. ]] SLAMing on 119.30925976399999 meters Centerline goodness : 0.764175 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.61, Z:1.15 [[ 0.98896056 -0.13542954 -0.06013197 -7.30177924] [ 0.13788196 0.98969293 0.0386842 9.61335499] [ 0.05427321 -0.04654827 0.99744056 1.15366443] [ 0. 0. 0. 1. ]] SLAMing on 119.36925976399998 meters Centerline goodness : 0.763619 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.61, Z:1.15 [[ 0.98941089 -0.13255599 -0.05911849 -7.30373061] [ 0.13501608 0.99004581 0.03974864 9.61333849] [ 0.05326109 -0.04730968 0.9974593 1.15255595] [ 0. 0. 0. 1. ]] SLAMing on 119.42925976399998 meters Centerline goodness : 0.763702 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.61, Z:1.15 [[ 0.99020796 -0.12712757 -0.0576782 -7.30474348] [ 0.12951527 0.99078125 0.03972792 9.61419156] [ 0.05209597 -0.04680911 0.99754444 1.14821168] [ 0. 0. 0. 1. ]] SLAMing on 119.48925976399998 meters Centerline goodness : 0.764471 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.61, Z:1.15 [[ 0.99079942 -0.12232243 -0.05791138 -7.30382588] [ 0.12498143 0.99114921 0.04475364 9.6125868 ] [ 0.05192444 -0.05157973 0.9973181 1.14551971] [ 0. 0. 0. 1. ]] SLAMing on 119.54925976399998 meters Centerline goodness : 0.763906 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.61, Z:1.14 [[ 0.99132665 -0.11802818 -0.05779985 -7.30456645] [ 0.12091248 0.99144145 0.0492344 9.61186896] [ 0.05149413 -0.05579609 0.99711341 1.14394173] [ 0. 0. 0. 1. ]] SLAMing on 119.60925976399999 meters Centerline goodness : 0.763160 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.61, Z:1.14 [[ 0.99131653 -0.1181659 -0.0576919 -7.30483024] [ 0.12101062 0.99146158 0.04858357 9.61449261] [ 0.05145838 -0.05514303 0.99715158 1.14413281] [ 0. 0. 0. 1. ]] SLAMing on 119.66925976399999 meters Centerline goodness : 0.765432 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.62, Z:1.15 [[ 0.99129192 -0.11835985 -0.05771727 -7.30559912] [ 0.12112213 0.99152611 0.04696176 9.61885096] [ 0.0516698 -0.05354365 0.99722781 1.14665613] [ 0. 0. 0. 1. ]] SLAMing on 119.72925976399999 meters Centerline goodness : 0.764324 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.62, Z:1.15 [[ 0.99125141 -0.1187021 -0.05771009 -7.30665733] [ 0.12138159 0.9915684 0.04537202 9.62313687] [ 0.05183775 -0.05198003 0.99730182 1.14920947] [ 0. 0. 0. 1. ]] SLAMing on 119.78925976399998 meters Centerline goodness : 0.765264 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.62, Z:1.15 [[ 0.99127167 -0.11860233 -0.05756709 -7.30640846] [ 0.12128202 0.99157378 0.04552034 9.6229528 ] [ 0.0516832 -0.05210487 0.99730333 1.14833621] [ 0. 0. 0. 1. ]] SLAMing on 119.84925976399998 meters Centerline goodness : 0.764432 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.62, Z:1.15 [[ 0.99123218 -0.11922271 -0.0569623 -7.30901862] [ 0.12185459 0.99151824 0.04520002 9.62185022] [ 0.0510903 -0.05174483 0.99735262 1.14966891] [ 0. 0. 0. 1. ]] SLAMing on 119.90925976399998 meters Centerline goodness : 0.766145 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.62, Z:1.15 [[ 0.99121622 -0.11960399 -0.05643842 -7.31089003] [ 0.12222929 0.99145358 0.04560472 9.61858282] [ 0.05050157 -0.05210256 0.99736398 1.14991476] [ 0. 0. 0. 1. ]] SLAMing on 119.96925976399999 meters Centerline goodness : 0.765256 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.61, Z:1.15 [[ 0.99119338 -0.11999566 -0.05600642 -7.31257753] [ 0.12262656 0.99137862 0.04616445 9.6148876 ] [ 0.04998404 -0.05262578 0.99736258 1.15001071] [ 0. 0. 0. 1. ]] SLAMing on 120.02925976399999 meters Centerline goodness : 0.763969 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.61, Z:1.15 [[ 0.99116354 -0.12056243 -0.05531316 -7.31523282] [ 0.12317278 0.99129584 0.0464868 9.61063636] [ 0.04922714 -0.0528891 0.9973863 1.15102024] [ 0. 0. 0. 1. ]] SLAMing on 120.08925976399999 meters Centerline goodness : 0.762893 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.61, Z:1.15 [[ 0.99112487 -0.1213063 -0.05437168 -7.31872365] [ 0.12386465 0.99121175 0.04644159 9.60744681] [ 0.04826019 -0.05276414 0.99744017 1.15241316] [ 0. 0. 0. 1. ]] SLAMing on 120.14925976399998 meters Centerline goodness : 0.762909 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.60, Z:1.15 [[ 0.99106209 -0.12215868 -0.05360218 -7.32211408] [ 0.12467539 0.9911111 0.04642015 9.60414932] [ 0.04745509 -0.05268813 0.99748282 1.1540566 ] [ 0. 0. 0. 1. ]] SLAMing on 120.20925976399998 meters Centerline goodness : 0.763857 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.60, Z:1.15 [[ 0.99103313 -0.1225244 -0.05330198 -7.32370409] [ 0.12504157 0.99104874 0.04676545 9.60122064] [ 0.04709495 -0.05301107 0.99748278 1.15476237] [ 0. 0. 0. 1. ]] SLAMing on 120.26925976399998 meters Centerline goodness : 0.766355 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.60, Z:1.15 [[ 0.99055723 -0.12647253 -0.05292521 -7.32272826] [ 0.12882031 0.99071007 0.04357616 9.59843084] [ 0.04692236 -0.04998252 0.99764725 1.15387021] [ 0. 0. 0. 1. ]] SLAMing on 120.32925976399999 meters Centerline goodness : 0.766317 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.59, Z:1.15 [[ 0.99053416 -0.12687699 -0.05238617 -7.32501163] [ 0.12921582 0.99064145 0.04396341 9.59429892] [ 0.04631796 -0.05031638 0.99765871 1.15499976] [ 0. 0. 0. 1. ]] SLAMing on 120.38925976399999 meters Centerline goodness : 0.764076 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.59, Z:1.16 [[ 0.99047743 -0.12746167 -0.05203832 -7.32756601] [ 0.12974483 0.99060872 0.04313518 9.59475392] [ 0.04605154 -0.04947612 0.99771307 1.15767711] [ 0. 0. 0. 1. ]] SLAMing on 120.44925976399999 meters Centerline goodness : 0.765625 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.59, Z:1.16 [[ 0.9905622 -0.12684362 -0.05193483 -7.32644719] [ 0.12916676 0.99064102 0.04411703 9.5912144 ] [ 0.04585281 -0.05040892 0.99767553 1.15597318] [ 0. 0. 0. 1. ]] SLAMing on 120.50925976399998 meters Centerline goodness : 0.763661 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.59, Z:1.16 [[ 0.99054754 -0.12700626 -0.0518169 -7.3271387 ] [ 0.12929344 0.99065341 0.04346293 9.59250733] [ 0.04581252 -0.04975168 0.99771037 1.15701336] [ 0. 0. 0. 1. ]] SLAMing on 120.56925976399998 meters Centerline goodness : 0.762904 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.59, Z:1.16 [[ 0.99098621 -0.12377685 -0.05124074 -7.33167248] [ 0.12618761 0.99090038 0.0468309 9.59227987] [ 0.04497789 -0.05287472 0.99758772 1.15916008] [ 0. 0. 0. 1. ]] SLAMing on 120.62925976399998 meters Centerline goodness : 0.758664 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.59, Z:1.16 [[ 0.99097668 -0.12398612 -0.05091809 -7.33268926] [ 0.12637728 0.99087882 0.04677543 9.5913443 ] [ 0.04465415 -0.05278825 0.99760684 1.15955217] [ 0. 0. 0. 1. ]] SLAMing on 120.68925976399998 meters Centerline goodness : 0.760412 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.59, Z:1.16 [[ 0.99097457 -0.12410782 -0.05066222 -7.33334427] [ 0.12649445 0.99085428 0.04697818 9.59010816] [ 0.04436852 -0.05296267 0.99761034 1.15935827] [ 0. 0. 0. 1. ]] SLAMing on 120.74925976399999 meters Centerline goodness : 0.761599 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.16 [[ 0.99090653 -0.12494082 -0.04994034 -7.33662221] [ 0.12727482 0.99076971 0.04665293 9.5881527 ] [ 0.04365052 -0.05258484 0.997662 1.16126922] [ 0. 0. 0. 1. ]] SLAMing on 120.80925976399999 meters Centerline goodness : 0.760628 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.16 [[ 0.9903076 -0.1297612 -0.04952656 -7.33787196] [ 0.13184305 0.99040709 0.0413668 9.59059076] [ 0.04368365 -0.04749559 0.99791578 1.16392288] [ 0. 0. 0. 1. ]] SLAMing on 120.86925976399998 meters Centerline goodness : 0.760266 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.16 [[ 0.99027274 -0.13018108 -0.04912012 -7.33929567] [ 0.13226606 0.99032891 0.04188482 9.58753211] [ 0.04319247 -0.04797432 0.99791426 1.16386124] [ 0. 0. 0. 1. ]] SLAMing on 120.92925976399998 meters Centerline goodness : 0.760328 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.17 [[ 0.99024093 -0.13055136 -0.0487774 -7.34097107] [ 0.13260336 0.9903 0.04150001 9.58738201] [ 0.04288637 -0.04756305 0.99794715 1.16511049] [ 0. 0. 0. 1. ]] SLAMing on 120.98925976399998 meters Centerline goodness : 0.759380 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.17 [[ 0.99023108 -0.13081061 -0.04828034 -7.34291099] [ 0.13282663 0.9902822 0.04120994 9.58593596] [ 0.04242047 -0.04722028 0.99798334 1.16664176] [ 0. 0. 0. 1. ]] SLAMing on 121.04925976399998 meters Centerline goodness : 0.761867 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.59, Z:1.17 [[ 0.99018204 -0.13140844 -0.04765871 -7.34536846] [ 0.13338029 0.99022241 0.04085682 9.58513622] [ 0.0418238 -0.04681242 0.99802774 1.16787046] [ 0. 0. 0. 1. ]] SLAMing on 121.10925976399999 meters Centerline goodness : 0.762318 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.58, Z:1.17 [[ 0.99011255 -0.13210349 -0.04717842 -7.34728751] [ 0.13406004 0.99012342 0.04103066 9.5837536 ] [ 0.04129216 -0.04694971 0.99804343 1.16814045] [ 0. 0. 0. 1. ]] SLAMing on 121.16925976399999 meters Centerline goodness : 0.763335 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.58, Z:1.17 [[ 0.99008156 -0.13232238 -0.04721543 -7.3477104 ] [ 0.13426118 0.99011554 0.04056044 9.58491467] [ 0.04138168 -0.04649734 0.9980609 1.16895705] [ 0. 0. 0. 1. ]] SLAMing on 121.22925976399998 meters Centerline goodness : 0.763700 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.59, Z:1.17 [[ 0.99016017 -0.1315655 -0.04767975 -7.34584948] [ 0.1335067 0.99023619 0.04010287 9.58848464] [ 0.04193806 -0.04607383 0.99805731 1.16879897] [ 0. 0. 0. 1. ]] SLAMing on 121.28925976399998 meters Centerline goodness : 0.762208 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.59, Z:1.17 [[ 0.99015285 -0.13163775 -0.04763239 -7.34609854] [ 0.13354859 0.99025748 0.03943218 9.59060404] [ 0.04197757 -0.04540512 0.9980863 1.16941295] [ 0. 0. 0. 1. ]] SLAMing on 121.34925976399998 meters Centerline goodness : 0.762453 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.59, Z:1.17 [[ 0.99076308 -0.12691098 -0.04777163 -7.34592704] [ 0.12902446 0.99066005 0.04410627 9.5888664 ] [ 0.04172788 -0.04986257 0.99788402 1.16790013] [ 0. 0. 0. 1. ]] SLAMing on 121.40925976399998 meters Centerline goodness : 0.761692 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.59, Z:1.17 [[ 0.99074999 -0.12698415 -0.04784863 -7.3460911 ] [ 0.12907653 0.99067956 0.04351162 9.59067573] [ 0.04187737 -0.04928527 0.99790643 1.16877848] [ 0. 0. 0. 1. ]] SLAMing on 121.46925976399999 meters Centerline goodness : 0.764233 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.59, Z:1.17 [[ 0.99071672 -0.12727826 -0.04775584 -7.34732937] [ 0.12935236 0.99065787 0.04318514 9.59003868] [ 0.04181316 -0.04896157 0.99792506 1.17044085] [ 0. 0. 0. 1. ]] SLAMing on 121.52925976399999 meters Centerline goodness : 0.764542 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.59, Z:1.17 [[ 0.9907345 -0.1272164 -0.04755154 -7.34789092] [ 0.129292 0.99065367 0.04346139 9.58848827] [ 0.0415781 -0.04920673 0.99792282 1.17053807] [ 0. 0. 0. 1. ]] SLAMing on 121.58925976399999 meters Centerline goodness : 0.763764 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.59, Z:1.17 [[ 0.99075444 -0.12714002 -0.04733979 -7.34839243] [ 0.12921805 0.99064966 0.04377159 9.58666731] [ 0.04133203 -0.04948406 0.99791933 1.17053771] [ 0. 0. 0. 1. ]] SLAMing on 121.64925976399998 meters Centerline goodness : 0.762120 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.58, Z:1.17 [[ 0.99023017 -0.1312481 -0.0470973 -7.34924924] [ 0.13323223 0.99020333 0.04179156 9.58429809] [ 0.04115084 -0.04765814 0.99801569 1.17288451] [ 0. 0. 0. 1. ]] SLAMing on 121.70925976399998 meters Centerline goodness : 0.761009 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.58, Z:1.18 [[ 0.98968982 -0.13512725 -0.04748363 -7.34991217] [ 0.13710456 0.98970009 0.04118339 9.5806509 ] [ 0.04142955 -0.04726901 0.99802266 1.1768911 ] [ 0. 0. 0. 1. ]] SLAMing on 121.76925976399998 meters Centerline goodness : 0.760887 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.58, Z:1.18 [[ 0.9892869 -0.13784942 -0.04805163 -7.34905681] [ 0.13988566 0.98927882 0.04194531 9.57796514] [ 0.04175432 -0.04821768 0.99796374 1.17864328] [ 0. 0. 0. 1. ]] SLAMing on 121.82925976399999 meters Centerline goodness : 0.761191 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.18 [[ 0.98832945 -0.14478166 -0.04736217 -7.35106481] [ 0.1466154 0.98846968 0.03783674 9.57381944] [ 0.041338 -0.04433919 0.99816091 1.1827318 ] [ 0. 0. 0. 1. ]] SLAMing on 121.88925976399999 meters Centerline goodness : 0.758989 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.19 [[ 0.98764798 -0.14921419 -0.04781837 -7.35164898] [ 0.1510309 0.98783912 0.03692619 9.57084713] [ 0.04172694 -0.04369212 0.99817326 1.18678065] [ 0. 0. 0. 1. ]] SLAMing on 121.94925976399999 meters Centerline goodness : 0.760636 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.19 [[ 0.98638658 -0.15700838 -0.04888644 -7.34972534] [ 0.15887596 0.98660581 0.03697833 9.56676854] [ 0.04242574 -0.04424181 0.99811959 1.19068919] [ 0. 0. 0. 1. ]] SLAMing on 122.00925976399998 meters Centerline goodness : 0.760136 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.56, Z:1.19 [[ 0.98554152 -0.16215904 -0.04911568 -7.34997471] [ 0.16397808 0.98582237 0.03557318 9.56416601] [ 0.04265082 -0.04311274 0.99815941 1.19414673] [ 0. 0. 0. 1. ]] SLAMing on 122.06925976399998 meters Centerline goodness : 0.757148 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.56, Z:1.21 [[ 0.98453874 -0.16206476 -0.06647165 -7.34669728] [ 0.16454946 0.98579134 0.03374785 9.55619764] [ 0.06005784 -0.04416394 0.99721743 1.21054615] [ 0. 0. 0. 1. ]] SLAMing on 122.12925976399998 meters Centerline goodness : 0.755547 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.56, Z:1.21 [[ 0.98473933 -0.16099946 -0.06608806 -7.34902902] [ 0.16348208 0.98595958 0.03401929 9.5562288 ] [ 0.05968307 -0.04430435 0.9972337 1.21204485] [ 0. 0. 0. 1. ]] SLAMing on 122.18925976399998 meters Centerline goodness : 0.756469 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.56, Z:1.21 [[ 0.98513264 -0.15876285 -0.06563562 -7.35107757] [ 0.16121952 0.98633387 0.03396692 9.55693458] [ 0.05934595 -0.04404367 0.99726537 1.21240961] [ 0. 0. 0. 1. ]] SLAMing on 122.24925976399999 meters Centerline goodness : 0.755972 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.56, Z:1.21 [[ 0.98538747 -0.15775839 -0.06421704 -7.35291006] [ 0.16005296 0.98658054 0.03227833 9.55630636] [ 0.0582631 -0.04208479 0.9974138 1.21086191] [ 0. 0. 0. 1. ]] SLAMing on 122.30925976399999 meters Centerline goodness : 0.757659 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.55, Z:1.21 [[ 0.98542784 -0.1578372 -0.06339867 -7.35530895] [ 0.16004886 0.98660835 0.03143764 9.55438281] [ 0.05758763 -0.04112641 0.997493 1.21237991] [ 0. 0. 0. 1. ]] SLAMing on 122.36925976399998 meters Centerline goodness : 0.755691 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.55, Z:1.21 [[ 0.98528229 -0.1590597 -0.06260054 -7.3575237 ] [ 0.16117071 0.98646364 0.03022406 9.55230341] [ 0.05694573 -0.0398686 0.99758091 1.21410147] [ 0. 0. 0. 1. ]] SLAMing on 122.42925976399998 meters Centerline goodness : 0.755278 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.55, Z:1.22 [[ 0.984638 -0.16313956 -0.06223732 -7.35946439] [ 0.16515753 0.98584796 0.02875412 9.5490129 ] [ 0.0566656 -0.03859136 0.99764709 1.21807016] [ 0. 0. 0. 1. ]] SLAMing on 122.48925976399998 meters Centerline goodness : 0.757083 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.55, Z:1.22 [[ 0.98424958 -0.16565054 -0.06174684 -7.36128028] [ 0.16755754 0.98549062 0.02706842 9.54741608] [ 0.05636703 -0.03698823 0.99772473 1.22057923] [ 0. 0. 0. 1. ]] SLAMing on 122.54925976399998 meters Centerline goodness : 0.755884 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.55, Z:1.22 [[ 0.98393515 -0.1676932 -0.06124222 -7.36238018] [ 0.1694842 0.98520841 0.02528824 9.54505204] [ 0.05609568 -0.03526158 0.99780253 1.22218444] [ 0. 0. 0. 1. ]] SLAMing on 122.60925976399999 meters Centerline goodness : 0.758526 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.54, Z:1.22 [[ 0.98371971 -0.16911207 -0.06079998 -7.36317436] [ 0.17076817 0.98503987 0.02312311 9.54371242] [ 0.05598001 -0.03312937 0.9978821 1.22290925] [ 0. 0. 0. 1. ]] SLAMing on 122.66925976399999 meters Centerline goodness : 0.757142 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.54, Z:1.22 [[ 0.98272987 -0.1748348 -0.06062003 -7.36201186] [ 0.17634784 0.98411364 0.02053742 9.53998693] [ 0.05606634 -0.03087295 0.99794961 1.22410983] [ 0. 0. 0. 1. ]] SLAMing on 122.72925976399998 meters Centerline goodness : 0.758069 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.54, Z:1.23 [[ 0.98197668 -0.17875917 -0.06137555 -7.36190004] [ 0.18030103 0.98339716 0.02053184 9.53762171] [ 0.05668628 -0.03122787 0.99790355 1.22806101] [ 0. 0. 0. 1. ]] SLAMing on 122.78925976399998 meters Centerline goodness : 0.757781 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.54, Z:1.23 [[ 0.98191116 -0.1791515 -0.06127979 -7.36288089] [ 0.18068587 0.98332839 0.02044264 9.53711494] [ 0.05659583 -0.03114525 0.99791126 1.22935202] [ 0. 0. 0. 1. ]] SLAMing on 122.84925976399998 meters Centerline goodness : 0.760415 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.54, Z:1.23 [[ 0.98207421 -0.17829725 -0.06115821 -7.3628079 ] [ 0.17978106 0.98351058 0.01963928 9.5369457 ] [ 0.05664812 -0.03028232 0.99793485 1.22829672] [ 0. 0. 0. 1. ]] SLAMing on 122.90925976399998 meters Centerline goodness : 0.761274 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.54, Z:1.23 [[ 0.98222436 -0.17787982 -0.05995055 -7.36515475] [ 0.17922127 0.98364861 0.01775225 9.53738002] [ 0.05581251 -0.0281811 0.99804348 1.22808873] [ 0. 0. 0. 1. ]] SLAMing on 122.96925976399999 meters Centerline goodness : 0.760116 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.54, Z:1.23 [[ 0.98300218 -0.17340132 -0.06032165 -7.36595547] [ 0.17483415 0.98440859 0.01930653 9.54030978] [ 0.05603338 -0.02952464 0.99799226 1.22742122] [ 0. 0. 0. 1. ]] SLAMing on 123.02925976399999 meters Centerline goodness : 0.759921 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.54, Z:1.23 [[ 0.98319538 -0.1723278 -0.06024927 -7.36687473] [ 0.17372228 0.98461733 0.01868917 9.54186775] [ 0.05610182 -0.02884175 0.99800839 1.22754976] [ 0. 0. 0. 1. ]] SLAMing on 123.08925976399999 meters Centerline goodness : 0.761798 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.54, Z:1.23 [[ 0.98326877 -0.17228387 -0.05916756 -7.36860408] [ 0.17348977 0.98470814 0.01584891 9.54264218] [ 0.05553227 -0.0258487 0.99812224 1.22683717] [ 0. 0. 0. 1. ]] SLAMing on 123.14925976399998 meters Centerline goodness : 0.759479 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.54, Z:1.23 [[ 0.98303594 -0.17345669 -0.059608 -7.36891104] [ 0.17465418 0.9845084 0.01546372 9.54381454] [ 0.05600229 -0.02561218 0.99810208 1.22836262] [ 0. 0. 0. 1. ]] SLAMing on 123.20925976399998 meters Centerline goodness : 0.760286 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.54, Z:1.23 [[ 0.98317326 -0.17275856 -0.05937018 -7.37087157] [ 0.17395526 0.98463034 0.01557763 9.54457199] [ 0.05576651 -0.02564326 0.99811448 1.22961981] [ 0. 0. 0. 1. ]] SLAMing on 123.26925976399998 meters Centerline goodness : 0.761740 with order 2 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.55, Z:1.23 [[ 0.9839034 -0.16886912 -0.05845791 -7.37409384] [ 0.17002318 0.98532082 0.01532945 9.54808585] [ 0.05501112 -0.0250219 0.99817217 1.22935718] [ 0. 0. 0. 1. ]] SLAMing on 123.32925976399999 meters Centerline goodness : 0.763052 with order 2 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.55, Z:1.22 [[ 0.9843273 -0.16670826 -0.05751632 -7.37335248] [ 0.16773375 0.98574052 0.01345387 9.54934542] [ 0.0544533 -0.02289044 0.99825391 1.22479938] [ 0. 0. 0. 1. ]] SLAMing on 123.38925976399999 meters Centerline goodness : 0.761929 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.55, Z:1.23 [[ 0.9845898 -0.16485119 -0.05836957 -7.37361659] [ 0.16592059 0.98604056 0.01394146 9.55293784] [ 0.05525649 -0.02341133 0.99819769 1.22552097] [ 0. 0. 0. 1. ]] SLAMing on 123.44925976399999 meters Centerline goodness : 0.763439 with order 2 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.55, Z:1.22 [[ 0.98509926 -0.16164128 -0.05874991 -7.37271959] [ 0.16282952 0.98652443 0.01600287 9.55451559] [ 0.05537149 -0.02533064 0.99814446 1.22342754] [ 0. 0. 0. 1. ]] SLAMing on 123.50925976399998 meters Centerline goodness : 0.763031 with order 2 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.56, Z:1.22 [[ 0.98561688 -0.15858895 -0.0583858 -7.3739732 ] [ 0.15972178 0.98704433 0.01524613 9.55685946] [ 0.05521151 -0.02435233 0.99817767 1.22223078] [ 0. 0. 0. 1. ]] SLAMing on 123.56925976399998 meters Centerline goodness : 0.764498 with order 2 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.56, Z:1.22 [[ 0.98567866 -0.15832275 -0.05806455 -7.37528337] [ 0.15939451 0.98711159 0.01428662 9.55790276] [ 0.05505429 -0.02333718 0.9982106 1.22266028] [ 0. 0. 0. 1. ]] SLAMing on 123.62925976399998 meters Centerline goodness : 0.765057 with order 2 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.56, Z:1.22 [[ 0.98548014 -0.15978789 -0.05741713 -7.37612492] [ 0.16067303 0.9869451 0.01111521 9.55809924] [ 0.05489148 -0.0201792 0.9982884 1.22260304] [ 0. 0. 0. 1. ]] SLAMing on 123.68925976399998 meters Centerline goodness : 0.765952 with order 2 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.56, Z:1.22 [[ 0.98616239 -0.15541252 -0.05771216 -7.37686242] [ 0.1563879 0.98761329 0.01275967 9.55997443] [ 0.05501429 -0.02160859 0.99825172 1.22227175] [ 0. 0. 0. 1. ]] SLAMing on 123.74925976399999 meters Centerline goodness : 0.758902 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.56, Z:1.22 [[ 0.98680462 -0.15136639 -0.05748783 -7.37727016] [ 0.15242216 0.98821025 0.01442165 9.56135112] [ 0.05462711 -0.02299377 0.99824204 1.22029819] [ 0. 0. 0. 1. ]] SLAMing on 123.80925976399999 meters Centerline goodness : 0.740390 with order 3 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.56, Z:1.21 [[ 0.98750441 -0.14712791 -0.05646617 -7.37702365] [ 0.14813167 0.98886855 0.01399977 9.56425213] [ 0.05377786 -0.02218927 0.99830635 1.21494315] [ 0. 0. 0. 1. ]] SLAMing on 123.86925976399998 meters Centerline goodness : 0.715532 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.57, Z:1.21 [[ 0.98794752 -0.14432249 -0.05595273 -7.37818315] [ 0.14525355 0.98931004 0.0129252 9.56639617] [ 0.0534892 -0.02089675 0.99834975 1.2137264 ] [ 0. 0. 0. 1. ]] SLAMing on 123.92925976399998 meters Centerline goodness : 0.773854 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.57, Z:1.21 [[ 0.98919878 -0.13579717 -0.05518069 -7.38072805] [ 0.1368077 0.9904848 0.0149503 9.57021243] [ 0.05262542 -0.02233796 0.99836445 1.21157666] [ 0. 0. 0. 1. ]] SLAMing on 123.98925976399998 meters Centerline goodness : 0.774031 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.57, Z:1.21 [[ 0.99004638 -0.12993305 -0.05408849 -7.38233266] [ 0.13094355 0.99126767 0.01556253 9.57184813] [ 0.05159409 -0.02249016 0.99841487 1.20850901] [ 0. 0. 0. 1. ]] SLAMing on 124.04925976399998 meters Centerline goodness : 0.769222 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.57, Z:1.21 [[ 0.99131214 -0.12175572 -0.04975721 -7.39079795] [ 0.1225944 0.99235591 0.01415501 9.57443308] [ 0.04765341 -0.02013199 0.99866103 1.20685941] [ 0. 0. 0. 1. ]] SLAMing on 124.10925976399999 meters Centerline goodness : 0.769365 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.57, Z:1.20 [[ 0.9918659 -0.1173117 -0.04939642 -7.39145712] [ 0.11838384 0.99277917 0.01935932 9.57174394] [ 0.04676867 -0.02504958 0.99859161 1.20373141] [ 0. 0. 0. 1. ]] SLAMing on 124.16925976399999 meters Centerline goodness : 0.768221 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.57, Z:1.20 [[ 0.99191511 -0.11698471 -0.04918336 -7.39145506] [ 0.11803323 0.99282835 0.01897406 9.57419639] [ 0.04661096 -0.02462592 0.99860952 1.20364253] [ 0. 0. 0. 1. ]] SLAMing on 124.22925976399998 meters Centerline goodness : 0.773917 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.58, Z:1.20 [[ 0.99192872 -0.11710604 -0.04861678 -7.39294094] [ 0.11811367 0.99282981 0.0183882 9.57623916] [ 0.04611482 -0.02398209 0.99864823 1.20419932] [ 0. 0. 0. 1. ]] SLAMing on 124.28925976399998 meters Centerline goodness : 0.774376 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.57, Z:1.20 [[ 0.99196137 -0.11711528 -0.04792342 -7.39382373] [ 0.11813693 0.99281433 0.01906244 9.57455004] [ 0.04534655 -0.02457073 0.9986691 1.20228438] [ 0. 0. 0. 1. ]] SLAMing on 124.34925976399998 meters Centerline goodness : 0.775783 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.57, Z:1.20 [[ 0.99202258 -0.11668619 -0.04770252 -7.39322825] [ 0.11772778 0.99285182 0.01963233 9.57403063] [ 0.04507071 -0.02509163 0.99866863 1.20067175] [ 0. 0. 0. 1. ]] SLAMing on 124.40925976399998 meters Centerline goodness : 0.777021 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.57, Z:1.20 [[ 0.99206234 -0.11664056 -0.04698189 -7.39410249] [ 0.1177062 0.99283512 0.02058322 9.57219467] [ 0.04424443 -0.0259499 0.99868365 1.1983499 ] [ 0. 0. 0. 1. ]] SLAMing on 124.46925976399999 meters Centerline goodness : 0.779847 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.57, Z:1.19 [[ 0.99195932 -0.11956111 -0.04149506 -7.37935741] [ 0.12085299 0.99221231 0.03015424 9.56760205] [ 0.03756663 -0.03492658 0.99868357 1.18950505] [ 0. 0. 0. 1. ]] SLAMing on 124.52925976399999 meters Centerline goodness : 0.783380 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.56, Z:1.18 [[ 0.99160089 -0.12446146 -0.03517132 -7.36634097] [ 0.12576922 0.99133928 0.03779604 9.56223187] [ 0.03016256 -0.04190205 0.99866633 1.18185155] [ 0. 0. 0. 1. ]] SLAMing on 124.58925976399999 meters Centerline goodness : 0.784552 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.56, Z:1.17 [[ 0.99111891 -0.12973892 -0.02917397 -7.35303665] [ 0.13097436 0.99034511 0.04541241 9.55693021] [ 0.02300054 -0.04883014 0.99854223 1.17384501] [ 0. 0. 0. 1. ]] SLAMing on 124.64925976399998 meters Centerline goodness : 0.784551 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.55, Z:1.17 [[ 0.99011277 -0.13834115 -0.02320398 -7.34190642] [ 0.13938149 0.98888883 0.05168834 9.55158652] [ 0.01579553 -0.0544115 0.99839366 1.16551424] [ 0. 0. 0. 1. ]] SLAMing on 124.70925976399998 meters Centerline goodness : 0.782523 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.55, Z:1.17 [[ 0.99000097 -0.13930265 -0.02220034 -7.34510916] [ 0.14028817 0.98875728 0.05175192 9.54945007] [ 0.01474157 -0.0543489 0.99841318 1.16584608] [ 0. 0. 0. 1. ]] SLAMing on 124.76925976399998 meters Centerline goodness : 0.782670 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.55, Z:1.17 [[ 0.98937699 -0.14373683 -0.02174618 -7.34550279] [ 0.14460837 0.98842026 0.0459761 9.55483341] [ 0.01488591 -0.04863237 0.99870581 1.16829167] [ 0. 0. 0. 1. ]] SLAMing on 124.82925976399999 meters Centerline goodness : 0.780778 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.56, Z:1.17 [[ 0.98945417 -0.14322907 -0.02158415 -7.34489488] [ 0.14408354 0.98852709 0.04532239 9.55812334] [ 0.01484504 -0.04795435 0.99873921 1.16790783] [ 0. 0. 0. 1. ]] SLAMing on 124.88925976399999 meters Centerline goodness : 0.785706 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.56, Z:1.17 [[ 0.98944722 -0.14331619 -0.02132311 -7.34560017] [ 0.14414501 0.98855853 0.04443262 9.56159629] [ 0.01471123 -0.04703736 0.9987848 1.16839263] [ 0. 0. 0. 1. ]] SLAMing on 124.94925976399999 meters Centerline goodness : 0.786824 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.56, Z:1.17 [[ 0.98945696 -0.14323648 -0.02140662 -7.34519349] [ 0.14405738 0.98860703 0.04363035 9.56478758] [ 0.01491327 -0.04625413 0.99881838 1.1687077 ] [ 0. 0. 0. 1. ]] SLAMing on 125.00925976399998 meters Centerline goodness : 0.787538 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.56, Z:1.19 [[ 0.98991184 -0.13669941 -0.03725358 -7.3441742 ] [ 0.13818671 0.98956585 0.04079051 9.56116461] [ 0.03128883 -0.04552696 0.99847299 1.18507338] [ 0. 0. 0. 1. ]] SLAMing on 125.06925976399998 meters Centerline goodness : 0.788155 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.56, Z:1.19 [[ 0.9898452 -0.13727172 -0.0369181 -7.34604307] [ 0.13871637 0.98952742 0.03991551 9.56283549] [ 0.0310522 -0.04463132 0.99852081 1.18665627] [ 0. 0. 0. 1. ]] SLAMing on 125.12925976399998 meters Centerline goodness : 0.785204 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.19 [[ 0.98924366 -0.1415904 -0.03673074 -7.34580864] [ 0.14286112 0.9891365 0.03463645 9.56685335] [ 0.03142753 -0.03951128 0.99872477 1.18870609] [ 0. 0. 0. 1. ]] SLAMing on 125.18925976399998 meters Centerline goodness : 0.788074 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.56, Z:1.19 [[ 0.9891844 -0.14214046 -0.03619827 -7.34778684] [ 0.14340051 0.98904655 0.03497448 9.56486714] [ 0.03083048 -0.03978706 0.99873243 1.18889421] [ 0. 0. 0. 1. ]] SLAMing on 125.24925976399999 meters Centerline goodness : 0.789089 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.19 [[ 0.98920751 -0.1419835 -0.03618277 -7.3482678 ] [ 0.14321877 0.98910024 0.03419207 9.56674539] [ 0.03093368 -0.0390051 0.99876009 1.19065147] [ 0. 0. 0. 1. ]] SLAMing on 125.30925976399999 meters Centerline goodness : 0.790869 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.19 [[ 0.98921761 -0.1419444 -0.03605972 -7.34883701] [ 0.1431783 0.98910225 0.03430335 9.56572106] [ 0.03079758 -0.03909645 0.99876072 1.19130673] [ 0. 0. 0. 1. ]] SLAMing on 125.36925976399998 meters Centerline goodness : 0.790757 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.56, Z:1.18 [[ 0.98887567 -0.14526738 -0.03197339 -7.3306347 ] [ 0.14657927 0.98824457 0.04344168 9.55928431] [ 0.02528687 -0.04764505 0.9985442 1.18362996] [ 0. 0. 0. 1. ]] SLAMing on 125.42925976399998 meters Centerline goodness : 0.796049 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.55, Z:1.20 [[ 0.98919752 -0.13894718 -0.0467113 -7.3299191 ] [ 0.14095442 0.98908923 0.04282925 9.55460933] [ 0.04025064 -0.04895075 0.99798983 1.1994048 ] [ 0. 0. 0. 1. ]] SLAMing on 125.48925976399998 meters Centerline goodness : 0.794977 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.55, Z:1.20 [[ 0.98914968 -0.13943188 -0.04627802 -7.33188582] [ 0.141395 0.98905094 0.04225739 9.55483986] [ 0.0398793 -0.04834237 0.9980344 1.20079445] [ 0. 0. 0. 1. ]] SLAMing on 125.54925976399998 meters Centerline goodness : 0.792608 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.55, Z:1.20 [[ 0.9892192 -0.13882002 -0.0466302 -7.32951441] [ 0.14083878 0.98908897 0.04321403 9.55348865] [ 0.04012244 -0.04931549 0.99797704 1.19847817] [ 0. 0. 0. 1. ]] SLAMing on 125.60925976399999 meters Centerline goodness : 0.793517 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.56, Z:1.20 [[ 0.98916908 -0.13924692 -0.04642017 -7.33096132] [ 0.14120086 0.98909571 0.04185671 9.55699526] [ 0.04008557 -0.04795793 0.99804468 1.20055401] [ 0. 0. 0. 1. ]] SLAMing on 125.66925976399999 meters Centerline goodness : 0.793482 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.56, Z:1.20 [[ 0.98909381 -0.13981987 -0.04630159 -7.33226251] [ 0.14172743 0.98906278 0.0408431 9.56006662] [ 0.04008451 -0.04695986 0.99809218 1.20192199] [ 0. 0. 0. 1. ]] SLAMing on 125.72925976399998 meters Centerline goodness : 0.794017 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.56, Z:1.20 [[ 0.98966779 -0.13571606 -0.04624728 -7.33334452] [ 0.13778844 0.98943787 0.0450227 9.55959992] [ 0.03964851 -0.05092986 0.9979149 1.20100162] [ 0. 0. 0. 1. ]] SLAMing on 125.78925976399998 meters Centerline goodness : 0.792326 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.56, Z:1.20 [[ 0.99025013 -0.13132732 -0.04645233 -7.33326844] [ 0.13356201 0.9898381 0.04880302 9.56174673] [ 0.03957112 -0.05453146 0.99772764 1.19978793] [ 0. 0. 0. 1. ]] SLAMing on 125.84925976399998 meters Centerline goodness : 0.792356 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.56, Z:1.20 [[ 0.9908112 -0.1269315 -0.04670722 -7.33326297] [ 0.12935295 0.99017625 0.05309236 9.56181676] [ 0.03950929 -0.05864622 0.99749669 1.1984994 ] [ 0. 0. 0. 1. ]] SLAMing on 125.90925976399998 meters Centerline goodness : 0.792329 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.56, Z:1.20 [[ 0.99134973 -0.12260926 -0.04682611 -7.33388649] [ 0.12520449 0.99047941 0.05722217 9.56184313] [ 0.03936433 -0.06259002 0.99726272 1.19789739] [ 0. 0. 0. 1. ]] SLAMing on 125.96925976399999 meters Centerline goodness : 0.792985 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.57, Z:1.20 [[ 0.99189855 -0.11790843 -0.04727451 -7.33339431] [ 0.12066807 0.99084593 0.06052736 9.56524549] [ 0.03970507 -0.06574153 0.99704642 1.19805643] [ 0. 0. 0. 1. ]] SLAMing on 126.02925976399999 meters Centerline goodness : 0.792472 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.57, Z:1.20 [[ 0.99194193 -0.11751563 -0.04734218 -7.33258659] [ 0.12026103 0.99092453 0.06004888 9.56781946] [ 0.03985585 -0.06525842 0.99707214 1.19790666] [ 0. 0. 0. 1. ]] SLAMing on 126.08925976399998 meters Centerline goodness : 0.792919 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.57, Z:1.20 [[ 0.99194572 -0.11743895 -0.04745303 -7.33246403] [ 0.1201638 0.99097817 0.05935427 9.56993245] [ 0.04005442 -0.06457835 0.99710846 1.1987842 ] [ 0. 0. 0. 1. ]] SLAMing on 126.14925976399998 meters Centerline goodness : 0.791040 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.57, Z:1.20 [[ 0.99191536 -0.1177956 -0.04720298 -7.33422597] [ 0.12046234 0.99100371 0.05831355 9.57137003] [ 0.03990925 -0.06352829 0.99718173 1.2012279 ] [ 0. 0. 0. 1. ]] SLAMing on 126.20925976399998 meters Centerline goodness : 0.787853 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.57, Z:1.20 [[ 0.99192553 -0.1177421 -0.04712272 -7.33464956] [ 0.12039255 0.99102869 0.05803246 9.57119623] [ 0.0398671 -0.0632371 0.99720193 1.20216062] [ 0. 0. 0. 1. ]] SLAMing on 126.26925976399998 meters Centerline goodness : 0.788237 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.57, Z:1.20 [[ 0.99198377 -0.11725759 -0.04710475 -7.33366615] [ 0.11993882 0.99103726 0.05882036 9.56858312] [ 0.03978543 -0.06399853 0.99715661 1.2008888 ] [ 0. 0. 0. 1. ]] SLAMing on 126.32925976399999 meters Centerline goodness : 0.787604 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.57, Z:1.20 [[ 0.99192771 -0.1178262 -0.04686572 -7.3356956 ] [ 0.1204521 0.99103352 0.0578261 9.57044594] [ 0.03963207 -0.06300438 0.99722603 1.20314775] [ 0. 0. 0. 1. ]] SLAMing on 126.38925976399999 meters Centerline goodness : 0.788024 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.57, Z:1.20 [[ 0.99192168 -0.1180333 -0.04647074 -7.33732672] [ 0.12061683 0.99103896 0.05738772 9.56997918] [ 0.03928065 -0.06252928 0.99726983 1.20467668] [ 0. 0. 0. 1. ]] SLAMing on 126.44925976399999 meters Centerline goodness : 0.787374 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.57, Z:1.21 [[ 0.99141093 -0.12233333 -0.04624843 -7.33747102] [ 0.12467755 0.99084717 0.05174357 9.57393873] [ 0.03949516 -0.05706528 0.99758894 1.20748028] [ 0. 0. 0. 1. ]] SLAMing on 126.50925976399998 meters Centerline goodness : 0.785480 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.57, Z:1.21 [[ 0.99140919 -0.12248766 -0.0458758 -7.3383047 ] [ 0.12482115 0.99081486 0.05201525 9.57212526] [ 0.0390832 -0.05729467 0.99759201 1.2071957 ] [ 0. 0. 0. 1. ]] SLAMing on 126.56925976399998 meters Centerline goodness : 0.791637 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.57, Z:1.21 [[ 0.99136438 -0.12293108 -0.04565763 -7.33984495] [ 0.12521806 0.9908098 0.05115056 9.57356072] [ 0.03895003 -0.056426 0.99764673 1.20892769] [ 0. 0. 0. 1. ]] SLAMing on 126.62925976399998 meters Centerline goodness : 0.791704 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.57, Z:1.21 [[ 0.99133946 -0.12325917 -0.04531275 -7.34115631] [ 0.12552676 0.99077037 0.05115768 9.57214673] [ 0.03858888 -0.05640259 0.99766209 1.20944048] [ 0. 0. 0. 1. ]] SLAMing on 126.68925976399998 meters Centerline goodness : 0.789192 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.57, Z:1.21 [[ 0.99081096 -0.12760004 -0.04485393 -7.34158757] [ 0.12966673 0.99045954 0.04665228 9.57236424] [ 0.03847317 -0.05203965 0.99790365 1.21099858] [ 0. 0. 0. 1. ]] SLAMing on 126.74925976399999 meters Centerline goodness : 0.788842 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.57, Z:1.21 [[ 0.99063684 -0.13049832 -0.04011042 -7.32591262] [ 0.13260327 0.9896268 0.05527352 9.56890929] [ 0.03248125 -0.06007476 0.99766527 1.20520126] [ 0. 0. 0. 1. ]] SLAMing on 126.80925976399999 meters Centerline goodness : 0.787457 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.57, Z:1.21 [[ 0.99006828 -0.13493449 -0.03946491 -7.32690841] [ 0.13684808 0.98929654 0.05064543 9.56868218] [ 0.03220868 -0.05554314 0.99793665 1.20724943] [ 0. 0. 0. 1. ]] SLAMing on 126.86925976399998 meters Centerline goodness : 0.787418 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.57, Z:1.21 [[ 0.98966689 -0.13798232 -0.03899142 -7.32848273] [ 0.13981646 0.98896189 0.04904841 9.56664035] [ 0.03179322 -0.05399323 0.99803503 1.20976013] [ 0. 0. 0. 1. ]] SLAMing on 126.92925976399998 meters Centerline goodness : 0.789253 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.56, Z:1.22 [[ 0.98899337 -0.14277867 -0.03881183 -7.33101758] [ 0.14456157 0.98833865 0.04784002 9.56440575] [ 0.0315287 -0.05292416 0.99810068 1.21502615] [ 0. 0. 0. 1. ]] SLAMing on 126.98925976399998 meters Centerline goodness : 0.789672 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.56, Z:1.22 [[ 0.98875221 -0.14443818 -0.03881594 -7.33207322] [ 0.1461978 0.98813204 0.04713031 9.56371305] [ 0.03154786 -0.05227501 0.99813429 1.21706576] [ 0. 0. 0. 1. ]] SLAMing on 127.04925976399998 meters Centerline goodness : 0.788150 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.56, Z:1.23 [[ 0.98823618 -0.14358657 -0.05265116 -7.33252288] [ 0.14593464 0.98832254 0.04383647 9.55772934] [ 0.045742 -0.05100442 0.99765035 1.23268752] [ 0. 0. 0. 1. ]] SLAMing on 127.10925976399999 meters Centerline goodness : 0.789323 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.56, Z:1.24 [[ 0.98753747 -0.14821108 -0.0529454 -7.33308104] [ 0.15047944 0.98773034 0.04176964 9.55666573] [ 0.04610506 -0.04921628 0.99772345 1.23605869] [ 0. 0. 0. 1. ]] SLAMing on 127.16925976399999 meters Centerline goodness : 0.788420 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.56, Z:1.24 [[ 0.98627391 -0.15604735 -0.05397222 -7.33137756] [ 0.15830096 0.9865667 0.04033539 9.55518426] [ 0.04695296 -0.0483256 0.99772745 1.23980722] [ 0. 0. 0. 1. ]] SLAMing on 127.22925976399998 meters Centerline goodness : 0.788088 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.56, Z:1.24 [[ 0.98551284 -0.16070501 -0.05420649 -7.33245119] [ 0.1629153 0.98586317 0.03914608 9.55540502] [ 0.04714921 -0.04741003 0.99776212 1.24356073] [ 0. 0. 0. 1. ]] SLAMing on 127.28925976399998 meters Centerline goodness : 0.784876 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.56, Z:1.25 [[ 0.98487299 -0.1646119 -0.05411213 -7.33342943] [ 0.16673844 0.98529028 0.03743472 9.55616123] [ 0.04715395 -0.04589102 0.99783291 1.24598815] [ 0. 0. 0. 1. ]] SLAMing on 127.34925976399998 meters Centerline goodness : 0.782746 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.56, Z:1.25 [[ 0.98558856 -0.16023015 -0.05423545 -7.33474702] [ 0.16245211 0.98593079 0.03936728 9.55752566] [ 0.04716457 -0.0476106 0.99775184 1.24629513] [ 0. 0. 0. 1. ]] SLAMing on 127.40925976399998 meters Centerline goodness : 0.783167 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.56, Z:1.25 [[ 0.98616874 -0.15669414 -0.05402002 -7.33718417] [ 0.15897644 0.98643517 0.04089201 9.56089333] [ 0.04687971 -0.04891433 0.9977022 1.24679053] [ 0. 0. 0. 1. ]] SLAMing on 127.46925976399999 meters Centerline goodness : 0.777493 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.57, Z:1.24 [[ 0.98650622 -0.15481308 -0.05327651 -7.33704371] [ 0.15692328 0.98687993 0.03798804 9.56545724] [ 0.04669647 -0.04583576 0.99785696 1.24281168] [ 0. 0. 0. 1. ]] SLAMing on 127.52925976399999 meters Centerline goodness : 0.777963 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.57, Z:1.24 [[ 0.98682303 -0.15262247 -0.05372787 -7.33562565] [ 0.1547813 0.98719457 0.03859581 9.56885581] [ 0.04714927 -0.04640331 0.99780944 1.24040496] [ 0. 0. 0. 1. ]] SLAMing on 127.58925976399998 meters Centerline goodness : 0.778596 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.57, Z:1.24 [[ 0.98697799 -0.15131134 -0.05458318 -7.3354432 ] [ 0.15358065 0.98732304 0.0400774 9.57219327] [ 0.04782707 -0.04793844 0.9977046 1.24086191] [ 0. 0. 0. 1. ]] SLAMing on 127.64925976399998 meters Centerline goodness : 0.779585 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.58, Z:1.24 [[ 0.98737174 -0.14852813 -0.05510395 -7.33499301] [ 0.15086653 0.98770327 0.04100671 9.57570311] [ 0.0483357 -0.04880221 0.99763821 1.23965081] [ 0. 0. 0. 1. ]] SLAMing on 127.70925976399998 meters Centerline goodness : 0.778182 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.58, Z:1.24 [[ 0.98816676 -0.14324747 -0.05483273 -7.33600237] [ 0.14568888 0.98837579 0.04345176 9.57833237] [ 0.04797098 -0.0509261 0.99754966 1.23763016] [ 0. 0. 0. 1. ]] SLAMing on 127.76925976399998 meters Centerline goodness : 0.776019 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.58, Z:1.23 [[ 0.98886773 -0.13868992 -0.05390477 -7.33672026] [ 0.14104311 0.98908622 0.04260634 9.58089258] [ 0.04740739 -0.04973493 0.9976367 1.23397544] [ 0. 0. 0. 1. ]] SLAMing on 127.82925976399999 meters Centerline goodness : 0.776895 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.58, Z:1.23 [[ 0.98913344 -0.13715546 -0.05294738 -7.33981541] [ 0.13939425 0.98938014 0.04118479 9.58262441] [ 0.04673636 -0.04811781 0.99774766 1.23461407] [ 0. 0. 0. 1. ]] SLAMing on 127.88925976399999 meters Centerline goodness : 0.778985 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.24 [[ 0.98910388 -0.13729193 -0.05314548 -7.34021016] [ 0.13948745 0.98941307 0.04006276 9.58595142] [ 0.04708254 -0.04703936 0.99778281 1.23671207] [ 0. 0. 0. 1. ]] SLAMing on 127.94925976399999 meters Centerline goodness : 0.778854 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.24 [[ 0.98938851 -0.13512783 -0.0533933 -7.34052804] [ 0.13736372 0.98968492 0.04068126 9.58745055] [ 0.04734538 -0.04758387 0.99774455 1.23697029] [ 0. 0. 0. 1. ]] SLAMing on 128.00925976399998 meters Centerline goodness : 0.780266 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.24 [[ 0.98937735 -0.1356086 -0.05237151 -7.34274534] [ 0.13768544 0.98973489 0.0383088 9.58879054] [ 0.04663891 -0.04511265 0.99789261 1.23692632] [ 0. 0. 0. 1. ]] SLAMing on 128.06925976399998 meters Centerline goodness : 0.781721 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.24 [[ 0.98934439 -0.13593264 -0.05215353 -7.34477536] [ 0.13800369 0.98968727 0.03839378 9.59002532] [ 0.04639672 -0.04518205 0.99790076 1.23880345] [ 0. 0. 0. 1. ]] SLAMing on 128.12925976399998 meters Centerline goodness : 0.780078 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.59, Z:1.24 [[ 0.98938426 -0.13562017 -0.05221072 -7.34691236] [ 0.13776904 0.98965571 0.04001572 9.59072055] [ 0.0462437 -0.04678394 0.99783405 1.24148211] [ 0. 0. 0. 1. ]] SLAMing on 128.18925976399996 meters Centerline goodness : 0.782177 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.59, Z:1.24 [[ 0.98933933 -0.13608853 -0.05184212 -7.34831002] [ 0.13818088 0.98963252 0.0391601 9.59284058] [ 0.04597541 -0.04590622 0.99788721 1.24244232] [ 0. 0. 0. 1. ]] SLAMing on 128.24925976399996 meters Centerline goodness : 0.781703 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.59, Z:1.24 [[ 0.98934871 -0.1361098 -0.05160669 -7.34868116] [ 0.13818543 0.98963697 0.03903144 9.59368245] [ 0.04575933 -0.045747 0.99790445 1.24224366] [ 0. 0. 0. 1. ]] SLAMing on 128.30925976399996 meters Centerline goodness : 0.777941 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.60, Z:1.24 [[ 0.98989339 -0.13205878 -0.05168707 -7.3500624 ] [ 0.13429686 0.99002859 0.04251751 9.59528272] [ 0.04555687 -0.04902921 0.99775784 1.24278088] [ 0. 0. 0. 1. ]] SLAMing on 128.36925976399996 meters Centerline goodness : 0.777085 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.60, Z:1.24 [[ 0.98992786 -0.13173024 -0.05186501 -7.34949184] [ 0.13394214 0.99010898 0.04175764 9.59866013] [ 0.04585127 -0.04828396 0.9977807 1.24357808] [ 0. 0. 0. 1. ]] SLAMing on 128.42925976399997 meters Centerline goodness : 0.780552 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.60, Z:1.24 [[ 0.9899827 -0.13126592 -0.05199528 -7.34808445] [ 0.13349171 0.99016277 0.04192424 9.59905195] [ 0.04598056 -0.04844522 0.99776693 1.24247741] [ 0. 0. 0. 1. ]] SLAMing on 128.48925976399997 meters Centerline goodness : 0.777305 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.60, Z:1.24 [[ 0.9899833 -0.13128494 -0.05193579 -7.34838814] [ 0.13349703 0.99017198 0.04168921 9.59918332] [ 0.0459522 -0.04820489 0.99777988 1.24316116] [ 0. 0. 0. 1. ]] SLAMing on 128.54925976399997 meters Centerline goodness : 0.776083 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.60, Z:1.25 [[ 0.98993909 -0.13169792 -0.0517326 -7.34992589] [ 0.13384898 0.99017087 0.04057202 9.60157846] [ 0.04588087 -0.04708818 0.99783648 1.24533226] [ 0. 0. 0. 1. ]] SLAMing on 128.60925976399997 meters Centerline goodness : 0.780454 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.60, Z:1.24 [[ 0.98994429 -0.13172437 -0.05156541 -7.34982628] [ 0.13389389 0.99014106 0.04114736 9.59947548] [ 0.04563692 -0.04763788 0.99782158 1.24433692] [ 0. 0. 0. 1. ]] SLAMing on 128.66925976399997 meters Centerline goodness : 0.778980 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.60, Z:1.25 [[ 0.98937677 -0.13605066 -0.05122319 -7.34989097] [ 0.13798255 0.98977036 0.03626917 9.60141866] [ 0.04576475 -0.04295178 0.99802842 1.24598921] [ 0. 0. 0. 1. ]] SLAMing on 128.72925976399998 meters Centerline goodness : 0.778062 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.60, Z:1.24 [[ 0.98924069 -0.13875957 -0.04635341 -7.33191108] [ 0.14078831 0.98907008 0.04380665 9.59849221] [ 0.03976817 -0.04986134 0.9979641 1.24184594] [ 0. 0. 0. 1. ]] SLAMing on 128.78925976399998 meters Centerline goodness : 0.775360 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.60, Z:1.24 [[ 0.98911488 -0.13962836 -0.04642932 -7.33366287] [ 0.14166571 0.98893927 0.04393126 9.59736765] [ 0.03978172 -0.05003051 0.99795509 1.24491191] [ 0. 0. 0. 1. ]] SLAMing on 128.84925976399998 meters Centerline goodness : 0.777112 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.60, Z:1.24 [[ 0.98902765 -0.14027359 -0.04634259 -7.33343116] [ 0.14229536 0.98886124 0.0436517 9.59560214] [ 0.03970321 -0.04976708 0.99797139 1.2449704 ] [ 0. 0. 0. 1. ]] SLAMing on 128.90925976399996 meters Centerline goodness : 0.775667 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.60, Z:1.25 [[ 0.98905465 -0.14023727 -0.0458738 -7.33510199] [ 0.14220634 0.98890667 0.0429063 9.59544328] [ 0.03934785 -0.04896022 0.99802537 1.24576258] [ 0. 0. 0. 1. ]] SLAMing on 128.96925976399996 meters Centerline goodness : 0.780848 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.60, Z:1.25 [[ 0.98901653 -0.14040655 -0.04617697 -7.33608159] [ 0.14240722 0.98885937 0.04332818 9.59564477] [ 0.03957897 -0.04942822 0.99799316 1.24788892] [ 0. 0. 0. 1. ]] SLAMing on 129.02925976399996 meters Centerline goodness : 0.778103 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.25 [[ 0.98901043 -0.14057831 -0.04578332 -7.33702838] [ 0.14257297 0.98882035 0.04367228 9.59391685] [ 0.03913211 -0.0497198 0.9979963 1.24743402] [ 0. 0. 0. 1. ]] SLAMing on 129.08925976399996 meters Centerline goodness : 0.777651 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.25 [[ 0.98904516 -0.14026742 -0.04598608 -7.33608124] [ 0.14227924 0.9888548 0.04384984 9.59388624] [ 0.03932286 -0.04991234 0.99797919 1.24691524] [ 0. 0. 0. 1. ]] SLAMing on 129.14925976399996 meters Centerline goodness : 0.775800 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.25 [[ 0.98900403 -0.14067733 -0.04561709 -7.33776901] [ 0.1426513 0.98882301 0.04335503 9.59413 ] [ 0.03900816 -0.04938564 0.99801775 1.2482017 ] [ 0. 0. 0. 1. ]] SLAMing on 129.20925976399997 meters Centerline goodness : 0.774019 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.25 [[ 0.98896439 -0.14115345 -0.04500145 -7.34000013] [ 0.14309243 0.98876435 0.04323912 9.59221625] [ 0.03839248 -0.04920132 0.99805072 1.24935216] [ 0. 0. 0. 1. ]] SLAMing on 129.26925976399997 meters Centerline goodness : 0.775858 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.25 [[ 0.98895239 -0.14140736 -0.04446489 -7.34099351] [ 0.14335524 0.98868497 0.04417363 9.58895406] [ 0.03771529 -0.0500599 0.99803385 1.24780904] [ 0. 0. 0. 1. ]] SLAMing on 129.32925976399997 meters Centerline goodness : 0.776797 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.25 [[ 0.98839364 -0.14525406 -0.04448903 -7.33944352] [ 0.14702131 0.98834785 0.03941155 9.59169487] [ 0.03824595 -0.04549496 0.99823217 1.24910099] [ 0. 0. 0. 1. ]] SLAMing on 129.38925976399997 meters Centerline goodness : 0.773915 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.25 [[ 0.98819292 -0.14654286 -0.04472063 -7.34046761] [ 0.14837242 0.98809116 0.04076134 9.58976689] [ 0.03821477 -0.04691538 0.99816761 1.25201307] [ 0. 0. 0. 1. ]] SLAMing on 129.44925976399998 meters Centerline goodness : 0.772451 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.59, Z:1.25 [[ 0.98806509 -0.14874859 -0.04001541 -7.32421917] [ 0.15064108 0.98735504 0.04936896 9.58777089] [ 0.03216585 -0.05480771 0.99797869 1.24659995] [ 0. 0. 0. 1. ]] SLAMing on 129.50925976399998 meters Centerline goodness : 0.776562 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.59, Z:1.25 [[ 0.9883551 -0.14723227 -0.03842995 -7.32819132] [ 0.14901189 0.98764598 0.04848575 9.58799419] [ 0.03081652 -0.05364766 0.9980843 1.24731319] [ 0. 0. 0. 1. ]] SLAMing on 129.56925976399998 meters Centerline goodness : 0.773730 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.59, Z:1.25 [[ 0.98853716 -0.14606183 -0.03821285 -7.32960461] [ 0.14780563 0.98786678 0.04767304 9.58900189] [ 0.03078599 -0.05277465 0.99813178 1.24792994] [ 0. 0. 0. 1. ]] SLAMing on 129.62925976399998 meters Centerline goodness : 0.776152 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.59, Z:1.25 [[ 0.9887004 -0.14494659 -0.03823615 -7.33037388] [ 0.14668312 0.98804845 0.04737427 9.59007972] [ 0.03091243 -0.05244756 0.99814512 1.24814858] [ 0. 0. 0. 1. ]] SLAMing on 129.68925976399996 meters Centerline goodness : 0.776217 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.59, Z:1.25 [[ 0.98871768 -0.14476933 -0.03846028 -7.32970642] [ 0.14649262 0.98811494 0.04657023 9.59361517] [ 0.03126124 -0.05167896 0.99817434 1.24866724] [ 0. 0. 0. 1. ]] SLAMing on 129.74925976399996 meters Centerline goodness : 0.777762 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.60, Z:1.25 [[ 0.98867736 -0.14507967 -0.03832717 -7.33065181] [ 0.14675849 0.98813114 0.04537392 9.59643354] [ 0.03128943 -0.050485 0.99823456 1.25042159] [ 0. 0. 0. 1. ]] SLAMing on 129.80925976399996 meters Centerline goodness : 0.778470 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.60, Z:1.25 [[ 0.98862088 -0.14560374 -0.03779309 -7.33356069] [ 0.14723286 0.98809369 0.04464693 9.59591072] [ 0.03084235 -0.04970328 0.9982877 1.25311523] [ 0. 0. 0. 1. ]] SLAMing on 129.86925976399996 meters Centerline goodness : 0.777875 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.27 [[ 0.98876537 -0.14046856 -0.05110401 -7.33557127] [ 0.14268581 0.98884769 0.04267319 9.59166794] [ 0.04453984 -0.04948558 0.99778123 1.26713241] [ 0. 0. 0. 1. ]] SLAMing on 129.92925976399997 meters Centerline goodness : 0.778196 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.59, Z:1.27 [[ 0.98879831 -0.14017441 -0.05127411 -7.33457036] [ 0.14241371 0.98887373 0.04297774 9.59131522] [ 0.04467924 -0.04979845 0.99775943 1.26640208] [ 0. 0. 0. 1. ]] SLAMing on 129.98925976399997 meters Centerline goodness : 0.779237 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.27 [[ 0.98877396 -0.14043129 -0.05104027 -7.33574697] [ 0.14264573 0.98885312 0.04268131 9.59109605] [ 0.04447754 -0.04948284 0.99778414 1.26742664] [ 0. 0. 0. 1. ]] SLAMing on 130.04925976399997 meters Centerline goodness : 0.782332 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.27 [[ 0.9887134 -0.14100145 -0.05063993 -7.33786182] [ 0.14315626 0.9888178 0.04178079 9.5916723 ] [ 0.04418252 -0.04855865 0.99784265 1.26966552] [ 0. 0. 0. 1. ]] SLAMing on 130.10925976399997 meters Centerline goodness : 0.783858 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.27 [[ 0.98872067 -0.14098896 -0.0505326 -7.33821923] [ 0.14313757 0.98882146 0.04175841 9.59144269] [ 0.04408025 -0.04852052 0.99784903 1.27004184] [ 0. 0. 0. 1. ]] SLAMing on 130.16925976399997 meters Centerline goodness : 0.784790 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.60, Z:1.27 [[ 0.98882323 -0.13994663 -0.05141552 -7.33515189] [ 0.14209866 0.98900775 0.04088571 9.59550841] [ 0.04512853 -0.04773481 0.99784007 1.27078512] [ 0. 0. 0. 1. ]] SLAMing on 130.22925976399998 meters Centerline goodness : 0.786726 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.60, Z:1.27 [[ 0.98936513 -0.13623107 -0.05096807 -7.33570648] [ 0.13834511 0.98955439 0.04053069 9.59557543] [ 0.04491414 -0.04715084 0.99787751 1.26890885] [ 0. 0. 0. 1. ]] SLAMing on 130.28925976399998 meters Centerline goodness : 0.784022 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.27 [[ 0.9896233 -0.1346176 -0.05023763 -7.33696414] [ 0.13663839 0.98984452 0.03921453 9.59444844] [ 0.04444847 -0.045672 0.99796713 1.26814683] [ 0. 0. 0. 1. ]] SLAMing on 130.34925976399998 meters Centerline goodness : 0.787478 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.27 [[ 0.98971695 -0.13429451 -0.04924783 -7.34003683] [ 0.13626918 0.98989616 0.03919569 9.59247589] [ 0.04348647 -0.0455036 0.99801721 1.27015997] [ 0. 0. 0. 1. ]] SLAMing on 130.40925976399996 meters Centerline goodness : 0.787263 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.27 [[ 0.98973471 -0.13405839 -0.04953336 -7.34117968] [ 0.13606944 0.98990236 0.03972944 9.59079452] [ 0.04370712 -0.04606158 0.99798197 1.27244487] [ 0. 0. 0. 1. ]] SLAMing on 130.46925976399996 meters Centerline goodness : 0.786533 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.59, Z:1.27 [[ 0.98945015 -0.13653355 -0.04844569 -7.34344527] [ 0.13839147 0.98967442 0.037314 9.58766482] [ 0.04285084 -0.04362482 0.99812859 1.2740414 ] [ 0. 0. 0. 1. ]] SLAMing on 130.52925976399996 meters Centerline goodness : 0.786416 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.59, Z:1.28 [[ 0.98917182 -0.13881196 -0.04764828 -7.34524768] [ 0.14055461 0.98944002 0.03539573 9.58511951] [ 0.04223176 -0.04170965 0.99823684 1.27576323] [ 0. 0. 0. 1. ]] SLAMing on 130.58925976399996 meters Centerline goodness : 0.788763 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.58, Z:1.28 [[ 0.98862218 -0.14262959 -0.04778053 -7.34591871] [ 0.14430588 0.98895993 0.03367587 9.58232823] [ 0.04244985 -0.04018772 0.99829002 1.27888024] [ 0. 0. 0. 1. ]] SLAMing on 130.64925976399996 meters Centerline goodness : 0.787951 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.58, Z:1.28 [[ 0.98756633 -0.14938948 -0.04894407 -7.3445768 ] [ 0.15109786 0.98795867 0.03327317 9.57637427] [ 0.04338406 -0.04025481 0.99824715 1.28414437] [ 0. 0. 0. 1. ]] SLAMing on 130.70925976399997 meters Centerline goodness : 0.788021 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.29 [[ 0.98636261 -0.15699491 -0.04941048 -7.34538177] [ 0.15865894 0.9868226 0.03175678 9.57240388] [ 0.04377373 -0.03916312 0.99827357 1.29040707] [ 0. 0. 0. 1. ]] SLAMing on 130.76925976399997 meters Centerline goodness : 0.789338 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.29 [[ 0.98640776 -0.1567665 -0.04923399 -7.34677292] [ 0.15842477 0.98685928 0.03178597 9.57137307] [ 0.04360404 -0.03915381 0.99828136 1.29196254] [ 0. 0. 0. 1. ]] SLAMing on 130.82925976399997 meters Centerline goodness : 0.790268 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.29 [[ 0.9863088 -0.15730141 -0.04950977 -7.34758581] [ 0.15895641 0.98678425 0.03145954 9.57069752] [ 0.04390683 -0.03889872 0.99827806 1.29392133] [ 0. 0. 0. 1. ]] SLAMing on 130.88925976399997 meters Centerline goodness : 0.785518 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.30 [[ 0.985637 -0.16179437 -0.04839709 -7.34992111] [ 0.16325088 0.98619269 0.02780517 9.56785039] [ 0.04323014 -0.03530667 0.99844108 1.29673568] [ 0. 0. 0. 1. ]] SLAMing on 130.94925976399998 meters Centerline goodness : 0.788708 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.30 [[ 0.98560363 -0.16207565 -0.04813496 -7.35241288] [ 0.1635548 0.98612123 0.02854393 9.56620116] [ 0.04284063 -0.0360057 0.99843291 1.29965958] [ 0. 0. 0. 1. ]] SLAMing on 131.00925976399998 meters Centerline goodness : 0.791129 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.56, Z:1.31 [[ 0.98573394 -0.1575523 -0.05921045 -7.35080522] [ 0.15931776 0.98687554 0.02635362 9.56364795] [ 0.05428127 -0.03541093 0.99789759 1.31439125] [ 0. 0. 0. 1. ]] SLAMing on 131.06925976399998 meters Centerline goodness : 0.787651 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.56, Z:1.32 [[ 0.98548862 -0.15957911 -0.05785055 -7.35307403] [ 0.16107862 0.98669126 0.02222685 9.56258779] [ 0.05353369 -0.03122279 0.99807779 1.31505129] [ 0. 0. 0. 1. ]] SLAMing on 131.12925976399995 meters Centerline goodness : 0.789284 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.56, Z:1.31 [[ 0.98567535 -0.15834866 -0.05805003 -7.35280006] [ 0.15985357 0.9868902 0.02223904 9.56200873] [ 0.05376749 -0.03119998 0.99806594 1.31473772] [ 0. 0. 0. 1. ]] SLAMing on 131.18925976399996 meters Centerline goodness : 0.791974 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.56, Z:1.31 [[ 0.98602593 -0.15616776 -0.05800435 -7.35353511] [ 0.15770537 0.98722012 0.02292288 9.5625198 ] [ 0.05368325 -0.03175015 0.99805312 1.31453249] [ 0. 0. 0. 1. ]] SLAMing on 131.24925976399996 meters Centerline goodness : 0.793666 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.56, Z:1.31 [[ 0.98612283 -0.15559056 -0.0579081 -7.35361351] [ 0.15712787 0.98731069 0.0229875 9.56309083] [ 0.05359664 -0.03176748 0.99805723 1.31391543] [ 0. 0. 0. 1. ]] SLAMing on 131.30925976399996 meters Centerline goodness : 0.796879 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.56, Z:1.31 [[ 0.98602783 -0.15587844 -0.0587454 -7.35219612] [ 0.15744369 0.98726003 0.02300267 9.56450027] [ 0.05441136 -0.03193037 0.99800794 1.31394749] [ 0. 0. 0. 1. ]] SLAMing on 131.36925976399996 meters Centerline goodness : 0.796235 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.31 [[ 0.98635306 -0.15366939 -0.05910461 -7.3526679 ] [ 0.15529332 0.98757893 0.02391329 9.56598829] [ 0.05469573 -0.0327655 0.99796533 1.31418195] [ 0. 0. 0. 1. ]] SLAMing on 131.42925976399997 meters Centerline goodness : 0.797939 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.57, Z:1.31 [[ 0.98729988 -0.14761 -0.05873877 -7.35528228] [ 0.14928916 0.9884703 0.02528266 9.5700303 ] [ 0.05432956 -0.03373063 0.99795318 1.31366632] [ 0. 0. 0. 1. ]] SLAMing on 131.48925976399997 meters Centerline goodness : 0.798352 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.57, Z:1.31 [[ 0.98795187 -0.14316156 -0.05878661 -7.35530643] [ 0.14510162 0.98895709 0.03015607 9.56898381] [ 0.05382024 -0.03832277 0.99781499 1.3109711 ] [ 0. 0. 0. 1. ]] SLAMing on 131.54925976399997 meters Centerline goodness : 0.800279 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.57, Z:1.31 [[ 0.98855775 -0.13891059 -0.05879988 -7.35564194] [ 0.14109961 0.9893816 0.03485611 9.56758912] [ 0.05333364 -0.04275392 0.99766108 1.30858149] [ 0. 0. 0. 1. ]] SLAMing on 131.60925976399997 meters Centerline goodness : 0.799085 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.57, Z:1.31 [[ 0.98909094 -0.13507455 -0.05877049 -7.35750013] [ 0.13744031 0.98977117 0.03825176 9.56975568] [ 0.0530025 -0.04591191 0.99753839 1.30898165] [ 0. 0. 0. 1. ]] SLAMing on 131.66925976399997 meters Centerline goodness : 0.802119 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.57, Z:1.31 [[ 0.98961338 -0.13121337 -0.05872312 -7.35925401] [ 0.13375799 0.99013566 0.0417154 9.57188071] [ 0.05267024 -0.0491368 0.99740234 1.30911439] [ 0. 0. 0. 1. ]] SLAMing on 131.72925976399998 meters Centerline goodness : 0.800092 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.57, Z:1.31 [[ 0.99020375 -0.12667111 -0.05874497 -7.35882578] [ 0.12944286 0.99051726 0.04604461 9.57264285] [ 0.05235538 -0.05319766 0.99721057 1.30659078] [ 0. 0. 0. 1. ]] SLAMing on 131.78925976399998 meters Centerline goodness : 0.804531 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.58, Z:1.31 [[ 0.99021311 -0.12635968 -0.0592557 -7.35721883] [ 0.12908602 0.9906264 0.04467813 9.57864497] [ 0.05305475 -0.05188995 0.99724251 1.30735635] [ 0. 0. 0. 1. ]] SLAMing on 131.84925976399998 meters Centerline goodness : 0.803856 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.58, Z:1.31 [[ 0.9907147 -0.12227784 -0.05943503 -7.35849217] [ 0.12516697 0.99099394 0.04758408 9.58235974] [ 0.05308127 -0.05458155 0.9970974 1.30858381] [ 0. 0. 0. 1. ]] SLAMing on 131.90925976399996 meters Centerline goodness : 0.803375 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.59, Z:1.31 [[ 0.99076338 -0.12180267 -0.05959891 -7.3576386 ] [ 0.12462445 0.99112964 0.04616033 9.5874938 ] [ 0.05344779 -0.05316144 0.99715455 1.30978301] [ 0. 0. 0. 1. ]] SLAMing on 131.96925976399996 meters Centerline goodness : 0.801545 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.59, Z:1.31 [[ 0.9913165 -0.11720643 -0.05961761 -7.35750958] [ 0.12025132 0.99146659 0.05033512 9.58809311] [ 0.05320927 -0.05706713 0.99695141 1.30802513] [ 0. 0. 0. 1. ]] SLAMing on 132.02925976399996 meters Centerline goodness : 0.800433 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.59, Z:1.31 [[ 0.99129139 -0.11739682 -0.05966041 -7.35812369] [ 0.12034851 0.99154396 0.04854701 9.5932641 ] [ 0.05345666 -0.05530428 0.99703752 1.31047006] [ 0. 0. 0. 1. ]] SLAMing on 132.08925976399996 meters Centerline goodness : 0.801918 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.60, Z:1.31 [[ 0.99128446 -0.11747017 -0.05963126 -7.35832685] [ 0.12036066 0.99159626 0.047436 9.59807011] [ 0.05355782 -0.05419983 0.99709274 1.31132709] [ 0. 0. 0. 1. ]] SLAMing on 132.14925976399996 meters Centerline goodness : 0.798502 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.60, Z:1.31 [[ 0.9913073 -0.11736 -0.05946825 -7.35827713] [ 0.12024535 0.99160689 0.04750618 9.59766622] [ 0.0533938 -0.054244 0.99709914 1.31090281] [ 0. 0. 0. 1. ]] SLAMing on 132.20925976399997 meters Centerline goodness : 0.797135 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.60, Z:1.31 [[ 0.99131576 -0.11748388 -0.05908126 -7.35899449] [ 0.1203639 0.99157832 0.04780133 9.59658929] [ 0.05296781 -0.05449746 0.99710804 1.31014825] [ 0. 0. 0. 1. ]] SLAMing on 132.26925976399997 meters Centerline goodness : 0.794587 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.60, Z:1.31 [[ 0.99076431 -0.1222594 -0.05864063 -7.35999079] [ 0.12486014 0.99124476 0.04293907 9.59763752] [ 0.05287751 -0.04986437 0.99735526 1.31233505] [ 0. 0. 0. 1. ]] SLAMing on 132.32925976399997 meters Centerline goodness : 0.794090 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.60, Z:1.31 [[ 0.99076468 -0.12228816 -0.0585743 -7.36051075] [ 0.12486786 0.99125823 0.04260434 9.59797013] [ 0.05285226 -0.04952492 0.99737351 1.31323785] [ 0. 0. 0. 1. ]] SLAMing on 132.38925976399997 meters Centerline goodness : 0.791857 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.60, Z:1.31 [[ 0.99075964 -0.12247676 -0.05826466 -7.36199469] [ 0.12500468 0.9912705 0.04191214 9.59901139] [ 0.05262278 -0.04880821 0.99742098 1.31490304] [ 0. 0. 0. 1. ]] SLAMing on 132.44925976399998 meters Centerline goodness : 0.794862 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.59, Z:1.31 [[ 0.99081491 -0.12217522 -0.05795721 -7.36193083] [ 0.12473855 0.99126273 0.04287757 9.59495786] [ 0.05221225 -0.04971323 0.99739785 1.31359671] [ 0. 0. 0. 1. ]] SLAMing on 132.50925976399998 meters Centerline goodness : 0.796732 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.60, Z:1.32 [[ 0.99077216 -0.12268789 -0.05760389 -7.36392339] [ 0.12519192 0.9912401 0.04207195 9.59606913] [ 0.05193757 -0.04889526 0.99745263 1.31545584] [ 0. 0. 0. 1. ]] SLAMing on 132.56925976399998 meters Centerline goodness : 0.795571 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.60, Z:1.32 [[ 0.99074071 -0.123119 -0.05722375 -7.36584728] [ 0.12558389 0.99120743 0.0416716 9.59576568] [ 0.05159004 -0.04847213 0.99749131 1.31686249] [ 0. 0. 0. 1. ]] SLAMing on 132.62925976399995 meters Centerline goodness : 0.794201 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.60, Z:1.32 [[ 0.99073803 -0.12340582 -0.05664945 -7.36763513] [ 0.12582825 0.99118847 0.04138448 9.595102 ] [ 0.0510432 -0.04812928 0.99753605 1.31765721] [ 0. 0. 0. 1. ]] SLAMing on 132.68925976399996 meters Centerline goodness : 0.791823 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.60, Z:1.32 [[ 0.99073704 -0.12350774 -0.05644427 -7.36831122] [ 0.12590588 0.99119039 0.0411014 9.59539709] [ 0.05087068 -0.04782735 0.99755938 1.31816003] [ 0. 0. 0. 1. ]] SLAMing on 132.74925976399996 meters Centerline goodness : 0.791661 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.59, Z:1.32 [[ 0.99075504 -0.12348023 -0.05618795 -7.36860226] [ 0.12588176 0.99118058 0.04141073 9.59428228] [ 0.050579 -0.04810093 0.99756106 1.31752763] [ 0. 0. 0. 1. ]] SLAMing on 132.80925976399996 meters Centerline goodness : 0.790712 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.60, Z:1.32 [[ 0.99077738 -0.12317031 -0.05647358 -7.36758588] [ 0.12557542 0.99122765 0.04121353 9.59513477] [ 0.05090189 -0.04792513 0.9975531 1.31767095] [ 0. 0. 0. 1. ]] SLAMing on 132.86925976399996 meters Centerline goodness : 0.792589 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.60, Z:1.32 [[ 0.99080273 -0.12300956 -0.05637904 -7.36767759] [ 0.12539783 0.99126008 0.04097354 9.59592749] [ 0.05084615 -0.0476665 0.99756833 1.31801325] [ 0. 0. 0. 1. ]] SLAMing on 132.92925976399997 meters Centerline goodness : 0.789763 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.59, Z:1.32 [[ 0.99081595 -0.1231122 -0.05592084 -7.36891775] [ 0.12547742 0.991251 0.04094971 9.59466144] [ 0.05039018 -0.04759043 0.9975951 1.31839674] [ 0. 0. 0. 1. ]] SLAMing on 132.98925976399997 meters Centerline goodness : 0.794326 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.59, Z:1.32 [[ 0.99079196 -0.12354781 -0.05538262 -7.37074573] [ 0.12587438 0.99121152 0.04068621 9.59416934] [ 0.04986919 -0.04728282 0.9976359 1.31901022] [ 0. 0. 0. 1. ]] SLAMing on 133.04925976399997 meters Centerline goodness : 0.796689 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.59, Z:1.32 [[ 0.99075165 -0.12414544 -0.05476378 -7.37297379] [ 0.12645242 0.99113002 0.0408788 9.59165719] [ 0.04920311 -0.04742575 0.99766219 1.31934687] [ 0. 0. 0. 1. ]] SLAMing on 133.10925976399997 meters Centerline goodness : 0.795965 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.59, Z:1.31 [[ 0.99068877 -0.12653977 -0.05023396 -7.35655456] [ 0.12900065 0.99042317 0.04920135 9.59022203] [ 0.04352695 -0.05522344 0.99752482 1.31427637] [ 0. 0. 0. 1. ]] SLAMing on 133.16925976399997 meters Centerline goodness : 0.794082 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.59, Z:1.32 [[ 0.99067119 -0.12685788 -0.04977623 -7.35836917] [ 0.12925672 0.99043153 0.04835369 9.59198335] [ 0.0431659 -0.05433652 0.99758922 1.3157683 ] [ 0. 0. 0. 1. ]] SLAMing on 133.22925976399998 meters Centerline goodness : 0.792527 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.59, Z:1.32 [[ 0.99070098 -0.12663609 -0.04974805 -7.35813894] [ 0.12901084 0.99048895 0.04783132 9.5940743 ] [ 0.04321772 -0.05380458 0.99761581 1.31605467] [ 0. 0. 0. 1. ]] SLAMing on 133.28925976399998 meters Centerline goodness : 0.792491 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.59, Z:1.31 [[ 0.99126044 -0.12208931 -0.04996931 -7.35780969] [ 0.12467503 0.99081377 0.05238522 9.59363415] [ 0.0431146 -0.05815732 0.99737599 1.3142488 ] [ 0. 0. 0. 1. ]] SLAMing on 133.34925976399998 meters Centerline goodness : 0.792734 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.60, Z:1.31 [[ 0.99125995 -0.12206138 -0.05004735 -7.35774869] [ 0.12462767 0.99084883 0.05183176 9.59529392] [ 0.0432627 -0.05761603 0.99740099 1.31491762] [ 0. 0. 0. 1. ]] SLAMing on 133.40925976399996 meters Centerline goodness : 0.791686 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.60, Z:1.32 [[ 0.9913001 -0.12184941 -0.04976781 -7.35810459] [ 0.12437152 0.99091491 0.05117978 9.59728632] [ 0.04307944 -0.05692422 0.99744864 1.31549042] [ 0. 0. 0. 1. ]] SLAMing on 133.46925976399996 meters Centerline goodness : 0.792091 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.60, Z:1.32 [[ 0.991295 -0.12205735 -0.04935819 -7.35961338] [ 0.12452004 0.9909393 0.05033949 9.59935198] [ 0.04276667 -0.05604737 0.99751176 1.3167393 ] [ 0. 0. 0. 1. ]] SLAMing on 133.52925976399996 meters Centerline goodness : 0.793973 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.60, Z:1.32 [[ 0.99129998 -0.12199194 -0.04941989 -7.35945649] [ 0.12445294 0.99095385 0.05021894 9.599878 ] [ 0.04284653 -0.05593249 0.99751478 1.31696813] [ 0. 0. 0. 1. ]] SLAMing on 133.58925976399996 meters Centerline goodness : 0.793038 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.60, Z:1.32 [[ 0.99130387 -0.12205644 -0.04918183 -7.35983682] [ 0.12453115 0.99091168 0.05085317 9.59752125] [ 0.04252789 -0.05653562 0.99749441 1.31612393] [ 0. 0. 0. 1. ]] SLAMing on 133.64925976399996 meters Centerline goodness : 0.794249 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.60, Z:1.32 [[ 0.99124813 -0.12278301 -0.0484921 -7.36300336] [ 0.12519855 0.9908517 0.05038081 9.59660517] [ 0.04186257 -0.05601102 0.99755215 1.31804305] [ 0. 0. 0. 1. ]] SLAMing on 133.70925976399997 meters Centerline goodness : 0.795075 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.60, Z:1.32 [[ 0.99113563 -0.12407962 -0.04748057 -7.36811803] [ 0.12638244 0.99076928 0.04902767 9.59663027] [ 0.04095896 -0.05459378 0.99766822 1.32201974] [ 0. 0. 0. 1. ]] SLAMing on 133.76925976399997 meters Centerline goodness : 0.793966 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.60, Z:1.32 [[ 0.99062796 -0.12823736 -0.04702585 -7.36808211] [ 0.13034301 0.99045501 0.04482836 9.59596216] [ 0.04082831 -0.05053772 0.99788726 1.32305018] [ 0. 0. 0. 1. ]] SLAMing on 133.82925976399997 meters Centerline goodness : 0.794700 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.60, Z:1.32 [[ 0.99005351 -0.13283344 -0.04636075 -7.36921626] [ 0.1347311 0.9900531 0.04052647 9.59518586] [ 0.04051633 -0.04636961 0.99810234 1.32430293] [ 0. 0. 0. 1. ]] SLAMing on 133.88925976399997 meters Centerline goodness : 0.798279 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.59, Z:1.33 [[ 0.98946564 -0.13734261 -0.04576842 -7.37025658] [ 0.13904763 0.98961616 0.03640908 9.59423515] [ 0.04029265 -0.04238952 0.99828835 1.32569174] [ 0. 0. 0. 1. ]] SLAMing on 133.94925976399998 meters Centerline goodness : 0.801292 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.59, Z:1.33 [[ 0.98942203 -0.13782486 -0.04525882 -7.3723845 ] [ 0.13953856 0.98951879 0.03716919 9.59053609] [ 0.03966161 -0.04309137 0.99828357 1.32571176] [ 0. 0. 0. 1. ]] SLAMing on 134.00925976399998 meters Centerline goodness : 0.800183 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.59, Z:1.33 [[ 0.98946616 -0.13766127 -0.04478935 -7.37331386] [ 0.13936758 0.98953051 0.03749722 9.5880179 ] [ 0.03915851 -0.04334441 0.99829248 1.32599725] [ 0. 0. 0. 1. ]] SLAMing on 134.06925976399998 meters Centerline goodness : 0.799937 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.59, Z:1.33 [[ 0.98890034 -0.14193534 -0.04393722 -7.37469911] [ 0.14342925 0.98911227 0.03293888 9.58660871] [ 0.03878366 -0.03887515 0.99849114 1.32846314] [ 0. 0. 0. 1. ]] SLAMing on 134.12925976399995 meters Centerline goodness : 0.798931 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.58, Z:1.32 [[ 0.98855627 -0.14567608 -0.03917891 -7.3606631 ] [ 0.14731833 0.98815748 0.04291967 9.57996056] [ 0.03246256 -0.04820028 0.99831003 1.32078774] [ 0. 0. 0. 1. ]] SLAMing on 134.18925976399996 meters Centerline goodness : 0.800626 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.31 [[ 0.98782305 -0.15171601 -0.03446567 -7.34578152] [ 0.15332732 0.98689645 0.0502606 9.57240692] [ 0.02638871 -0.05493311 0.99814127 1.31419305] [ 0. 0. 0. 1. ]] SLAMing on 134.24925976399996 meters Centerline goodness : 0.797921 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.31 [[ 0.98720861 -0.15576581 -0.03400261 -7.34519133] [ 0.15725476 0.9864539 0.04668661 9.57073365] [ 0.02626983 -0.05143649 0.9983307 1.31420363] [ 0. 0. 0. 1. ]] SLAMing on 134.30925976399996 meters Centerline goodness : 0.798109 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.57, Z:1.33 [[ 0.9873057 -0.15106808 -0.04904993 -7.3433107 ] [ 0.15327616 0.98716356 0.04488342 9.56557843] [ 0.04163985 -0.05183184 0.99778734 1.32619874] [ 0. 0. 0. 1. ]] SLAMing on 134.36925976399996 meters Centerline goodness : 0.799645 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.56, Z:1.33 [[ 0.98773493 -0.14866411 -0.04773556 -7.34625005] [ 0.15088203 0.98744331 0.04680092 9.5637235 ] [ 0.04017854 -0.05342934 0.99776299 1.32652064] [ 0. 0. 0. 1. ]] SLAMing on 134.42925976399997 meters Centerline goodness : 0.802880 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.33 [[ 0.98776796 -0.1484555 -0.04770145 -7.34637699] [ 0.15064792 0.9875068 0.04621172 9.56581418] [ 0.04024512 -0.05283258 0.99779209 1.32730164] [ 0. 0. 0. 1. ]] SLAMing on 134.48925976399997 meters Centerline goodness : 0.798890 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.33 [[ 0.98784534 -0.14790497 -0.0478091 -7.34519063] [ 0.15010304 0.98758999 0.04620703 9.56754915] [ 0.04038154 -0.05282169 0.99778715 1.32635358] [ 0. 0. 0. 1. ]] SLAMing on 134.54925976399997 meters Centerline goodness : 0.793043 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.33 [[ 0.98844839 -0.14381284 -0.04782933 -7.34652446] [ 0.14616518 0.98799733 0.0499701 9.56851279] [ 0.04006891 -0.05638384 0.9976048 1.32611045] [ 0. 0. 0. 1. ]] SLAMing on 134.60925976399997 meters Centerline goodness : 0.797860 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.33 [[ 0.98838839 -0.14433783 -0.04748666 -7.34866457] [ 0.14661388 0.9880017 0.04854905 9.57226793] [ 0.03990944 -0.05494752 0.99769134 1.3283799 ] [ 0. 0. 0. 1. ]] SLAMing on 134.66925976399997 meters Centerline goodness : 0.794608 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.57, Z:1.33 [[ 0.9889395 -0.14061427 -0.04718354 -7.35188758] [ 0.14299088 0.98838504 0.05146479 9.57442098] [ 0.03939882 -0.05764238 0.99755957 1.33038173] [ 0. 0. 0. 1. ]] SLAMing on 134.72925976399998 meters Centerline goodness : 0.797306 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.58, Z:1.33 [[ 0.98955294 -0.13632957 -0.04689585 -7.35429355] [ 0.13876204 0.98889334 0.0532452 9.58130004] [ 0.0391161 -0.05919631 0.99747969 1.33335845] [ 0. 0. 0. 1. ]] SLAMing on 134.78925976399998 meters Centerline goodness : 0.795372 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.58, Z:1.33 [[ 0.99017477 -0.13163976 -0.04716891 -7.35388582] [ 0.13424795 0.98929517 0.05720626 9.5828695 ] [ 0.03913336 -0.06297653 0.99724748 1.33218833] [ 0. 0. 0. 1. ]] SLAMing on 134.84925976399998 meters Centerline goodness : 0.792494 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.59, Z:1.33 [[ 0.99082081 -0.12642595 -0.04786032 -7.35137274] [ 0.12925135 0.98970696 0.06143463 9.58509613] [ 0.03960076 -0.06705672 0.99696298 1.32969926] [ 0. 0. 0. 1. ]] SLAMing on 134.90925976399996 meters Centerline goodness : 0.792789 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.59, Z:1.33 [[ 0.99134444 -0.12215927 -0.04809697 -7.35220757] [ 0.12514621 0.99000975 0.06495478 9.58695951] [ 0.03968164 -0.07041172 0.99672843 1.33028268] [ 0. 0. 0. 1. ]] SLAMing on 134.96925976399996 meters Centerline goodness : 0.792313 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.59, Z:1.34 [[ 0.99153128 -0.12054607 -0.04831523 -7.35038214] [ 0.12341731 0.99043789 0.06165196 9.59408475] [ 0.04042133 -0.06709278 0.99692762 1.33657311] [ 0. 0. 0. 1. ]] SLAMing on 135.02925976399996 meters Centerline goodness : 0.794577 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.59, Z:1.34 [[ 0.9915792 -0.1201326 -0.0483617 -7.34998647] [ 0.12299198 0.99051436 0.06127213 9.59421956] [ 0.04054217 -0.06670427 0.99694878 1.33755561] [ 0. 0. 0. 1. ]] SLAMing on 135.08925976399996 meters Centerline goodness : 0.795000 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.60, Z:1.34 [[ 0.99116583 -0.12335503 -0.04872197 -7.34747009] [ 0.12600154 0.99047081 0.05559842 9.59825347] [ 0.04139934 -0.0612463 0.99726375 1.34071466] [ 0. 0. 0. 1. ]] SLAMing on 135.14925976399996 meters Centerline goodness : 0.797443 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.60, Z:1.34 [[ 0.99073289 -0.12654422 -0.04934465 -7.34462297] [ 0.12902855 0.99033348 0.05090408 9.59918023] [ 0.04242604 -0.05679922 0.99748377 1.34344539] [ 0. 0. 0. 1. ]] SLAMing on 135.20925976399997 meters Centerline goodness : 0.796915 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.60, Z:1.35 [[ 0.9902565 -0.13018421 -0.04943814 -7.34380341] [ 0.13246367 0.99011894 0.04602025 9.59951213] [ 0.04295853 -0.05212061 0.9977164 1.34713183] [ 0. 0. 0. 1. ]] SLAMing on 135.26925976399997 meters Centerline goodness : 0.795998 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.60, Z:1.34 [[ 0.98985641 -0.13499874 -0.04426766 -7.32706321] [ 0.13721688 0.98919532 0.05161527 9.59603684] [ 0.03682137 -0.05716597 0.99768544 1.34296968] [ 0. 0. 0. 1. ]] SLAMing on 135.32925976399997 meters Centerline goodness : 0.793955 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.59, Z:1.34 [[ 0.98923983 -0.14074775 -0.0399327 -7.30735222] [ 0.14285723 0.98815274 0.05608906 9.59068669] [ 0.0315652 -0.0611902 0.99762688 1.33933269] [ 0. 0. 0. 1. ]] SLAMing on 135.38925976399997 meters Centerline goodness : 0.793653 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.58, Z:1.35 [[ 0.98792813 -0.14971117 -0.03980666 -7.3079249 ] [ 0.15174294 0.98693504 0.05415997 9.58216445] [ 0.03117823 -0.05954654 0.99773851 1.34584681] [ 0. 0. 0. 1. ]] SLAMing on 135.44925976399998 meters Centerline goodness : 0.793420 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.57, Z:1.36 [[ 0.98718946 -0.14876445 -0.0576725 -7.30231721] [ 0.1519244 0.98686473 0.054927 9.57275349] [ 0.04874378 -0.06298521 0.99682341 1.3601889 ] [ 0. 0. 0. 1. ]] SLAMing on 135.50925976399998 meters Centerline goodness : 0.791097 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.56, Z:1.37 [[ 0.98553362 -0.1593223 -0.05779175 -7.30380196] [ 0.16234281 0.98536459 0.05197529 9.5648214 ] [ 0.04866512 -0.06060547 0.99697477 1.3686016 ] [ 0. 0. 0. 1. ]] SLAMing on 135.56925976399998 meters Centerline goodness : 0.787370 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.56, Z:1.37 [[ 0.98414664 -0.16765786 -0.05784667 -7.30485666] [ 0.17053826 0.98412922 0.04905485 9.56006316] [ 0.04870417 -0.05814223 0.99711954 1.37475554] [ 0. 0. 0. 1. ]] SLAMing on 135.62925976399995 meters Centerline goodness : 0.789885 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.55, Z:1.38 [[ 0.98168693 -0.18159137 -0.057579 -7.30661262] [ 0.1842365 0.98187364 0.04450912 9.55285314] [ 0.04845283 -0.05430217 0.99734828 1.3844759 ] [ 0. 0. 0. 1. ]] SLAMing on 135.68925976399996 meters Centerline goodness : 0.788321 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.54, Z:1.40 [[ 0.97996886 -0.18460545 -0.07471189 -7.3008351 ] [ 0.18821821 0.9811162 0.0445523 9.54426915] [ 0.06507645 -0.05772201 0.99620943 1.39617269] [ 0. 0. 0. 1. ]] SLAMing on 135.74925976399996 meters Centerline goodness : 0.788552 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.54, Z:1.40 [[ 0.97696743 -0.19959712 -0.07546944 -7.29902197] [ 0.20310159 0.97825857 0.04195138 9.53800344] [ 0.06545525 -0.0563131 0.99626525 1.40404209] [ 0. 0. 0. 1. ]] SLAMing on 135.80925976399996 meters Centerline goodness : 0.784053 with order 1 Centerline is valid? [False, False] Translation: X:-7.30, Y:9.53, Z:1.41 [[ 0.97611658 -0.20399587 -0.07471351 -7.30219271] [ 0.2073516 0.97743887 0.0402315 9.53475203] [ 0.06482083 -0.0547626 0.99639315 1.40913355] [ 0. 0. 0. 1. ]] SLAMing on 135.86925976399996 meters Centerline goodness : 0.786395 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.53, Z:1.41 [[ 0.97551983 -0.2069858 -0.07428281 -7.30536528] [ 0.2102406 0.9768725 0.03897454 9.53132028] [ 0.06449765 -0.0536377 0.99647531 1.41449186] [ 0. 0. 0. 1. ]] SLAMing on 135.92925976399997 meters Centerline goodness : 0.787430 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.53, Z:1.42 [[ 0.97499611 -0.21000261 -0.07267385 -7.30870297] [ 0.21293824 0.9764299 0.03524133 9.52879343] [ 0.06356015 -0.0498352 0.99673294 1.41676772] [ 0. 0. 0. 1. ]] SLAMing on 135.98925976399997 meters Centerline goodness : 0.787841 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.53, Z:1.42 [[ 0.97511707 -0.20977822 -0.07169234 -7.31175422] [ 0.21262396 0.97652144 0.03459673 9.52652607] [ 0.06275147 -0.04897937 0.9968266 1.41862532] [ 0. 0. 0. 1. ]] SLAMing on 136.04925976399997 meters Centerline goodness : 0.786541 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.52, Z:1.42 [[ 0.97484794 -0.2109495 -0.07191523 -7.31273997] [ 0.21384139 0.97623661 0.03512766 9.52332537] [ 0.06279612 -0.04962259 0.99679198 1.42205852] [ 0. 0. 0. 1. ]] SLAMing on 136.10925976399997 meters Centerline goodness : 0.786797 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.52, Z:1.44 [[ 0.97436869 -0.20759914 -0.08665017 -7.31375475] [ 0.21107551 0.97691267 0.03299636 9.51722516] [ 0.07779963 -0.05044035 0.99569222 1.43610487] [ 0. 0. 0. 1. ]] SLAMing on 136.16925976399997 meters Centerline goodness : 0.784973 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.51, Z:1.44 [[ 0.97324919 -0.21310792 -0.08585466 -7.3163733 ] [ 0.21635271 0.97584364 0.03034307 9.51460389] [ 0.07731437 -0.04810626 0.99584551 1.44064061] [ 0. 0. 0. 1. ]] SLAMing on 136.22925976399998 meters Centerline goodness : 0.782312 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.51, Z:1.44 [[ 0.97327725 -0.21303089 -0.0857277 -7.31846127] [ 0.21630702 0.97583852 0.0308296 9.51248441] [ 0.07708873 -0.04854925 0.9958415 1.44354986] [ 0. 0. 0. 1. ]] SLAMing on 136.28925976399998 meters Centerline goodness : 0.782684 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.51, Z:1.45 [[ 0.97349882 -0.2121514 -0.08539228 -7.32114642] [ 0.21545063 0.97601068 0.03137171 9.51182796] [ 0.07668822 -0.04893815 0.99585339 1.44568039] [ 0. 0. 0. 1. ]] SLAMing on 136.34925976399998 meters Centerline goodness : 0.781416 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.51, Z:1.44 [[ 0.97340751 -0.21261876 -0.0852707 -7.31976525] [ 0.21588135 0.97592872 0.03095757 9.5119337 ] [ 0.07663596 -0.04854268 0.99587677 1.4438451 ] [ 0. 0. 0. 1. ]] SLAMing on 136.40925976399996 meters Centerline goodness : 0.782228 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.51, Z:1.45 [[ 0.97248432 -0.21701477 -0.08472804 -7.32073083] [ 0.22002504 0.97509628 0.027861 9.511177 ] [ 0.07657175 -0.04573668 0.99601452 1.44624543] [ 0. 0. 0. 1. ]] SLAMing on 136.46925976399996 meters Centerline goodness : 0.779515 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.51, Z:1.45 [[ 0.97266655 -0.21553296 -0.08640215 -7.31898667] [ 0.21893299 0.97521794 0.03191107 9.51077323] [ 0.07738304 -0.04995511 0.99574914 1.44753023] [ 0. 0. 0. 1. ]] SLAMing on 136.52925976399996 meters Centerline goodness : 0.779552 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.51, Z:1.45 [[ 0.97272401 -0.21521675 -0.08654337 -7.32085888] [ 0.21864999 0.97527004 0.03225717 9.51200294] [ 0.07746087 -0.05030003 0.99572573 1.44970055] [ 0. 0. 0. 1. ]] SLAMing on 136.58925976399996 meters Centerline goodness : 0.778621 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.51, Z:1.45 [[ 0.97245786 -0.21707474 -0.08487791 -7.32444776] [ 0.22012436 0.97506178 0.02828042 9.51292791] [ 0.07662225 -0.04618522 0.99598994 1.4505314 ] [ 0. 0. 0. 1. ]] SLAMing on 136.64925976399996 meters Centerline goodness : 0.779072 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.52, Z:1.45 [[ 0.97179977 -0.21922007 -0.0868779 -7.32177219] [ 0.22245949 0.9744977 0.02942786 9.51600395] [ 0.07821114 -0.04792481 0.99578423 1.45209797] [ 0. 0. 0. 1. ]] SLAMing on 136.70925976399997 meters Centerline goodness : 0.777032 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.52, Z:1.45 [[ 0.97129728 -0.22079221 -0.08850084 -7.31953017] [ 0.22421885 0.97405421 0.03072939 9.51897122] [ 0.07941981 -0.04969093 0.99560198 1.45311666] [ 0. 0. 0. 1. ]] SLAMing on 136.76925976399997 meters Centerline goodness : 0.773707 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.52, Z:1.45 [[ 0.97135819 -0.21990871 -0.09001898 -7.31711432] [ 0.22343957 0.97422133 0.0311057 9.52498972] [ 0.080858 -0.05032858 0.99545418 1.45165635] [ 0. 0. 0. 1. ]] SLAMing on 136.82925976399997 meters Centerline goodness : 0.771898 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.53, Z:1.45 [[ 0.9721952 -0.21567645 -0.09121492 -7.31687037] [ 0.2193904 0.97508747 0.03274562 9.53058975] [ 0.08188007 -0.05184681 0.9952927 1.45053702] [ 0. 0. 0. 1. ]] SLAMing on 136.88925976399997 meters Centerline goodness : 0.767664 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.54, Z:1.45 [[ 0.97308829 -0.21119369 -0.09217599 -7.31381727] [ 0.21503993 0.97601692 0.03389405 9.53597536] [ 0.08280711 -0.05280342 0.99516571 1.44531918] [ 0. 0. 0. 1. ]] SLAMing on 136.94925976399998 meters Centerline goodness : 0.766088 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.54, Z:1.45 [[ 0.97344921 -0.20973653 -0.09169091 -7.31605394] [ 0.21347519 0.97639234 0.03295982 9.53911521] [ 0.08261343 -0.05165844 0.99524189 1.44527041] [ 0. 0. 0. 1. ]] SLAMing on 137.00925976399998 meters Centerline goodness : 0.764520 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.55, Z:1.45 [[ 0.97386753 -0.20632515 -0.09493138 -7.31253888] [ 0.21069165 0.97679699 0.03842749 9.54638407] [ 0.08480013 -0.05742453 0.99474186 1.44517061] [ 0. 0. 0. 1. ]] SLAMing on 137.06925976399998 meters Centerline goodness : 0.761825 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.55, Z:1.44 [[ 0.97501098 -0.20109694 -0.0944119 -7.31449031] [ 0.20540552 0.97792792 0.03828247 9.55223483] [ 0.08462955 -0.05671855 0.99479689 1.44234384] [ 0. 0. 0. 1. ]] SLAMing on 137.12925976399995 meters Centerline goodness : 0.760294 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.56, Z:1.44 [[ 0.97641594 -0.19486156 -0.09295638 -7.31717731] [ 0.19890389 0.97934579 0.03631893 9.55987588] [ 0.08395927 -0.05395177 0.99500756 1.43741949] [ 0. 0. 0. 1. ]] SLAMing on 137.18925976399996 meters Centerline goodness : 0.759907 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.57, Z:1.43 [[ 0.97793361 -0.19418105 -0.0770687 -7.32484955] [ 0.19733558 0.97968922 0.03560476 9.57052539] [ 0.0685896 -0.05002749 0.99638984 1.43158844] [ 0. 0. 0. 1. ]] SLAMing on 137.24925976399996 meters Centerline goodness : 0.757545 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.58, Z:1.43 [[ 0.979797 -0.18425437 -0.07776995 -7.32529419] [ 0.18765047 0.98146817 0.03882688 9.57767382] [ 0.06917471 -0.05263603 0.99621499 1.42779133] [ 0. 0. 0. 1. ]] SLAMing on 137.30925976399996 meters Centerline goodness : 0.756687 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.58, Z:1.43 [[ 0.98038301 -0.18145224 -0.07696906 -7.32722208] [ 0.18467562 0.98210268 0.03700334 9.58192475] [ 0.06887718 -0.05049176 0.99634658 1.42590275] [ 0. 0. 0. 1. ]] SLAMing on 137.36925976399996 meters Centerline goodness : 0.758628 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.59, Z:1.42 [[ 0.98120861 -0.17688216 -0.07708672 -7.32646003] [ 0.18020416 0.98287721 0.03845582 9.58723914] [ 0.06896463 -0.05162453 0.99628248 1.42191546] [ 0. 0. 0. 1. ]] SLAMing on 137.42925976399997 meters Centerline goodness : 0.759010 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.59, Z:1.42 [[ 0.98193017 -0.17294806 -0.0768252 -7.32804246] [ 0.17638617 0.98349032 0.0404315 9.59145479] [ 0.06856429 -0.05325181 0.99622446 1.4204119 ] [ 0. 0. 0. 1. ]] SLAMing on 137.48925976399997 meters Centerline goodness : 0.757191 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.60, Z:1.42 [[ 0.98244133 -0.1704932 -0.0757701 -7.32868332] [ 0.1737338 0.98404317 0.03841356 9.5953333 ] [ 0.0680118 -0.0509029 0.99638511 1.41678408] [ 0. 0. 0. 1. ]] SLAMing on 137.54925976399997 meters Centerline goodness : 0.758191 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.60, Z:1.42 [[ 0.98295091 -0.16767342 -0.07545285 -7.33033272] [ 0.17088288 0.98454818 0.03826123 9.59831433] [ 0.06787158 -0.05050251 0.99641505 1.41610432] [ 0. 0. 0. 1. ]] SLAMing on 137.60925976399997 meters Centerline goodness : 0.756601 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.60, Z:1.42 [[ 0.98391751 -0.16196404 -0.07532585 -7.33282024] [ 0.16524974 0.98545601 0.03961024 9.60398241] [ 0.06781488 -0.05142079 0.99637194 1.41529061] [ 0. 0. 0. 1. ]] SLAMing on 137.66925976399997 meters Centerline goodness : 0.754671 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.61, Z:1.41 [[ 0.98484867 -0.16308261 -0.05896748 -7.33970941] [ 0.16536666 0.98556924 0.03615448 9.61318672] [ 0.05222037 -0.04535795 0.99760498 1.40864724] [ 0. 0. 0. 1. ]] SLAMing on 137.72925976399998 meters Centerline goodness : 0.757713 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.62, Z:1.41 [[ 0.98533495 -0.15998309 -0.05933343 -7.34030775] [ 0.16231777 0.9860505 0.03684218 9.61680734] [ 0.05261163 -0.04593276 0.99755812 1.40822308] [ 0. 0. 0. 1. ]] SLAMing on 137.78925976399998 meters Centerline goodness : 0.758701 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.62, Z:1.41 [[ 0.98567401 -0.15792078 -0.0592265 -7.34156419] [ 0.1601663 0.98645948 0.03527668 9.62054982] [ 0.05285362 -0.0442574 0.99762106 1.40786492] [ 0. 0. 0. 1. ]] SLAMing on 137.84925976399995 meters Centerline goodness : 0.758999 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.62, Z:1.41 [[ 0.9860948 -0.15534708 -0.05902817 -7.34331509] [ 0.15756523 0.98688941 0.03496408 9.62246956] [ 0.05282271 -0.04377869 0.99764382 1.40821714] [ 0. 0. 0. 1. ]] SLAMing on 137.90925976399996 meters Centerline goodness : 0.762428 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.63, Z:1.40 [[ 0.98720232 -0.14817789 -0.05894816 -7.34300923] [ 0.15053985 0.98787892 0.03785486 9.62561787] [ 0.0526244 -0.04624445 0.99754304 1.4043258 ] [ 0. 0. 0. 1. ]] SLAMing on 137.96925976399996 meters Centerline goodness : 0.762016 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.63, Z:1.40 [[ 0.98768128 -0.14509025 -0.05860468 -7.34455549] [ 0.14744322 0.98833926 0.0380263 9.62709917] [ 0.05240406 -0.04619872 0.99755676 1.40387606] [ 0. 0. 0. 1. ]] SLAMing on 138.02925976399996 meters Centerline goodness : 0.763252 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.63, Z:1.40 [[ 0.98813868 -0.14234854 -0.05760934 -7.34714494] [ 0.14458702 0.98880989 0.03673681 9.6279266 ] [ 0.05173526 -0.04463062 0.99766305 1.40366954] [ 0. 0. 0. 1. ]] SLAMing on 138.08925976399996 meters Centerline goodness : 0.762914 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.63, Z:1.40 [[ 0.98838831 -0.14093414 -0.05679896 -7.3487448 ] [ 0.14310543 0.98904705 0.03614935 9.62762553] [ 0.05108217 -0.04385784 0.99773098 1.40337906] [ 0. 0. 0. 1. ]] SLAMing on 138.14925976399996 meters Centerline goodness : 0.763151 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.63, Z:1.40 [[ 0.98872831 -0.13868289 -0.05642154 -7.35153563] [ 0.14087799 0.98933636 0.03697234 9.6280871 ] [ 0.05069245 -0.04450415 0.99772223 1.40491854] [ 0. 0. 0. 1. ]] SLAMing on 138.20925976399997 meters Centerline goodness : 0.763530 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.63, Z:1.41 [[ 0.98884508 -0.13810246 -0.05579539 -7.35435196] [ 0.14024525 0.98944404 0.03649335 9.62676372] [ 0.0501666 -0.04391131 0.99777508 1.40684838] [ 0. 0. 0. 1. ]] SLAMing on 138.26925976399997 meters Centerline goodness : 0.763600 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.62, Z:1.41 [[ 0.98905346 -0.13696872 -0.05488912 -7.35750075] [ 0.13905925 0.98962017 0.03625539 9.62499177] [ 0.04935352 -0.04349136 0.99783402 1.40832091] [ 0. 0. 0. 1. ]] SLAMing on 138.32925976399997 meters Centerline goodness : 0.762640 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.62, Z:1.41 [[ 0.98898599 -0.13751317 -0.0547434 -7.35871829] [ 0.13961835 0.98952596 0.03667541 9.6237376 ] [ 0.04912666 -0.04391464 0.99782668 1.40979035] [ 0. 0. 0. 1. ]] SLAMing on 138.38925976399997 meters Centerline goodness : 0.762502 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.62, Z:1.41 [[ 0.98881501 -0.13898424 -0.05411341 -7.36032566] [ 0.1409793 0.98939486 0.03496649 9.62177516] [ 0.04867974 -0.04220426 0.99792238 1.41110224] [ 0. 0. 0. 1. ]] SLAMing on 138.44925976399998 meters Centerline goodness : 0.763969 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.62, Z:1.41 [[ 0.9887533 -0.13918879 -0.0547119 -7.36021325] [ 0.14122233 0.98935085 0.03522995 9.62045799] [ 0.04922565 -0.04256027 0.99788048 1.41268652] [ 0. 0. 0. 1. ]] SLAMing on 138.50925976399998 meters Centerline goodness : 0.762032 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.62, Z:1.42 [[ 0.98865942 -0.13978759 -0.05488148 -7.36186268] [ 0.14187886 0.98922026 0.03624452 9.61714141] [ 0.04922334 -0.04362001 0.99783483 1.41612506] [ 0. 0. 0. 1. ]] SLAMing on 138.56925976399998 meters Centerline goodness : 0.761839 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.61, Z:1.42 [[ 0.98855706 -0.14071502 -0.05435281 -7.36412139] [ 0.14275006 0.98911992 0.0355557 9.61418759] [ 0.04875822 -0.04290771 0.99788855 1.4186058 ] [ 0. 0. 0. 1. ]] SLAMing on 138.62925976399995 meters Centerline goodness : 0.761294 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.61, Z:1.42 [[ 0.98838508 -0.14183335 -0.05457318 -7.36433238] [ 0.14385315 0.98897855 0.03503862 9.61383168] [ 0.04900206 -0.04248217 0.99789482 1.41994964] [ 0. 0. 0. 1. ]] SLAMing on 138.68925976399996 meters Centerline goodness : 0.760066 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.61, Z:1.42 [[ 0.9882757 -0.14270498 -0.05428094 -7.36574835] [ 0.14466222 0.98889671 0.03400219 9.61276856] [ 0.04882596 -0.04145594 0.99794661 1.42148657] [ 0. 0. 0. 1. ]] SLAMing on 138.74925976399996 meters Centerline goodness : 0.760390 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.61, Z:1.42 [[ 0.98837765 -0.14223504 -0.05365454 -7.36848213] [ 0.14416967 0.98896601 0.03407848 9.61190715] [ 0.04821536 -0.04141777 0.99797788 1.42337282] [ 0. 0. 0. 1. ]] SLAMing on 138.80925976399996 meters Centerline goodness : 0.761026 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.61, Z:1.43 [[ 0.98864044 -0.1404935 -0.05340086 -7.37092381] [ 0.14246199 0.98918045 0.03502315 9.61069846] [ 0.04790256 -0.04223289 0.99795878 1.42539168] [ 0. 0. 0. 1. ]] SLAMing on 138.86925976399996 meters Centerline goodness : 0.760465 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.61, Z:1.43 [[ 0.98867538 -0.14035255 -0.05312396 -7.37229086] [ 0.14230402 0.98920706 0.03491356 9.60985642] [ 0.04765039 -0.04207793 0.9979774 1.42650198] [ 0. 0. 0. 1. ]] SLAMing on 138.92925976399997 meters Centerline goodness : 0.762460 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.61, Z:1.43 [[ 0.98835744 -0.14271084 -0.05275599 -7.3738102 ] [ 0.1445725 0.98893304 0.03332015 9.60804843] [ 0.047417 -0.04055929 0.99805139 1.42867542] [ 0. 0. 0. 1. ]] SLAMing on 138.98925976399997 meters Centerline goodness : 0.763288 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.61, Z:1.43 [[ 0.98822632 -0.14374265 -0.05240977 -7.37581955] [ 0.14559266 0.98878205 0.03335921 9.60676735] [ 0.0470267 -0.04059692 0.99806832 1.43104485] [ 0. 0. 0. 1. ]] SLAMing on 139.04925976399997 meters Centerline goodness : 0.762360 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.61, Z:1.43 [[ 0.98806411 -0.14467638 -0.05289672 -7.37659925] [ 0.14654573 0.98864198 0.03333739 9.60586744] [ 0.04747278 -0.04069126 0.99804336 1.43363204] [ 0. 0. 0. 1. ]] SLAMing on 139.10925976399997 meters Centerline goodness : 0.764407 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.61, Z:1.43 [[ 0.98809284 -0.14438126 -0.05316571 -7.37688188] [ 0.14624679 0.9886965 0.0330319 9.60516905] [ 0.04779556 -0.0404139 0.99803923 1.43437333] [ 0. 0. 0. 1. ]] SLAMing on 139.16925976399997 meters Centerline goodness : 0.762882 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.61, Z:1.44 [[ 0.98781855 -0.14599479 -0.05385191 -7.37695713] [ 0.14791777 0.98842801 0.03362158 9.60521048] [ 0.04832016 -0.04117768 0.99798275 1.43667599] [ 0. 0. 0. 1. ]] SLAMing on 139.22925976399998 meters Centerline goodness : 0.764187 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.60, Z:1.44 [[ 0.98768325 -0.14684454 -0.05402298 -7.37778367] [ 0.1487379 0.98833068 0.0328558 9.6048446 ] [ 0.04856787 -0.04048639 0.997999 1.43853391] [ 0. 0. 0. 1. ]] SLAMing on 139.28925976399998 meters Centerline goodness : 0.764187 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.60, Z:1.44 [[ 0.98746355 -0.14844544 -0.0536627 -7.37891223] [ 0.15024866 0.98815349 0.03127316 9.6048485 ] [ 0.04838463 -0.03894386 0.99806929 1.43951362] [ 0. 0. 0. 1. ]] SLAMing on 139.34925976399995 meters Centerline goodness : 0.762769 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.60, Z:1.44 [[ 0.98749735 -0.14819908 -0.05372165 -7.38034016] [ 0.15002897 0.98817074 0.0317789 9.60427988] [ 0.04837656 -0.03944138 0.99805014 1.4412329 ] [ 0. 0. 0. 1. ]] SLAMing on 139.40925976399996 meters Centerline goodness : 0.764135 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.61, Z:1.44 [[ 0.98776858 -0.14627034 -0.05402059 -7.38090405] [ 0.14814304 0.98843371 0.03244134 9.60522382] [ 0.04865056 -0.04004731 0.99801269 1.44179028] [ 0. 0. 0. 1. ]] SLAMing on 139.46925976399996 meters Centerline goodness : 0.764665 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.61, Z:1.44 [[ 0.98786972 -0.14589046 -0.05319205 -7.38265002] [ 0.14764372 0.98856549 0.0306528 9.606058 ] [ 0.04811187 -0.03813444 0.99811373 1.44145335] [ 0. 0. 0. 1. ]] SLAMing on 139.52925976399996 meters Centerline goodness : 0.765072 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.61, Z:1.44 [[ 0.98789988 -0.14572377 -0.0530887 -7.38317199] [ 0.14740116 0.98864674 0.0291637 9.60655849] [ 0.04823612 -0.03663615 0.99816385 1.44164585] [ 0. 0. 0. 1. ]] SLAMing on 139.58925976399996 meters Centerline goodness : 0.763645 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.61, Z:1.45 [[ 0.98767035 -0.14722595 -0.05321461 -7.38515378] [ 0.14890791 0.98842165 0.02913883 9.60623141] [ 0.04830848 -0.03670363 0.99815787 1.44506162] [ 0. 0. 0. 1. ]] SLAMing on 139.64925976399996 meters Centerline goodness : 0.764879 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.60, Z:1.45 [[ 0.98716358 -0.15047336 -0.05353353 -7.38439912] [ 0.15215256 0.98793765 0.02878878 9.60498793] [ 0.04855584 -0.0365645 0.99815097 1.44609754] [ 0. 0. 0. 1. ]] SLAMing on 139.70925976399997 meters Centerline goodness : 0.765989 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.61, Z:1.45 [[ 0.98704506 -0.15114655 -0.05382172 -7.38416413] [ 0.15280966 0.98785226 0.02823323 9.60539143] [ 0.04890056 -0.03609195 0.99815134 1.44664852] [ 0. 0. 0. 1. ]] SLAMing on 139.76925976399997 meters Centerline goodness : 0.765663 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.61, Z:1.45 [[ 0.98687366 -0.15208366 -0.05432261 -7.38335466] [ 0.15370307 0.98774898 0.02696898 9.60582518] [ 0.04955556 -0.03496453 0.99815917 1.44705616] [ 0. 0. 0. 1. ]] SLAMing on 139.82925976399997 meters Centerline goodness : 0.767902 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.61, Z:1.45 [[ 0.98672191 -0.15290744 -0.05476486 -7.38138012] [ 0.15457289 0.98759679 0.02756454 9.60608854] [ 0.04987078 -0.0356637 0.99811873 1.44567596] [ 0. 0. 0. 1. ]] SLAMing on 139.88925976399997 meters Centerline goodness : 0.765232 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.61, Z:1.45 [[ 0.98646112 -0.15461111 -0.05467965 -7.3827607 ] [ 0.15622592 0.98736363 0.02658043 9.60552019] [ 0.04987907 -0.03476294 0.9981501 1.44786648] [ 0. 0. 0. 1. ]] SLAMing on 139.94925976399998 meters Centerline goodness : 0.760322 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.61, Z:1.45 [[ 0.98633242 -0.15517987 -0.05538565 -7.38335535] [ 0.15685862 0.9872424 0.02734632 9.60650662] [ 0.05043546 -0.03566028 0.99809048 1.45024533] [ 0. 0. 0. 1. ]] SLAMing on 140.00925976399998 meters Centerline goodness : 0.762192 with order 1 Centerline is valid? [False, False] Translation: X:-7.38, Y:9.61, Z:1.45 [[ 0.98623155 -0.15567252 -0.05579788 -7.38436022] [ 0.15737748 0.98715381 0.02756222 9.60714552] [ 0.05079041 -0.03596406 0.99806158 1.45234042] [ 0. 0. 0. 1. ]] SLAMing on 140.06925976399998 meters Centerline goodness : 0.762493 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.61, Z:1.45 [[ 0.98659322 -0.15336972 -0.0557813 -7.38559709] [ 0.15510779 0.98749307 0.02826682 9.60743271] [ 0.05074837 -0.03653997 0.9980428 1.45285153] [ 0. 0. 0. 1. ]] SLAMing on 140.12925976399995 meters Centerline goodness : 0.761056 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.61, Z:1.45 [[ 0.98693703 -0.15120894 -0.05559812 -7.38737621] [ 0.15294379 0.98782747 0.02837405 9.60835277] [ 0.05063094 -0.03650679 0.99804998 1.45359181] [ 0. 0. 0. 1. ]] SLAMing on 140.18925976399996 meters Centerline goodness : 0.761183 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.61, Z:1.45 [[ 0.98686559 -0.15154506 -0.05595007 -7.38748665] [ 0.15326778 0.98779137 0.02787837 9.60854909] [ 0.05104217 -0.03608755 0.99804428 1.4544688 ] [ 0. 0. 0. 1. ]] SLAMing on 140.24925976399996 meters Centerline goodness : 0.762329 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.61, Z:1.46 [[ 0.98664358 -0.15265889 -0.05683049 -7.38657542] [ 0.15445979 0.98758073 0.02874839 9.60809054] [ 0.051736 -0.03714244 0.99796985 1.45585141] [ 0. 0. 0. 1. ]] SLAMing on 140.30925976399996 meters Centerline goodness : 0.761052 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.61, Z:1.46 [[ 0.98664113 -0.15262331 -0.05696844 -7.38797993] [ 0.15442055 0.98759176 0.02857979 9.60841922] [ 0.05189963 -0.03699509 0.99796683 1.45764002] [ 0. 0. 0. 1. ]] SLAMing on 140.36925976399996 meters Centerline goodness : 0.759992 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.61, Z:1.46 [[ 0.98706083 -0.14979475 -0.05720527 -7.38715787] [ 0.15159029 0.98803441 0.0284322 9.60874065] [ 0.05226179 -0.03673607 0.9979575 1.45587198] [ 0. 0. 0. 1. ]] SLAMing on 140.42925976399997 meters Centerline goodness : 0.757579 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.61, Z:1.46 [[ 0.98734586 -0.14824221 -0.0563241 -7.39035637] [ 0.14997919 0.9882939 0.02795367 9.60881282] [ 0.05152085 -0.03604739 0.99802114 1.45701983] [ 0. 0. 0. 1. ]] SLAMing on 140.48925976399997 meters Centerline goodness : 0.757923 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.61, Z:1.46 [[ 0.98749399 -0.14728068 -0.05624967 -7.39161383] [ 0.14904235 0.98841994 0.02850263 9.60891956] [ 0.05140041 -0.03652976 0.99800981 1.45801883] [ 0. 0. 0. 1. ]] SLAMing on 140.54925976399997 meters Centerline goodness : 0.757384 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.61, Z:1.46 [[ 0.98759185 -0.14675261 -0.05591072 -7.3930408 ] [ 0.14847062 0.98852311 0.02790209 9.60883757] [ 0.05117433 -0.03585698 0.99804582 1.45882682] [ 0. 0. 0. 1. ]] SLAMing on 140.60925976399997 meters Centerline goodness : 0.754944 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.61, Z:1.46 [[ 0.98759792 -0.14653031 -0.05638451 -7.39297128] [ 0.14824277 0.98856941 0.02746985 9.60978474] [ 0.05171484 -0.03548777 0.99803116 1.45951825] [ 0. 0. 0. 1. ]] SLAMing on 140.66925976399997 meters Centerline goodness : 0.756062 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.61, Z:1.46 [[ 0.9877377 -0.14551055 -0.05657668 -7.39245474] [ 0.14729869 0.98867225 0.0288146 9.60942693] [ 0.05174296 -0.03679494 0.99798236 1.45881431] [ 0. 0. 0. 1. ]] SLAMing on 140.72925976399998 meters Centerline goodness : 0.757410 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.61, Z:1.46 [[ 0.9879449 -0.14439917 -0.05580099 -7.39420173] [ 0.14610917 0.98887593 0.02786586 9.60839976] [ 0.05115645 -0.03568297 0.99805298 1.4589706 ] [ 0. 0. 0. 1. ]] SLAMing on 140.78925976399998 meters Centerline goodness : 0.754955 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.61, Z:1.46 [[ 0.98802744 -0.14377203 -0.05595873 -7.3946419 ] [ 0.14545302 0.98899107 0.02720437 9.60775399] [ 0.05143146 -0.03501803 0.99806239 1.45961454] [ 0. 0. 0. 1. ]] SLAMing on 140.84925976399995 meters Centerline goodness : 0.755593 with order 1 Centerline is valid? [False, False] Translation: X:-7.40, Y:9.61, Z:1.46 [[ 0.98804833 -0.14382399 -0.05545412 -7.3968681 ] [ 0.14545943 0.98900501 0.02665808 9.60568258] [ 0.05101033 -0.0344058 0.9981053 1.46161721] [ 0. 0. 0. 1. ]] SLAMing on 140.90925976399996 meters Centerline goodness : 0.757657 with order 1 Centerline is valid? [False, False] Translation: X:-7.40, Y:9.60, Z:1.46 [[ 0.98791968 -0.14446394 -0.05607926 -7.39643539] [ 0.14616658 0.98887689 0.0275287 9.60435532] [ 0.05147858 -0.03539306 0.99804674 1.46304269] [ 0. 0. 0. 1. ]] SLAMing on 140.96925976399996 meters Centerline goodness : 0.756361 with order 1 Centerline is valid? [False, False] Translation: X:-7.40, Y:9.60, Z:1.46 [[ 0.98794075 -0.14450816 -0.0555919 -7.39855099] [ 0.14616278 0.98889402 0.0269268 9.60226719] [ 0.05108336 -0.03472755 0.99809042 1.46486438] [ 0. 0. 0. 1. ]] SLAMing on 141.02925976399996 meters Centerline goodness : 0.757522 with order 1 Centerline is valid? [False, False] Translation: X:-7.40, Y:9.60, Z:1.47 [[ 0.9881774 -0.14303712 -0.05518886 -7.40122494] [ 0.14471036 0.98908913 0.02759714 9.60153611] [ 0.05063928 -0.03525727 0.99809448 1.46664381] [ 0. 0. 0. 1. ]] SLAMing on 141.08925976399996 meters Centerline goodness : 0.756294 with order 1 Centerline is valid? [False, False] Translation: X:-7.40, Y:9.60, Z:1.47 [[ 0.98809876 -0.14370497 -0.05486092 -7.40366813] [ 0.14531668 0.98902768 0.02659538 9.600001 ] [ 0.05043708 -0.03425107 0.99813975 1.4692666 ] [ 0. 0. 0. 1. ]] SLAMing on 141.14925976399996 meters Centerline goodness : 0.756064 with order 1 Centerline is valid? [False, False] Translation: X:-7.40, Y:9.60, Z:1.47 [[ 0.98795905 -0.14432412 -0.05574465 -7.40282515] [ 0.14596393 0.9889339 0.0265382 9.59831358] [ 0.05129767 -0.03435536 0.99809231 1.47065071] [ 0. 0. 0. 1. ]] SLAMing on 141.20925976399997 meters Centerline goodness : 0.754686 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:9.60, Z:1.47 [[ 0.98835602 -0.14167075 -0.05551366 -7.40539465] [ 0.14337639 0.98927117 0.0280315 9.59702718] [ 0.05094682 -0.03566445 0.99806436 1.47263806] [ 0. 0. 0. 1. ]] SLAMing on 141.26925976399997 meters Centerline goodness : 0.754415 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:9.60, Z:1.47 [[ 0.98840235 -0.14148794 -0.05515398 -7.40726395] [ 0.14315086 0.98932024 0.02744608 9.59680019] [ 0.05068166 -0.03502311 0.99810057 1.47400938] [ 0. 0. 0. 1. ]] SLAMing on 141.32925976399997 meters Centerline goodness : 0.752048 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:9.59, Z:1.48 [[ 0.98793664 -0.14493064 -0.05455552 -7.40819238] [ 0.14645542 0.98889998 0.02505285 9.59418919] [ 0.05031903 -0.03274058 0.9981964 1.47511331] [ 0. 0. 0. 1. ]] SLAMing on 141.38925976399997 meters Centerline goodness : 0.751759 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:9.59, Z:1.48 [[ 0.98803622 -0.14387723 -0.05553164 -7.40891775] [ 0.1455207 0.9889932 0.02676165 9.59390561] [ 0.05107002 -0.03452248 0.99809822 1.47792996] [ 0. 0. 0. 1. ]] SLAMing on 141.44925976399998 meters Centerline goodness : 0.751830 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:9.59, Z:1.48 [[ 0.98811691 -0.14311971 -0.05605099 -7.4095414 ] [ 0.14479128 0.98909454 0.02697168 9.59371941] [ 0.05157955 -0.03476687 0.99806353 1.47956346] [ 0. 0. 0. 1. ]] SLAMing on 141.50925976399998 meters Centerline goodness : 0.751170 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:9.59, Z:1.48 [[ 0.98831101 -0.14227826 -0.05475631 -7.41275891] [ 0.14380271 0.98929136 0.02496783 9.59404891] [ 0.05061756 -0.03255008 0.99818753 1.47983495] [ 0. 0. 0. 1. ]] SLAMing on 141.56925976399998 meters Centerline goodness : 0.749471 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:9.60, Z:1.48 [[ 0.98825281 -0.14228421 -0.05578166 -7.40951254] [ 0.14393399 0.98922577 0.02674647 9.59647906] [ 0.05137506 -0.03446115 0.99808468 1.47750578] [ 0. 0. 0. 1. ]] SLAMing on 141.62925976399995 meters Centerline goodness : 0.749462 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:9.60, Z:1.48 [[ 0.98856047 -0.14019598 -0.05561737 -7.41148163] [ 0.14184382 0.9895246 0.02685894 9.59806605] [ 0.05126924 -0.03444067 0.99809083 1.47843259] [ 0. 0. 0. 1. ]] SLAMing on 141.68925976399996 meters Centerline goodness : 0.750813 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:9.60, Z:1.48 [[ 0.98943329 -0.13406348 -0.05521553 -7.41362783] [ 0.13572451 0.9903648 0.02750305 9.60081599] [ 0.05099636 -0.03470653 0.9980956 1.47728149] [ 0. 0. 0. 1. ]] SLAMing on 141.74925976399996 meters Centerline goodness : 0.750749 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:9.60, Z:1.47 [[ 0.98979871 -0.13173286 -0.05426748 -7.41465841] [ 0.13333979 0.99069916 0.02712344 9.60166936] [ 0.0501897 -0.03408276 0.99815798 1.47497208] [ 0. 0. 0. 1. ]] SLAMing on 141.80925976399996 meters Centerline goodness : 0.751671 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:9.60, Z:1.48 [[ 0.99021101 -0.12876034 -0.05387889 -7.41758932] [ 0.13037803 0.99107852 0.02765752 9.6031772 ] [ 0.04983702 -0.03441141 0.99816438 1.47621552] [ 0. 0. 0. 1. ]] SLAMing on 141.86925976399996 meters Centerline goodness : 0.751273 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:9.60, Z:1.48 [[ 0.99029452 -0.12829984 -0.05344074 -7.4196786 ] [ 0.12987841 0.99115731 0.02718056 9.6043888 ] [ 0.04948092 -0.03385756 0.99820103 1.47729692] [ 0. 0. 0. 1. ]] SLAMing on 141.92925976399997 meters Centerline goodness : 0.750347 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:9.60, Z:1.48 [[ 0.99080926 -0.12436206 -0.05320798 -7.4211219 ] [ 0.12614195 0.9915119 0.03150182 9.60314508] [ 0.04883871 -0.03792405 0.99808644 1.4760624 ] [ 0. 0. 0. 1. ]] SLAMing on 141.98925976399997 meters Centerline goodness : 0.749956 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:9.61, Z:1.48 [[ 0.99078001 -0.1246874 -0.05299087 -7.42179434] [ 0.1264251 0.99149785 0.03080106 9.60539552] [ 0.04869983 -0.03721645 0.99811986 1.47637949] [ 0. 0. 0. 1. ]] SLAMing on 142.04925976399997 meters Centerline goodness : 0.750911 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:9.61, Z:1.48 [[ 0.9912579 -0.12069092 -0.05330553 -7.42261573] [ 0.1225794 0.99188657 0.03369443 9.6101897 ] [ 0.04880643 -0.03993403 0.99800962 1.47715762] [ 0. 0. 0. 1. ]] SLAMing on 142.10925976399997 meters Centerline goodness : 0.750270 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:9.62, Z:1.48 [[ 0.99177295 -0.11623907 -0.05361798 -7.42208181] [ 0.11828619 0.99230028 0.03672245 9.61571316] [ 0.04893655 -0.0427626 0.99788605 1.47655137] [ 0. 0. 0. 1. ]] SLAMing on 142.16925976399997 meters Centerline goodness : 0.750771 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:9.62, Z:1.47 [[ 0.99231375 -0.11137591 -0.05393358 -7.42045034] [ 0.11364825 0.99267186 0.04106899 9.61729243] [ 0.04896425 -0.04688278 0.99769961 1.4738852 ] [ 0. 0. 0. 1. ]] SLAMing on 142.22925976399998 meters Centerline goodness : 0.749992 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:9.62, Z:1.47 [[ 0.99232423 -0.11118333 -0.05413777 -7.41958404] [ 0.11341902 0.99273636 0.04013292 9.6216429 ] [ 0.04928242 -0.04596512 0.99772664 1.47424952] [ 0. 0. 0. 1. ]] SLAMing on 142.28925976399998 meters Centerline goodness : 0.748900 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:9.63, Z:1.47 [[ 0.99323666 -0.10221561 -0.05507192 -7.4177625 ] [ 0.10487279 0.99333949 0.0477321 9.62816631] [ 0.04982615 -0.05318481 0.99734083 1.47193182] [ 0. 0. 0. 1. ]] SLAMing on 142.34925976399995 meters Centerline goodness : 0.749596 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:9.64, Z:1.48 [[ 0.9940157 -0.09204103 -0.05883223 -7.42190801] [ 0.09432247 0.99484457 0.03724993 9.63887016] [ 0.0551004 -0.04257622 0.99757266 1.48063959] [ 0. 0. 0. 1. ]] SLAMing on 142.40925976399996 meters Centerline goodness : 0.749474 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:9.65, Z:1.48 [[ 0.99454477 -0.08613352 -0.0588363 -7.41979733] [ 0.08861059 0.99522743 0.04087202 9.64620346] [ 0.05503505 -0.04586257 0.99743058 1.47881146] [ 0. 0. 0. 1. ]] SLAMing on 142.46925976399996 meters Centerline goodness : 0.750756 with order 1 Centerline is valid? [False, False] Translation: X:-7.43, Y:9.66, Z:1.49 [[ 0.99494081 -0.07668848 -0.06489731 -7.42518564] [ 0.07883115 0.99640205 0.03112256 9.65855656] [ 0.06227707 -0.03608103 0.9974065 1.48915141] [ 0. 0. 0. 1. ]] SLAMing on 142.52925976399996 meters Centerline goodness : 0.751193 with order 1 Centerline is valid? [False, False] Translation: X:-7.43, Y:9.66, Z:1.49 [[ 0.99495885 -0.07654631 -0.06478847 -7.4254216 ] [ 0.07874914 0.99637575 0.03215485 9.65521313] [ 0.06209232 -0.03709479 0.99738083 1.48824727] [ 0. 0. 0. 1. ]] SLAMing on 142.58925976399996 meters Centerline goodness : 0.755048 with order 1 Centerline is valid? [False, False] Translation: X:-7.43, Y:9.65, Z:1.49 [[ 0.99497912 -0.07641616 -0.06463069 -7.42506482] [ 0.07866271 0.99635637 0.03295688 9.65273416] [ 0.06187676 -0.03787543 0.99736489 1.48660725] [ 0. 0. 0. 1. ]] SLAMing on 142.64925976399996 meters Centerline goodness : 0.750968 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:9.65, Z:1.48 [[ 0.99468852 -0.08056563 -0.06406193 -7.42447251] [ 0.08258301 0.99614781 0.0294886 9.65038445] [ 0.06143939 -0.0346224 0.99751015 1.48481896] [ 0. 0. 0. 1. ]] SLAMing on 142.70925976399997 meters Centerline goodness : 0.749701 with order 1 Centerline is valid? [False, False] Translation: X:-7.42, Y:9.65, Z:1.48 [[ 0.99468991 -0.08072467 -0.06383972 -7.42479907] [ 0.08279514 0.99610047 0.03047638 9.64788808] [ 0.06113058 -0.03560016 0.9974947 1.48296109] [ 0. 0. 0. 1. ]] SLAMing on 142.76925976399997 meters Centerline goodness : 0.751451 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:9.64, Z:1.48 [[ 0.99445725 -0.08661376 -0.0596057 -7.41158184] [ 0.08900986 0.99527522 0.03878772 9.64483803] [ 0.05596453 -0.04387822 0.99746813 1.4756821 ] [ 0. 0. 0. 1. ]] SLAMing on 142.82925976399997 meters Centerline goodness : 0.747435 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:9.64, Z:1.47 [[ 0.99405664 -0.09118897 -0.05946394 -7.41100283] [ 0.09338189 0.99500793 0.03520014 9.64417615] [ 0.05595723 -0.04054379 0.99760964 1.47453887] [ 0. 0. 0. 1. ]] SLAMing on 142.88925976399997 meters Centerline goodness : 0.746887 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:9.64, Z:1.47 [[ 0.99406183 -0.09121698 -0.05933421 -7.41124804] [ 0.09342179 0.9949933 0.03550646 9.64289116] [ 0.05579835 -0.04083872 0.99760651 1.47411992] [ 0. 0. 0. 1. ]] SLAMing on 142.94925976399998 meters Centerline goodness : 0.749067 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:9.64, Z:1.47 [[ 0.99409058 -0.09104362 -0.05911827 -7.41113915] [ 0.09328374 0.99497753 0.03630239 9.63996803] [ 0.05551625 -0.04160264 0.99759068 1.47275329] [ 0. 0. 0. 1. ]] SLAMing on 143.00925976399998 meters Centerline goodness : 0.746627 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:9.64, Z:1.47 [[ 0.9937431 -0.09478927 -0.05907327 -7.40935456] [ 0.09683643 0.99475948 0.03280686 9.63817663] [ 0.05565396 -0.03832204 0.99771442 1.47183432] [ 0. 0. 0. 1. ]] SLAMing on 143.06925976399998 meters Centerline goodness : 0.746745 with order 1 Centerline is valid? [False, False] Translation: X:-7.41, Y:9.64, Z:1.47 [[ 0.99376211 -0.09475765 -0.0588036 -7.40990874] [ 0.09683799 0.99473311 0.03359231 9.63510977] [ 0.05531076 -0.03907718 0.99770421 1.4709851 ] [ 0. 0. 0. 1. ]] SLAMing on 143.12925976399995 meters Centerline goodness : 0.746532 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.63, Z:1.46 [[ 0.9936848 -0.09814851 -0.05438183 -7.39293751] [ 0.10056795 0.99397029 0.04369372 9.62717151] [ 0.04976545 -0.04888685 0.99756377 1.46131816] [ 0. 0. 0. 1. ]] SLAMing on 143.18925976399996 meters Centerline goodness : 0.748477 with order 1 Centerline is valid? [False, False] Translation: X:-7.39, Y:9.63, Z:1.46 [[ 0.99325522 -0.1024124 -0.05436689 -7.39275109] [ 0.10461073 0.99373832 0.03925234 9.6274909 ] [ 0.05000654 -0.04467496 0.99774921 1.46316057] [ 0. 0. 0. 1. ]] SLAMing on 143.24925976399996 meters Centerline goodness : 0.747307 with order 1 Centerline is valid? [False, False] Translation: X:-7.37, Y:9.62, Z:1.46 [[ 0.99271593 -0.10979958 -0.04958965 -7.37495859] [ 0.1119958 0.99273775 0.04391697 9.61946835] [ 0.04440746 -0.04915091 0.99780367 1.45688796] [ 0. 0. 0. 1. ]] SLAMing on 143.30925976399996 meters Centerline goodness : 0.747209 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.61, Z:1.45 [[ 0.99224882 -0.1160345 -0.04447774 -7.35724467] [ 0.11818146 0.99177588 0.04912989 9.61159847] [ 0.03841119 -0.05400552 0.99780158 1.45116884] [ 0. 0. 0. 1. ]] SLAMing on 143.36925976399996 meters Centerline goodness : 0.746940 with order 1 Centerline is valid? [False, False] Translation: X:-7.36, Y:9.61, Z:1.45 [[ 0.99177398 -0.12026431 -0.04382777 -7.35812124] [ 0.12223384 0.9914612 0.04542662 9.60777158] [ 0.03799034 -0.05041017 0.99800579 1.45256608] [ 0. 0. 0. 1. ]] SLAMing on 143.42925976399997 meters Centerline goodness : 0.747728 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.60, Z:1.45 [[ 0.99131214 -0.12566773 -0.03883117 -7.34039613] [ 0.12758038 0.99049108 0.05148466 9.59871192] [ 0.03199197 -0.05599146 0.99791857 1.44820866] [ 0. 0. 0. 1. ]] SLAMing on 143.48925976399997 meters Centerline goodness : 0.746129 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.59, Z:1.44 [[ 0.99088986 -0.13054129 -0.03310978 -7.32610309] [ 0.13229936 0.98950769 0.0580638 9.59132503] [ 0.02518266 -0.06191523 0.99776367 1.44427843] [ 0. 0. 0. 1. ]] SLAMing on 143.54925976399997 meters Centerline goodness : 0.749199 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.58, Z:1.44 [[ 0.98985875 -0.13952012 -0.02671692 -7.31161124] [ 0.14091361 0.98817707 0.06041054 9.58158572] [ 0.01797257 -0.06356268 0.997816 1.44222829] [ 0. 0. 0. 1. ]] SLAMing on 143.60925976399997 meters Centerline goodness : 0.750858 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.57, Z:1.46 [[ 0.98937035 -0.13896142 -0.04284902 -7.31019929] [ 0.14127872 0.98833551 0.05686163 9.57177426] [ 0.03444763 -0.06231086 0.99746214 1.45835554] [ 0. 0. 0. 1. ]] SLAMing on 143.66925976399997 meters Centerline goodness : 0.750099 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.57, Z:1.46 [[ 0.98814585 -0.14766822 -0.04197467 -7.31101284] [ 0.14963449 0.9875582 0.04835613 9.57046976] [ 0.03431177 -0.05406377 0.9979478 1.46170799] [ 0. 0. 0. 1. ]] SLAMing on 143.72925976399998 meters Centerline goodness : 0.751121 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.56, Z:1.47 [[ 0.9871636 -0.15409677 -0.04197875 -7.31256032] [ 0.15602279 0.98662109 0.04728342 9.56199367] [ 0.0341309 -0.05322611 0.99799903 1.4684846 ] [ 0. 0. 0. 1. ]] SLAMing on 143.78925976399998 meters Centerline goodness : 0.749722 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.56, Z:1.47 [[ 0.98660227 -0.15778046 -0.04148852 -7.31492605] [ 0.15962787 0.98611494 0.04578499 9.55662166] [ 0.03368848 -0.0517943 0.99808939 1.47304842] [ 0. 0. 0. 1. ]] SLAMing on 143.84925976399995 meters Centerline goodness : 0.752149 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.55, Z:1.49 [[ 0.98637057 -0.15641185 -0.05107279 -7.3138104 ] [ 0.15858215 0.98646837 0.04161566 9.54643608] [ 0.04387251 -0.04914769 0.99782749 1.48785258] [ 0. 0. 0. 1. ]] SLAMing on 143.90925976399996 meters Centerline goodness : 0.753764 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.54, Z:1.49 [[ 0.98628245 -0.15728205 -0.05009287 -7.31586094] [ 0.15930975 0.9864411 0.03942547 9.54168241] [ 0.04321274 -0.04686493 0.9979661 1.48923686] [ 0. 0. 0. 1. ]] SLAMing on 143.96925976399996 meters Centerline goodness : 0.754215 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.53, Z:1.49 [[ 0.98585237 -0.1601354 -0.0495153 -7.31825291] [ 0.16210973 0.98600961 0.0388005 9.53372791] [ 0.04260923 -0.04627847 0.99801942 1.49405016] [ 0. 0. 0. 1. ]] SLAMing on 144.02925976399996 meters Centerline goodness : 0.753450 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.53, Z:1.50 [[ 0.98532345 -0.16344095 -0.04924175 -7.31971617] [ 0.16536605 0.98550277 0.03792581 9.52832473] [ 0.04232925 -0.0455121 0.99806657 1.49783441] [ 0. 0. 0. 1. ]] SLAMing on 144.08925976399996 meters Centerline goodness : 0.753672 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.52, Z:1.50 [[ 0.98482332 -0.16674661 -0.04815186 -7.3235265 ] [ 0.16858744 0.98498919 0.03707515 9.52013573] [ 0.04124691 -0.04463027 0.99815171 1.50347691] [ 0. 0. 0. 1. ]] SLAMing on 144.14925976399996 meters Centerline goodness : 0.753325 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.52, Z:1.51 [[ 0.98472483 -0.16743309 -0.04778257 -7.32539672] [ 0.16924095 0.98489227 0.03667036 9.51800565] [ 0.04092086 -0.04419698 0.99818441 1.50565934] [ 0. 0. 0. 1. ]] SLAMing on 144.20925976399997 meters Centerline goodness : 0.755940 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.51, Z:1.52 [[ 0.98424317 -0.16524393 -0.06292715 -7.32566181] [ 0.16762377 0.98524385 0.03459535 9.50871461] [ 0.05628191 -0.04459832 0.99741834 1.51972673] [ 0. 0. 0. 1. ]] SLAMing on 144.26925976399997 meters Centerline goodness : 0.757446 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.51, Z:1.52 [[ 0.98374238 -0.16836053 -0.06249536 -7.3267425 ] [ 0.17062611 0.98478827 0.03284502 9.5060855 ] [ 0.05601489 -0.04297438 0.99750465 1.52195115] [ 0. 0. 0. 1. ]] SLAMing on 144.32925976399997 meters Centerline goodness : 0.758047 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.50, Z:1.52 [[ 0.98316304 -0.17180168 -0.06224647 -7.32683386] [ 0.17396283 0.98426085 0.03110474 9.50260668] [ 0.05592292 -0.04140961 0.997576 1.52377418] [ 0. 0. 0. 1. ]] SLAMing on 144.38925976399997 meters Centerline goodness : 0.761976 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.50, Z:1.53 [[ 0.9820025 -0.17794523 -0.06329757 -7.32670342] [ 0.18019703 0.98311626 0.03180346 9.49886914] [ 0.0565696 -0.04263711 0.99748782 1.53024806] [ 0. 0. 0. 1. ]] SLAMing on 144.44925976399998 meters Centerline goodness : 0.759982 with order 1 Centerline is valid? [False, False] Translation: X:-7.32, Y:9.50, Z:1.54 [[ 0.98029279 -0.18685629 -0.06411536 -7.32495634] [ 0.18903588 0.98151942 0.02975008 9.49550195] [ 0.05737148 -0.04128389 0.99749895 1.53529151] [ 0. 0. 0. 1. ]] SLAMing on 144.50925976399998 meters Centerline goodness : 0.760281 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.49, Z:1.55 [[ 0.98034643 -0.1817419 -0.07675128 -7.3284205 ] [ 0.18429285 0.98248612 0.02751672 9.49079753] [ 0.07040613 -0.04112063 0.99667049 1.54830892] [ 0. 0. 0. 1. ]] SLAMing on 144.56925976399998 meters Centerline goodness : 0.761076 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.49, Z:1.55 [[ 0.98051958 -0.18067476 -0.07705831 -7.32928959] [ 0.18334293 0.98262043 0.02902503 9.49124625] [ 0.07047498 -0.04258771 0.99660402 1.54976636] [ 0. 0. 0. 1. ]] SLAMing on 144.62925976399995 meters Centerline goodness : 0.758862 with order 1 Centerline is valid? [False, False] Translation: X:-7.33, Y:9.49, Z:1.55 [[ 0.98079816 -0.17955129 -0.07613343 -7.33216278] [ 0.18212975 0.98286599 0.02834066 9.49183897] [ 0.06974036 -0.04166263 0.99669479 1.55035851] [ 0. 0. 0. 1. ]] SLAMing on 144.68925976399996 meters Centerline goodness : 0.760478 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.49, Z:1.56 [[ 0.98200235 -0.17456421 -0.07210214 -7.34194515] [ 0.17657379 0.98403117 0.02245777 9.49474988] [ 0.06703043 -0.03478493 0.99714439 1.55594284] [ 0. 0. 0. 1. ]] SLAMing on 144.74925976399996 meters Centerline goodness : 0.760694 with order 1 Centerline is valid? [False, False] Translation: X:-7.34, Y:9.50, Z:1.56 [[ 0.98286228 -0.16971261 -0.07196789 -7.34426734] [ 0.17184033 0.98482166 0.02443752 9.4969454 ] [ 0.06672818 -0.0363857 0.99710753 1.5557676 ] [ 0. 0. 0. 1. ]] SLAMing on 144.80925976399996 meters Centerline goodness : 0.760258 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.50, Z:1.55 [[ 0.98347454 -0.16660928 -0.07084616 -7.34544938] [ 0.16861104 0.98540867 0.02323952 9.49838246] [ 0.0659405 -0.03480092 0.9972165 1.55248398] [ 0. 0. 0. 1. ]] SLAMing on 144.86925976399996 meters Centerline goodness : 0.761993 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.50, Z:1.55 [[ 0.98395209 -0.16458004 -0.06893255 -7.348154 ] [ 0.16634104 0.98585312 0.02059792 9.49967541] [ 0.06456736 -0.03173367 0.99740866 1.54966659] [ 0. 0. 0. 1. ]] SLAMing on 144.92925976399997 meters Centerline goodness : 0.760713 with order 1 Centerline is valid? [False, False] Translation: X:-7.35, Y:9.50, Z:1.55 [[ 0.98389845 -0.16484651 -0.06906138 -7.34907337] [ 0.16664435 0.98579139 0.02109493 9.50241841] [ 0.06460269 -0.03226396 0.99738936 1.55083406] [ 0. 0. 0. 1. ]] SLAMing on 144.98925976399997 meters Centerline goodness : 0.758839 with order 1 Centerline is valid? [False, False] Translation: X:-7.31, Y:9.50, Z:1.54 [[ 0.98344372 -0.16835999 -0.0670326 -7.30592374] [ 0.17108834 0.98455143 0.03724593 9.50090402] [ 0.05972632 -0.04809777 0.99705535 1.54480064] [ 0. 0. 0. 1. ]] SLAMing on 145.04925976399997 meters Centerline goodness : 0.760804 with order 1 Centerline is valid? [False, False] Translation: X:-7.26, Y:9.50, Z:1.54 [[ 0.98354854 -0.16852805 -0.06504283 -7.25939679] [ 0.17218249 0.9835079 0.05536602 9.49941248] [ 0.05463941 -0.06565441 0.99634534 1.53812961] [ 0. 0. 0. 1. ]] SLAMing on 145.10925976399997 meters Centerline goodness : 0.759201 with order 1 Centerline is valid? [False, False] Translation: X:-7.26, Y:9.50, Z:1.54 [[ 0.98379773 -0.16737144 -0.06425589 -7.26095805] [ 0.17093075 0.98377098 0.05456495 9.50149171] [ 0.05408046 -0.06466418 0.99644059 1.53703831] [ 0. 0. 0. 1. ]] SLAMing on 145.16925976399997 meters Centerline goodness : 0.758935 with order 1 Centerline is valid? [False, False] Translation: X:-7.26, Y:9.50, Z:1.54 [[ 0.98384912 -0.16710396 -0.06416523 -7.26060483] [ 0.17063353 0.98384688 0.05412497 9.50151207] [ 0.05408426 -0.06419954 0.99647043 1.5360885 ] [ 0. 0. 0. 1. ]] SLAMing on 145.22925976399998 meters Centerline goodness : 0.758851 with order 1 Centerline is valid? [False, False] Translation: X:-7.26, Y:9.50, Z:1.54 [[ 0.98395612 -0.16667672 -0.06363356 -7.26299885] [ 0.17014279 0.98396165 0.05358086 9.50294106] [ 0.0536823 -0.06354801 0.99653392 1.53729716] [ 0. 0. 0. 1. ]] SLAMing on 145.28925976399998 meters Centerline goodness : 0.754274 with order 1 Centerline is valid? [False, False] Translation: X:-7.27, Y:9.50, Z:1.54 [[ 0.98414706 -0.16601373 -0.06240198 -7.26562539] [ 0.16929379 0.98421684 0.0515445 9.50391802] [ 0.05285998 -0.06129163 0.9967192 1.53688551] [ 0. 0. 0. 1. ]] SLAMing on 145.34925976399995 meters Centerline goodness : 0.753519 with order 1 Centerline is valid? [False, False] Translation: X:-7.27, Y:9.50, Z:1.54 [[ 0.98384291 -0.16827567 -0.06112627 -7.26871886] [ 0.17128811 0.9840559 0.04789964 9.50385972] [ 0.05209133 -0.05759593 0.99698004 1.53841052] [ 0. 0. 0. 1. ]] SLAMing on 145.40925976399996 meters Centerline goodness : 0.752816 with order 1 Centerline is valid? [False, False] Translation: X:-7.27, Y:9.50, Z:1.54 [[ 0.98343077 -0.17086469 -0.06057369 -7.27129546] [ 0.1737997 0.9836584 0.04700865 9.50295584] [ 0.05155171 -0.05675744 0.99705617 1.54165179] [ 0. 0. 0. 1. ]] SLAMing on 145.46925976399996 meters Centerline goodness : 0.753621 with order 1 Centerline is valid? [False, False] Translation: X:-7.27, Y:9.50, Z:1.54 [[ 0.98329788 -0.17125301 -0.06162529 -7.2696771 ] [ 0.17437675 0.98343612 0.04945846 9.50214155] [ 0.05213463 -0.05937842 0.9968732 1.54254904] [ 0. 0. 0. 1. ]] SLAMing on 145.52925976399996 meters Centerline goodness : 0.752280 with order 1 Centerline is valid? [False, False] Translation: X:-7.27, Y:9.50, Z:1.54 [[ 0.98307755 -0.17250671 -0.06164387 -7.27082137] [ 0.17560536 0.98324272 0.04895418 9.50263602] [ 0.05216596 -0.05895075 0.99689695 1.54448688] [ 0. 0. 0. 1. ]] SLAMing on 145.58925976399996 meters Centerline goodness : 0.750244 with order 1 Centerline is valid? [False, False] Translation: X:-7.27, Y:9.50, Z:1.54 [[ 0.98257878 -0.17602169 -0.05962635 -7.27326119] [ 0.17868978 0.98297411 0.04280023 9.50260262] [ 0.05107739 -0.05270921 0.99730278 1.54394162] [ 0. 0. 0. 1. ]] SLAMing on 145.64925976399996 meters Centerline goodness : 0.751070 with order 1 Centerline is valid? [False, False] Translation: X:-7.27, Y:9.50, Z:1.54 [[ 0.98310863 -0.17306446 -0.05954929 -7.27463428] [ 0.17575203 0.98348249 0.04328287 9.50256663] [ 0.05107496 -0.05301767 0.99728656 1.54401913] [ 0. 0. 0. 1. ]] SLAMing on 145.70925976399997 meters Centerline goodness : 0.749828 with order 1 Centerline is valid? [False, False] Translation: X:-7.28, Y:9.50, Z:1.55 [[ 0.98379847 -0.16914962 -0.05940521 -7.27711499] [ 0.17192693 0.9840714 0.04521746 9.50276913] [ 0.05081046 -0.05469822 0.99720931 1.5450968 ] [ 0. 0. 0. 1. ]] SLAMing on 145.76925976399997 meters Centerline goodness : 0.749689 with order 1 Centerline is valid? [False, False] Translation: X:-7.28, Y:9.50, Z:1.54 [[ 0.98446627 -0.16569159 -0.05807282 -7.28096841] [ 0.16834959 0.98473126 0.04430306 9.5035347 ] [ 0.04984548 -0.0533914 0.99732883 1.54488878] [ 0. 0. 0. 1. ]] SLAMing on 145.82925976399997 meters Centerline goodness : 0.751092 with order 1 Centerline is valid? [False, False] Translation: X:-7.28, Y:9.51, Z:1.55 [[ 0.98475816 -0.16436089 -0.05689338 -7.28454097] [ 0.16684527 0.98508578 0.04205541 9.50602684] [ 0.04913259 -0.0509068 0.9974941 1.54537266] [ 0. 0. 0. 1. ]] SLAMing on 145.88925976399997 meters Centerline goodness : 0.750100 with order 1 Centerline is valid? [False, False] Translation: X:-7.28, Y:9.51, Z:1.54 [[ 0.98476915 -0.16434331 -0.05675379 -7.28454168] [ 0.16677508 0.98513671 0.0411307 9.50702136] [ 0.04915069 -0.04996937 0.99754061 1.54470682] [ 0. 0. 0. 1. ]] SLAMing on 145.94925976399998 meters Centerline goodness : 0.751435 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.51, Z:1.55 [[ 0.98449999 -0.16604927 -0.05645722 -7.28586106] [ 0.16839992 0.9849163 0.03976614 9.50681963] [ 0.0490025 -0.04865716 0.99761277 1.54634906] [ 0. 0. 0. 1. ]] SLAMing on 146.00925976399998 meters Centerline goodness : 0.747502 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.51, Z:1.55 [[ 0.98427902 -0.1671005 -0.05720337 -7.28668625] [ 0.16956603 0.9846516 0.04133516 9.50762125] [ 0.04941826 -0.05038508 0.99750648 1.54977104] [ 0. 0. 0. 1. ]] SLAMing on 146.06925976399995 meters Centerline goodness : 0.751370 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.51, Z:1.55 [[ 0.98407484 -0.16830391 -0.05718823 -7.28751958] [ 0.17073381 0.98447946 0.0406221 9.50757093] [ 0.04946378 -0.04973915 0.99753664 1.55123306] [ 0. 0. 0. 1. ]] SLAMing on 146.12925976399995 meters Centerline goodness : 0.753491 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.51, Z:1.55 [[ 0.9836735 -0.17053964 -0.05746886 -7.28579037] [ 0.17293742 0.9841333 0.03967748 9.5082305 ] [ 0.04979044 -0.0489682 0.99755853 1.55047248] [ 0. 0. 0. 1. ]] SLAMing on 146.18925976399996 meters Centerline goodness : 0.750140 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.51, Z:1.55 [[ 0.98343106 -0.17180874 -0.05783696 -7.28533439] [ 0.17418222 0.98394786 0.03882231 9.50953526] [ 0.05023854 -0.04825323 0.99757091 1.55100678] [ 0. 0. 0. 1. ]] SLAMing on 146.24925976399996 meters Centerline goodness : 0.749551 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.51, Z:1.55 [[ 0.98426156 -0.16681273 -0.05833254 -7.28563431] [ 0.169395 0.98463077 0.04251562 9.51023047] [ 0.05034387 -0.05172774 0.99739147 1.55011446] [ 0. 0. 0. 1. ]] SLAMing on 146.30925976399996 meters Centerline goodness : 0.744407 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.51, Z:1.55 [[ 0.98508696 -0.16209862 -0.05768638 -7.28871433] [ 0.16471574 0.98536294 0.04391589 9.5112753 ] [ 0.04972332 -0.05276282 0.99736838 1.55012868] [ 0. 0. 0. 1. ]] SLAMing on 146.36925976399996 meters Centerline goodness : 0.739740 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.52, Z:1.55 [[ 0.98596579 -0.15718584 -0.05625001 -7.29214426] [ 0.15966217 0.98625183 0.04260649 9.51521449] [ 0.04877954 -0.05098955 0.9975072 1.54779842] [ 0. 0. 0. 1. ]] SLAMing on 146.42925976399997 meters Centerline goodness : 0.738712 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.52, Z:1.55 [[ 0.98605518 -0.15642079 -0.05681297 -7.2898475 ] [ 0.15892469 0.98637181 0.04258639 9.51818469] [ 0.04937731 -0.05102152 0.99747616 1.54651709] [ 0. 0. 0. 1. ]] SLAMing on 146.48925976399997 meters Centerline goodness : 0.736788 with order 1 Centerline is valid? [False, False] Translation: X:-7.29, Y:9.52, Z:1.54 [[ 0.98705956 -0.15423559 -0.04387269 -7.28527625] [ 0.15620599 0.98666607 0.04571393 9.51668773] [ 0.03623698 -0.05197555 0.99799069 1.53948917] [ 0. 0. 0. 1. ]] SLAMing on 146.54925976399997 meters Centerline goodness : 0.734561 with order 1 Centerline is valid? [False, False] Translation: X:-7.28, Y:9.51, Z:1.53 [[ 0.98790986 -0.15186471 -0.03116437 -7.28018732] [ 0.15326328 0.9869753 0.04888898 9.51480763] [ 0.02333395 -0.05307425 0.99831791 1.53170945] [ 0. 0. 0. 1. ]] SLAMing on 146.60925976399997 meters Centerline goodness : 0.733848 with order 1 Centerline is valid? [False, False] Translation: X:-7.28, Y:9.52, Z:1.53 [[ 0.9878664 -0.1521129 -0.03133131 -7.27993752] [ 0.15350552 0.98696811 0.04827003 9.51705595] [ 0.02358051 -0.05249387 0.9983428 1.53202141] [ 0. 0. 0. 1. ]] SLAMing on 146.66925976399997 meters Centerline goodness : 0.733781 with order 1 Centerline is valid? [False, False] Translation: X:-7.28, Y:9.52, Z:1.53 [[ 0.98795423 -0.15143749 -0.03182967 -7.27842072] [ 0.15283796 0.98710968 0.04748724 9.52062977] [ 0.02422802 -0.05178 0.99836458 1.53256829] [ 0. 0. 0. 1. ]] SLAMing on 146.72925976399998 meters Centerline goodness : 0.735593 with order 1 Centerline is valid? [False, False] Translation: X:-7.27, Y:9.52, Z:1.52 [[ 0.98866971 -0.14881054 -0.01968842 -7.27135532] [ 0.14963213 0.98745408 0.05044477 9.51848102] [ 0.0119347 -0.05281923 0.99853277 1.52448079] [ 0. 0. 0. 1. ]] SLAMing on 146.78925976399998 meters Centerline goodness : 0.733566 with order 1 Centerline is valid? [False, False] Translation: X:-7.25, Y:9.52, Z:1.52 [[ 9.88433457e-01 -1.50893638e-01 -1.51793191e-02 -7.25290643e+00] [ 1.51527251e-01 9.86750785e-01 5.79860368e-02 9.51546193e+00] [ 6.22848102e-03 -5.96154193e-02 9.98201987e-01 1.51973785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84925976399995 meters Centerline goodness : 0.727137 with order 1 Centerline is valid? [False, False] Translation: X:-7.25, Y:9.51, Z:1.54 [[ 0.98900995 -0.14417018 -0.0327762 -7.24949343] [ 0.14589184 0.98758642 0.05821192 9.51161991] [ 0.0239769 -0.06235395 0.99776605 1.53768734] [ 0. 0. 0. 1. ]] SLAMing on 146.90925976399996 meters Centerline goodness : 0.729379 with order 1 Centerline is valid? [False, False] Translation: X:-7.25, Y:9.51, Z:1.54 [[ 0.98902127 -0.14400953 -0.03313877 -7.24877887] [ 0.14573921 0.98764458 0.05760447 9.51374477] [ 0.02443374 -0.06180166 0.99778933 1.53842954] [ 0. 0. 0. 1. ]] SLAMing on 146.96925976399996 meters Centerline goodness : 0.728254 with order 1 Centerline is valid? [False, False] Translation: X:-7.25, Y:9.52, Z:1.54 [[ 0.98851111 -0.14742099 -0.03335932 -7.24655089] [ 0.14903098 0.9874413 0.0524351 9.51725343] [ 0.02521033 -0.05680425 0.99806699 1.54020752] [ 0. 0. 0. 1. ]] SLAMing on 147.02925976399996 meters Centerline goodness : 0.730951 with order 1 Centerline is valid? [False, False] Translation: X:-7.22, Y:9.51, Z:1.54 [[ 0.98864408 -0.14728565 -0.02982982 -7.21953136] [ 0.14886398 0.98701378 0.0603599 9.51263267] [ 0.02055229 -0.06411505 0.99773086 1.53518578] [ 0. 0. 0. 1. ]] SLAMing on 147.08925976399996 meters Centerline goodness : 0.730823 with order 1 Centerline is valid? [False, False] Translation: X:-7.19, Y:9.51, Z:1.53 [[ 0.98903732 -0.14523512 -0.02668234 -7.1910452 ] [ 0.14674831 0.98682456 0.06813385 9.50968375] [ 0.01643536 -0.07130251 0.99731932 1.53203742] [ 0. 0. 0. 1. ]] SLAMing on 147.14925976399996 meters Centerline goodness : 0.728140 with order 1 Centerline is valid? [False, False] Translation: X:-7.19, Y:9.51, Z:1.54 [[ 0.98873333 -0.14708792 -0.02777661 -7.18519182] [ 0.14856335 0.9869646 0.06188548 9.51464362] [ 0.01831192 -0.06531482 0.99769667 1.53673738] [ 0. 0. 0. 1. ]] SLAMing on 147.20925976399997 meters Centerline goodness : 0.730478 with order 1 Centerline is valid? [False, False] Translation: X:-7.18, Y:9.51, Z:1.55 [[ 0.98893896 -0.14199003 -0.04287839 -7.18472809] [ 0.14435444 0.98780855 0.05827576 9.50840398] [ 0.03408106 -0.06382086 0.99737926 1.55240139] [ 0. 0. 0. 1. ]] SLAMing on 147.26925976399997 meters Centerline goodness : 0.730053 with order 1 Centerline is valid? [False, False] Translation: X:-7.16, Y:9.51, Z:1.55 [[ 0.98879517 -0.14401525 -0.03929027 -7.16138144] [ 0.14627294 0.98727486 0.06239055 9.50675616] [ 0.02980511 -0.06743858 0.99727814 1.55203456] [ 0. 0. 0. 1. ]] SLAMing on 147.32925976399997 meters Centerline goodness : 0.730621 with order 1 Centerline is valid? [False, False] Translation: X:-7.13, Y:9.50, Z:1.55 [[ 0.98915023 -0.14238664 -0.0361644 -7.1315492 ] [ 0.14458792 0.98714571 0.06810057 9.50270954] [ 0.02600292 -0.07259063 0.99702279 1.55171232] [ 0. 0. 0. 1. ]] SLAMing on 147.38925976399997 meters Centerline goodness : 0.728880 with order 1 Centerline is valid? [False, False] Translation: X:-7.12, Y:9.51, Z:1.55 [[ 0.98899354 -0.1429495 -0.03817341 -7.1223519 ] [ 0.14515007 0.98740418 0.06296388 9.50561169] [ 0.02869193 -0.06781174 0.99728549 1.55467391] [ 0. 0. 0. 1. ]] SLAMing on 147.44925976399998 meters Centerline goodness : 0.730474 with order 1 Centerline is valid? [False, False] Translation: X:-7.09, Y:9.50, Z:1.55 [[ 0.98922747 -0.1422553 -0.03453183 -7.09347782] [ 0.14438114 0.98705341 0.06985452 9.49918951] [ 0.02414759 -0.07408775 0.99695933 1.55164307] [ 0. 0. 0. 1. ]] SLAMing on 147.50925976399998 meters Centerline goodness : 0.730903 with order 1 Centerline is valid? [False, False] Translation: X:-7.07, Y:9.49, Z:1.55 [[ 0.98929468 -0.14274097 -0.03034894 -7.06822032] [ 0.1446873 0.98651387 0.07652431 9.49329021] [ 0.0190165 -0.0800962 0.99660573 1.54819331] [ 0. 0. 0. 1. ]] SLAMing on 147.56925976399995 meters Centerline goodness : 0.731387 with order 1 Centerline is valid? [False, False] Translation: X:-7.03, Y:9.49, Z:1.54 [[ 0.98936507 -0.14351143 -0.02369037 -7.02896138] [ 0.14512525 0.98488871 0.09451394 9.48611821] [ 0.00976855 -0.09694686 0.99524162 1.54118685] [ 0. 0. 0. 1. ]] SLAMing on 147.62925976399995 meters Centerline goodness : 0.733635 with order 1 Centerline is valid? [False, False] Translation: X:-7.00, Y:9.49, Z:1.54 [[ 9.89498737e-01 -1.42984000e-01 -2.11618816e-02 -6.99631931e+00] [ 1.44364223e-01 9.84884942e-01 9.57111349e-02 9.48802501e+00] [ 7.15685763e-03 -9.77610657e-02 9.95184181e-01 1.54305564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68925976399996 meters Centerline goodness : 0.735587 with order 1 Centerline is valid? [False, False] Translation: X:-6.96, Y:9.48, Z:1.53 [[ 9.89380373e-01 -1.44838030e-01 -1.21828506e-02 -6.96211112e+00] [ 1.45256330e-01 9.82266283e-01 1.18547662e-01 9.47558251e+00] [-5.20340643e-03 -1.19058366e-01 9.92873622e-01 1.52781294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74925976399996 meters Centerline goodness : 0.736039 with order 1 Centerline is valid? [False, False] Translation: X:-6.96, Y:9.47, Z:1.54 [[ 0.99013508 -0.13757871 -0.02654466 -6.96338065] [ 0.13975667 0.9832715 0.11681277 9.47226435] [ 0.01002966 -0.11937021 0.99279915 1.54438006] [ 0. 0. 0. 1. ]] SLAMing on 147.80925976399996 meters Centerline goodness : 0.741758 with order 1 Centerline is valid? [False, False] Translation: X:-6.95, Y:9.48, Z:1.55 [[ 0.99025521 -0.13656933 -0.02726596 -6.9547408 ] [ 0.13874176 0.98439362 0.10825857 9.47969173] [ 0.01205564 -0.11098655 0.99374879 1.55371364] [ 0. 0. 0. 1. ]] SLAMing on 147.86925976399996 meters Centerline goodness : 0.744551 with order 1 Centerline is valid? [False, False] Translation: X:-6.92, Y:9.48, Z:1.55 [[ 9.90624378e-01 -1.34707810e-01 -2.27408945e-02 -6.92292796e+00] [ 1.36414978e-01 9.84359768e-01 1.11475567e-01 9.47726376e+00] [ 7.36859225e-03 -1.13532613e-01 9.93506945e-01 1.55352478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92925976399997 meters Centerline goodness : 0.745208 with order 1 Centerline is valid? [False, False] Translation: X:-6.89, Y:9.48, Z:1.55 [[ 9.90687452e-01 -1.34727021e-01 -1.96723737e-02 -6.89276390e+00] [ 1.36092705e-01 9.84233093e-01 1.12977850e-01 9.47782765e+00] [ 4.14103200e-03 -1.14603005e-01 9.93402740e-01 1.55421212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98925976399997 meters Centerline goodness : 0.746469 with order 1 Centerline is valid? [False, False] Translation: X:-6.88, Y:9.46, Z:1.53 [[ 9.90987504e-01 -1.33936324e-01 -2.19711405e-03 -6.87921504e+00] [ 1.32761022e-01 9.79842803e-01 1.49273552e-01 9.45633807e+00] [-1.78403244e-02 -1.48219916e-01 9.88793497e-01 1.53248688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04925976399997 meters Centerline goodness : 0.746312 with order 1 Centerline is valid? [False, False] Translation: X:-6.87, Y:9.44, Z:1.51 [[ 0.99065623 -0.1356296 0.0143122 -6.86756526] [ 0.13072508 0.97422973 0.18381347 9.43638861] [-0.03887392 -0.180225 0.98285694 1.51498988] [ 0. 0. 0. 1. ]] SLAMing on 148.10925976399997 meters Centerline goodness : 0.748796 with order 1 Centerline is valid? [False, False] Translation: X:-6.86, Y:9.42, Z:1.50 [[ 0.9899158 -0.13847038 0.0298776 -6.85561391] [ 0.12889233 0.96795042 0.21554293 9.420976 ] [-0.05876635 -0.20951835 0.97603718 1.49920251] [ 0. 0. 0. 1. ]] SLAMing on 148.16925976399997 meters Centerline goodness : 0.746254 with order 1 Centerline is valid? [False, False] Translation: X:-6.86, Y:9.42, Z:1.52 [[ 0.99107723 -0.13218462 0.01712168 -6.8608215 ] [ 0.12562695 0.96929238 0.21140047 9.42138459] [-0.0445398 -0.20736325 0.97724955 1.52129226] [ 0. 0. 0. 1. ]] SLAMing on 148.22925976399998 meters Centerline goodness : 0.747597 with order 1 Centerline is valid? [False, False] Translation: X:-6.85, Y:9.42, Z:1.51 [[ 0.99041999 -0.13581775 0.02493556 -6.8507523 ] [ 0.12701846 0.96688983 0.22133767 9.4198368 ] [-0.05417153 -0.21604998 0.97487838 1.51476504] [ 0. 0. 0. 1. ]] SLAMing on 148.28925976399998 meters Centerline goodness : 0.748545 with order 1 Centerline is valid? [False, False] Translation: X:-6.86, Y:9.43, Z:1.53 [[ 0.99097948 -0.13236359 0.0209654 -6.85961997] [ 0.12527207 0.97050906 0.20595889 9.4312141 ] [-0.04760857 -0.20147465 0.97833603 1.52510712] [ 0. 0. 0. 1. ]] SLAMing on 148.34925976399995 meters Centerline goodness : 0.749063 with order 1 Centerline is valid? [False, False] Translation: X:-6.85, Y:9.44, Z:1.53 [[ 0.99103828 -0.13199851 0.02048227 -6.84958778] [ 0.12541898 0.97226885 0.19739138 9.44043939] [-0.04596964 -0.19305355 0.98011077 1.53270567] [ 0. 0. 0. 1. ]] SLAMing on 148.40925976399996 meters Centerline goodness : 0.751792 with order 1 Centerline is valid? [False, False] Translation: X:-6.84, Y:9.45, Z:1.54 [[ 0.99129723 -0.13018689 0.0195238 -6.83895889] [ 0.12417057 0.97394545 0.1897681 9.44820387] [-0.04372044 -0.18569231 0.98163481 1.53756635] [ 0. 0. 0. 1. ]] SLAMing on 148.46925976399996 meters Centerline goodness : 0.751285 with order 1 Centerline is valid? [False, False] Translation: X:-6.85, Y:9.46, Z:1.55 [[ 0.99181245 -0.12665475 0.01632893 -6.84519014] [ 0.1219493 0.97730007 0.17324246 9.45781594] [-0.03790025 -0.16983273 0.98474383 1.54732131] [ 0. 0. 0. 1. ]] SLAMing on 148.52925976399996 meters Centerline goodness : 0.751602 with order 1 Centerline is valid? [False, False] Translation: X:-6.85, Y:9.47, Z:1.56 [[ 0.99221401 -0.1238866 0.01278557 -6.85438416] [ 0.12039627 0.98037236 0.15612423 9.47051756] [-0.03187632 -0.15336932 0.98765467 1.559744 ] [ 0. 0. 0. 1. ]] SLAMing on 148.58925976399996 meters Centerline goodness : 0.753518 with order 1 Centerline is valid? [False, False] Translation: X:-6.85, Y:9.48, Z:1.56 [[ 0.99175975 -0.12751457 0.01235446 -6.85293924] [ 0.12426866 0.9809688 0.14918949 9.47757962] [-0.03114318 -0.14642486 0.98873144 1.56393642] [ 0. 0. 0. 1. ]] SLAMing on 148.64925976399996 meters Centerline goodness : 0.753631 with order 1 Centerline is valid? [False, False] Translation: X:-6.86, Y:9.49, Z:1.57 [[ 9.92447214e-01 -1.22410991e-01 8.00481220e-03 -6.86351669e+00] [ 1.20190070e-01 9.83352726e-01 1.36278255e-01 9.48820496e+00] [-2.45535102e-02 -1.34286875e-01 9.90638259e-01 1.57481529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70925976399997 meters Centerline goodness : 0.755142 with order 1 Centerline is valid? [False, False] Translation: X:-6.87, Y:9.50, Z:1.59 [[ 9.93006036e-01 -1.18018227e-01 3.27269126e-03 -6.87294350e+00] [ 1.16740264e-01 9.85637159e-01 1.22029103e-01 9.50038796e+00] [-1.76273446e-02 -1.20793581e-01 9.92521127e-01 1.58608555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76925976399997 meters Centerline goodness : 0.755075 with order 1 Centerline is valid? [False, False] Translation: X:-6.86, Y:9.51, Z:1.59 [[ 9.92828513e-01 -1.19524465e-01 2.33387401e-03 -6.86185243e+00] [ 1.18496513e-01 9.86497399e-01 1.13055107e-01 9.50553752e+00] [-1.58152117e-02 -1.11967777e-01 9.93585978e-01 1.59101197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82925976399997 meters Centerline goodness : 0.757349 with order 1 Centerline is valid? [False, False] Translation: X:-6.86, Y:9.51, Z:1.59 [[ 9.92918993e-01 -1.18779829e-01 1.79596865e-03 -6.86066322e+00] [ 1.17839668e-01 9.86746639e-01 1.11556635e-01 9.51175232e+00] [-1.50228441e-02 -1.10555066e-01 9.93756455e-01 1.59262409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88925976399997 meters Centerline goodness : 0.760622 with order 1 Centerline is valid? [False, False] Translation: X:-6.86, Y:9.52, Z:1.60 [[ 9.92699057e-01 -1.20613616e-01 9.68780597e-04 -6.85575124e+00] [ 1.19863766e-01 9.87360355e-01 1.03692853e-01 9.51916177e+00] [-1.34633055e-02 -1.02819676e-01 9.94608895e-01 1.59933166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94925976399998 meters Centerline goodness : 0.758040 with order 1 Centerline is valid? [False, False] Translation: X:-6.84, Y:9.52, Z:1.61 [[ 9.92605462e-01 -1.21384377e-01 4.79229217e-04 -6.84050701e+00] [ 1.20812894e-01 9.88299795e-01 9.31007998e-02 9.52437733e+00] [-1.17746047e-02 -9.23544653e-02 9.95656573e-01 1.60568873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00925976399998 meters Centerline goodness : 0.759002 with order 1 Centerline is valid? [False, False] Translation: X:-6.84, Y:9.53, Z:1.61 [[ 9.92162236e-01 -1.24956358e-01 8.08341195e-05 -6.83797330e+00] [ 1.24463283e-01 9.88304186e-01 8.81120098e-02 9.52885877e+00] [-1.10900445e-02 -8.74113478e-02 9.96110570e-01 1.60688368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06925976399995 meters Centerline goodness : 0.759133 with order 1 Centerline is valid? [False, False] Translation: X:-6.81, Y:9.53, Z:1.60 [[ 9.92317396e-01 -1.23513677e-01 7.11038895e-03 -6.80574939e+00] [ 1.22316950e-01 9.88082242e-01 9.34454252e-02 9.52530563e+00] [-1.85674371e-02 -9.18577998e-02 9.95599013e-01 1.60220313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12925976399995 meters Centerline goodness : 0.759505 with order 1 Centerline is valid? [False, False] Translation: X:-6.81, Y:9.53, Z:1.60 [[ 9.92364861e-01 -1.23158173e-01 6.63684216e-03 -6.80507812e+00] [ 1.22031000e-01 9.88245016e-01 9.20881314e-02 9.52951693e+00] [-1.79002322e-02 -9.05751252e-02 9.95728742e-01 1.60411452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18925976399996 meters Centerline goodness : 0.760175 with order 1 Centerline is valid? [False, False] Translation: X:-6.80, Y:9.53, Z:1.60 [[ 9.91971699e-01 -1.26286392e-01 6.62535903e-03 -6.80340713e+00] [ 1.25239261e-01 9.88308528e-01 8.69562072e-02 9.53439285e+00] [-1.75292845e-02 -8.54283416e-02 9.96190104e-01 1.60488732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.24925976399996 meters Centerline goodness : 0.760533 with order 1 Centerline is valid? [False, False] Translation: X:-6.80, Y:9.54, Z:1.60 [[ 9.91653344e-01 -1.28772745e-01 6.42064681e-03 -6.80049314e+00] [ 1.27811168e-01 9.88361676e-01 8.24954753e-02 9.53911632e+00] [-1.69690901e-02 -8.09862836e-02 9.96570756e-01 1.60462221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.30925976399996 meters Centerline goodness : 0.760007 with order 1 Centerline is valid? [False, False] Translation: X:-6.80, Y:9.54, Z:1.61 [[ 9.92237222e-01 -1.24237387e-01 5.51060659e-03 -6.79971838e+00] [ 1.23318750e-01 9.88687449e-01 8.53792380e-02 9.54396511e+00] [-1.60555610e-02 -8.40368968e-02 9.96333287e-01 1.60560928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36925976399996 meters Centerline goodness : 0.759416 with order 1 Centerline is valid? [False, False] Translation: X:-6.80, Y:9.55, Z:1.61 [[ 9.92330710e-01 -1.23489994e-01 5.47576690e-03 -6.79916799e+00] [ 1.22594504e-01 9.88871891e-01 8.42791239e-02 9.54946488e+00] [-1.58224605e-02 -8.29614639e-02 9.96427140e-01 1.60621767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42925976399997 meters Centerline goodness : 0.758316 with order 1 Centerline is valid? [False, False] Translation: X:-6.80, Y:9.55, Z:1.61 [[ 9.91885176e-01 -1.27025657e-01 5.31787655e-03 -6.79724481e+00] [ 1.26209631e-01 9.88831647e-01 7.92660229e-02 9.55348984e+00] [-1.53273032e-02 -7.79516258e-02 9.96839314e-01 1.60659695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48925976399997 meters Centerline goodness : 0.761440 with order 1 Centerline is valid? [False, False] Translation: X:-6.80, Y:9.56, Z:1.61 [[ 9.91347939e-01 -1.31150184e-01 5.37524880e-03 -6.79678545e+00] [ 1.30400891e-01 9.88709569e-01 7.38173182e-02 9.55846140e+00] [-1.49957148e-02 -7.24777090e-02 9.97257294e-01 1.60839249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54925976399997 meters Centerline goodness : 0.759206 with order 1 Centerline is valid? [False, False] Translation: X:-6.80, Y:9.57, Z:1.61 [[ 9.91343833e-01 -1.31201874e-01 4.84496978e-03 -6.79677437e+00] [ 1.30522638e-01 9.88855943e-01 7.16084074e-02 9.56530614e+00] [-1.41861344e-02 -7.03561748e-02 9.97421056e-01 1.61159398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60925976399997 meters Centerline goodness : 0.760867 with order 1 Centerline is valid? [False, False] Translation: X:-6.79, Y:9.57, Z:1.61 [[ 9.91576428e-01 -1.29464073e-01 3.90394301e-03 -6.79258455e+00] [ 1.28857571e-01 9.89085732e-01 7.14502680e-02 9.56918637e+00] [-1.31115770e-02 -7.03453489e-02 9.97436524e-01 1.61001512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66925976399997 meters Centerline goodness : 0.760070 with order 1 Centerline is valid? [False, False] Translation: X:-6.79, Y:9.57, Z:1.61 [[ 9.91642521e-01 -1.28968429e-01 3.50064469e-03 -6.79130062e+00] [ 1.28399084e-01 9.89188087e-01 7.08562160e-02 9.57184011e+00] [-1.26010109e-02 -6.98145571e-02 9.97480397e-01 1.61026489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72925976399998 meters Centerline goodness : 0.759233 with order 1 Centerline is valid? [False, False] Translation: X:-6.78, Y:9.58, Z:1.61 [[ 9.91489513e-01 -1.30165070e-01 2.36657704e-03 -6.78481565e+00] [ 1.29743908e-01 9.89452684e-01 6.44197495e-02 9.57691506e+00] [-1.07268172e-02 -6.35644571e-02 9.97920085e-01 1.61474437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78925976399998 meters Centerline goodness : 0.758773 with order 1 Centerline is valid? [False, False] Translation: X:-6.78, Y:9.58, Z:1.62 [[ 9.91021084e-01 -1.33692605e-01 1.87064679e-03 -6.78202087e+00] [ 1.33342480e-01 9.89262782e-01 5.98241705e-02 9.58108561e+00] [-9.84861047e-03 -5.90375776e-02 9.98207178e-01 1.61552712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84925976399995 meters Centerline goodness : 0.758847 with order 1 Centerline is valid? [False, False] Translation: X:-6.77, Y:9.58, Z:1.61 [[ 0.99154141 -0.12930185 0.01125461 -6.76565814] [ 0.12843677 0.98999431 0.05844028 9.57913152] [-0.01869844 -0.05650045 0.99822746 1.60931962] [ 0. 0. 0. 1. ]] SLAMing on 149.90925976399996 meters Centerline goodness : 0.759137 with order 1 Centerline is valid? [False, False] Translation: X:-6.74, Y:9.58, Z:1.61 [[ 0.99084863 -0.13407988 0.01554285 -6.74442349] [ 0.13287195 0.98916295 0.06246366 9.57631066] [-0.02374954 -0.05982682 0.99792621 1.60598625] [ 0. 0. 0. 1. ]] SLAMing on 149.96925976399996 meters Centerline goodness : 0.760130 with order 1 Centerline is valid? [False, False] Translation: X:-6.72, Y:9.58, Z:1.61 [[ 0.99014243 -0.13881154 0.01869027 -6.71971454] [ 0.13738746 0.98849746 0.06322538 9.57530008] [-0.0272517 -0.06003432 0.99782425 1.6061344 ] [ 0. 0. 0. 1. ]] SLAMing on 150.02925976399996 meters Centerline goodness : 0.761226 with order 1 Centerline is valid? [False, False] Translation: X:-6.72, Y:9.58, Z:1.61 [[ 0.99024537 -0.13816075 0.01804772 -6.71794098] [ 0.13677394 0.98857667 0.06331716 9.57626604] [-0.0265895 -0.06023107 0.99783025 1.6062892 ] [ 0. 0. 0. 1. ]] SLAMing on 150.08925976399996 meters Centerline goodness : 0.759356 with order 1 Centerline is valid? [False, False] Translation: X:-6.72, Y:9.58, Z:1.61 [[ 0.98982777 -0.14115243 0.01780389 -6.71505891] [ 0.13988178 0.98839289 0.05926703 9.57664559] [-0.02596293 -0.05617372 0.99808338 1.6059836 ] [ 0. 0. 0. 1. ]] SLAMing on 150.14925976399996 meters Centerline goodness : 0.760411 with order 1 Centerline is valid? [False, False] Translation: X:-6.71, Y:9.58, Z:1.60 [[ 0.98942257 -0.14401091 0.01743066 -6.71140011] [ 0.14283742 0.9881535 0.05612612 9.57540816] [-0.02530695 -0.0530427 0.99827152 1.60432354] [ 0. 0. 0. 1. ]] SLAMing on 150.20925976399997 meters Centerline goodness : 0.762501 with order 1 Centerline is valid? [False, False] Translation: X:-6.71, Y:9.58, Z:1.61 [[ 0.989372 -0.14433635 0.01760836 -6.712803 ] [ 0.14316236 0.98812718 0.05576035 9.57558004] [-0.02544754 -0.05264688 0.9982889 1.60607692] [ 0. 0. 0. 1. ]] SLAMing on 150.26925976399997 meters Centerline goodness : 0.760763 with order 1 Centerline is valid? [False, False] Translation: X:-6.69, Y:9.57, Z:1.60 [[ 0.98865815 -0.1487919 0.02039707 -6.68695374] [ 0.14732819 0.98723267 0.06054807 9.56952584] [-0.02914572 -0.05685627 0.99795686 1.60050375] [ 0. 0. 0. 1. ]] SLAMing on 150.32925976399997 meters Centerline goodness : 0.761588 with order 1 Centerline is valid? [False, False] Translation: X:-6.68, Y:9.56, Z:1.62 [[ 9.89692143e-01 -1.42946301e-01 -8.70732169e-03 -6.68309933e+00] [ 1.43211093e-01 9.87769757e-01 6.16562213e-02 9.55772527e+00] [-2.12699723e-04 -6.22676628e-02 9.98059464e-01 1.62268853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38925976399997 meters Centerline goodness : 0.762212 with order 1 Centerline is valid? [False, False] Translation: X:-6.64, Y:9.55, Z:1.62 [[ 9.88572197e-01 -1.50519941e-01 -8.29213223e-03 -6.63820904e+00] [ 1.50718880e-01 9.85799312e-01 7.40509028e-02 9.55069211e+00] [-2.97175926e-03 -7.44544446e-02 9.97219988e-01 1.61509952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44925976399998 meters Centerline goodness : 0.763162 with order 1 Centerline is valid? [False, False] Translation: X:-6.59, Y:9.53, Z:1.59 [[ 9.87911934e-01 -1.55014548e-01 -7.06907869e-04 -6.59424002e+00] [ 1.54012911e-01 9.80990081e-01 1.18061356e-01 9.52634335e+00] [-1.76077581e-02 -1.16743095e-01 9.93006051e-01 1.58968015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50925976399998 meters Centerline goodness : 0.766067 with order 1 Centerline is valid? [False, False] Translation: X:-6.60, Y:9.52, Z:1.61 [[ 9.88163061e-01 -1.52733804e-01 -1.43579343e-02 -6.59666672e+00] [ 1.53371139e-01 9.81565428e-01 1.14046500e-01 9.51988464e+00] [-3.32550385e-03 -1.14898631e-01 9.93371655e-01 1.60814757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56925976399995 meters Centerline goodness : 0.766514 with order 1 Centerline is valid? [False, False] Translation: X:-6.56, Y:9.50, Z:1.59 [[ 9.87818850e-01 -1.55517064e-01 -5.32566768e-03 -6.55508073e+00] [ 1.54448614e-01 9.75712627e-01 1.55339936e-01 9.50187938e+00] [-1.89616896e-02 -1.54270259e-01 9.87846720e-01 1.59145149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62925976399995 meters Centerline goodness : 0.764996 with order 1 Centerline is valid? [False, False] Translation: X:-6.56, Y:9.50, Z:1.61 [[ 9.88117135e-01 -1.52745129e-01 -1.71304727e-02 -6.55959650e+00] [ 1.53574116e-01 9.76581000e-01 1.50680265e-01 9.49748116e+00] [-6.28638236e-03 -1.51520549e-01 9.88434118e-01 1.60847684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68925976399996 meters Centerline goodness : 0.765199 with order 1 Centerline is valid? [False, False] Translation: X:-6.53, Y:9.50, Z:1.61 [[ 0.98787779 -0.15460535 -0.01395218 -6.52883964] [ 0.15492231 0.9762172 0.15165441 9.49781506] [-0.00982623 -0.15197753 0.9883351 1.60615017] [ 0. 0. 0. 1. ]] SLAMing on 150.74925976399996 meters Centerline goodness : 0.765880 with order 1 Centerline is valid? [False, False] Translation: X:-6.54, Y:9.51, Z:1.62 [[ 9.88401305e-01 -1.50753395e-01 -1.83378061e-02 -6.53532327e+00] [ 1.51840298e-01 9.78851091e-01 1.37095096e-01 9.50574140e+00] [-2.71756961e-03 -1.38289390e-01 9.90388136e-01 1.61532828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80925976399996 meters Centerline goodness : 0.768817 with order 1 Centerline is valid? [False, False] Translation: X:-6.47, Y:9.50, Z:1.61 [[ 0.98750107 -0.15679621 -0.01601797 -6.47250418] [ 0.15732031 0.97438551 0.16069597 9.50272273] [-0.00958884 -0.1612074 0.98687397 1.60812891] [ 0. 0. 0. 1. ]] SLAMing on 150.86925976399996 meters Centerline goodness : 0.765665 with order 1 Centerline is valid? [False, False] Translation: X:-6.48, Y:9.50, Z:1.63 [[ 9.87701985e-01 -1.53486646e-01 -2.97764663e-02 -6.47557005e+00] [ 1.56278519e-01 9.74880442e-01 1.58698295e-01 9.49928646e+00] [ 4.67042563e-03 -1.61400043e-01 9.86878013e-01 1.62598362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92925976399997 meters Centerline goodness : 0.764018 with order 1 Centerline is valid? [False, False] Translation: X:-6.45, Y:9.50, Z:1.63 [[ 9.87672545e-01 -1.54250246e-01 -2.66421929e-02 -6.44548237e+00] [ 1.56530065e-01 9.74468205e-01 1.60966009e-01 9.50103700e+00] [ 1.13292348e-03 -1.63152012e-01 9.86600293e-01 1.62509743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98925976399997 meters Centerline goodness : 0.766858 with order 1 Centerline is valid? [False, False] Translation: X:-6.42, Y:9.51, Z:1.63 [[ 9.87883912e-01 -1.52816547e-01 -2.70643752e-02 -6.42390537e+00] [ 1.55145055e-01 9.76843574e-01 1.47331750e-01 9.51165280e+00] [ 3.92293178e-03 -1.49745569e-01 9.88716782e-01 1.63449593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04925976399997 meters Centerline goodness : 0.765200 with order 1 Centerline is valid? [False, False] Translation: X:-6.40, Y:9.52, Z:1.64 [[ 9.88030962e-01 -1.51748311e-01 -2.76996222e-02 -6.40473731e+00] [ 1.54114071e-01 9.78771385e-01 1.35112655e-01 9.52070420e+00] [ 6.60848050e-03 -1.37764388e-01 9.90442982e-01 1.64269443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10925976399997 meters Centerline goodness : 0.767891 with order 1 Centerline is valid? [False, False] Translation: X:-6.37, Y:9.53, Z:1.64 [[ 9.88570820e-01 -1.48761939e-01 -2.44462399e-02 -6.37384059e+00] [ 1.50722220e-01 9.78753764e-01 1.39010363e-01 9.52544263e+00] [ 3.24739818e-03 -1.41106180e-01 9.89989142e-01 1.64260716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16925976399997 meters Centerline goodness : 0.765937 with order 1 Centerline is valid? [False, False] Translation: X:-6.36, Y:9.54, Z:1.65 [[ 9.89124679e-01 -1.44719209e-01 -2.62434653e-02 -6.35603520e+00] [ 1.46918863e-01 9.80525102e-01 1.30327941e-01 9.53582111e+00] [ 6.87141995e-03 -1.32766243e-01 9.91123559e-01 1.64933834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22925976399998 meters Centerline goodness : 0.765640 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:9.54, Z:1.65 [[ 0.98938894 -0.14270204 -0.02730679 -6.33695451] [ 0.14496468 0.98216684 0.11972273 9.54468127] [ 0.00973514 -0.12241086 0.99243176 1.65407549] [ 0. 0. 0. 1. ]] SLAMing on 151.28925976399998 meters Centerline goodness : 0.764073 with order 1 Centerline is valid? [False, False] Translation: X:-6.33, Y:9.55, Z:1.66 [[ 0.9896552 -0.14058417 -0.02861253 -6.33243946] [ 0.14300223 0.98266522 0.11798062 9.55208552] [ 0.01153033 -0.12085179 0.99260359 1.65542845] [ 0. 0. 0. 1. ]] SLAMing on 151.34925976399995 meters Centerline goodness : 0.765796 with order 1 Centerline is valid? [False, False] Translation: X:-6.33, Y:9.56, Z:1.66 [[ 0.98978184 -0.13943055 -0.02985007 -6.32912739] [ 0.14197424 0.9831051 0.11553212 9.55996978] [ 0.01323705 -0.11858954 0.99285513 1.657718 ] [ 0. 0. 0. 1. ]] SLAMing on 151.40925976399996 meters Centerline goodness : 0.764766 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.57, Z:1.66 [[ 0.98939858 -0.14189567 -0.03092053 -6.32451418] [ 0.14444508 0.98356137 0.10836354 9.5673948 ] [ 0.01503592 -0.11168105 0.99363035 1.66242475] [ 0. 0. 0. 1. ]] SLAMing on 151.46925976399996 meters Centerline goodness : 0.768552 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.57, Z:1.66 [[ 0.98886549 -0.14544885 -0.03145926 -6.3216244 ] [ 0.14794035 0.98370344 0.1021822 9.57375874] [ 0.0160843 -0.10569855 0.99426813 1.66466814] [ 0. 0. 0. 1. ]] SLAMing on 151.52925976399996 meters Centerline goodness : 0.766340 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.58, Z:1.66 [[ 0.98895052 -0.14476807 -0.03192296 -6.31941882] [ 0.14729971 0.9838765 0.10143877 9.57791662] [ 0.01672316 -0.10502017 0.99432947 1.66379844] [ 0. 0. 0. 1. ]] SLAMing on 151.58925976399996 meters Centerline goodness : 0.767707 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.58, Z:1.66 [[ 0.98952823 -0.14063137 -0.03250678 -6.31973213] [ 0.14329212 0.98419266 0.10407772 9.58308186] [ 0.01735634 -0.1076458 0.9940378 1.66454769] [ 0. 0. 0. 1. ]] SLAMing on 151.64925976399996 meters Centerline goodness : 0.763784 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.59, Z:1.66 [[ 0.98953553 -0.1402987 -0.03370015 -6.31603367] [ 0.14306113 0.98438685 0.10254772 9.58716409] [ 0.01878667 -0.1062958 0.99415706 1.66483749] [ 0. 0. 0. 1. ]] SLAMing on 151.70925976399997 meters Centerline goodness : 0.766213 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.59, Z:1.66 [[ 0.98953894 -0.1401929 -0.03403873 -6.31473638] [ 0.1429738 0.98449676 0.10161016 9.59205323] [ 0.01926599 -0.10541386 0.99424179 1.66404369] [ 0. 0. 0. 1. ]] SLAMing on 151.76925976399997 meters Centerline goodness : 0.765015 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.60, Z:1.67 [[ 0.98902502 -0.14375433 -0.03412049 -6.31334818] [ 0.14641716 0.98454984 0.09603973 9.59884266] [ 0.0197872 -0.09998152 0.99479252 1.66556603] [ 0. 0. 0. 1. ]] SLAMing on 151.82925976399997 meters Centerline goodness : 0.764241 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.60, Z:1.67 [[ 0.98901456 -0.14380439 -0.03421266 -6.31308259] [ 0.14645266 0.98465836 0.09486587 9.60361231] [ 0.02004565 -0.09883426 0.99490199 1.66569013] [ 0. 0. 0. 1. ]] SLAMing on 151.88925976399997 meters Centerline goodness : 0.762804 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.61, Z:1.66 [[ 0.9892133 -0.1425036 -0.03390842 -6.31244807] [ 0.14511277 0.98492734 0.09412979 9.61123154] [ 0.0199835 -0.09803498 0.99498231 1.66442373] [ 0. 0. 0. 1. ]] SLAMing on 151.94925976399998 meters Centerline goodness : 0.761056 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.62, Z:1.66 [[ 0.989783 -0.13838106 -0.03435537 -6.31275668] [ 0.14111248 0.98522493 0.09705205 9.61604762] [ 0.0204176 -0.10090844 0.99468619 1.66438389] [ 0. 0. 0. 1. ]] SLAMing on 152.00925976399998 meters Centerline goodness : 0.759353 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.63, Z:1.67 [[ 0.99063197 -0.13090341 -0.03889225 -6.32148949] [ 0.13382571 0.98729543 0.08566456 9.62744387] [ 0.02718435 -0.09006683 0.99556465 1.67387848] [ 0. 0. 0. 1. ]] SLAMing on 152.06925976399995 meters Centerline goodness : 0.757225 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.63, Z:1.67 [[ 0.99077416 -0.12981937 -0.03890367 -6.31993524] [ 0.1327231 0.98751734 0.08481798 9.63375632] [ 0.02740703 -0.08919887 0.99563669 1.67283997] [ 0. 0. 0. 1. ]] SLAMing on 152.12925976399995 meters Centerline goodness : 0.761474 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.64, Z:1.67 [[ 0.99128617 -0.12567945 -0.03945121 -6.31985534] [ 0.1287133 0.98783963 0.08721098 9.64169879] [ 0.02801084 -0.09152893 0.99540838 1.67293032] [ 0. 0. 0. 1. ]] SLAMing on 152.18925976399996 meters Centerline goodness : 0.762045 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.65, Z:1.68 [[ 0.99127293 -0.12578184 -0.03945762 -6.32042121] [ 0.1287388 0.98807306 0.08448645 9.65052757] [ 0.02836015 -0.08882886 0.99564308 1.67576722] [ 0. 0. 0. 1. ]] SLAMing on 152.24925976399996 meters Centerline goodness : 0.762375 with order 1 Centerline is valid? [False, False] Translation: X:-6.33, Y:9.67, Z:1.69 [[ 0.99203668 -0.1181394 -0.04366127 -6.33111525] [ 0.121098 0.98996538 0.07282738 9.66640511] [ 0.03461936 -0.07753473 0.99638841 1.68720957] [ 0. 0. 0. 1. ]] SLAMing on 152.30925976399996 meters Centerline goodness : 0.765172 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:9.68, Z:1.70 [[ 0.99246874 -0.11266021 -0.04809864 -6.33909658] [ 0.11541807 0.9915614 0.05903103 9.67895634] [ 0.0410423 -0.0641379 0.99709672 1.69794224] [ 0. 0. 0. 1. ]] SLAMing on 152.36925976399996 meters Centerline goodness : 0.766209 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:9.69, Z:1.71 [[ 0.99347301 -0.10153565 -0.05197976 -6.34100304] [ 0.10406772 0.99338358 0.04856931 9.69295734] [ 0.04670433 -0.05366171 0.99746635 1.7056754 ] [ 0. 0. 0. 1. ]] SLAMing on 152.42925976399997 meters Centerline goodness : 0.764159 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:9.70, Z:1.71 [[ 0.99390289 -0.09699133 -0.05243784 -6.33996992] [ 0.09968869 0.99368338 0.05153167 9.69911695] [ 0.04710849 -0.05644493 0.99729372 1.7052145 ] [ 0. 0. 0. 1. ]] SLAMing on 152.48925976399997 meters Centerline goodness : 0.763238 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:9.71, Z:1.70 [[ 0.99471068 -0.08814323 -0.05273938 -6.33988606] [ 0.09119237 0.99411303 0.05850839 9.70561227] [ 0.04727178 -0.06300835 0.99689284 1.70441422] [ 0. 0. 0. 1. ]] SLAMing on 152.54925976399997 meters Centerline goodness : 0.764729 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:9.71, Z:1.70 [[ 0.9950892 -0.08371227 -0.05281798 -6.33977027] [ 0.08693246 0.99428678 0.06193993 9.70905827] [ 0.04733109 -0.06622735 0.99668135 1.70375527] [ 0. 0. 0. 1. ]] SLAMing on 152.60925976399997 meters Centerline goodness : 0.762886 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:9.71, Z:1.70 [[ 0.995199 -0.082559 -0.05256396 -6.33835129] [ 0.08572933 0.99443563 0.06122308 9.7146986 ] [ 0.04721696 -0.06543542 0.99673907 1.70310959] [ 0. 0. 0. 1. ]] SLAMing on 152.66925976399997 meters Centerline goodness : 0.761902 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:9.72, Z:1.70 [[ 0.99518206 -0.08255352 -0.05289211 -6.33758723] [ 0.08570112 0.9944947 0.06029594 9.71872335] [ 0.04762328 -0.06453835 0.99677822 1.7038417 ] [ 0. 0. 0. 1. ]] SLAMing on 152.72925976399998 meters Centerline goodness : 0.762887 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:9.72, Z:1.71 [[ 0.99521403 -0.08206661 -0.05304815 -6.33699459] [ 0.08517514 0.99460186 0.05926494 9.72200613] [ 0.04789811 -0.06349968 0.99683176 1.70544155] [ 0. 0. 0. 1. ]] SLAMing on 152.78925976399995 meters Centerline goodness : 0.762146 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:9.72, Z:1.71 [[ 0.99520821 -0.08211529 -0.05308195 -6.33724541] [ 0.08519785 0.99463454 0.05868093 9.72350339] [ 0.04797854 -0.06292221 0.99686451 1.70643062] [ 0. 0. 0. 1. ]] SLAMing on 152.84925976399995 meters Centerline goodness : 0.762714 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:9.72, Z:1.71 [[ 0.99520954 -0.08232003 -0.0527389 -6.33914364] [ 0.08538 0.99461997 0.05866326 9.72090354] [ 0.047626 -0.06288508 0.99688376 1.70811761] [ 0. 0. 0. 1. ]] SLAMing on 152.90925976399996 meters Centerline goodness : 0.762153 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:9.72, Z:1.71 [[ 0.99487263 -0.08635659 -0.05264023 -6.33865233] [ 0.08918486 0.99455126 0.05398007 9.72161249] [ 0.04769188 -0.058398 0.99715353 1.70961808] [ 0. 0. 0. 1. ]] SLAMing on 152.96925976399996 meters Centerline goodness : 0.761820 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:9.72, Z:1.71 [[ 0.99452277 -0.09018307 -0.05283446 -6.33770103] [ 0.09284095 0.99441384 0.0502162 9.71885187] [ 0.04801067 -0.05484636 0.99733989 1.71110882] [ 0. 0. 0. 1. ]] SLAMing on 153.02925976399996 meters Centerline goodness : 0.760416 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:9.72, Z:1.71 [[ 0.99413592 -0.09434713 -0.05284308 -6.33763472] [ 0.09679222 0.99425052 0.04579492 9.71813793] [ 0.04821864 -0.05064117 0.99755222 1.71329269] [ 0. 0. 0. 1. ]] SLAMing on 153.08925976399996 meters Centerline goodness : 0.762321 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.71, Z:1.71 [[ 0.99394257 -0.09871249 -0.04831166 -6.32133384] [ 0.1012672 0.99341196 0.0536436 9.70983388] [ 0.04269809 -0.05821104 0.99739077 1.70787441] [ 0. 0. 0. 1. ]] SLAMing on 153.14925976399996 meters Centerline goodness : 0.761412 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.71, Z:1.71 [[ 0.99350424 -0.10317167 -0.04800971 -6.32226215] [ 0.10551926 0.99319741 0.04924012 9.70814897] [ 0.04260294 -0.05398622 0.99763244 1.71021302] [ 0. 0. 0. 1. ]] SLAMing on 153.20925976399997 meters Centerline goodness : 0.764023 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.71, Z:1.71 [[ 0.99307094 -0.1074112 -0.04767548 -6.32291892] [ 0.10957818 0.99293923 0.04543464 9.70530492] [ 0.04245867 -0.05034401 0.99782901 1.71186563] [ 0. 0. 0. 1. ]] SLAMing on 153.26925976399997 meters Centerline goodness : 0.761140 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.70, Z:1.71 [[ 0.99264304 -0.11138903 -0.04745811 -6.32248185] [ 0.1133823 0.99267995 0.04160488 9.70326064] [ 0.04247638 -0.04667971 0.99800639 1.71263831] [ 0. 0. 0. 1. ]] SLAMing on 153.32925976399997 meters Centerline goodness : 0.760719 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.69, Z:1.71 [[ 0.99225278 -0.11674202 -0.04249373 -6.30806926] [ 0.11878144 0.99170427 0.04912847 9.69487149] [ 0.03640585 -0.05379533 0.99788811 1.70709774] [ 0. 0. 0. 1. ]] SLAMing on 153.38925976399997 meters Centerline goodness : 0.764723 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.69, Z:1.70 [[ 0.99179432 -0.122014 -0.03816556 -6.29305533] [ 0.12405442 0.99065632 0.05666184 9.68953082] [ 0.03089542 -0.06093149 0.99766368 1.70175788] [ 0. 0. 0. 1. ]] SLAMing on 153.44925976399998 meters Centerline goodness : 0.764499 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.69, Z:1.70 [[ 0.9912036 -0.12699061 -0.03726679 -6.29528942] [ 0.12885916 0.99024797 0.05295536 9.68546255] [ 0.03017853 -0.05729171 0.99790126 1.70345447] [ 0. 0. 0. 1. ]] SLAMing on 153.50925976399998 meters Centerline goodness : 0.763363 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.69, Z:1.71 [[ 0.99058029 -0.13200567 -0.03640323 -6.2976989 ] [ 0.13367387 0.98986241 0.04799698 9.68551119] [ 0.02969832 -0.05241103 0.9981839 1.70605798] [ 0. 0. 0. 1. ]] SLAMing on 153.56925976399995 meters Centerline goodness : 0.763151 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.68, Z:1.71 [[ 0.98995325 -0.13683719 -0.03561119 -6.29957582] [ 0.13833396 0.98942351 0.04364429 9.68471066] [ 0.02926239 -0.04813204 0.99841225 1.70783628] [ 0. 0. 0. 1. ]] SLAMing on 153.62925976399995 meters Centerline goodness : 0.762965 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.68, Z:1.71 [[ 0.98863347 -0.14577779 -0.03677914 -6.29832994] [ 0.14729183 0.98817974 0.04249602 9.68166238] [ 0.03014943 -0.04743025 0.99841944 1.71326187] [ 0. 0. 0. 1. ]] SLAMing on 153.68925976399996 meters Centerline goodness : 0.760036 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.68, Z:1.72 [[ 0.98822857 -0.14843913 -0.03701504 -6.29904722] [ 0.14993482 0.98782188 0.04156297 9.68087499] [ 0.0303947 -0.04662356 0.99845 1.71591374] [ 0. 0. 0. 1. ]] SLAMing on 153.74925976399996 meters Centerline goodness : 0.758405 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.68, Z:1.73 [[ 0.98681327 -0.15193791 -0.05580719 -6.29107049] [ 0.15430669 0.98717618 0.04089792 9.67564004] [ 0.04887759 -0.04897003 0.99760359 1.72916983] [ 0. 0. 0. 1. ]] SLAMing on 153.80925976399996 meters Centerline goodness : 0.758870 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.68, Z:1.73 [[ 0.98600822 -0.15680997 -0.05655452 -6.28956995] [ 0.15920432 0.98640911 0.04063309 9.6750187 ] [ 0.04941422 -0.04906828 0.99757232 1.73126269] [ 0. 0. 0. 1. ]] SLAMing on 153.86925976399996 meters Centerline goodness : 0.756673 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.67, Z:1.73 [[ 0.98580835 -0.15800591 -0.05671011 -6.29072207] [ 0.16040536 0.98621704 0.04057171 9.67351401] [ 0.04951791 -0.04909254 0.99756599 1.73382967] [ 0. 0. 0. 1. ]] SLAMing on 153.92925976399997 meters Centerline goodness : 0.759153 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.68, Z:1.73 [[ 0.98634224 -0.15465194 -0.05667242 -6.29303634] [ 0.15713942 0.98666534 0.0424111 9.67505777] [ 0.04935775 -0.05073733 0.99749162 1.73479846] [ 0. 0. 0. 1. ]] SLAMing on 153.98925976399997 meters Centerline goodness : 0.759231 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.68, Z:1.73 [[ 0.98643714 -0.15404708 -0.05666796 -6.29252631] [ 0.15647049 0.98682596 0.04112797 9.67583585] [ 0.04958577 -0.04943702 0.9975456 1.7335324 ] [ 0. 0. 0. 1. ]] SLAMing on 154.04925976399997 meters Centerline goodness : 0.757694 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.68, Z:1.73 [[ 0.98711378 -0.14985515 -0.05612325 -6.29433108] [ 0.15224432 0.98749158 0.04101271 9.67563648] [ 0.04927527 -0.04902866 0.99758114 1.73285206] [ 0. 0. 0. 1. ]] SLAMing on 154.10925976399997 meters Centerline goodness : 0.760698 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.68, Z:1.73 [[ 0.98735501 -0.14857438 -0.05527871 -6.29709143] [ 0.15088754 0.98772865 0.04031203 9.67542054] [ 0.04861103 -0.04814315 0.99765686 1.73369589] [ 0. 0. 0. 1. ]] SLAMing on 154.16925976399997 meters Centerline goodness : 0.758796 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.67, Z:1.73 [[ 0.9874158 -0.148151 -0.05532921 -6.29587139] [ 0.15049372 0.98776574 0.04087164 9.6747957 ] [ 0.04859712 -0.04868401 0.99763129 1.73227618] [ 0. 0. 0. 1. ]] SLAMing on 154.22925976399998 meters Centerline goodness : 0.760317 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.67, Z:1.74 [[ 0.98702458 -0.15096149 -0.05470928 -6.29804821] [ 0.15321013 0.98740289 0.03952448 9.67247318] [ 0.04805343 -0.04739365 0.99771975 1.73516285] [ 0. 0. 0. 1. ]] SLAMing on 154.28925976399995 meters Centerline goodness : 0.760228 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.67, Z:1.74 [[ 0.98670872 -0.15307231 -0.05454135 -6.29906228] [ 0.15528785 0.98709976 0.03898393 9.67024927] [ 0.0478704 -0.04693539 0.99775022 1.73725491] [ 0. 0. 0. 1. ]] SLAMing on 154.34925976399995 meters Centerline goodness : 0.760865 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.67, Z:1.74 [[ 0.98644463 -0.15478224 -0.05449261 -6.30003223] [ 0.15698703 0.98683846 0.03879329 9.66808048] [ 0.04777089 -0.04682206 0.99776031 1.73950618] [ 0. 0. 0. 1. ]] SLAMing on 154.40925976399996 meters Centerline goodness : 0.759874 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.67, Z:1.74 [[ 0.98641939 -0.15498318 -0.05437839 -6.30081916] [ 0.15718836 0.98680173 0.03891215 9.66743527] [ 0.04762996 -0.04693135 0.99776191 1.74007697] [ 0. 0. 0. 1. ]] SLAMing on 154.46925976399996 meters Centerline goodness : 0.760578 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.67, Z:1.74 [[ 0.98644876 -0.15477809 -0.05442974 -6.30100213] [ 0.15697086 0.98684847 0.03860371 9.66587276] [ 0.0477389 -0.04662446 0.99777109 1.74069083] [ 0. 0. 0. 1. ]] SLAMing on 154.52925976399996 meters Centerline goodness : 0.757103 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.66, Z:1.74 [[ 0.98646697 -0.15476994 -0.05412186 -6.30176868] [ 0.15684731 0.98694867 0.03648621 9.66495917] [ 0.04776853 -0.04448131 0.99786752 1.74094226] [ 0. 0. 0. 1. ]] SLAMing on 154.58925976399996 meters Centerline goodness : 0.757013 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.66, Z:1.74 [[ 0.98615147 -0.15692209 -0.05367244 -6.30352937] [ 0.15888824 0.98669205 0.03454444 9.66428211] [ 0.04753738 -0.04259397 0.9979609 1.74291955] [ 0. 0. 0. 1. ]] SLAMing on 154.64925976399996 meters Centerline goodness : 0.756039 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.66, Z:1.74 [[ 0.9861387 -0.15701895 -0.05362382 -6.30364628] [ 0.15902328 0.9866403 0.03539089 9.6619872 ] [ 0.04735038 -0.04342776 0.99793385 1.74229663] [ 0. 0. 0. 1. ]] SLAMing on 154.70925976399997 meters Centerline goodness : 0.754001 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.66, Z:1.74 [[ 0.98604784 -0.15908218 -0.04901555 -6.28765073] [ 0.16126544 0.9859138 0.04435581 9.65951705] [ 0.04126889 -0.05164147 0.99781263 1.73688907] [ 0. 0. 0. 1. ]] SLAMing on 154.76925976399997 meters Centerline goodness : 0.755925 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.66, Z:1.74 [[ 0.98546522 -0.16275473 -0.04867449 -6.28797506] [ 0.16478586 0.98547281 0.04109687 9.65807549] [ 0.04127867 -0.04852041 0.99796886 1.73825948] [ 0. 0. 0. 1. ]] SLAMing on 154.82925976399997 meters Centerline goodness : 0.754759 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.66, Z:1.74 [[ 0.98551204 -0.16239719 -0.04892014 -6.28759263] [ 0.16444825 0.98552118 0.04128895 9.65738654] [ 0.04150663 -0.04873559 0.99794892 1.73827824] [ 0. 0. 0. 1. ]] SLAMing on 154.88925976399997 meters Centerline goodness : 0.754097 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.66, Z:1.74 [[ 0.98553504 -0.16216144 -0.04923777 -6.28851687] [ 0.1642465 0.98553624 0.04173026 9.65701529] [ 0.04175857 -0.04921377 0.99791494 1.74018713] [ 0. 0. 0. 1. ]] SLAMing on 154.94925976399998 meters Centerline goodness : 0.751947 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.66, Z:1.74 [[ 0.98519239 -0.16434386 -0.04885745 -6.28960084] [ 0.16630748 0.98529206 0.03926043 9.65581874] [ 0.04168665 -0.04680444 0.99803385 1.74162728] [ 0. 0. 0. 1. ]] SLAMing on 155.00925976399998 meters Centerline goodness : 0.751672 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.65, Z:1.74 [[ 0.98480023 -0.16684879 -0.04826986 -6.29120043] [ 0.16869407 0.98497171 0.0370546 9.65371257] [ 0.04136194 -0.04463422 0.99814677 1.74362278] [ 0. 0. 0. 1. ]] SLAMing on 155.06925976399995 meters Centerline goodness : 0.752309 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.65, Z:1.76 [[ 0.98430147 -0.16398415 -0.06526732 -6.28844299] [ 0.16661833 0.9853208 0.03716523 9.64791203] [ 0.05821474 -0.04745653 0.99717547 1.7574 ] [ 0. 0. 0. 1. ]] SLAMing on 155.12925976399995 meters Centerline goodness : 0.754324 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.65, Z:1.76 [[ 0.98378371 -0.16694246 -0.06557305 -6.28827916] [ 0.16958728 0.98481867 0.03704504 9.64510502] [ 0.05839318 -0.04756466 0.99715989 1.75984721] [ 0. 0. 0. 1. ]] SLAMing on 155.18925976399996 meters Centerline goodness : 0.755877 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.65, Z:1.76 [[ 0.98369306 -0.16739727 -0.06577319 -6.28892551] [ 0.17005342 0.98473747 0.03706679 9.64515226] [ 0.05856445 -0.0476473 0.9971459 1.76125082] [ 0. 0. 0. 1. ]] SLAMing on 155.24925976399996 meters Centerline goodness : 0.755697 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.65, Z:1.76 [[ 0.98362058 -0.16797675 -0.06537858 -6.29017011] [ 0.17054346 0.98469783 0.0358485 9.64552125] [ 0.05835644 -0.04641121 0.99721639 1.76180936] [ 0. 0. 0. 1. ]] SLAMing on 155.30925976399996 meters Centerline goodness : 0.755433 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.65, Z:1.76 [[ 0.98403399 -0.16598297 -0.06423984 -6.29261724] [ 0.16842297 0.98510727 0.03460298 9.64505647] [ 0.05753963 -0.04486997 0.99733439 1.76125686] [ 0. 0. 0. 1. ]] SLAMing on 155.36925976399996 meters Centerline goodness : 0.754708 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.65, Z:1.76 [[ 0.98423951 -0.16476182 -0.06423502 -6.29493489] [ 0.16722484 0.98529631 0.03502898 9.64560196] [ 0.05751909 -0.0452186 0.99731982 1.76338182] [ 0. 0. 0. 1. ]] SLAMing on 155.42925976399997 meters Centerline goodness : 0.757714 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.65, Z:1.76 [[ 0.9842961 -0.16425251 -0.06467073 -6.29447842] [ 0.16674388 0.98537224 0.03518575 9.64551231] [ 0.05794539 -0.04541665 0.99728615 1.76375046] [ 0. 0. 0. 1. ]] SLAMing on 155.48925976399997 meters Centerline goodness : 0.758926 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.65, Z:1.76 [[ 0.9850577 -0.15972186 -0.06442249 -6.29474225] [ 0.16224401 0.98609389 0.03599616 9.64585319] [ 0.05777725 -0.04591045 0.99727329 1.76143161] [ 0. 0. 0. 1. ]] SLAMing on 155.54925976399997 meters Centerline goodness : 0.760878 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.65, Z:1.76 [[ 0.98548829 -0.157374 -0.0636102 -6.29797937] [ 0.15982571 0.98650814 0.03546022 9.64729696] [ 0.05717147 -0.04511218 0.99734463 1.76207574] [ 0. 0. 0. 1. ]] SLAMing on 155.60925976399997 meters Centerline goodness : 0.759941 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.65, Z:1.76 [[ 0.98567333 -0.15637332 -0.06320976 -6.30002175] [ 0.15876008 0.98670874 0.03465691 9.64829356] [ 0.0569502 -0.04419558 0.99739833 1.76275164] [ 0. 0. 0. 1. ]] SLAMing on 155.66925976399997 meters Centerline goodness : 0.760619 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.65, Z:1.76 [[ 0.98648796 -0.15134816 -0.06273147 -6.30247519] [ 0.15378427 0.98744874 0.03599129 9.64970481] [ 0.0564969 -0.04515209 0.99738127 1.76224949] [ 0. 0. 0. 1. ]] SLAMing on 155.72925976399998 meters Centerline goodness : 0.760448 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.65, Z:1.76 [[ 0.98733772 -0.14608505 -0.06183348 -6.30525167] [ 0.14851237 0.98823126 0.03664762 9.65247506] [ 0.05575211 -0.04536662 0.99741344 1.76083827] [ 0. 0. 0. 1. ]] SLAMing on 155.78925976399995 meters Centerline goodness : 0.761808 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.65, Z:1.76 [[ 0.98736381 -0.14580685 -0.06207316 -6.30438727] [ 0.14821379 0.98829642 0.03609522 9.65466558] [ 0.05608375 -0.04483921 0.9974187 1.76104624] [ 0. 0. 0. 1. ]] SLAMing on 155.84925976399995 meters Centerline goodness : 0.762614 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.66, Z:1.76 [[ 0.98763606 -0.14447762 -0.06083767 -6.30646653] [ 0.14676774 0.98855144 0.03500389 9.65540425] [ 0.05508388 -0.04350011 0.99753371 1.75961172] [ 0. 0. 0. 1. ]] SLAMing on 155.90925976399996 meters Centerline goodness : 0.764105 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.66, Z:1.76 [[ 0.98790714 -0.14258463 -0.0609025 -6.3069738 ] [ 0.14490482 0.98880754 0.03552797 9.65562704] [ 0.05515511 -0.0439234 0.99751123 1.75948285] [ 0. 0. 0. 1. ]] SLAMing on 155.96925976399996 meters Centerline goodness : 0.767764 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.66, Z:1.76 [[ 0.98816694 -0.14106829 -0.06021496 -6.31057418] [ 0.14339012 0.98900629 0.03613637 9.65519655] [ 0.05445528 -0.04434299 0.99753111 1.76178307] [ 0. 0. 0. 1. ]] SLAMing on 156.02925976399996 meters Centerline goodness : 0.764362 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.66, Z:1.76 [[ 0.98831291 -0.14013568 -0.05999659 -6.31057739] [ 0.14245641 0.98913489 0.03630905 9.65569628] [ 0.05425652 -0.0444316 0.997538 1.76049696] [ 0. 0. 0. 1. ]] SLAMing on 156.08925976399996 meters Centerline goodness : 0.765847 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.66, Z:1.76 [[ 0.98894232 -0.13631962 -0.0583956 -6.31473085] [ 0.13848095 0.98975698 0.03470083 9.65656879] [ 0.05306705 -0.0424038 0.99769024 1.75983349] [ 0. 0. 0. 1. ]] SLAMing on 156.14925976399996 meters Centerline goodness : 0.767126 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.66, Z:1.76 [[ 0.98893449 -0.13629975 -0.05857426 -6.31491025] [ 0.13837822 0.98982918 0.03300995 9.66221926] [ 0.05347927 -0.04075008 0.99773714 1.76202602] [ 0. 0. 0. 1. ]] SLAMing on 156.20925976399997 meters Centerline goodness : 0.769246 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.66, Z:1.76 [[ 0.98891024 -0.13660424 -0.05827373 -6.31592945] [ 0.13863377 0.98981627 0.03231748 9.66423578] [ 0.05326558 -0.0400378 0.99777741 1.76257763] [ 0. 0. 0. 1. ]] SLAMing on 156.26925976399997 meters Centerline goodness : 0.771207 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.67, Z:1.76 [[ 0.98953948 -0.13183358 -0.05857921 -6.31533144] [ 0.13408959 0.99030061 0.0363963 9.66569556] [ 0.05321277 -0.04387044 0.99761906 1.76119221] [ 0. 0. 0. 1. ]] SLAMing on 156.32925976399997 meters Centerline goodness : 0.771693 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.67, Z:1.76 [[ 0.99009911 -0.12742122 -0.05888616 -6.31539024] [ 0.12989368 0.99071071 0.04024811 9.66714488] [ 0.05321068 -0.04749856 0.99745301 1.76059151] [ 0. 0. 0. 1. ]] SLAMing on 156.38925976399997 meters Centerline goodness : 0.771753 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.67, Z:1.76 [[ 0.99016389 -0.12686627 -0.05899501 -6.3141924 ] [ 0.12931887 0.99080455 0.03978647 9.67019124] [ 0.05340497 -0.0470243 0.9974651 1.76012222] [ 0. 0. 0. 1. ]] SLAMing on 156.44925976399998 meters Centerline goodness : 0.772913 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.67, Z:1.76 [[ 0.9907014 -0.12254495 -0.05910558 -6.31447189] [ 0.12521245 0.99116483 0.04375063 9.67143788] [ 0.05322195 -0.05074456 0.99729254 1.75893267] [ 0. 0. 0. 1. ]] SLAMing on 156.50925976399998 meters Centerline goodness : 0.773778 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.68, Z:1.76 [[ 0.99117778 -0.11855108 -0.05926422 -6.315984 ] [ 0.12136557 0.99152374 0.0463796 9.67535777] [ 0.05326353 -0.05316306 0.99716432 1.76085316] [ 0. 0. 0. 1. ]] SLAMing on 156.56925976399995 meters Centerline goodness : 0.771126 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.68, Z:1.76 [[ 0.99115375 -0.11872542 -0.05931708 -6.3164181 ] [ 0.1214612 0.99158213 0.04485598 9.67983933] [ 0.05349221 -0.05166389 0.99723088 1.76271654] [ 0. 0. 0. 1. ]] SLAMing on 156.62925976399995 meters Centerline goodness : 0.771618 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.68, Z:1.76 [[ 0.99115613 -0.11854794 -0.05963141 -6.31570919] [ 0.12123503 0.99166342 0.04365469 9.68395366] [ 0.05395911 -0.05049803 0.99726544 1.76386316] [ 0. 0. 0. 1. ]] SLAMing on 156.68925976399996 meters Centerline goodness : 0.772036 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.69, Z:1.76 [[ 0.99115106 -0.11839276 -0.06002272 -6.31483306] [ 0.12104637 0.99172893 0.04267903 9.68803517] [ 0.05447338 -0.0495669 0.9972842 1.76474147] [ 0. 0. 0. 1. ]] SLAMing on 156.74925976399996 meters Centerline goodness : 0.770946 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.69, Z:1.77 [[ 0.99113156 -0.11858 -0.05997505 -6.3154094 ] [ 0.12119086 0.99174292 0.04193754 9.68991149] [ 0.05450688 -0.04883405 0.99731852 1.76584211] [ 0. 0. 0. 1. ]] SLAMing on 156.80925976399996 meters Centerline goodness : 0.770152 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.69, Z:1.77 [[ 0.9911314 -0.11852036 -0.06009558 -6.31534742] [ 0.12110913 0.99177434 0.04142752 9.69172744] [ 0.05469125 -0.04833824 0.99733258 1.76659294] [ 0. 0. 0. 1. ]] SLAMing on 156.86925976399996 meters Centerline goodness : 0.768864 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.69, Z:1.77 [[ 0.99112564 -0.11873394 -0.05976805 -6.31678534] [ 0.12127511 0.99177829 0.0408433 9.69220956] [ 0.05442716 -0.04772922 0.99737636 1.76794956] [ 0. 0. 0. 1. ]] SLAMing on 156.92925976399997 meters Centerline goodness : 0.769838 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.69, Z:1.77 [[ 0.99110042 -0.11903202 -0.05959307 -6.31816355] [ 0.12153676 0.9917675 0.04032424 9.69260308] [ 0.05430259 -0.04720812 0.99740795 1.76954741] [ 0. 0. 0. 1. ]] SLAMing on 156.98925976399997 meters Centerline goodness : 0.767847 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.69, Z:1.77 [[ 0.99109782 -0.11906031 -0.0595798 -6.31878939] [ 0.12153721 0.99178765 0.03982421 9.69311372] [ 0.05434902 -0.04671085 0.99742883 1.77106022] [ 0. 0. 0. 1. ]] SLAMing on 157.04925976399997 meters Centerline goodness : 0.769567 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.69, Z:1.77 [[ 0.99114144 -0.11855562 -0.05985991 -6.31770209] [ 0.12105872 0.99183629 0.04006934 9.69211885] [ 0.05462078 -0.04696095 0.99740225 1.77117465] [ 0. 0. 0. 1. ]] SLAMing on 157.10925976399997 meters Centerline goodness : 0.772608 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.69, Z:1.77 [[ 0.99115278 -0.1184533 -0.05987472 -6.31778321] [ 0.12094639 0.99185782 0.03987522 9.69230312] [ 0.05466386 -0.04676407 0.99740914 1.77170522] [ 0. 0. 0. 1. ]] SLAMing on 157.16925976399997 meters Centerline goodness : 0.771485 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.69, Z:1.77 [[ 0.99118515 -0.11819903 -0.05984132 -6.31759196] [ 0.12069508 0.99188497 0.03996119 9.69129028] [ 0.05463233 -0.0468315 0.9974077 1.77177979] [ 0. 0. 0. 1. ]] SLAMing on 157.22925976399998 meters Centerline goodness : 0.769434 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.69, Z:1.77 [[ 0.9912074 -0.11793085 -0.06000168 -6.31744541] [ 0.12041735 0.99193107 0.0396538 9.69218665] [ 0.05484113 -0.04653038 0.99741033 1.77274834] [ 0. 0. 0. 1. ]] SLAMing on 157.28925976399995 meters Centerline goodness : 0.771974 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.69, Z:1.77 [[ 0.99122669 -0.1177914 -0.05995693 -6.3175251 ] [ 0.12026594 0.99195653 0.03947601 9.69254438] [ 0.05482473 -0.04634045 0.99742008 1.77302522] [ 0. 0. 0. 1. ]] SLAMing on 157.34925976399995 meters Centerline goodness : 0.767771 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.69, Z:1.77 [[ 0.99128799 -0.11716215 -0.06017601 -6.31651613] [ 0.11965565 0.99202365 0.03964345 9.69196423] [ 0.05505131 -0.04649847 0.99740024 1.77312893] [ 0. 0. 0. 1. ]] SLAMing on 157.40925976399996 meters Centerline goodness : 0.766683 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.69, Z:1.77 [[ 0.99129072 -0.11714831 -0.06015792 -6.31730387] [ 0.11963814 0.99202781 0.0395923 9.69058353] [ 0.05504016 -0.04644466 0.99740337 1.7744838 ] [ 0. 0. 0. 1. ]] SLAMing on 157.46925976399996 meters Centerline goodness : 0.767352 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.69, Z:1.77 [[ 0.99131105 -0.11707371 -0.05996789 -6.31788446] [ 0.11957221 0.99202294 0.03991211 9.68837826] [ 0.05481686 -0.04673581 0.99740206 1.7747267 ] [ 0. 0. 0. 1. ]] SLAMing on 157.52925976399996 meters Centerline goodness : 0.765091 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.68, Z:1.77 [[ 0.99131941 -0.11735054 -0.05928466 -6.319765 ] [ 0.11985297 0.99196231 0.04057153 9.6835621 ] [ 0.05404706 -0.04732478 0.9974163 1.77473566] [ 0. 0. 0. 1. ]] SLAMing on 157.58925976399996 meters Centerline goodness : 0.764586 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.68, Z:1.77 [[ 0.99109126 -0.12105274 -0.05553687 -6.30376674] [ 0.12385415 0.99103398 0.05011789 9.67593549] [ 0.04897202 -0.05654988 0.997198 1.76817845] [ 0. 0. 0. 1. ]] SLAMing on 157.64925976399996 meters Centerline goodness : 0.761417 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:9.67, Z:1.76 [[ 0.99061068 -0.12643928 -0.05199597 -6.2844545 ] [ 0.12928513 0.99004826 0.05558592 9.67137981] [ 0.04445027 -0.06178631 0.9970991 1.76454901] [ 0. 0. 0. 1. ]] SLAMing on 157.70925976399997 meters Centerline goodness : 0.758968 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:9.67, Z:1.77 [[ 0.99005381 -0.13085861 -0.05166697 -6.28469497] [ 0.13348244 0.98973344 0.05108975 9.67165486] [ 0.04445099 -0.05747824 0.99735669 1.76593043] [ 0. 0. 0. 1. ]] SLAMing on 157.76925976399997 meters Centerline goodness : 0.753970 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.68, Z:1.77 [[ 0.98937888 -0.13590393 -0.05157084 -6.28612506] [ 0.13826767 0.98935303 0.04541619 9.67502695] [ 0.04484953 -0.0520644 0.99763611 1.77002851] [ 0. 0. 0. 1. ]] SLAMing on 157.82925976399997 meters Centerline goodness : 0.754058 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.67, Z:1.77 [[ 0.98887468 -0.13956045 -0.05147573 -6.28757653] [ 0.14184929 0.98891624 0.04385705 9.6735 ] [ 0.04478447 -0.05067092 0.99771078 1.77312681] [ 0. 0. 0. 1. ]] SLAMing on 157.88925976399997 meters Centerline goodness : 0.755141 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.67, Z:1.78 [[ 0.9882527 -0.14378364 -0.05179635 -6.28721517] [ 0.14602685 0.98836821 0.04247873 9.67166448] [ 0.04508612 -0.04954337 0.99775383 1.7752592 ] [ 0. 0. 0. 1. ]] SLAMing on 157.94925976399998 meters Centerline goodness : 0.753841 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.67, Z:1.78 [[ 0.98698622 -0.15192508 -0.05269705 -6.2863783 ] [ 0.15411395 0.98723129 0.04028982 9.6706228 ] [ 0.04590315 -0.04788685 0.99779745 1.77969572] [ 0. 0. 0. 1. ]] SLAMing on 158.00925976399998 meters Centerline goodness : 0.755304 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.67, Z:1.78 [[ 0.98627446 -0.15631317 -0.05318729 -6.28592231] [ 0.15844279 0.98661802 0.03848071 9.66871453] [ 0.0464605 -0.04637969 0.99784285 1.78238295] [ 0. 0. 0. 1. ]] SLAMing on 158.06925976399995 meters Centerline goodness : 0.756205 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.67, Z:1.79 [[ 0.9852297 -0.1625755 -0.05377402 -6.28662411] [ 0.16467019 0.98565048 0.03710604 9.66745556] [ 0.04696986 -0.04541295 0.99786347 1.78747747] [ 0. 0. 0. 1. ]] SLAMing on 158.12925976399995 meters Centerline goodness : 0.755844 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.67, Z:1.79 [[ 0.98455909 -0.16644251 -0.05422447 -6.28657197] [ 0.16852229 0.98502839 0.0363223 9.66742899] [ 0.04736706 -0.04489948 0.99786793 1.78994622] [ 0. 0. 0. 1. ]] SLAMing on 158.18925976399996 meters Centerline goodness : 0.756168 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.67, Z:1.79 [[ 0.98372269 -0.17121372 -0.05454845 -6.28531124] [ 0.17323032 0.98427185 0.0346435 9.66837841] [ 0.04775906 -0.04352904 0.99790996 1.79082055] [ 0. 0. 0. 1. ]] SLAMing on 158.24925976399996 meters Centerline goodness : 0.754161 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:9.67, Z:1.80 [[ 0.98331064 -0.16722621 -0.07166292 -6.28257915] [ 0.17001653 0.98482849 0.03474508 9.66509758] [ 0.0647654 -0.04634909 0.99682356 1.80418956] [ 0. 0. 0. 1. ]] SLAMing on 158.30925976399996 meters Centerline goodness : 0.753971 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:9.67, Z:1.81 [[ 0.98275048 -0.17032062 -0.07205813 -6.28262527] [ 0.17311915 0.98429595 0.03451435 9.66628613] [ 0.06504802 -0.04639363 0.99680308 1.80627148] [ 0. 0. 0. 1. ]] SLAMing on 158.36925976399996 meters Centerline goodness : 0.753893 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:9.67, Z:1.81 [[ 0.98337601 -0.16662324 -0.07216867 -6.28390566] [ 0.16950812 0.98487672 0.03584478 9.66809265] [ 0.06510467 -0.04748207 0.99674813 1.80607888] [ 0. 0. 0. 1. ]] SLAMing on 158.42925976399997 meters Centerline goodness : 0.753760 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:9.67, Z:1.80 [[ 0.98384884 -0.164274 -0.07110218 -6.28484955] [ 0.16696645 0.98538636 0.03370342 9.67150982] [ 0.06452652 -0.04503075 0.99689947 1.8025143 ] [ 0. 0. 0. 1. ]] SLAMing on 158.48925976399997 meters Centerline goodness : 0.754109 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.67, Z:1.80 [[ 0.98417658 -0.16291177 -0.06968658 -6.28849039] [ 0.16542715 0.98570424 0.0319532 9.67275521] [ 0.0634848 -0.04297564 0.99705706 1.80257216] [ 0. 0. 0. 1. ]] SLAMing on 158.54925976399997 meters Centerline goodness : 0.751941 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.67, Z:1.80 [[ 0.98444902 -0.16152842 -0.06905581 -6.29153965] [ 0.16406223 0.98590752 0.03271 9.67409938] [ 0.06279905 -0.04353078 0.9970764 1.80402482] [ 0. 0. 0. 1. ]] SLAMing on 158.60925976399997 meters Centerline goodness : 0.751795 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.67, Z:1.81 [[ 0.98437579 -0.16203294 -0.06891755 -6.29259087] [ 0.16455674 0.98582759 0.03263509 9.67473072] [ 0.06265286 -0.04346604 0.99708842 1.80506513] [ 0. 0. 0. 1. ]] SLAMing on 158.66925976399997 meters Centerline goodness : 0.752388 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.67, Z:1.81 [[ 0.98388775 -0.16533783 -0.06803164 -6.29465938] [ 0.16766459 0.98538736 0.0300056 9.673415 ] [ 0.06207646 -0.04092863 0.99723185 1.80702347] [ 0. 0. 0. 1. ]] SLAMing on 158.72925976399998 meters Centerline goodness : 0.751941 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.67, Z:1.81 [[ 0.98296924 -0.17110955 -0.06702983 -6.29662422] [ 0.17324569 0.98449668 0.02742655 9.6695893 ] [ 0.0612977 -0.03857209 0.99737395 1.81023827] [ 0. 0. 0. 1. ]] SLAMing on 158.78925976399995 meters Centerline goodness : 0.752617 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.67, Z:1.81 [[ 0.98258814 -0.17367689 -0.06600672 -6.29916 ] [ 0.17565892 0.98412155 0.02547011 9.66628559] [ 0.06053507 -0.03662129 0.99749405 1.81264244] [ 0. 0. 0. 1. ]] SLAMing on 158.84925976399995 meters Centerline goodness : 0.752614 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.66, Z:1.82 [[ 0.98154098 -0.17997701 -0.06469603 -6.30022758] [ 0.1816506 0.98314011 0.02094226 9.65945911] [ 0.05983613 -0.03230776 0.99768524 1.81505292] [ 0. 0. 0. 1. ]] SLAMing on 158.90925976399996 meters Centerline goodness : 0.753720 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.66, Z:1.82 [[ 0.98093141 -0.18331226 -0.06457701 -6.30137839] [ 0.18490416 0.98256204 0.01955234 9.65539111] [ 0.05986673 -0.03112007 0.99772116 1.81864521] [ 0. 0. 0. 1. ]] SLAMing on 158.96925976399996 meters Centerline goodness : 0.753973 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.65, Z:1.82 [[ 0.97974442 -0.18969626 -0.06415764 -6.30210647] [ 0.19110721 0.98142939 0.01656447 9.65044348] [ 0.05982397 -0.02848994 0.99780229 1.82244893] [ 0. 0. 0. 1. ]] SLAMing on 159.02925976399996 meters Centerline goodness : 0.754614 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.65, Z:1.82 [[ 0.97886628 -0.1943229 -0.06371361 -6.30200106] [ 0.19560394 0.98057628 0.0144659 9.64608324] [ 0.059665 -0.02662282 0.99786337 1.8242255 ] [ 0. 0. 0. 1. ]] SLAMing on 159.08925976399996 meters Centerline goodness : 0.753110 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.64, Z:1.83 [[ 0.97863105 -0.195667 -0.0632115 -6.3039719 ] [ 0.19687394 0.98033717 0.01340446 9.64394787] [ 0.05934577 -0.02556272 0.99791013 1.82659099] [ 0. 0. 0. 1. ]] SLAMing on 159.14925976399996 meters Centerline goodness : 0.749248 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.64, Z:1.83 [[ 0.97831594 -0.19729972 -0.06301391 -6.30383265] [ 0.19842794 0.98004059 0.0121161 9.64241478] [ 0.05936568 -0.02435709 0.9979391 1.82696585] [ 0. 0. 0. 1. ]] SLAMing on 159.20925976399997 meters Centerline goodness : 0.746331 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.64, Z:1.84 [[ 0.97851894 -0.19110248 -0.07733388 -6.30527317] [ 0.19258045 0.9812071 0.01205813 9.63590031] [ 0.07357621 -0.0266921 0.99693233 1.84077067] [ 0. 0. 0. 1. ]] SLAMing on 159.26925976399997 meters Centerline goodness : 0.744310 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.64, Z:1.84 [[ 0.97893456 -0.18900764 -0.07722196 -6.30685021] [ 0.19050855 0.9816061 0.01248808 9.63705439] [ 0.0734412 -0.02693646 0.99693571 1.84123894] [ 0. 0. 0. 1. ]] SLAMing on 159.32925976399997 meters Centerline goodness : 0.738623 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.64, Z:1.85 [[ 9.79293350e-01 -1.88530611e-01 -7.37613951e-02 -6.31598530e+00] [ 1.89348510e-01 9.81900990e-01 4.19382956e-03 9.63982730e+00] [ 7.16357216e-02 -1.80735997e-02 9.97267100e-01 1.85087113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38925976399997 meters Centerline goodness : 0.736132 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.64, Z:1.85 [[ 9.79692491e-01 -1.86450469e-01 -7.37485309e-02 -6.31555258e+00] [ 1.87314408e-01 9.82287712e-01 4.91554125e-03 9.64126921e+00] [ 7.15257707e-02 -1.86298813e-02 9.97264755e-01 1.84884616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44925976399998 meters Centerline goodness : 0.734847 with order 1 Centerline is valid? [False, False] Translation: X:-6.32, Y:9.64, Z:1.85 [[ 9.81373370e-01 -1.77750669e-01 -7.28766624e-02 -6.31934283e+00] [ 1.78702406e-01 9.83880348e-01 6.70163540e-03 9.64342987e+00] [ 7.05106958e-02 -1.96000414e-02 9.97318445e-01 1.84724001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50925976399998 meters Centerline goodness : 0.730248 with order 1 Centerline is valid? [False, False] Translation: X:-6.33, Y:9.65, Z:1.84 [[ 9.84699321e-01 -1.64020617e-01 -5.88598719e-02 -6.32514730e+00] [ 1.64717242e-01 9.86314897e-01 7.15221019e-03 9.65273270e+00] [ 5.68812585e-02 -1.67380123e-02 9.98240633e-01 1.84168475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56925976399995 meters Centerline goodness : 0.733067 with order 1 Centerline is valid? [False, False] Translation: X:-6.33, Y:9.66, Z:1.84 [[ 9.86802923e-01 -1.52262177e-01 -5.51019176e-02 -6.33354306e+00] [ 1.52711923e-01 9.88262567e-01 4.02094533e-03 9.65589389e+00] [ 5.38429246e-02 -1.23826004e-02 9.98472639e-01 1.84022006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62925976399995 meters Centerline goodness : 0.735355 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:9.66, Z:1.83 [[ 9.88883974e-01 -1.38860292e-01 -5.31630140e-02 -6.33603317e+00] [ 1.39338645e-01 9.90230165e-01 5.38162218e-03 9.65855542e+00] [ 5.18963265e-02 -1.27294623e-02 9.98571346e-01 1.83257384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68925976399996 meters Centerline goodness : 0.736599 with order 1 Centerline is valid? [False, False] Translation: X:-6.34, Y:9.66, Z:1.83 [[ 0.9894718 -0.13457087 -0.05325642 -6.33718744] [ 0.13529113 0.99075398 0.01014221 9.65585699] [ 0.05139916 -0.01724055 0.99852936 1.83203978] [ 0. 0. 0. 1. ]] SLAMing on 159.74925976399996 meters Centerline goodness : 0.734276 with order 1 Centerline is valid? [False, False] Translation: X:-6.33, Y:9.65, Z:1.82 [[ 0.98943607 -0.13660626 -0.0485283 -6.32560063] [ 0.13779844 0.99021327 0.02211949 9.65168537] [ 0.04503171 -0.02857295 0.99857685 1.82489968] [ 0. 0. 0. 1. ]] SLAMing on 159.80925976399996 meters Centerline goodness : 0.739431 with order 1 Centerline is valid? [False, False] Translation: X:-6.33, Y:9.65, Z:1.83 [[ 0.98976422 -0.13452789 -0.04763433 -6.32796664] [ 0.1356857 0.99050864 0.02195509 9.65014377] [ 0.04422865 -0.02819366 0.99862352 1.82513735] [ 0. 0. 0. 1. ]] SLAMing on 159.86925976399996 meters Centerline goodness : 0.735805 with order 1 Centerline is valid? [False, False] Translation: X:-6.33, Y:9.65, Z:1.82 [[ 0.99037419 -0.1298757 -0.04786708 -6.32779939] [ 0.13125269 0.9909858 0.02683057 9.64761875] [ 0.04395096 -0.03285499 0.9984933 1.82366566] [ 0. 0. 0. 1. ]] SLAMing on 159.92925976399997 meters Centerline goodness : 0.733781 with order 1 Centerline is valid? [False, False] Translation: X:-6.33, Y:9.65, Z:1.82 [[ 0.99045386 -0.12923173 -0.04796167 -6.32633761] [ 0.13063074 0.99105603 0.02726834 9.64729171] [ 0.04400877 -0.0332733 0.9984769 1.82220563] [ 0. 0. 0. 1. ]] SLAMing on 159.98925976399997 meters Centerline goodness : 0.730179 with order 1 Centerline is valid? [False, False] Translation: X:-6.33, Y:9.64, Z:1.82 [[ 0.99047539 -0.12919983 -0.04760147 -6.32661314] [ 0.1306352 0.99102432 0.02837667 9.64323791] [ 0.04350796 -0.03432483 0.99846325 1.820597 ] [ 0. 0. 0. 1. ]] SLAMing on 160.04925976399997 meters Centerline goodness : 0.727869 with order 1 Centerline is valid? [False, False] Translation: X:-6.33, Y:9.64, Z:1.82 [[ 0.99048527 -0.12920176 -0.04739034 -6.3270994 ] [ 0.13065987 0.991001 0.02906922 9.64046201] [ 0.04320808 -0.03498465 0.99845337 1.82016846] [ 0. 0. 0. 1. ]] SLAMing on 160.10925976399997 meters Centerline goodness : 0.730807 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.64, Z:1.81 [[ 0.99021198 -0.13277359 -0.04302809 -6.31170454] [ 0.13442984 0.9901868 0.03819329 9.63634236] [ 0.03753479 -0.04360371 0.99834356 1.8127009 ] [ 0. 0. 0. 1. ]] SLAMing on 160.16925976399997 meters Centerline goodness : 0.730114 with order 1 Centerline is valid? [False, False] Translation: X:-6.31, Y:9.64, Z:1.81 [[ 0.98964046 -0.13717584 -0.04236203 -6.31227161] [ 0.13864427 0.98976142 0.03391307 9.63618153] [ 0.03727625 -0.039435 0.9985266 1.81329492] [ 0. 0. 0. 1. ]] SLAMing on 160.22925976399998 meters Centerline goodness : 0.731227 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.63, Z:1.81 [[ 0.98916575 -0.1420713 -0.03697119 -6.29910761] [ 0.14356975 0.98876401 0.0416349 9.63216253] [ 0.03064065 -0.04649176 0.99844863 1.80742857] [ 0. 0. 0. 1. ]] SLAMing on 160.28925976399995 meters Centerline goodness : 0.732321 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.63, Z:1.81 [[ 0.98897691 -0.14329498 -0.03729901 -6.2997481 ] [ 0.14481287 0.98857636 0.04178523 9.63028135] [ 0.0308853 -0.046726 0.99843016 1.81009914] [ 0. 0. 0. 1. ]] SLAMing on 160.34925976399995 meters Centerline goodness : 0.733037 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.63, Z:1.83 [[ 0.9884447 -0.14202881 -0.05296118 -6.29902531] [ 0.14411868 0.98883182 0.03796636 9.62605414] [ 0.04697738 -0.04516034 0.99787458 1.82561761] [ 0. 0. 0. 1. ]] SLAMing on 160.40925976399996 meters Centerline goodness : 0.736925 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.63, Z:1.83 [[ 0.98780059 -0.14669788 -0.05224673 -6.29983105] [ 0.14854881 0.98833798 0.03348562 9.62712876] [ 0.04672516 -0.04083831 0.99807264 1.82625108] [ 0. 0. 0. 1. ]] SLAMing on 160.46925976399996 meters Centerline goodness : 0.739451 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.63, Z:1.83 [[ 0.98711501 -0.15100654 -0.05292438 -6.2977309 ] [ 0.15288976 0.98767431 0.03352876 9.62716866] [ 0.04720899 -0.04118834 0.99803549 1.82703627] [ 0. 0. 0. 1. ]] SLAMing on 160.52925976399996 meters Centerline goodness : 0.744521 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.63, Z:1.83 [[ 0.98704923 -0.15157649 -0.05252028 -6.2991362 ] [ 0.15342997 0.98760018 0.03324358 9.62815316] [ 0.04683009 -0.04087124 0.99806637 1.82723105] [ 0. 0. 0. 1. ]] SLAMing on 160.58925976399996 meters Centerline goodness : 0.747488 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.63, Z:1.83 [[ 0.98680251 -0.15301853 -0.05297294 -6.29801531] [ 0.15480679 0.98744372 0.03146031 9.63116249] [ 0.04749379 -0.03924568 0.99810025 1.8266142 ] [ 0. 0. 0. 1. ]] SLAMing on 160.64925976399996 meters Centerline goodness : 0.750470 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.63, Z:1.83 [[ 0.98674653 -0.1535196 -0.05256443 -6.2991336 ] [ 0.15527267 0.98738362 0.03104815 9.63284302] [ 0.04713475 -0.03879848 0.99813476 1.82631538] [ 0. 0. 0. 1. ]] SLAMing on 160.70925976399997 meters Centerline goodness : 0.752296 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.64, Z:1.83 [[ 0.98663768 -0.15433991 -0.0522042 -6.30120251] [ 0.1560369 0.98729128 0.03014003 9.63532927] [ 0.04688894 -0.03788307 0.9981815 1.82767323] [ 0. 0. 0. 1. ]] SLAMing on 160.76925976399997 meters Centerline goodness : 0.756599 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.64, Z:1.83 [[ 0.98616689 -0.15706006 -0.05298119 -6.30164146] [ 0.15880329 0.98684055 0.03045063 9.63686402] [ 0.04750141 -0.03844299 0.99813113 1.83103658] [ 0. 0. 0. 1. ]] SLAMing on 160.82925976399997 meters Centerline goodness : 0.761091 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.64, Z:1.82 [[ 0.98526139 -0.16446889 -0.04701044 -6.28979321] [ 0.16621521 0.98543203 0.03600292 9.63631382] [ 0.04040424 -0.04328614 0.99824536 1.82486909] [ 0. 0. 0. 1. ]] SLAMing on 160.88925976399997 meters Centerline goodness : 0.759831 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.63, Z:1.83 [[ 0.98485541 -0.16124514 -0.06371681 -6.28501284] [ 0.16370431 0.9858728 0.03543616 9.63156509] [ 0.05710276 -0.0453302 0.99733868 1.83398723] [ 0. 0. 0. 1. ]] SLAMing on 160.94925976399998 meters Centerline goodness : 0.763163 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.64, Z:1.83 [[ 0.98549439 -0.15710358 -0.06418152 -6.28577486] [ 0.15975496 0.98640647 0.03847884 9.63551967] [ 0.05726391 -0.048174 0.99719612 1.83462637] [ 0. 0. 0. 1. ]] SLAMing on 161.00925976399995 meters Centerline goodness : 0.765285 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:9.63, Z:1.83 [[ 0.98554991 -0.15670362 -0.06430676 -6.28410359] [ 0.15943062 0.98641073 0.03969579 9.63301921] [ 0.0572124 -0.04937465 0.99714035 1.83206045] [ 0. 0. 0. 1. ]] SLAMing on 161.06925976399995 meters Centerline goodness : 0.764331 with order 1 Centerline is valid? [False, False] Translation: X:-6.26, Y:9.63, Z:1.83 [[ 0.98520835 -0.16055657 -0.05988407 -6.26494186] [ 0.16332861 0.98556029 0.04466184 9.6323407 ] [ 0.05184861 -0.053782 0.9972057 1.82941179] [ 0. 0. 0. 1. ]] SLAMing on 161.12925976399995 meters Centerline goodness : 0.766704 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:9.63, Z:1.83 [[ 0.98530242 -0.16005589 -0.05967632 -6.26760073] [ 0.16285243 0.98560743 0.0453551 9.63300683] [ 0.05155807 -0.05440692 0.99718687 1.8319722 ] [ 0. 0. 0. 1. ]] SLAMing on 161.18925976399996 meters Centerline goodness : 0.768579 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:9.63, Z:1.83 [[ 0.98508513 -0.16160566 -0.05908383 -6.26966775] [ 0.16428576 0.98544422 0.0437022 9.63309187] [ 0.05116129 -0.05275702 0.99729595 1.83364993] [ 0. 0. 0. 1. ]] SLAMing on 161.24925976399996 meters Centerline goodness : 0.769300 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:9.63, Z:1.83 [[ 0.98510566 -0.16170567 -0.05846459 -6.27122562] [ 0.16430088 0.98548675 0.04267418 9.63311762] [ 0.05071542 -0.05164436 0.99737696 1.83397917] [ 0. 0. 0. 1. ]] SLAMing on 161.30925976399996 meters Centerline goodness : 0.771698 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:9.63, Z:1.83 [[ 0.98511899 -0.16180364 -0.05796681 -6.27292853] [ 0.16434211 0.98550632 0.04205902 9.63308199] [ 0.05032136 -0.05095953 0.99743215 1.83479388] [ 0. 0. 0. 1. ]] SLAMing on 161.36925976399996 meters Centerline goodness : 0.771739 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:9.63, Z:1.83 [[ 0.9847912 -0.16353274 -0.05867999 -6.27128706] [ 0.16609252 0.98522609 0.04174719 9.63319854] [ 0.05098603 -0.05085858 0.99740354 1.83494628] [ 0. 0. 0. 1. ]] SLAMing on 161.42925976399997 meters Centerline goodness : 0.771931 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:9.63, Z:1.84 [[ 0.98537242 -0.15999273 -0.05868156 -6.27348058] [ 0.16266268 0.98570324 0.04393146 9.63391019] [ 0.05081389 -0.05283415 0.99730963 1.8361884 ] [ 0. 0. 0. 1. ]] SLAMing on 161.48925976399997 meters Centerline goodness : 0.772109 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:9.63, Z:1.84 [[ 0.98544505 -0.15975517 -0.05810635 -6.27387181] [ 0.16230914 0.98583543 0.04224037 9.63384939] [ 0.05053518 -0.05105676 0.99741636 1.83500519] [ 0. 0. 0. 1. ]] SLAMing on 161.54925976399997 meters Centerline goodness : 0.769306 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:9.63, Z:1.84 [[ 0.98497414 -0.16251288 -0.05844234 -6.27287329] [ 0.16506465 0.98539503 0.04183662 9.63295461] [ 0.0507898 -0.05085475 0.99741375 1.83583503] [ 0. 0. 0. 1. ]] SLAMing on 161.60925976399997 meters Centerline goodness : 0.769611 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:9.63, Z:1.84 [[ 0.98473952 -0.16377128 -0.05888159 -6.27355424] [ 0.16636542 0.98516012 0.04221466 9.63303895] [ 0.05109425 -0.0513663 0.99737199 1.8383556 ] [ 0. 0. 0. 1. ]] SLAMing on 161.66925976399997 meters Centerline goodness : 0.769910 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:9.63, Z:1.84 [[ 0.98441302 -0.16538819 -0.05981434 -6.27195989] [ 0.16803841 0.98487021 0.04235272 9.63226303] [ 0.05190472 -0.05174368 0.99731063 1.83957463] [ 0. 0. 0. 1. ]] SLAMing on 161.72925976399998 meters Centerline goodness : 0.767866 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:9.63, Z:1.84 [[ 0.98414931 -0.16710384 -0.05938392 -6.27349386] [ 0.16964828 0.98466294 0.04072291 9.63206903] [ 0.0516682 -0.0501518 0.99740423 1.84108837] [ 0. 0. 0. 1. ]] SLAMing on 161.78925976399995 meters Centerline goodness : 0.768767 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:9.63, Z:1.84 [[ 0.98407649 -0.16781472 -0.05858055 -6.27540568] [ 0.17021928 0.98464323 0.03876999 9.63328673] [ 0.05117477 -0.04812417 0.99752955 1.84153249] [ 0. 0. 0. 1. ]] SLAMing on 161.84925976399995 meters Centerline goodness : 0.770257 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:9.64, Z:1.84 [[ 0.98451637 -0.16521425 -0.05858133 -6.27690454] [ 0.16765721 0.98505186 0.03954615 9.63574465] [ 0.05117206 -0.04875542 0.99749904 1.84175575] [ 0. 0. 0. 1. ]] SLAMing on 161.90925976399996 meters Centerline goodness : 0.771738 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:9.64, Z:1.84 [[ 0.9852359 -0.16117619 -0.05772742 -6.27931644] [ 0.16356553 0.98574734 0.03935099 9.63830066] [ 0.0505622 -0.04821222 0.99755654 1.8404005 ] [ 0. 0. 0. 1. ]] SLAMing on 161.96925976399996 meters Centerline goodness : 0.772914 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:9.64, Z:1.84 [[ 0.98558211 -0.15927136 -0.05710105 -6.28168903] [ 0.16157206 0.986121 0.03820782 9.6395034 ] [ 0.05022313 -0.04688287 0.99763702 1.84069771] [ 0. 0. 0. 1. ]] SLAMing on 162.02925976399996 meters Centerline goodness : 0.771233 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:9.64, Z:1.84 [[ 0.98573026 -0.15845971 -0.05680121 -6.28284219] [ 0.16066935 0.98632637 0.03668312 9.64095668] [ 0.05021174 -0.04528588 0.99771137 1.84061642] [ 0. 0. 0. 1. ]] SLAMing on 162.08925976399996 meters Centerline goodness : 0.773428 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:9.64, Z:1.84 [[ 0.98566951 -0.15879994 -0.05690508 -6.28173531] [ 0.16104175 0.98624537 0.03722401 9.64000746] [ 0.0502112 -0.04585467 0.99768541 1.83965944] [ 0. 0. 0. 1. ]] SLAMing on 162.14925976399996 meters Centerline goodness : 0.772221 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:9.64, Z:1.84 [[ 0.98528759 -0.16103907 -0.05722578 -6.2804771 ] [ 0.16333613 0.98583839 0.03799974 9.63775715] [ 0.05029593 -0.04678771 0.99763782 1.8402653 ] [ 0. 0. 0. 1. ]] SLAMing on 162.20925976399997 meters Centerline goodness : 0.772605 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:9.64, Z:1.84 [[ 0.98511264 -0.16203925 -0.05741404 -6.28155432] [ 0.16433643 0.98567919 0.03781618 9.63654394] [ 0.05046412 -0.04668841 0.99763398 1.84292387] [ 0. 0. 0. 1. ]] SLAMing on 162.26925976399997 meters Centerline goodness : 0.771679 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:9.63, Z:1.84 [[ 0.98458424 -0.16568786 -0.05604823 -6.28415826] [ 0.16771058 0.98526637 0.03351615 9.63498089] [ 0.04966922 -0.04239935 0.99786535 1.84461421] [ 0. 0. 0. 1. ]] SLAMing on 162.32925976399997 meters Centerline goodness : 0.769946 with order 1 Centerline is valid? [False, False] Translation: X:-6.28, Y:9.63, Z:1.85 [[ 0.98439791 -0.16682998 -0.05593318 -6.28480024] [ 0.16881063 0.9851042 0.03275188 9.6332953 ] [ 0.04963601 -0.041683 0.99789719 1.84605547] [ 0. 0. 0. 1. ]] SLAMing on 162.38925976399997 meters Centerline goodness : 0.773060 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.63, Z:1.85 [[ 0.98483275 -0.16430021 -0.05576646 -6.28784132] [ 0.16637617 0.98544617 0.03485411 9.63086348] [ 0.04922831 -0.04360368 0.9978353 1.84936381] [ 0. 0. 0. 1. ]] SLAMing on 162.44925976399998 meters Centerline goodness : 0.775016 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.63, Z:1.85 [[ 0.9851851 -0.16241904 -0.05504878 -6.28948425] [ 0.16442654 0.98579919 0.03411559 9.62922464] [ 0.04872602 -0.04266165 0.99790068 1.84929323] [ 0. 0. 0. 1. ]] SLAMing on 162.50925976399995 meters Centerline goodness : 0.775512 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.63, Z:1.85 [[ 0.98504628 -0.16323406 -0.05512221 -6.2880144 ] [ 0.16520469 0.9856974 0.03328739 9.62705904] [ 0.04890018 -0.04189607 0.99792459 1.8482503 ] [ 0. 0. 0. 1. ]] SLAMing on 162.56925976399995 meters Centerline goodness : 0.777705 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.63, Z:1.85 [[ 0.98470994 -0.16528132 -0.05503098 -6.28968066] [ 0.16723236 0.98536717 0.03293737 9.62561413] [ 0.04878179 -0.04163672 0.99794124 1.85139481] [ 0. 0. 0. 1. ]] SLAMing on 162.62925976399995 meters Centerline goodness : 0.781111 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.62, Z:1.85 [[ 0.98506068 -0.16312453 -0.05518911 -6.29009686] [ 0.16515859 0.98566249 0.03452685 9.62450454] [ 0.04876566 -0.043126 0.99787878 1.85173524] [ 0. 0. 0. 1. ]] SLAMing on 162.68925976399996 meters Centerline goodness : 0.780662 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.62, Z:1.85 [[ 0.98620656 -0.1564332 -0.05408582 -6.29312759] [ 0.15844298 0.98674436 0.03509107 9.62349966] [ 0.04787946 -0.04317656 0.99791951 1.85044578] [ 0. 0. 0. 1. ]] SLAMing on 162.74925976399996 meters Centerline goodness : 0.784050 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.62, Z:1.85 [[ 0.98650627 -0.1549158 -0.05297611 -6.29477851] [ 0.15676742 0.9870918 0.03276806 9.62244954] [ 0.047216 -0.04063082 0.99805801 1.84924252] [ 0. 0. 0. 1. ]] SLAMing on 162.80925976399996 meters Centerline goodness : 0.783959 with order 1 Centerline is valid? [False, False] Translation: X:-6.30, Y:9.62, Z:1.85 [[ 0.9865985 -0.15439502 -0.0527786 -6.29637391] [ 0.15625072 0.98716494 0.03303185 9.62109393] [ 0.04700123 -0.04083587 0.99805978 1.8509229 ] [ 0. 0. 0. 1. ]] SLAMing on 162.86925976399996 meters Centerline goodness : 0.784166 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.63, Z:1.85 [[ 0.98672228 -0.15327852 -0.05371068 -6.29364989] [ 0.15512006 0.98737858 0.03195801 9.62640336] [ 0.0481343 -0.03986528 0.99804501 1.85214636] [ 0. 0. 0. 1. ]] SLAMing on 162.92925976399997 meters Centerline goodness : 0.785802 with order 1 Centerline is valid? [False, False] Translation: X:-6.29, Y:9.63, Z:1.85 [[ 0.98676207 -0.15307679 -0.05355476 -6.29384431] [ 0.15488602 0.98743261 0.03141905 9.62835152] [ 0.04807219 -0.03929801 0.9980705 1.8524702 ] [ 0. 0. 0. 1. ]] SLAMing on 162.98925976399997 meters Centerline goodness : 0.783564 with order 1 Centerline is valid? [False, False] Translation: X:-6.27, Y:9.62, Z:1.85 [[ 0.98718621 -0.15146419 -0.05021933 -6.26547416] [ 0.15354651 0.98730845 0.04056459 9.62431278] [ 0.04343788 -0.04775581 0.99791409 1.84549664] [ 0. 0. 0. 1. ]] SLAMing on 163.04925976399997 meters Centerline goodness : 0.783771 with order 1 Centerline is valid? [False, False] Translation: X:-6.26, Y:9.63, Z:1.85 [[ 0.98727192 -0.15075028 -0.0506804 -6.26363038] [ 0.15285541 0.98741492 0.04058321 9.62514138] [ 0.04392465 -0.04781344 0.99789002 1.84521402] [ 0. 0. 0. 1. ]] SLAMing on 163.10925976399997 meters Centerline goodness : 0.785918 with order 1 Centerline is valid? [False, False] Translation: X:-6.26, Y:9.63, Z:1.85 [[ 0.98725487 -0.15087056 -0.05065473 -6.26458223] [ 0.15293272 0.98744145 0.03963547 9.62719918] [ 0.04403875 -0.04687708 0.99792942 1.84723635] [ 0. 0. 0. 1. ]] SLAMing on 163.16925976399997 meters Centerline goodness : 0.784589 with order 1 Centerline is valid? [False, False] Translation: X:-6.24, Y:9.63, Z:1.84 [[ 0.98722479 -0.15227156 -0.04691032 -6.24371777] [ 0.15445957 0.98687131 0.04719388 9.62547378] [ 0.03910817 -0.05383672 0.99778362 1.84287412] [ 0. 0. 0. 1. ]] SLAMing on 163.22925976399998 meters Centerline goodness : 0.783363 with order 1 Centerline is valid? [False, False] Translation: X:-6.22, Y:9.62, Z:1.84 [[ 0.98666845 -0.15697591 -0.04294105 -6.22099495] [ 0.15904893 0.9859999 0.05007621 9.62309949] [ 0.03447912 -0.05623834 0.99782185 1.84066615] [ 0. 0. 0. 1. ]] SLAMing on 163.28925976399995 meters Centerline goodness : 0.782555 with order 1 Centerline is valid? [False, False] Translation: X:-6.22, Y:9.62, Z:1.86 [[ 0.9859181 -0.15704117 -0.0574767 -6.22269507] [ 0.15982411 0.98600162 0.04750852 9.61688903] [ 0.04921133 -0.05602568 0.99721581 1.85661476] [ 0. 0. 0. 1. ]] SLAMing on 163.34925976399995 meters Centerline goodness : 0.783800 with order 1 Centerline is valid? [False, False] Translation: X:-6.22, Y:9.62, Z:1.86 [[ 0.98523133 -0.16107187 -0.05809548 -6.22279701] [ 0.16387532 0.98535063 0.04721255 9.61542114] [ 0.0496398 -0.0560357 0.99719401 1.86032921] [ 0. 0. 0. 1. ]] SLAMing on 163.40925976399996 meters Centerline goodness : 0.782897 with order 1 Centerline is valid? [False, False] Translation: X:-6.19, Y:9.61, Z:1.86 [[ 0.98518349 -0.16223996 -0.055603 -6.19350984] [ 0.16519366 0.98481374 0.053413 9.61340611] [ 0.04609288 -0.06180687 0.99702325 1.85613673] [ 0. 0. 0. 1. ]] SLAMing on 163.46925976399996 meters Centerline goodness : 0.782207 with order 1 Centerline is valid? [False, False] Translation: X:-6.20, Y:9.62, Z:1.86 [[ 0.98588386 -0.1580714 -0.05519455 -6.1958733 ] [ 0.16108119 0.98539913 0.05514892 9.61660094] [ 0.0456712 -0.06326124 0.99695143 1.85584466] [ 0. 0. 0. 1. ]] SLAMing on 163.52925976399996 meters Centerline goodness : 0.782332 with order 1 Centerline is valid? [False, False] Translation: X:-6.19, Y:9.62, Z:1.86 [[ 0.98596984 -0.15747378 -0.05536672 -6.19473239] [ 0.16047485 0.98552217 0.05471638 9.61937702] [ 0.04594873 -0.06283367 0.99696572 1.85563719] [ 0. 0. 0. 1. ]] SLAMing on 163.58925976399996 meters Centerline goodness : 0.781913 with order 1 Centerline is valid? [False, False] Translation: X:-6.19, Y:9.62, Z:1.86 [[ 0.98597552 -0.15743841 -0.05536625 -6.19446067] [ 0.1604164 0.98555932 0.05421624 9.62117335] [ 0.04603101 -0.06233754 0.99699307 1.85550157] [ 0. 0. 0. 1. ]] SLAMing on 163.64925976399996 meters Centerline goodness : 0.786128 with order 1 Centerline is valid? [False, False] Translation: X:-6.20, Y:9.62, Z:1.86 [[ 0.98590507 -0.15795322 -0.05515416 -6.19571748] [ 0.16089799 0.98550435 0.05378674 9.6221119 ] [ 0.04585888 -0.06190281 0.99702809 1.85614852] [ 0. 0. 0. 1. ]] SLAMing on 163.70925976399997 meters Centerline goodness : 0.786297 with order 1 Centerline is valid? [False, False] Translation: X:-6.20, Y:9.62, Z:1.86 [[ 0.98582423 -0.15847421 -0.05510446 -6.19655364] [ 0.16138571 0.98545999 0.05313442 9.62409394] [ 0.0458828 -0.06127427 0.99706581 1.85685312] [ 0. 0. 0. 1. ]] SLAMing on 163.76925976399997 meters Centerline goodness : 0.783951 with order 1 Centerline is valid? [False, False] Translation: X:-6.20, Y:9.63, Z:1.86 [[ 0.98648221 -0.154109 -0.05570699 -6.19686279] [ 0.15720516 0.98596169 0.05626794 9.62779676] [ 0.04625356 -0.06426475 0.9968604 1.85760737] [ 0. 0. 0. 1. ]] SLAMing on 163.82925976399997 meters Centerline goodness : 0.782215 with order 1 Centerline is valid? [False, False] Translation: X:-6.20, Y:9.63, Z:1.86 [[ 0.98713952 -0.14981767 -0.0557694 -6.19785238] [ 0.15309595 0.98638489 0.06005403 9.62800671] [ 0.04601294 -0.06781978 0.99663599 1.8574058 ] [ 0. 0. 0. 1. ]] SLAMing on 163.88925976399997 meters Centerline goodness : 0.781311 with order 1 Centerline is valid? [False, False] Translation: X:-6.20, Y:9.63, Z:1.86 [[ 0.98711307 -0.15003177 -0.05566189 -6.19855451] [ 0.15328219 0.9863828 0.05961158 9.62857678] [ 0.0459603 -0.06737534 0.99666856 1.85819741] [ 0. 0. 0. 1. ]] SLAMing on 163.94925976399998 meters Centerline goodness : 0.781739 with order 1 Centerline is valid? [False, False] Translation: X:-6.20, Y:9.63, Z:1.86 [[ 0.98647771 -0.15403214 -0.05599845 -6.19699178] [ 0.15704019 0.98611553 0.05398642 9.63286659] [ 0.0469053 -0.06205041 0.99697023 1.86144718] [ 0. 0. 0. 1. ]] SLAMing on 164.00925976399995 meters Centerline goodness : 0.781276 with order 1 Centerline is valid? [False, False] Translation: X:-6.20, Y:9.63, Z:1.86 [[ 0.98579859 -0.15838895 -0.05580393 -6.19611903] [ 0.16119578 0.9856556 0.04998964 9.6330945 ] [ 0.04708565 -0.05827507 0.99718953 1.86203935] [ 0. 0. 0. 1. ]] SLAMing on 164.06925976399995 meters Centerline goodness : 0.779868 with order 1 Centerline is valid? [False, False] Translation: X:-6.17, Y:9.63, Z:1.86 [[ 0.98589526 -0.15893727 -0.05243556 -6.16987439] [ 0.16194776 0.98501826 0.05926171 9.625849 ] [ 0.04223109 -0.06691766 0.99686436 1.85536398] [ 0. 0. 0. 1. ]] SLAMing on 164.12925976399995 meters Centerline goodness : 0.777663 with order 1 Centerline is valid? [False, False] Translation: X:-6.17, Y:9.62, Z:1.86 [[ 0.98586772 -0.15918354 -0.05220575 -6.17196961] [ 0.16221205 0.98492632 0.06006161 9.62390465] [ 0.041858 -0.0676812 0.99682855 1.85839652] [ 0. 0. 0. 1. ]] SLAMing on 164.18925976399996 meters Centerline goodness : 0.778722 with order 1 Centerline is valid? [False, False] Translation: X:-6.17, Y:9.62, Z:1.86 [[ 0.98577549 -0.15993665 -0.0516425 -6.17404918] [ 0.16288404 0.98487695 0.0590439 9.62275833] [ 0.04141823 -0.06661576 0.99691869 1.86027206] [ 0. 0. 0. 1. ]] SLAMing on 164.24925976399996 meters Centerline goodness : 0.776716 with order 1 Centerline is valid? [False, False] Translation: X:-6.17, Y:9.62, Z:1.86 [[ 0.98493177 -0.16509507 -0.0515076 -6.17428093] [ 0.16790385 0.98421024 0.05602225 9.62042495] [ 0.04144531 -0.06382642 0.99710003 1.8632403 ] [ 0. 0. 0. 1. ]] SLAMing on 164.30925976399996 meters Centerline goodness : 0.776284 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:9.62, Z:1.87 [[ 0.9847167 -0.16632849 -0.05165122 -6.17502977] [ 0.16914827 0.98399341 0.05608764 9.61845727] [ 0.04149548 -0.06396715 0.99708893 1.86568695] [ 0. 0. 0. 1. ]] SLAMing on 164.36925976399996 meters Centerline goodness : 0.777011 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:9.62, Z:1.87 [[ 0.98485519 -0.16546748 -0.05177618 -6.176689 ] [ 0.16832934 0.98408785 0.05688885 9.61830443] [ 0.04153905 -0.06474273 0.99703705 1.86790801] [ 0. 0. 0. 1. ]] SLAMing on 164.42925976399997 meters Centerline goodness : 0.775618 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:9.62, Z:1.87 [[ 0.98503305 -0.16443477 -0.05168266 -6.17862287] [ 0.16728899 0.98426854 0.05683162 9.61963195] [ 0.04152452 -0.06462697 0.99704517 1.86944551] [ 0. 0. 0. 1. ]] SLAMing on 164.48925976399997 meters Centerline goodness : 0.774625 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:9.62, Z:1.87 [[ 0.98542275 -0.1621726 -0.0514009 -6.17939298] [ 0.16494717 0.98475009 0.05531448 9.62120969] [ 0.04164655 -0.06298658 0.99714505 1.86809454] [ 0. 0. 0. 1. ]] SLAMing on 164.54925976399997 meters Centerline goodness : 0.773338 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:9.62, Z:1.87 [[ 0.98556546 -0.16149648 -0.05078979 -6.18138186] [ 0.16416555 0.98497096 0.05368318 9.62338689] [ 0.04135683 -0.06124622 0.99726552 1.86831873] [ 0. 0. 0. 1. ]] SLAMing on 164.60925976399997 meters Centerline goodness : 0.773175 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:9.62, Z:1.87 [[ 0.98601783 -0.15849733 -0.0514533 -6.18252624] [ 0.16133141 0.98527619 0.05659505 9.62490667] [ 0.04172554 -0.06410476 0.99707049 1.86970938] [ 0. 0. 0. 1. ]] SLAMing on 164.66925976399997 meters Centerline goodness : 0.772485 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:9.63, Z:1.87 [[ 0.98652619 -0.15513193 -0.05196306 -6.18356387] [ 0.15810441 0.98565637 0.05902978 9.62686791] [ 0.04206032 -0.06645002 0.99690287 1.870519 ] [ 0. 0. 0. 1. ]] SLAMing on 164.72925976399998 meters Centerline goodness : 0.773552 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:9.63, Z:1.87 [[ 0.98700293 -0.15213515 -0.05176981 -6.1833291 ] [ 0.1550226 0.98624995 0.05726273 9.63067337] [ 0.0423463 -0.06454397 0.99701598 1.86732899] [ 0. 0. 0. 1. ]] SLAMing on 164.78925976399995 meters Centerline goodness : 0.772883 with order 1 Centerline is valid? [False, False] Translation: X:-6.19, Y:9.63, Z:1.87 [[ 0.98776625 -0.14750885 -0.05058625 -6.18613779] [ 0.15028434 0.98703727 0.05632089 9.63402805] [ 0.04162269 -0.0632342 0.99713038 1.86523571] [ 0. 0. 0. 1. ]] SLAMing on 164.84925976399995 meters Centerline goodness : 0.773943 with order 1 Centerline is valid? [False, False] Translation: X:-6.19, Y:9.63, Z:1.87 [[ 0.98808031 -0.14560167 -0.04997449 -6.18910394] [ 0.14833888 0.98733288 0.05629706 9.63434573] [ 0.04114451 -0.06303918 0.99716257 1.86658553] [ 0. 0. 0. 1. ]] SLAMing on 164.90925976399996 meters Centerline goodness : 0.772975 with order 1 Centerline is valid? [False, False] Translation: X:-6.19, Y:9.63, Z:1.87 [[ 0.98806931 -0.14575344 -0.04974914 -6.19156087] [ 0.14848782 0.98729445 0.0565777 9.63443176] [ 0.04087065 -0.06328983 0.99715795 1.86937554] [ 0. 0. 0. 1. ]] SLAMing on 164.96925976399996 meters Centerline goodness : 0.774340 with order 1 Centerline is valid? [False, False] Translation: X:-6.19, Y:9.63, Z:1.87 [[ 0.98802506 -0.14614947 -0.04946525 -6.19306935] [ 0.14884488 0.98726962 0.05607045 9.63458692] [ 0.04064087 -0.06276166 0.99720073 1.87084232] [ 0. 0. 0. 1. ]] SLAMing on 165.02925976399996 meters Centerline goodness : 0.774874 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:9.63, Z:1.86 [[ 0.98909417 -0.14218001 -0.03843914 -6.18489792] [ 0.14423055 0.98788812 0.05722419 9.63367493] [ 0.02983743 -0.06214421 0.99762108 1.86463512] [ 0. 0. 0. 1. ]] SLAMing on 165.08925976399996 meters Centerline goodness : 0.772816 with order 1 Centerline is valid? [False, False] Translation: X:-6.19, Y:9.64, Z:1.87 [[ 0.98908916 -0.14221419 -0.03844153 -6.18524892] [ 0.14424642 0.98792121 0.0566096 9.63516771] [ 0.02992652 -0.06153699 0.99765605 1.86558789] [ 0. 0. 0. 1. ]] SLAMing on 165.14925976399996 meters Centerline goodness : 0.773685 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:9.64, Z:1.86 [[ 0.98924971 -0.14095064 -0.03896057 -6.18262184] [ 0.14302002 0.98809261 0.05672981 9.63619259] [ 0.03050055 -0.06169209 0.99762909 1.86486645] [ 0. 0. 0. 1. ]] SLAMing on 165.20925976399997 meters Centerline goodness : 0.771060 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:9.63, Z:1.86 [[ 0.98935375 -0.14017842 -0.03910462 -6.18126435] [ 0.14227169 0.98817419 0.05718859 9.6346088 ] [ 0.03062557 -0.06214323 0.99759726 1.86424076] [ 0. 0. 0. 1. ]] SLAMing on 165.26925976399997 meters Centerline goodness : 0.768626 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:9.63, Z:1.87 [[ 0.98931203 -0.14057996 -0.03871675 -6.18317028] [ 0.14264169 0.98813408 0.05695955 9.63332995] [ 0.03024997 -0.06187339 0.99762549 1.86568807] [ 0. 0. 0. 1. ]] SLAMing on 165.32925976399997 meters Centerline goodness : 0.768930 with order 1 Centerline is valid? [False, False] Translation: X:-6.17, Y:9.63, Z:1.86 [[ 0.98857547 -0.14691024 -0.03370354 -6.16531796] [ 0.14875285 0.98699522 0.06093466 9.62858063] [ 0.02431331 -0.06525201 0.99757257 1.8624335 ] [ 0. 0. 0. 1. ]] SLAMing on 165.38925976399997 meters Centerline goodness : 0.770086 with order 1 Centerline is valid? [False, False] Translation: X:-6.13, Y:9.62, Z:1.86 [[ 0.98815579 -0.15022942 -0.03129316 -6.13376294] [ 0.15197525 0.98631104 0.06398473 9.62412429] [ 0.0212524 -0.06798267 0.99746012 1.85991377] [ 0. 0. 0. 1. ]] SLAMing on 165.44925976399998 meters Centerline goodness : 0.770051 with order 1 Centerline is valid? [False, False] Translation: X:-6.13, Y:9.62, Z:1.87 [[ 0.98658588 -0.1557852 -0.04877772 -6.12738873] [ 0.15871232 0.98529106 0.06333981 9.61563254] [ 0.03819285 -0.07023179 0.99679928 1.87265786] [ 0. 0. 0. 1. ]] SLAMing on 165.50925976399995 meters Centerline goodness : 0.769776 with order 1 Centerline is valid? [False, False] Translation: X:-6.13, Y:9.61, Z:1.88 [[ 0.98628238 -0.15772098 -0.04869466 -6.12830069] [ 0.16059271 0.98506467 0.06210945 9.61374673] [ 0.03817142 -0.06907747 0.99688076 1.87504502] [ 0. 0. 0. 1. ]] SLAMing on 165.56925976399995 meters Centerline goodness : 0.768173 with order 1 Centerline is valid? [False, False] Translation: X:-6.13, Y:9.61, Z:1.88 [[ 0.98640064 -0.15698271 -0.04868478 -6.12981618] [ 0.15988788 0.98512423 0.06297716 9.61249731] [ 0.03807423 -0.06990482 0.9968268 1.87702745] [ 0. 0. 0. 1. ]] SLAMing on 165.62925976399995 meters Centerline goodness : 0.768293 with order 1 Centerline is valid? [False, False] Translation: X:-6.13, Y:9.61, Z:1.88 [[ 0.98618022 -0.15876407 -0.04735557 -6.1330263 ] [ 0.16146346 0.98505356 0.05999197 9.61071274] [ 0.0371232 -0.06680909 0.99707493 1.87894087] [ 0. 0. 0. 1. ]] SLAMing on 165.68925976399996 meters Centerline goodness : 0.767623 with order 1 Centerline is valid? [False, False] Translation: X:-6.13, Y:9.60, Z:1.89 [[ 0.98554318 -0.1575791 -0.06223722 -6.13340292] [ 0.16117721 0.9852338 0.05776037 9.60385346] [ 0.05221638 -0.06695656 0.99638861 1.89326403] [ 0. 0. 0. 1. ]] SLAMing on 165.74925976399996 meters Centerline goodness : 0.769070 with order 1 Centerline is valid? [False, False] Translation: X:-6.14, Y:9.60, Z:1.90 [[ 0.9854254 -0.15847524 -0.06182542 -6.13554655] [ 0.1620404 0.98509784 0.0576642 9.60347754] [ 0.05176574 -0.06684199 0.99641982 1.89552455] [ 0. 0. 0. 1. ]] SLAMing on 165.80925976399996 meters Centerline goodness : 0.768266 with order 1 Centerline is valid? [False, False] Translation: X:-6.14, Y:9.60, Z:1.90 [[ 0.98564994 -0.15727939 -0.06129762 -6.13772034] [ 0.16081828 0.98528822 0.05783263 9.60318195] [ 0.05129994 -0.0668605 0.99644267 1.89666844] [ 0. 0. 0. 1. ]] SLAMing on 165.86925976399996 meters Centerline goodness : 0.767703 with order 1 Centerline is valid? [False, False] Translation: X:-6.14, Y:9.60, Z:1.90 [[ 0.98610937 -0.15519506 -0.0591844 -6.14183706] [ 0.15845163 0.98583484 0.05497958 9.60276635] [ 0.04981349 -0.06359375 0.99673189 1.89556065] [ 0. 0. 0. 1. ]] SLAMing on 165.92925976399997 meters Centerline goodness : 0.768317 with order 1 Centerline is valid? [False, False] Translation: X:-6.11, Y:9.60, Z:1.89 [[ 0.98679342 -0.15164481 -0.05694375 -6.10903891] [ 0.15503384 0.98604048 0.06073454 9.6023329 ] [ 0.04693876 -0.06876065 0.99652834 1.89494797] [ 0. 0. 0. 1. ]] SLAMing on 165.98925976399997 meters Centerline goodness : 0.770715 with order 1 Centerline is valid? [False, False] Translation: X:-6.09, Y:9.60, Z:1.89 [[ 0.98781883 -0.14846698 -0.04659959 -6.0928508 ] [ 0.1511755 0.98660564 0.06128037 9.60071572] [ 0.0368773 -0.06757862 0.99703219 1.88911183] [ 0. 0. 0. 1. ]] SLAMing on 166.04925976399997 meters Centerline goodness : 0.769223 with order 1 Centerline is valid? [False, False] Translation: X:-6.04, Y:9.59, Z:1.87 [[ 0.98713979 -0.15501149 -0.03907006 -6.04082473] [ 0.15807744 0.98292411 0.09418977 9.58721716] [ 0.02380241 -0.09915456 0.99478732 1.87189952] [ 0. 0. 0. 1. ]] SLAMing on 166.10925976399997 meters Centerline goodness : 0.770503 with order 1 Centerline is valid? [False, False] Translation: X:-6.04, Y:9.58, Z:1.88 [[ 0.9866042 -0.15327014 -0.05586067 -6.03573978] [ 0.15810985 0.98273431 0.0960966 9.5817599 ] [ 0.04016745 -0.10364143 0.99380332 1.88122061] [ 0. 0. 0. 1. ]] SLAMing on 166.16925976399997 meters Centerline goodness : 0.769834 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:9.57, Z:1.86 [[ 0.98608992 -0.15979841 -0.04572892 -5.99625845] [ 0.16457559 0.9772173 0.13401948 9.56597403] [ 0.02327099 -0.13968112 0.98992305 1.86130554] [ 0. 0. 0. 1. ]] SLAMing on 166.22925976399998 meters Centerline goodness : 0.766824 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:9.57, Z:1.87 [[ 0.98660191 -0.15693299 -0.04459489 -6.00290572] [ 0.16148795 0.97825583 0.13014291 9.56935271] [ 0.02320149 -0.13560078 0.99049186 1.87255954] [ 0. 0. 0. 1. ]] SLAMing on 166.28925976399995 meters Centerline goodness : 0.764828 with order 1 Centerline is valid? [False, False] Translation: X:-6.00, Y:9.57, Z:1.87 [[ 0.98661693 -0.15700415 -0.04400842 -6.00384398] [ 0.16143482 0.97851789 0.12822459 9.57114775] [ 0.02293123 -0.13361304 0.99076824 1.87160712] [ 0. 0. 0. 1. ]] SLAMing on 166.34925976399995 meters Centerline goodness : 0.763365 with order 1 Centerline is valid? [False, False] Translation: X:-6.01, Y:9.58, Z:1.87 [[ 0.98680246 -0.15589767 -0.04378143 -6.0057596 ] [ 0.16027944 0.97886333 0.12703183 9.57525905] [ 0.02305207 -0.13237259 0.99093193 1.87159699] [ 0. 0. 0. 1. ]] SLAMing on 166.40925976399996 meters Centerline goodness : 0.761088 with order 1 Centerline is valid? [False, False] Translation: X:-6.01, Y:9.58, Z:1.87 [[ 0.98682319 -0.1559615 -0.04308133 -6.00810487] [ 0.16021819 0.97905451 0.12562802 9.57715655] [ 0.02258584 -0.13087505 0.99114156 1.87206409] [ 0. 0. 0. 1. ]] SLAMing on 166.46925976399996 meters Centerline goodness : 0.760534 with order 1 Centerline is valid? [False, False] Translation: X:-6.01, Y:9.58, Z:1.87 [[ 0.98713222 -0.15415903 -0.04248496 -6.01051099] [ 0.15834161 0.97941801 0.1251731 9.57837123] [ 0.02231397 -0.13028954 0.99122486 1.87244842] [ 0. 0. 0. 1. ]] SLAMing on 166.52925976399996 meters Centerline goodness : 0.760194 with order 1 Centerline is valid? [False, False] Translation: X:-6.01, Y:9.58, Z:1.87 [[ 0.98721296 -0.15380372 -0.04189267 -6.01346194] [ 0.15790056 0.97955468 0.12465974 9.58008806] [ 0.02186303 -0.12968058 0.99131476 1.87394444] [ 0. 0. 0. 1. ]] SLAMing on 166.58925976399996 meters Centerline goodness : 0.759402 with order 1 Centerline is valid? [False, False] Translation: X:-6.01, Y:9.58, Z:1.87 [[ 0.98789887 -0.14924682 -0.0422043 -6.01340832] [ 0.15346997 0.97997385 0.12687876 9.58144585] [ 0.02242285 -0.13182048 0.99101997 1.87236105] [ 0. 0. 0. 1. ]] SLAMing on 166.64925976399996 meters Centerline goodness : 0.758705 with order 1 Centerline is valid? [False, False] Translation: X:-6.02, Y:9.58, Z:1.87 [[ 0.98821639 -0.14757687 -0.04061319 -6.0173953 ] [ 0.15155919 0.98053791 0.12480069 9.58330355] [ 0.02140508 -0.12948539 0.99135027 1.871997 ] [ 0. 0. 0. 1. ]] SLAMing on 166.70925976399997 meters Centerline goodness : 0.759734 with order 1 Centerline is valid? [False, False] Translation: X:-5.98, Y:9.59, Z:1.87 [[ 0.98872979 -0.14513886 -0.03671664 -5.98072936] [ 0.14866144 0.9808037 0.12618983 9.58542025] [ 0.01769677 -0.13022599 0.99132639 1.87255917] [ 0. 0. 0. 1. ]] SLAMing on 166.76925976399997 meters Centerline goodness : 0.758978 with order 1 Centerline is valid? [False, False] Translation: X:-5.97, Y:9.59, Z:1.88 [[ 0.98937598 -0.14031609 -0.0380336 -5.9679235 ] [ 0.14392159 0.9822984 0.11990171 9.59313502] [ 0.0205362 -0.12410172 0.99205697 1.88150126] [ 0. 0. 0. 1. ]] SLAMing on 166.82925976399997 meters Centerline goodness : 0.761116 with order 1 Centerline is valid? [False, False] Translation: X:-5.96, Y:9.60, Z:1.89 [[ 0.98971985 -0.13722851 -0.04028602 -5.9591335 ] [ 0.14105969 0.98310368 0.116659 9.59914167] [ 0.0235964 -0.12114247 0.99235463 1.8867501 ] [ 0. 0. 0. 1. ]] SLAMing on 166.88925976399997 meters Centerline goodness : 0.760473 with order 1 Centerline is valid? [False, False] Translation: X:-5.95, Y:9.60, Z:1.89 [[ 0.98992686 -0.13518032 -0.04208448 -5.95298808] [ 0.13919505 0.98358881 0.11479458 9.60307248] [ 0.02587585 -0.11949619 0.99249741 1.88937867] [ 0. 0. 0. 1. ]] SLAMing on 166.94925976399998 meters Centerline goodness : 0.760419 with order 1 Centerline is valid? [False, False] Translation: X:-5.95, Y:9.61, Z:1.89 [[ 0.98947541 -0.13842234 -0.0421624 -5.95077002] [ 0.14229381 0.98372154 0.10974696 9.60653697] [ 0.02628463 -0.11459137 0.99306492 1.89043369] [ 0. 0. 0. 1. ]] SLAMing on 167.00925976399995 meters Centerline goodness : 0.759326 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:9.61, Z:1.89 [[ 0.98965184 -0.13817137 -0.03870292 -5.91888111] [ 0.14168612 0.98362433 0.11139217 9.60704255] [ 0.02267792 -0.11572314 0.99302259 1.89127708] [ 0. 0. 0. 1. ]] SLAMing on 167.06925976399995 meters Centerline goodness : 0.760539 with order 1 Centerline is valid? [False, False] Translation: X:-5.92, Y:9.61, Z:1.90 [[ 0.98897251 -0.14297971 -0.0386027 -5.91990566] [ 0.14631069 0.98364167 0.10508205 9.61309551] [ 0.02294662 -0.10957125 0.99371404 1.89539757] [ 0. 0. 0. 1. ]] SLAMing on 167.12925976399995 meters Centerline goodness : 0.760793 with order 1 Centerline is valid? [False, False] Translation: X:-5.89, Y:9.61, Z:1.90 [[ 0.98886011 -0.14454291 -0.03553899 -5.89014716] [ 0.14754275 0.98338918 0.10572066 9.61416024] [ 0.01966748 -0.10978646 0.9937606 1.89799471] [ 0. 0. 0. 1. ]] SLAMing on 167.18925976399996 meters Centerline goodness : 0.762959 with order 1 Centerline is valid? [False, False] Translation: X:-5.86, Y:9.62, Z:1.90 [[ 0.988959 -0.1445338 -0.03271203 -5.85566998] [ 0.14722876 0.98340428 0.10601756 9.61617158] [ 0.01684603 -0.10966317 0.99382604 1.89944349] [ 0. 0. 0. 1. ]] SLAMing on 167.24925976399996 meters Centerline goodness : 0.759629 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:9.62, Z:1.90 [[ 0.98893672 -0.14549091 -0.0289235 -5.8152375 ] [ 0.14775618 0.98340408 0.10528304 9.61764023] [ 0.01312576 -0.10839189 0.99402159 1.89740564] [ 0. 0. 0. 1. ]] SLAMing on 167.30925976399996 meters Centerline goodness : 0.759480 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:9.62, Z:1.91 [[ 0.98955079 -0.14140202 -0.0281905 -5.82085452] [ 0.14355332 0.98448063 0.10094723 9.62025009] [ 0.01347886 -0.10393925 0.99449231 1.90741289] [ 0. 0. 0. 1. ]] SLAMing on 167.36925976399996 meters Centerline goodness : 0.760218 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:9.62, Z:1.92 [[ 0.990098 -0.13328098 -0.04406968 -5.81986586] [ 0.13719008 0.98521882 0.10258053 9.61717557] [ 0.02974624 -0.1076107 0.993748 1.91974122] [ 0. 0. 0. 1. ]] SLAMing on 167.42925976399997 meters Centerline goodness : 0.763150 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.62, Z:1.92 [[ 0.9898253 -0.13480323 -0.04554077 -5.81158626] [ 0.13868189 0.98559135 0.09683505 9.62231575] [ 0.03183091 -0.10216546 0.99425802 1.92258343] [ 0. 0. 0. 1. ]] SLAMing on 167.48925976399997 meters Centerline goodness : 0.759190 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.63, Z:1.93 [[ 0.98920219 -0.13934972 -0.04539466 -5.81185692] [ 0.14299757 0.98556131 0.09066752 9.62850024] [ 0.03210472 -0.09617984 0.99484608 1.92545207] [ 0. 0. 0. 1. ]] SLAMing on 167.54925976399997 meters Centerline goodness : 0.761463 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.64, Z:1.93 [[ 0.98856594 -0.1437177 -0.04563564 -5.81131519] [ 0.14716418 0.98551644 0.0842618 9.63541053] [ 0.03286476 -0.09001428 0.99539808 1.92888437] [ 0. 0. 0. 1. ]] SLAMing on 167.60925976399997 meters Centerline goodness : 0.763864 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.64, Z:1.93 [[ 0.98859485 -0.14329119 -0.046345 -5.81001977] [ 0.1467497 0.98571142 0.08268928 9.64127102] [ 0.03383416 -0.08854731 0.99549717 1.9304318 ] [ 0. 0. 0. 1. ]] SLAMing on 167.66925976399997 meters Centerline goodness : 0.762264 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.65, Z:1.93 [[ 0.98920834 -0.13888162 -0.04667718 -5.81011552] [ 0.14249376 0.98605954 0.08591923 9.64517357] [ 0.03409387 -0.09164322 0.99520808 1.93006167] [ 0. 0. 0. 1. ]] SLAMing on 167.72925976399995 meters Centerline goodness : 0.762425 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.65, Z:1.93 [[ 0.98930538 -0.13813307 -0.04684134 -5.8087593 ] [ 0.14174274 0.98621785 0.08534251 9.64884227] [ 0.03440714 -0.09106923 0.99524999 1.92960841] [ 0. 0. 0. 1. ]] SLAMing on 167.78925976399995 meters Centerline goodness : 0.765167 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:9.65, Z:1.93 [[ 0.99027003 -0.13285354 -0.041415 -5.81664149] [ 0.13601517 0.9869436 0.08626822 9.6504147 ] [ 0.02941323 -0.0910619 0.99541077 1.92712397] [ 0. 0. 0. 1. ]] SLAMing on 167.84925976399995 meters Centerline goodness : 0.763540 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:9.66, Z:1.93 [[ 0.99031492 -0.13228039 -0.04216932 -5.81520144] [ 0.13546069 0.98716772 0.0845594 9.6567417 ] [ 0.03044264 -0.08945272 0.99552572 1.92933733] [ 0. 0. 0. 1. ]] SLAMing on 167.90925976399996 meters Centerline goodness : 0.764237 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.66, Z:1.93 [[ 0.9903487 -0.13191537 -0.04251807 -5.81399872] [ 0.13510933 0.98726748 0.08395467 9.6597504 ] [ 0.03090179 -0.08888899 0.99556207 1.92939983] [ 0. 0. 0. 1. ]] SLAMing on 167.96925976399996 meters Centerline goodness : 0.763716 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.66, Z:1.93 [[ 0.98984403 -0.13566312 -0.04247713 -5.81267453] [ 0.13869219 0.98716921 0.07912912 9.6638709 ] [ 0.03119721 -0.08421673 0.99595897 1.93007949] [ 0. 0. 0. 1. ]] SLAMing on 168.02925976399996 meters Centerline goodness : 0.762465 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.67, Z:1.94 [[ 0.98924474 -0.13993652 -0.04257492 -5.81216721] [ 0.14272457 0.98716896 0.07160406 9.67170927] [ 0.03200861 -0.07691043 0.99652408 1.93596478] [ 0. 0. 0. 1. ]] SLAMing on 168.08925976399996 meters Centerline goodness : 0.760897 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.68, Z:1.94 [[ 0.98864738 -0.14417926 -0.04229304 -5.8122244 ] [ 0.14673921 0.98700908 0.06542696 9.67729653] [ 0.03231041 -0.07089025 0.99696069 1.939404 ] [ 0. 0. 0. 1. ]] SLAMing on 168.14925976399996 meters Centerline goodness : 0.763045 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.68, Z:1.94 [[ 0.98858804 -0.14460188 -0.04223715 -5.81324419] [ 0.14712859 0.98700921 0.0645445 9.67943572] [ 0.0323552 -0.07002221 0.99702058 1.94087561] [ 0. 0. 0. 1. ]] SLAMing on 168.20925976399997 meters Centerline goodness : 0.763228 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.68, Z:1.94 [[ 0.98804702 -0.14821925 -0.04235737 -5.81180244] [ 0.15057661 0.98681908 0.05928572 9.68467314] [ 0.03301178 -0.06495511 0.997342 1.94274898] [ 0. 0. 0. 1. ]] SLAMing on 168.26925976399997 meters Centerline goodness : 0.764207 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.69, Z:1.94 [[ 0.98819365 -0.14705045 -0.04300544 -5.80883088] [ 0.14945275 0.98698755 0.05932498 9.68799954] [ 0.03372207 -0.06505185 0.99731193 1.94160514] [ 0. 0. 0. 1. ]] SLAMing on 168.32925976399997 meters Centerline goodness : 0.765091 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.69, Z:1.94 [[ 0.98821854 -0.14685158 -0.043113 -5.80832121] [ 0.14924633 0.98704487 0.05888941 9.68948679] [ 0.03390646 -0.06463006 0.9973331 1.94178103] [ 0. 0. 0. 1. ]] SLAMing on 168.38925976399997 meters Centerline goodness : 0.766288 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.69, Z:1.94 [[ 0.98821819 -0.14691818 -0.04289344 -5.80889867] [ 0.14929186 0.98704995 0.05868845 9.68916401] [ 0.03371557 -0.06440063 0.99735441 1.94216384] [ 0. 0. 0. 1. ]] SLAMing on 168.44925976399998 meters Centerline goodness : 0.767161 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:9.69, Z:1.94 [[ 0.98813669 -0.14856751 -0.03890469 -5.78876459] [ 0.15090602 0.98632011 0.06633262 9.68775172] [ 0.0285176 -0.07141665 0.99703882 1.93836124] [ 0. 0. 0. 1. ]] SLAMing on 168.50925976399995 meters Centerline goodness : 0.765687 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:9.69, Z:1.94 [[ 0.98785505 -0.15051853 -0.03855609 -5.79086093] [ 0.15280226 0.98609033 0.06540133 9.68748788] [ 0.02817567 -0.07049849 0.99711388 1.94118763] [ 0. 0. 0. 1. ]] SLAMing on 168.56925976399995 meters Centerline goodness : 0.765649 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:9.69, Z:1.94 [[ 0.98847051 -0.14646676 -0.03838669 -5.7930373 ] [ 0.14876647 0.98665856 0.06613188 9.68948272] [ 0.02818844 -0.07108006 0.99707223 1.94158723] [ 0. 0. 0. 1. ]] SLAMing on 168.62925976399995 meters Centerline goodness : 0.767291 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:9.69, Z:1.94 [[ 0.98874793 -0.1448 -0.03755657 -5.79568596] [ 0.14700391 0.98701818 0.06469121 9.69119639] [ 0.02770173 -0.06948426 0.99719835 1.94169462] [ 0. 0. 0. 1. ]] SLAMing on 168.68925976399996 meters Centerline goodness : 0.769413 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:9.69, Z:1.94 [[ 0.98886472 -0.14396363 -0.03769678 -5.79585343] [ 0.14615399 0.98720187 0.06380818 9.69153296] [ 0.02802828 -0.06860719 0.99724995 1.9417143 ] [ 0. 0. 0. 1. ]] SLAMing on 168.74925976399996 meters Centerline goodness : 0.768402 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:9.69, Z:1.94 [[ 0.98913736 -0.14209872 -0.03761974 -5.79777985] [ 0.14432522 0.98738176 0.06517281 9.69200494] [ 0.02788407 -0.06989433 0.99716461 1.94319594] [ 0. 0. 0. 1. ]] SLAMing on 168.80925976399996 meters Centerline goodness : 0.769871 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:9.69, Z:1.95 [[ 0.9893441 -0.14072391 -0.03735026 -5.80044469] [ 0.14295104 0.98754097 0.06578633 9.69385123] [ 0.0276272 -0.07042458 0.99713445 1.94506627] [ 0. 0. 0. 1. ]] SLAMing on 168.86925976399996 meters Centerline goodness : 0.770043 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:9.70, Z:1.95 [[ 0.98937734 -0.14040602 -0.03766472 -5.80099659] [ 0.14264147 0.98761983 0.06527232 9.69577574] [ 0.0280338 -0.06995151 0.9971564 1.94580217] [ 0. 0. 0. 1. ]] SLAMing on 168.92925976399997 meters Centerline goodness : 0.770663 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:9.70, Z:1.95 [[ 0.98942981 -0.13992417 -0.03807728 -5.79954688] [ 0.14216244 0.98775063 0.06433142 9.70009122] [ 0.02860934 -0.06906458 0.99720188 1.94617929] [ 0. 0. 0. 1. ]] SLAMing on 168.98925976399997 meters Centerline goodness : 0.768482 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:9.70, Z:1.95 [[ 0.98942368 -0.13997225 -0.03805994 -5.79999318] [ 0.14217459 0.98782662 0.06312643 9.70347701] [ 0.02876067 -0.06786994 0.99727955 1.94761685] [ 0. 0. 0. 1. ]] SLAMing on 169.04925976399997 meters Centerline goodness : 0.767617 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:9.71, Z:1.95 [[ 0.98941303 -0.140052 -0.03804342 -5.80056269] [ 0.14222295 0.98788576 0.0620835 9.70577237] [ 0.02888763 -0.06683687 0.99734565 1.94928925] [ 0. 0. 0. 1. ]] SLAMing on 169.10925976399997 meters Centerline goodness : 0.764124 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:9.71, Z:1.95 [[ 0.98936382 -0.14044592 -0.03787046 -5.80182276] [ 0.142595 0.98785323 0.06174681 9.70578343] [ 0.02873837 -0.0664902 0.99737313 1.95057795] [ 0. 0. 0. 1. ]] SLAMing on 169.16925976399997 meters Centerline goodness : 0.765093 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:9.71, Z:1.95 [[ 0.98934239 -0.14067248 -0.03758845 -5.8034261 ] [ 0.14277662 0.98788304 0.06084345 9.705196 ] [ 0.02857399 -0.06556176 0.99743931 1.95207 ] [ 0. 0. 0. 1. ]] SLAMing on 169.22925976399995 meters Centerline goodness : 0.767380 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.71, Z:1.95 [[ 0.98939504 -0.14042158 -0.03713807 -5.80534129] [ 0.14248532 0.98794952 0.0604457 9.70565751] [ 0.02820266 -0.0650963 0.99748037 1.95317048] [ 0. 0. 0. 1. ]] SLAMing on 169.28925976399995 meters Centerline goodness : 0.765492 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.71, Z:1.95 [[ 0.98964696 -0.13889424 -0.03615633 -5.80889293] [ 0.14087404 0.98822991 0.05963351 9.70663782] [ 0.02744801 -0.06410961 0.99756532 1.9547721 ] [ 0. 0. 0. 1. ]] SLAMing on 169.34925976399995 meters Centerline goodness : 0.766295 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.71, Z:1.96 [[ 0.98904654 -0.1432712 -0.03550071 -5.81016682] [ 0.14510549 0.98782924 0.05601588 9.70576398] [ 0.02704318 -0.06055366 0.99779854 1.95658727] [ 0. 0. 0. 1. ]] SLAMing on 169.40925976399996 meters Centerline goodness : 0.768062 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.70, Z:1.96 [[ 0.9887211 -0.14543946 -0.03574837 -5.81048836] [ 0.1472762 0.9875285 0.05565228 9.70424245] [ 0.0272085 -0.06028947 0.99781004 1.95882171] [ 0. 0. 0. 1. ]] SLAMing on 169.46925976399996 meters Centerline goodness : 0.766675 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.70, Z:1.97 [[ 0.98924237 -0.13638214 -0.05290976 -5.80654821] [ 0.13940153 0.98851689 0.05832292 9.70006788] [ 0.04434798 -0.06507121 0.99689468 1.9704779 ] [ 0. 0. 0. 1. ]] SLAMing on 169.52925976399996 meters Centerline goodness : 0.764840 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.70, Z:1.97 [[ 0.98947858 -0.13508439 -0.05181066 -5.80791283] [ 0.13792342 0.98886934 0.05580825 9.69949684] [ 0.04369515 -0.06236697 0.99709633 1.9689414 ] [ 0. 0. 0. 1. ]] SLAMing on 169.58925976399996 meters Centerline goodness : 0.761962 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.70, Z:1.97 [[ 0.98956672 -0.13469031 -0.05114898 -5.81010653] [ 0.13743172 0.98901066 0.05450171 9.69804741] [ 0.04324604 -0.06096257 0.99720276 1.97020994] [ 0. 0. 0. 1. ]] SLAMing on 169.64925976399996 meters Centerline goodness : 0.762880 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.70, Z:1.97 [[ 0.98975682 -0.13344648 -0.05072951 -5.81322181] [ 0.13622647 0.98909481 0.05598035 9.69698045] [ 0.04270591 -0.06231764 0.99714228 1.97294413] [ 0. 0. 0. 1. ]] SLAMing on 169.70925976399997 meters Centerline goodness : 0.762857 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:9.70, Z:1.97 [[ 0.9899396 -0.13242589 -0.04982934 -5.8165991 ] [ 0.13515211 0.98923995 0.05601997 9.69590402] [ 0.04187468 -0.06219093 0.99718544 1.9748799 ] [ 0. 0. 0. 1. ]] SLAMing on 169.76925976399997 meters Centerline goodness : 0.761772 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:9.69, Z:1.98 [[ 0.98985436 -0.13318909 -0.04948754 -5.81815702] [ 0.13582391 0.98924093 0.05435298 9.69492092] [ 0.04171587 -0.06052313 0.99729471 1.97642279] [ 0. 0. 0. 1. ]] SLAMing on 169.82925976399997 meters Centerline goodness : 0.761069 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:9.69, Z:1.98 [[ 0.99001605 -0.1322848 -0.04867189 -5.82083714] [ 0.13484905 0.9894032 0.05382411 9.69466996] [ 0.04103602 -0.05985009 0.99736353 1.97743166] [ 0. 0. 0. 1. ]] SLAMing on 169.88925976399997 meters Centerline goodness : 0.762598 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.69, Z:1.98 [[ 0.99028501 -0.13075993 -0.04730159 -5.82531675] [ 0.13322164 0.98965282 0.05328494 9.69484261] [ 0.03984461 -0.05906887 0.99745841 1.97935305] [ 0. 0. 0. 1. ]] SLAMing on 169.94925976399998 meters Centerline goodness : 0.765046 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.70, Z:1.98 [[ 0.99058671 -0.12866971 -0.04671268 -5.82685422] [ 0.13105728 0.9899966 0.05225624 9.69541952] [ 0.0395216 -0.05788637 0.99754058 1.97888505] [ 0. 0. 0. 1. ]] SLAMing on 170.00925976399995 meters Centerline goodness : 0.764035 with order 1 Centerline is valid? [False, False] Translation: X:-5.82, Y:9.70, Z:1.98 [[ 0.99067447 -0.1278964 -0.04697455 -5.82459174] [ 0.13030413 0.99009005 0.05236913 9.69702876] [ 0.03981121 -0.05800174 0.99752236 1.97717766] [ 0. 0. 0. 1. ]] SLAMing on 170.06925976399995 meters Centerline goodness : 0.763996 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.70, Z:1.98 [[ 0.9906553 -0.12804712 -0.04696811 -5.82506806] [ 0.13041666 0.99012471 0.05142518 9.69978679] [ 0.03991944 -0.05707006 0.99757178 1.97834824] [ 0. 0. 0. 1. ]] SLAMing on 170.12925976399995 meters Centerline goodness : 0.764853 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.70, Z:1.98 [[ 0.9911183 -0.12446874 -0.04681927 -5.82789568] [ 0.12696486 0.9903942 0.05476546 9.70104383] [ 0.03955295 -0.06022345 0.99740097 1.97981166] [ 0. 0. 0. 1. ]] SLAMing on 170.18925976399996 meters Centerline goodness : 0.763835 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.70, Z:1.98 [[ 0.99113218 -0.12447211 -0.04651559 -5.82858718] [ 0.12692597 0.9904326 0.05415768 9.70277037] [ 0.03932944 -0.05958146 0.99744837 1.98030759] [ 0. 0. 0. 1. ]] SLAMing on 170.24925976399996 meters Centerline goodness : 0.764064 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.70, Z:1.98 [[ 0.99128302 -0.12342644 -0.04608559 -5.83064061] [ 0.12581418 0.99063147 0.05310447 9.70418602] [ 0.03909934 -0.05843978 0.99752495 1.98130337] [ 0. 0. 0. 1. ]] SLAMing on 170.30925976399996 meters Centerline goodness : 0.766078 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.71, Z:1.98 [[ 0.99122479 -0.12402972 -0.04571692 -5.83249666] [ 0.12635985 0.99061076 0.05218726 9.70591454] [ 0.0388149 -0.05750609 0.99759032 1.98279108] [ 0. 0. 0. 1. ]] SLAMing on 170.36925976399996 meters Centerline goodness : 0.767327 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.71, Z:1.98 [[ 0.99120931 -0.1241732 -0.04566305 -5.83286297] [ 0.12647322 0.99063251 0.05149522 9.70858906] [ 0.03884098 -0.0568177 0.99762875 1.98338219] [ 0. 0. 0. 1. ]] SLAMing on 170.42925976399997 meters Centerline goodness : 0.768743 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.71, Z:1.98 [[ 0.99122141 -0.1241284 -0.04552211 -5.83302004] [ 0.12640629 0.99065992 0.05113094 9.71022176] [ 0.03875013 -0.05643636 0.99765393 1.98338481] [ 0. 0. 0. 1. ]] SLAMing on 170.48925976399997 meters Centerline goodness : 0.771540 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.71, Z:1.98 [[ 0.99119541 -0.12439994 -0.04534652 -5.83401829] [ 0.1266334 0.99067631 0.05024371 9.71261725] [ 0.03867341 -0.05554371 0.997707 1.98459042] [ 0. 0. 0. 1. ]] SLAMing on 170.54925976399997 meters Centerline goodness : 0.770977 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:9.72, Z:1.99 [[ 0.99113227 -0.12512672 -0.04472281 -5.83719243] [ 0.12725893 0.99068248 0.04851168 9.71551475] [ 0.03823599 -0.05377286 0.99782087 1.98807712] [ 0. 0. 0. 1. ]] SLAMing on 170.60925976399997 meters Centerline goodness : 0.773429 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:9.72, Z:1.99 [[ 0.99112647 -0.12522756 -0.04456885 -5.8378178 ] [ 0.12734105 0.9906852 0.04823996 9.71619926] [ 0.03811273 -0.05348735 0.99784093 1.98853616] [ 0. 0. 0. 1. ]] SLAMing on 170.66925976399997 meters Centerline goodness : 0.778428 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:9.71, Z:1.99 [[ 0.99114208 -0.12508425 -0.04462411 -5.83726227] [ 0.12721626 0.99068141 0.0486453 9.71465251] [ 0.03812352 -0.05389132 0.99781878 1.9878996 ] [ 0. 0. 0. 1. ]] SLAMing on 170.72925976399995 meters Centerline goodness : 0.778670 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:9.71, Z:1.99 [[ 0.99114092 -0.12512974 -0.04452214 -5.83768083] [ 0.12726299 0.99066668 0.04882276 9.71351361] [ 0.03799743 -0.05405626 0.99781467 1.98810352] [ 0. 0. 0. 1. ]] SLAMing on 170.78925976399995 meters Centerline goodness : 0.776613 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:9.71, Z:1.99 [[ 0.99110679 -0.12552634 -0.04416407 -5.83923447] [ 0.12762626 0.99063785 0.04845808 9.71338971] [ 0.03766784 -0.05366363 0.99784836 1.98905312] [ 0. 0. 0. 1. ]] SLAMing on 170.84925976399995 meters Centerline goodness : 0.779019 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:9.71, Z:1.99 [[ 0.99105217 -0.12609874 -0.04375735 -5.84162588] [ 0.12814648 0.99060969 0.04765413 9.71310413] [ 0.03733733 -0.05283507 0.99790499 1.991659 ] [ 0. 0. 0. 1. ]] SLAMing on 170.90925976399996 meters Centerline goodness : 0.777549 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:9.71, Z:1.99 [[ 0.99103321 -0.12634461 -0.04347663 -5.84264085] [ 0.12838679 0.99056636 0.04790746 9.71116917] [ 0.03701364 -0.05305971 0.99790513 1.99177064] [ 0. 0. 0. 1. ]] SLAMing on 170.96925976399996 meters Centerline goodness : 0.777281 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:9.71, Z:1.99 [[ 0.99048984 -0.13068351 -0.04303129 -5.84302787] [ 0.13255614 0.99019896 0.04398744 9.70943578] [ 0.03686111 -0.04927317 0.99810491 1.99276348] [ 0. 0. 0. 1. ]] SLAMing on 171.02925976399996 meters Centerline goodness : 0.774149 with order 1 Centerline is valid? [False, False] Translation: X:-5.85, Y:9.71, Z:1.99 [[ 0.99044233 -0.13123565 -0.04244047 -5.845199 ] [ 0.13308659 0.99011846 0.04419728 9.70680018] [ 0.03622083 -0.04942312 0.99812094 1.9935207 ] [ 0. 0. 0. 1. ]] SLAMing on 171.08925976399996 meters Centerline goodness : 0.770826 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.70, Z:1.99 [[ 0.99026638 -0.13389546 -0.03800663 -5.82974447] [ 0.13578663 0.98934504 0.05252034 9.70445916] [ 0.03056944 -0.05716992 0.99789634 1.98927505] [ 0. 0. 0. 1. ]] SLAMing on 171.14925976399996 meters Centerline goodness : 0.769149 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.70, Z:1.99 [[ 0.99020182 -0.13447334 -0.0376467 -5.83147263] [ 0.1363292 0.98929516 0.05205227 9.70441117] [ 0.03024406 -0.0566746 0.99793451 1.99038947] [ 0. 0. 0. 1. ]] SLAMing on 171.20925976399997 meters Centerline goodness : 0.768874 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.70, Z:1.99 [[ 0.99021655 -0.13437086 -0.03762523 -5.83109596] [ 0.136237 0.98928796 0.05242909 9.70324625] [ 0.03017725 -0.0570421 0.99791559 1.98962548] [ 0. 0. 0. 1. ]] SLAMing on 171.26925976399997 meters Centerline goodness : 0.767201 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.70, Z:1.99 [[ 0.9902564 -0.13389829 -0.03825596 -5.8294194 ] [ 0.1357901 0.98936788 0.05207931 9.70496092] [ 0.03087589 -0.05676665 0.99790993 1.99019787] [ 0. 0. 0. 1. ]] SLAMing on 171.32925976399997 meters Centerline goodness : 0.769597 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.71, Z:1.99 [[ 0.99031814 -0.13334734 -0.03858078 -5.8281787 ] [ 0.13525068 0.98945423 0.05184196 9.70679063] [ 0.03126093 -0.05655811 0.99790978 1.99014591] [ 0. 0. 0. 1. ]] SLAMing on 171.38925976399997 meters Centerline goodness : 0.768072 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.71, Z:1.99 [[ 0.99035756 -0.1329563 -0.03891689 -5.82732642] [ 0.13485514 0.98954732 0.05108998 9.70966887] [ 0.03171737 -0.05584549 0.99793551 1.99092954] [ 0. 0. 0. 1. ]] SLAMing on 171.44925976399998 meters Centerline goodness : 0.765829 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.71, Z:1.99 [[ 0.99070662 -0.13037114 -0.03877822 -5.8290374 ] [ 0.1322506 0.98992098 0.05065789 9.70937728] [ 0.03178305 -0.05531555 0.99796294 1.99175603] [ 0. 0. 0. 1. ]] SLAMing on 171.50925976399995 meters Centerline goodness : 0.764752 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.71, Z:1.99 [[ 0.99095652 -0.12822089 -0.03955486 -5.82899566] [ 0.13022108 0.9900679 0.05299075 9.70895454] [ 0.03236748 -0.0576624 0.9978113 1.99280063] [ 0. 0. 0. 1. ]] SLAMing on 171.56925976399995 meters Centerline goodness : 0.764172 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.71, Z:1.99 [[ 0.9909529 -0.12830413 -0.03937517 -5.82980196] [ 0.13026776 0.99010469 0.05218244 9.71075421] [ 0.03229032 -0.05683966 0.99786101 1.99407157] [ 0. 0. 0. 1. ]] SLAMing on 171.62925976399995 meters Centerline goodness : 0.762861 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.71, Z:1.99 [[ 0.99128958 -0.12581604 -0.03892668 -5.83121732] [ 0.12770752 0.99051696 0.05066492 9.7116552 ] [ 0.03218308 -0.05519484 0.9979568 1.99322567] [ 0. 0. 0. 1. ]] SLAMing on 171.68925976399996 meters Centerline goodness : 0.762779 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.71, Z:1.99 [[ 0.99139673 -0.12511158 -0.03846569 -5.83331358] [ 0.12695758 0.99064618 0.05001913 9.71215552] [ 0.03184791 -0.05447231 0.99800725 1.99418777] [ 0. 0. 0. 1. ]] SLAMing on 171.74925976399996 meters Centerline goodness : 0.764457 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.71, Z:2.00 [[ 0.9913972 -0.12516048 -0.03829415 -5.83413759] [ 0.12699149 0.99065072 0.04984297 9.71145091] [ 0.03169776 -0.05427722 0.99802266 1.99516237] [ 0. 0. 0. 1. ]] SLAMing on 171.80925976399996 meters Centerline goodness : 0.764975 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:9.71, Z:2.00 [[ 0.99135474 -0.1255008 -0.03827956 -5.83524465] [ 0.12730934 0.99064361 0.04916871 9.71263641] [ 0.03175069 -0.05361698 0.99805667 1.99688698] [ 0. 0. 0. 1. ]] SLAMing on 171.86925976399996 meters Centerline goodness : 0.764517 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:9.71, Z:2.00 [[ 0.99135214 -0.12551305 -0.03830672 -5.83543066] [ 0.12730926 0.99066499 0.0487364 9.71326593] [ 0.03183207 -0.05319174 0.99807683 1.99772424] [ 0. 0. 0. 1. ]] SLAMing on 171.92925976399997 meters Centerline goodness : 0.763561 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:9.71, Z:2.00 [[ 0.99138953 -0.12529811 -0.03804178 -5.83513336] [ 0.12711717 0.99063162 0.04990203 9.70767417] [ 0.03143276 -0.05430812 0.99802936 1.99609359] [ 0. 0. 0. 1. ]] SLAMing on 171.98925976399997 meters Centerline goodness : 0.763681 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:9.70, Z:2.00 [[ 0.99131426 -0.12601804 -0.03762308 -5.8377436 ] [ 0.12781619 0.99053777 0.04997948 9.70439861] [ 0.03096876 -0.05435421 0.99804136 1.9978944 ] [ 0. 0. 0. 1. ]] SLAMing on 172.04925976399997 meters Centerline goodness : 0.764382 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:9.70, Z:2.00 [[ 0.99127617 -0.12643315 -0.03723195 -5.83968431] [ 0.12820983 0.99048667 0.04998388 9.70217415] [ 0.03055813 -0.05432133 0.99805581 1.99922349] [ 0. 0. 0. 1. ]] SLAMing on 172.10925976399997 meters Centerline goodness : 0.762601 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:9.70, Z:2.00 [[ 0.99126903 -0.12658331 -0.03691048 -5.84051282] [ 0.12836203 0.99043398 0.05063311 9.69831602] [ 0.03014808 -0.05492893 0.99803502 1.99889092] [ 0. 0. 0. 1. ]] SLAMing on 172.16925976399997 meters Centerline goodness : 0.762892 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:9.70, Z:2.00 [[ 0.99077981 -0.13042772 -0.03666023 -5.83973663] [ 0.13207544 0.99013264 0.04683403 9.69692252] [ 0.03019004 -0.05124413 0.99822973 1.99930381] [ 0. 0. 0. 1. ]] SLAMing on 172.22925976399995 meters Centerline goodness : 0.760627 with order 1 Centerline is valid? [False, False] Translation: X:-5.84, Y:9.70, Z:2.00 [[ 0.99019165 -0.13501551 -0.0359349 -5.84142258] [ 0.1364772 0.98975615 0.04191353 9.69702618] [ 0.02990781 -0.04640672 0.99847481 2.00194258] [ 0. 0. 0. 1. ]] SLAMing on 172.28925976399995 meters Centerline goodness : 0.763748 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.69, Z:2.00 [[ 0.98976249 -0.13926502 -0.03123256 -5.82599755] [ 0.14071155 0.98877487 0.05024454 9.69115956] [ 0.02388467 -0.05412494 0.99824847 1.99588205] [ 0. 0. 0. 1. ]] SLAMing on 172.34925976399995 meters Centerline goodness : 0.762151 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.68, Z:2.02 [[ 0.98962493 -0.13692306 -0.04352672 -5.82801573] [ 0.13881858 0.98934023 0.04399219 9.68450461] [ 0.03703919 -0.04957809 0.99808322 2.01657246] [ 0. 0. 0. 1. ]] SLAMing on 172.40925976399996 meters Centerline goodness : 0.767797 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.68, Z:2.02 [[ 0.98904406 -0.14121029 -0.04302905 -5.82821175] [ 0.14291568 0.98894543 0.03952285 9.68454105] [ 0.03697235 -0.04523936 0.99829176 2.01770546] [ 0. 0. 0. 1. ]] SLAMing on 172.46925976399996 meters Centerline goodness : 0.770314 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.68, Z:2.02 [[ 0.98831254 -0.14627249 -0.04292658 -5.83013295] [ 0.1478876 0.98830374 0.0372153 9.68245246] [ 0.03698093 -0.04312866 0.99838486 2.02222946] [ 0. 0. 0. 1. ]] SLAMing on 172.52925976399996 meters Centerline goodness : 0.774677 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.68, Z:2.02 [[ 0.98785653 -0.14922316 -0.04326576 -5.82933242] [ 0.15083634 0.98787467 0.03676999 9.68084626] [ 0.03725422 -0.04284952 0.99838672 2.02340559] [ 0. 0. 0. 1. ]] SLAMing on 172.58925976399996 meters Centerline goodness : 0.781301 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.67, Z:2.03 [[ 0.98681244 -0.1507826 -0.05887111 -5.82501568] [ 0.15306595 0.98754549 0.03639663 9.67223176] [ 0.05264992 -0.04492781 0.99760186 2.03104203] [ 0. 0. 0. 1. ]] SLAMing on 172.64925976399996 meters Centerline goodness : 0.782072 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.67, Z:2.03 [[ 0.98676522 -0.15119874 -0.05859476 -5.8265165 ] [ 0.15347307 0.98748011 0.03645611 9.67078677] [ 0.05234904 -0.04496634 0.99761596 2.03262594] [ 0. 0. 0. 1. ]] SLAMing on 172.70925976399997 meters Centerline goodness : 0.784682 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.67, Z:2.03 [[ 0.98758071 -0.14622882 -0.05745847 -5.8309351 ] [ 0.14849703 0.98820556 0.03739512 9.67055696] [ 0.05131254 -0.04546312 0.9976473 2.03323669] [ 0. 0. 0. 1. ]] SLAMing on 172.76925976399997 meters Centerline goodness : 0.785161 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.67, Z:2.03 [[ 0.98784175 -0.14484621 -0.05646455 -5.83383493] [ 0.14702992 0.98845338 0.03663493 9.67067485] [ 0.05050615 -0.04449149 0.99773225 2.0336457 ] [ 0. 0. 0. 1. ]] SLAMing on 172.82925976399997 meters Centerline goodness : 0.782158 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.67, Z:2.03 [[ 0.98791924 -0.14430895 -0.05648451 -5.83259477] [ 0.14651379 0.98851488 0.03704115 9.67010408] [ 0.05049041 -0.04486943 0.99771612 2.03214322] [ 0. 0. 0. 1. ]] SLAMing on 172.88925976399997 meters Centerline goodness : 0.781662 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.67, Z:2.02 [[ 0.988891 -0.14149777 -0.04553 -5.82503551] [ 0.14330554 0.98890049 0.03923446 9.6673119 ] [ 0.03947305 -0.04532331 0.9981922 2.02174595] [ 0. 0. 0. 1. ]] SLAMing on 172.94925976399998 meters Centerline goodness : 0.782494 with order 1 Centerline is valid? [False, False] Translation: X:-5.83, Y:9.67, Z:2.02 [[ 0.98822319 -0.14622366 -0.04509501 -5.82548035] [ 0.14780498 0.98843284 0.03397357 9.67117896] [ 0.03960565 -0.04023873 0.99840485 2.02325182] [ 0. 0. 0. 1. ]] SLAMing on 173.00925976399995 meters Centerline goodness : 0.784360 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.67, Z:2.02 [[ 0.98822705 -0.14741199 -0.04095112 -5.80716215] [ 0.14917221 0.98783708 0.04388111 9.66899218] [ 0.03398443 -0.04947327 0.9981971 2.01549291] [ 0. 0. 0. 1. ]] SLAMing on 173.06925976399995 meters Centerline goodness : 0.782988 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.68, Z:2.02 [[ 0.98817527 -0.14775419 -0.04096738 -5.80832084] [ 0.14943724 0.98789546 0.04160605 9.67539534] [ 0.03432402 -0.04723612 0.99829385 2.01870696] [ 0. 0. 0. 1. ]] SLAMing on 173.12925976399995 meters Centerline goodness : 0.781933 with order 1 Centerline is valid? [False, False] Translation: X:-5.81, Y:9.68, Z:2.02 [[ 0.98817286 -0.1478 -0.04086031 -5.80868958] [ 0.14945418 0.98792184 0.04091304 9.67739895] [ 0.03431984 -0.0465359 0.99832688 2.019356 ] [ 0. 0. 0. 1. ]] SLAMing on 173.18925976399996 meters Centerline goodness : 0.783350 with order 1 Centerline is valid? [False, False] Translation: X:-5.80, Y:9.67, Z:2.01 [[ 0.9890899 -0.14449642 -0.02866986 -5.80046779] [ 0.1456659 0.988352 0.04406544 9.67467414] [ 0.02196861 -0.0477609 0.99861718 2.00824462] [ 0. 0. 0. 1. ]] SLAMing on 173.24925976399996 meters Centerline goodness : 0.784546 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:9.67, Z:2.00 [[ 0.98896745 -0.14605855 -0.02470405 -5.7816272 ] [ 0.14718263 0.98772247 0.05236027 9.67325314] [ 0.01675308 -0.05541861 0.99832265 2.00307809] [ 0. 0. 0. 1. ]] SLAMing on 173.30925976399996 meters Centerline goodness : 0.782586 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:9.68, Z:2.00 [[ 0.98895987 -0.14606718 -0.02495509 -5.78130864] [ 0.1471949 0.98775233 0.05175895 9.67532028] [ 0.01708916 -0.05486079 0.99834776 2.00413128] [ 0. 0. 0. 1. ]] SLAMing on 173.36925976399996 meters Centerline goodness : 0.777441 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:9.67, Z:2.00 [[ 9.89203542e-01 -1.46060567e-01 -1.19441799e-02 -5.77549001e+00] [ 1.46482749e-01 9.87906917e-01 5.08205428e-02 9.67360816e+00] [ 4.37686061e-03 -5.20214772e-02 9.98636375e-01 1.99718246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42925976399997 meters Centerline goodness : 0.775113 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:9.67, Z:2.00 [[ 9.89184455e-01 -1.46208810e-01 -1.17088687e-02 -5.77636505e+00] [ 1.46616208e-01 9.87915877e-01 5.02584123e-02 9.67448782e+00] [ 4.21915459e-03 -5.14315501e-02 9.98667610e-01 1.99809439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48925976399997 meters Centerline goodness : 0.773142 with order 1 Centerline is valid? [False, False] Translation: X:-5.78, Y:9.68, Z:2.00 [[ 9.89212926e-01 -1.45969346e-01 -1.22775296e-02 -5.77559675e+00] [ 1.46399217e-01 9.88020672e-01 4.88100420e-02 9.67898392e+00] [ 5.00568312e-03 -5.00809452e-02 9.98732618e-01 2.00036258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54925976399997 meters Centerline goodness : 0.772248 with order 1 Centerline is valid? [False, False] Translation: X:-5.77, Y:9.68, Z:2.00 [[ 9.88711446e-01 -1.49321231e-01 -1.23630826e-02 -5.77352454e+00] [ 1.49725505e-01 9.87751316e-01 4.39273318e-02 9.68331114e+00] [ 5.65236780e-03 -4.52825246e-02 9.98958229e-01 2.00103216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60925976399997 meters Centerline goodness : 0.770707 with order 1 Centerline is valid? [False, False] Translation: X:-5.77, Y:9.69, Z:2.00 [[ 9.88688281e-01 -1.49477106e-01 -1.23320182e-02 -5.77390983e+00] [ 1.49875977e-01 9.87758401e-01 4.32496448e-02 9.68552737e+00] [ 5.71622289e-03 -4.46086902e-02 9.98988183e-01 2.00172360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66925976399997 meters Centerline goodness : 0.769839 with order 1 Centerline is valid? [False, False] Translation: X:-5.77, Y:9.69, Z:2.01 [[ 9.88775040e-01 -1.48830503e-01 -1.31682113e-02 -5.77217014e+00] [ 1.49245165e-01 9.87990863e-01 3.99991823e-02 9.69408976e+00] [ 7.05697408e-03 -4.15154850e-02 9.99112938e-01 2.00680016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72925976399995 meters Centerline goodness : 0.769704 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:9.69, Z:2.00 [[ 9.89488942e-01 -1.44596839e-01 -1.84052181e-03 -5.76186647e+00] [ 1.44544322e-01 9.88590025e-01 4.23875188e-02 9.69277657e+00] [-4.30957973e-03 -4.22080181e-02 9.99099550e-01 1.99705385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78925976399995 meters Centerline goodness : 0.767654 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:9.70, Z:2.00 [[ 9.90053950e-01 -1.40671022e-01 -2.20002844e-03 -5.76222746e+00] [ 1.40624328e-01 9.89012043e-01 4.56067627e-02 9.69648593e+00] [-4.23969532e-03 -4.54625331e-02 9.98957048e-01 1.99686488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84925976399995 meters Centerline goodness : 0.768998 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:9.70, Z:2.00 [[ 9.90612030e-01 -1.36685045e-01 -2.23729774e-03 -5.76327953e+00] [ 1.36627543e-01 9.89385090e-01 4.94980541e-02 9.69708694e+00] [-4.55209472e-03 -4.93390443e-02 9.98771714e-01 1.99650534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90925976399996 meters Centerline goodness : 0.768336 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:9.70, Z:2.00 [[ 9.91291876e-01 -1.31653649e-01 -2.78101060e-03 -5.76157545e+00] [ 1.31614023e-01 9.89867951e-01 5.32840373e-02 9.69998581e+00] [-4.26220468e-03 -5.31860533e-02 9.98575524e-01 1.99503555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96925976399996 meters Centerline goodness : 0.768431 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:9.71, Z:2.00 [[ 9.91410676e-01 -1.30740361e-01 -3.43942409e-03 -5.75964759e+00] [ 1.30743743e-01 9.90085410e-01 5.13512785e-02 9.70702394e+00] [-3.30836106e-03 -5.13598889e-02 9.98674730e-01 1.99724959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02925976399996 meters Centerline goodness : 0.768069 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:9.71, Z:2.01 [[ 0.992725 -0.11930738 -0.01621198 -5.76033745] [ 0.11997715 0.99152442 0.04984778 9.70565918] [ 0.01012737 -0.0514302 0.99862524 2.00780789] [ 0. 0. 0. 1. ]] SLAMing on 174.08925976399996 meters Centerline goodness : 0.770533 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:9.71, Z:2.01 [[ 0.99272835 -0.1192806 -0.01620387 -5.76037147] [ 0.11994634 0.99154613 0.0494889 9.70649847] [ 0.01016382 -0.05107263 0.99864322 2.00827577] [ 0. 0. 0. 1. ]] SLAMing on 174.14925976399996 meters Centerline goodness : 0.770700 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:9.71, Z:2.01 [[ 0.99268208 -0.11968554 -0.0160519 -5.76133751] [ 0.12034003 0.99151337 0.04918848 9.70634506] [ 0.01002853 -0.05076021 0.99866052 2.00909571] [ 0. 0. 0. 1. ]] SLAMing on 174.20925976399997 meters Centerline goodness : 0.771093 with order 1 Centerline is valid? [False, False] Translation: X:-5.76, Y:9.71, Z:2.01 [[ 0.9921784 -0.12382769 -0.01577107 -5.76150393] [ 0.12441467 0.99124166 0.04428268 9.70804769] [ 0.01014952 -0.04589847 0.99889455 2.01112645] [ 0. 0. 0. 1. ]] SLAMing on 174.26925976399997 meters Centerline goodness : 0.772358 with order 1 Centerline is valid? [False, False] Translation: X:-5.75, Y:9.71, Z:2.01 [[ 9.91752483e-01 -1.27693036e-01 -1.10227856e-02 -5.74533640e+00] [ 1.28090476e-01 9.90470074e-01 5.06148382e-02 9.70562202e+00] [ 4.45457692e-03 -5.16093053e-02 9.98657417e-01 2.00764983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32925976399997 meters Centerline goodness : 0.773585 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:9.70, Z:2.02 [[ 0.99188477 -0.12407037 -0.02776965 -5.74086883] [ 0.1253594 0.99080701 0.05085746 9.69664369] [ 0.02120446 -0.05392593 0.99831977 2.01942537] [ 0. 0. 0. 1. ]] SLAMing on 174.38925976399997 meters Centerline goodness : 0.774990 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:9.70, Z:2.02 [[ 0.99140047 -0.12787364 -0.02781063 -5.73960481] [ 0.12907453 0.99052917 0.04681587 9.69670179] [ 0.02156073 -0.05000292 0.99851632 2.02008404] [ 0. 0. 0. 1. ]] SLAMing on 174.44925976399998 meters Centerline goodness : 0.774224 with order 1 Centerline is valid? [False, False] Translation: X:-5.74, Y:9.69, Z:2.02 [[ 0.99137986 -0.12813306 -0.02734764 -5.74081052] [ 0.12933179 0.99044747 0.04782362 9.6927762 ] [ 0.02095861 -0.0509483 0.99848135 2.01947717] [ 0. 0. 0. 1. ]] SLAMing on 174.50925976399995 meters Centerline goodness : 0.776472 with order 1 Centerline is valid? [False, False] Translation: X:-5.73, Y:9.69, Z:2.01 [[ 0.99084226 -0.13324965 -0.02182064 -5.72652106] [ 0.13426709 0.98942608 0.05484863 9.68518171] [ 0.01428135 -0.05727614 0.99825622 2.01438643] [ 0. 0. 0. 1. ]] SLAMing on 174.56925976399995 meters Centerline goodness : 0.774838 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:9.68, Z:2.01 [[ 9.90370355e-01 -1.37296111e-01 -1.77858932e-02 -5.70358388e+00] [ 1.38127730e-01 9.88594300e-01 6.00170051e-02 9.68038160e+00] [ 9.34293121e-03 -6.18957877e-02 9.98038888e-01 2.01120119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62925976399995 meters Centerline goodness : 0.774990 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:9.67, Z:2.03 [[ 0.99021561 -0.13515258 -0.03473936 -5.70069994] [ 0.13702229 0.98882748 0.0586951 9.67284152] [ 0.02641844 -0.06288087 0.99767132 2.02801763] [ 0. 0. 0. 1. ]] SLAMing on 174.68925976399996 meters Centerline goodness : 0.775135 with order 1 Centerline is valid? [False, False] Translation: X:-5.70, Y:9.67, Z:2.04 [[ 0.98967182 -0.13372901 -0.05163556 -5.69752089] [ 0.13664649 0.9889299 0.05783932 9.66524649] [ 0.04332915 -0.06429776 0.99698966 2.04260886] [ 0. 0. 0. 1. ]] SLAMing on 174.74925976399996 meters Centerline goodness : 0.775862 with order 1 Centerline is valid? [False, False] Translation: X:-5.68, Y:9.66, Z:2.04 [[ 0.98947798 -0.13678638 -0.04714672 -5.67890839] [ 0.13968448 0.98806556 0.06492074 9.66040334] [ 0.03770378 -0.0708233 0.99677605 2.03878988] [ 0. 0. 0. 1. ]] SLAMing on 174.80925976399996 meters Centerline goodness : 0.772747 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.66, Z:2.04 [[ 0.98946665 -0.13819891 -0.04309079 -5.66187687] [ 0.14108722 0.98727636 0.07334699 9.65685607] [ 0.03240604 -0.07865396 0.99637513 2.03573879] [ 0. 0. 0. 1. ]] SLAMing on 174.86925976399996 meters Centerline goodness : 0.772911 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.66, Z:2.04 [[ 0.98902216 -0.1411752 -0.04364331 -5.65846419] [ 0.14392757 0.98723954 0.06813916 9.66006729] [ 0.03346684 -0.07367262 0.99672078 2.03794265] [ 0. 0. 0. 1. ]] SLAMing on 174.92925976399997 meters Centerline goodness : 0.773375 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.66, Z:2.04 [[ 0.98899298 -0.1413768 -0.04365185 -5.65909321] [ 0.14410697 0.98725928 0.06747063 9.66153097] [ 0.03355691 -0.07301852 0.99676588 2.03913785] [ 0. 0. 0. 1. ]] SLAMing on 174.98925976399997 meters Centerline goodness : 0.772004 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.67, Z:2.04 [[ 0.98841684 -0.14524661 -0.04399519 -5.6576805 ] [ 0.14779521 0.98709676 0.06161619 9.66694152] [ 0.03447796 -0.06740476 0.99712982 2.04232649] [ 0. 0. 0. 1. ]] SLAMing on 175.04925976399997 meters Centerline goodness : 0.770750 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.67, Z:2.04 [[ 0.98837261 -0.14557163 -0.04391451 -5.65844217] [ 0.14807479 0.98712566 0.06047141 9.66949442] [ 0.03454622 -0.06627092 0.99720345 2.04378714] [ 0. 0. 0. 1. ]] SLAMing on 175.10925976399997 meters Centerline goodness : 0.772010 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.67, Z:2.04 [[ 0.98897763 -0.14136339 -0.04404128 -5.6592577 ] [ 0.14402318 0.98746454 0.06458409 9.66913648] [ 0.03435937 -0.07021518 0.99693995 2.04323717] [ 0. 0. 0. 1. ]] SLAMing on 175.16925976399997 meters Centerline goodness : 0.769252 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.67, Z:2.04 [[ 0.98895684 -0.14146327 -0.04418713 -5.65939852] [ 0.14409241 0.98753059 0.06340902 9.67278745] [ 0.0346661 -0.06907582 0.99700892 2.04458056] [ 0. 0. 0. 1. ]] SLAMing on 175.22925976399995 meters Centerline goodness : 0.770813 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.68, Z:2.05 [[ 0.98893938 -0.14142066 -0.04471122 -5.65895349] [ 0.14400897 0.98768013 0.0612322 9.67925415] [ 0.03550088 -0.06699375 0.99712162 2.04737729] [ 0. 0. 0. 1. ]] SLAMing on 175.28925976399995 meters Centerline goodness : 0.766789 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.68, Z:2.05 [[ 0.98955034 -0.1368615 -0.04537675 -5.65768938] [ 0.13963361 0.9880737 0.06490626 9.68263645] [ 0.03595241 -0.07056414 0.99685913 2.0459745 ] [ 0. 0. 0. 1. ]] SLAMing on 175.34925976399995 meters Centerline goodness : 0.767852 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.69, Z:2.05 [[ 0.98957778 -0.13643831 -0.04604788 -5.65573858] [ 0.13922983 0.98818153 0.06412733 9.68647267] [ 0.03675424 -0.06987022 0.99687877 2.04594888] [ 0. 0. 0. 1. ]] SLAMing on 175.40925976399996 meters Centerline goodness : 0.765968 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.69, Z:2.05 [[ 0.98953106 -0.13674051 -0.04615542 -5.65631287] [ 0.13948421 0.98824072 0.06264529 9.69039894] [ 0.03704652 -0.06842741 0.99696803 2.04802209] [ 0. 0. 0. 1. ]] SLAMing on 175.46925976399996 meters Centerline goodness : 0.764804 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.69, Z:2.05 [[ 0.98943489 -0.13744057 -0.04613778 -5.65805326] [ 0.1401243 0.98824751 0.06109044 9.69422463] [ 0.03719924 -0.06691004 0.99706533 2.05063123] [ 0. 0. 0. 1. ]] SLAMing on 175.52925976399996 meters Centerline goodness : 0.768048 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.70, Z:2.05 [[ 0.98888926 -0.14126583 -0.04628171 -5.65629094] [ 0.14375992 0.98803214 0.05590678 9.69877477] [ 0.0378301 -0.06193907 0.99736274 2.05186714] [ 0. 0. 0. 1. ]] SLAMing on 175.58925976399996 meters Centerline goodness : 0.768628 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:9.70, Z:2.05 [[ 0.98895721 -0.14065715 -0.04668197 -5.65448005] [ 0.14317129 0.98812545 0.05576813 9.70067106] [ 0.03828346 -0.06183582 0.99735185 2.05124005] [ 0. 0. 0. 1. ]] SLAMing on 175.64925976399996 meters Centerline goodness : 0.767305 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.70, Z:2.05 [[ 0.98890343 -0.14100115 -0.04678336 -5.65549505] [ 0.14347341 0.98815091 0.05452661 9.70354067] [ 0.03854071 -0.06063372 0.99741574 2.05367199] [ 0. 0. 0. 1. ]] SLAMing on 175.70925976399997 meters Centerline goodness : 0.769388 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.70, Z:2.05 [[ 0.98891499 -0.14088519 -0.04688831 -5.65535099] [ 0.14334396 0.98819795 0.05401214 9.70467222] [ 0.03872542 -0.06013457 0.99743881 2.05499851] [ 0. 0. 0. 1. ]] SLAMing on 175.76925976399997 meters Centerline goodness : 0.769510 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.70, Z:2.06 [[ 0.98895194 -0.14065021 -0.04681429 -5.65570342] [ 0.14306274 0.98829716 0.05293185 9.70444807] [ 0.03882156 -0.05904444 0.9975002 2.05504039] [ 0. 0. 0. 1. ]] SLAMing on 175.82925976399997 meters Centerline goodness : 0.768817 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:9.71, Z:2.06 [[ 0.98837948 -0.14462096 -0.04680571 -5.65451053] [ 0.14686698 0.98795467 0.04874082 9.70510456] [ 0.03919298 -0.05504864 0.99771417 2.05623015] [ 0. 0. 0. 1. ]] SLAMing on 175.88925976399997 meters Centerline goodness : 0.767531 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:9.70, Z:2.06 [[ 0.98803009 -0.14690625 -0.04706487 -5.65328666] [ 0.14919113 0.98757414 0.0493895 9.70187184] [ 0.03922442 -0.05581997 0.99767007 2.05658068] [ 0. 0. 0. 1. ]] SLAMing on 175.94925976399995 meters Centerline goodness : 0.769150 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.70, Z:2.06 [[ 0.98811912 -0.14624136 -0.04726594 -5.65530463] [ 0.14859178 0.9875951 0.0507582 9.70104741] [ 0.03925666 -0.05717848 0.99759187 2.05960065] [ 0. 0. 0. 1. ]] SLAMing on 176.00925976399995 meters Centerline goodness : 0.769561 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.70, Z:2.06 [[ 0.98828408 -0.145299 -0.04672011 -5.65658406] [ 0.14757199 0.9878089 0.04955892 9.70095464] [ 0.03894968 -0.05587287 0.99767788 2.05932247] [ 0. 0. 0. 1. ]] SLAMing on 176.06925976399995 meters Centerline goodness : 0.769520 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.70, Z:2.06 [[ 0.98845971 -0.14444709 -0.04563381 -5.65945447] [ 0.14660651 0.9880218 0.04816072 9.70056301] [ 0.03813052 -0.05429514 0.99779662 2.05993231] [ 0. 0. 0. 1. ]] SLAMing on 176.12925976399995 meters Centerline goodness : 0.771010 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.70, Z:2.06 [[ 0.98863096 -0.14338005 -0.04528781 -5.66208794] [ 0.14552957 0.98817015 0.04838289 9.70034608] [ 0.03781492 -0.05442354 0.99780164 2.06214828] [ 0. 0. 0. 1. ]] SLAMing on 176.18925976399996 meters Centerline goodness : 0.771511 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.70, Z:2.06 [[ 0.98856998 -0.1437788 -0.04535464 -5.66286939] [ 0.14589607 0.98816166 0.04744328 9.70317695] [ 0.03799638 -0.05351806 0.99784372 2.0635887 ] [ 0. 0. 0. 1. ]] SLAMing on 176.24925976399996 meters Centerline goodness : 0.771014 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.70, Z:2.06 [[ 0.98857091 -0.14381954 -0.04520505 -5.66317222] [ 0.1459178 0.98817229 0.04715425 9.70362068] [ 0.03788867 -0.05321154 0.99786421 2.06380294] [ 0. 0. 0. 1. ]] SLAMing on 176.30925976399996 meters Centerline goodness : 0.771260 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.70, Z:2.07 [[ 0.98851508 -0.14430937 -0.04486367 -5.6647889 ] [ 0.14635735 0.98814732 0.04630766 9.70495241] [ 0.03764929 -0.05234195 0.99791926 2.06521017] [ 0. 0. 0. 1. ]] SLAMing on 176.36925976399996 meters Centerline goodness : 0.768455 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:9.71, Z:2.07 [[ 0.98844839 -0.14478039 -0.04481548 -5.66624425] [ 0.14676209 0.98816472 0.04462479 9.70925817] [ 0.03782428 -0.05068651 0.9979981 2.06797517] [ 0. 0. 0. 1. ]] SLAMing on 176.42925976399997 meters Centerline goodness : 0.767576 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:9.71, Z:2.07 [[ 0.98841306 -0.1449976 -0.04489238 -5.66643392] [ 0.14695855 0.98816453 0.04397786 9.71149093] [ 0.03798437 -0.05006562 0.99802336 2.06859301] [ 0. 0. 0. 1. ]] SLAMing on 176.48925976399997 meters Centerline goodness : 0.764609 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.71, Z:2.07 [[ 0.9884779 -0.14438885 -0.04542363 -5.66455969] [ 0.14636149 0.98827047 0.04358662 9.7148325 ] [ 0.03859741 -0.04973268 0.99801648 2.06834528] [ 0. 0. 0. 1. ]] SLAMing on 176.54925976399997 meters Centerline goodness : 0.765078 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:9.72, Z:2.07 [[ 0.98842543 -0.14480104 -0.04525296 -5.66563306] [ 0.14672845 0.98825751 0.04263642 9.71715534] [ 0.03854778 -0.04878282 0.99806528 2.06955289] [ 0. 0. 0. 1. ]] SLAMing on 176.60925976399997 meters Centerline goodness : 0.763732 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:9.72, Z:2.07 [[ 0.9883904 -0.1450066 -0.04535979 -5.66610594] [ 0.14688768 0.98829022 0.0413091 9.72082343] [ 0.03883854 -0.04749231 0.99811625 2.07140199] [ 0. 0. 0. 1. ]] SLAMing on 176.66925976399997 meters Centerline goodness : 0.760948 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.72, Z:2.07 [[ 0.98846906 -0.14427346 -0.04597919 -5.66362594] [ 0.14616456 0.98841792 0.04081586 9.7243451 ] [ 0.03955801 -0.04706575 0.9981082 2.07086279] [ 0. 0. 0. 1. ]] SLAMing on 176.72925976399995 meters Centerline goodness : 0.761490 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.73, Z:2.07 [[ 0.98847054 -0.14411929 -0.04642876 -5.66263905] [ 0.14600684 0.98846653 0.04019851 9.72727463] [ 0.0400999 -0.04651396 0.99811244 2.07137128] [ 0. 0. 0. 1. ]] SLAMing on 176.78925976399995 meters Centerline goodness : 0.757099 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.73, Z:2.07 [[ 0.98848747 -0.14396265 -0.04655392 -5.66361679] [ 0.14584531 0.98850115 0.03993264 9.72955736] [ 0.0402698 -0.04626259 0.99811729 2.07235843] [ 0. 0. 0. 1. ]] SLAMing on 176.84925976399995 meters Centerline goodness : 0.757730 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.73, Z:2.07 [[ 0.98859815 -0.14300104 -0.04716357 -5.66348086] [ 0.14495398 0.98859024 0.04095952 9.7318488 ] [ 0.04076819 -0.04732905 0.99804705 2.07272972] [ 0. 0. 0. 1. ]] SLAMing on 176.90925976399996 meters Centerline goodness : 0.757225 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:9.73, Z:2.07 [[ 0.98882662 -0.14161509 -0.04655188 -5.66586782] [ 0.14350532 0.98883586 0.04012303 9.73215994] [ 0.04035014 -0.04635516 0.99810975 2.07364655] [ 0. 0. 0. 1. ]] SLAMing on 176.96925976399996 meters Centerline goodness : 0.756519 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:9.73, Z:2.08 [[ 0.98885199 -0.1412998 -0.04696913 -5.66631571] [ 0.14320913 0.98887908 0.0401162 9.73207708] [ 0.04077838 -0.04639539 0.99809047 2.07503324] [ 0. 0. 0. 1. ]] SLAMing on 177.02925976399996 meters Centerline goodness : 0.753528 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:9.73, Z:2.08 [[ 0.98909694 -0.13956069 -0.04701134 -5.66779191] [ 0.14152818 0.98906429 0.0414922 9.73273967] [ 0.04070656 -0.04769324 0.99803223 2.07630314] [ 0. 0. 0. 1. ]] SLAMing on 177.08925976399996 meters Centerline goodness : 0.754128 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:9.73, Z:2.08 [[ 0.98922248 -0.13870358 -0.04690639 -5.66885453] [ 0.14066287 0.98919105 0.04141285 9.7325041 ] [ 0.04065527 -0.04756451 0.99804046 2.07719153] [ 0. 0. 0. 1. ]] SLAMing on 177.14925976399996 meters Centerline goodness : 0.755998 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:9.73, Z:2.08 [[ 0.9892601 -0.13839139 -0.04703474 -5.67008477] [ 0.1403139 0.98928392 0.04036509 9.73313651] [ 0.04094454 -0.0465312 0.99807735 2.07857542] [ 0. 0. 0. 1. ]] SLAMing on 177.20925976399997 meters Centerline goodness : 0.753930 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:9.73, Z:2.08 [[ 0.9894213 -0.1373404 -0.04672375 -5.67169474] [ 0.13921446 0.9894728 0.0395336 9.7336612 ] [ 0.04080232 -0.04562 0.99812524 2.07933337] [ 0. 0. 0. 1. ]] SLAMing on 177.26925976399997 meters Centerline goodness : 0.755447 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:9.73, Z:2.08 [[ 0.98939485 -0.13760215 -0.04651326 -5.67275798] [ 0.13942435 0.98948416 0.03849616 9.73364087] [ 0.04072698 -0.04457299 0.99817562 2.08019433] [ 0. 0. 0. 1. ]] SLAMing on 177.32925976399997 meters Centerline goodness : 0.752486 with order 1 Centerline is valid? [False, False] Translation: X:-5.67, Y:9.73, Z:2.08 [[ 0.98937953 -0.13783539 -0.04614706 -5.67359872] [ 0.13966092 0.98943174 0.03898284 9.73183598] [ 0.04028615 -0.04501376 0.99817373 2.07985164] [ 0. 0. 0. 1. ]] SLAMing on 177.38925976399997 meters Centerline goodness : 0.755194 with order 1 Centerline is valid? [False, False] Translation: X:-5.68, Y:9.73, Z:2.08 [[ 0.98937683 -0.1379697 -0.04580222 -5.67534367] [ 0.13979694 0.98939543 0.03941448 9.73028066] [ 0.0398785 -0.04539879 0.99817266 2.08171309] [ 0. 0. 0. 1. ]] SLAMing on 177.44925976399995 meters Centerline goodness : 0.754803 with order 1 Centerline is valid? [False, False] Translation: X:-5.68, Y:9.73, Z:2.08 [[ 0.98938835 -0.13800521 -0.04544499 -5.67613059] [ 0.13985243 0.98935067 0.04033042 9.72598028] [ 0.03939522 -0.04625804 0.9981524 2.08139346] [ 0. 0. 0. 1. ]] SLAMing on 177.50925976399995 meters Centerline goodness : 0.756801 with order 1 Centerline is valid? [False, False] Translation: X:-5.68, Y:9.72, Z:2.08 [[ 0.98937701 -0.13817127 -0.04518672 -5.67697372] [ 0.14002382 0.98930833 0.04077213 9.72338662] [ 0.03907006 -0.04666622 0.99814618 2.08148768] [ 0. 0. 0. 1. ]] SLAMing on 177.56925976399995 meters Centerline goodness : 0.755273 with order 1 Centerline is valid? [False, False] Translation: X:-5.68, Y:9.72, Z:2.08 [[ 0.98883645 -0.14208658 -0.04487619 -5.67650332] [ 0.14377287 0.98892318 0.03688241 9.72215452] [ 0.0391386 -0.04292265 0.99831148 2.08223236] [ 0. 0. 0. 1. ]] SLAMing on 177.62925976399995 meters Centerline goodness : 0.756164 with order 1 Centerline is valid? [False, False] Translation: X:-5.68, Y:9.72, Z:2.08 [[ 0.98827482 -0.14603273 -0.04457935 -5.67579845] [ 0.14755995 0.98849826 0.03312485 9.72022119] [ 0.0392293 -0.03931458 0.99845652 2.08297771] [ 0. 0. 0. 1. ]] SLAMing on 177.68925976399996 meters Centerline goodness : 0.759831 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.72, Z:2.08 [[ 0.98794581 -0.14951897 -0.04008937 -5.66015531] [ 0.15117497 0.98761204 0.04205458 9.71560565] [ 0.03330478 -0.04760815 0.9983107 2.07620531] [ 0. 0. 0. 1. ]] SLAMing on 177.74925976399996 meters Centerline goodness : 0.758959 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.71, Z:2.09 [[ 0.98766105 -0.14668545 -0.05485458 -5.66046832] [ 0.14897572 0.98802029 0.04027576 9.70974409] [ 0.04828957 -0.0479508 0.99768173 2.09257332] [ 0. 0. 0. 1. ]] SLAMing on 177.80925976399996 meters Centerline goodness : 0.757149 with order 1 Centerline is valid? [False, False] Translation: X:-5.64, Y:9.71, Z:2.09 [[ 0.98739901 -0.14955957 -0.05172173 -5.63717541] [ 0.15196504 0.98730594 0.04619098 9.70641214] [ 0.04415687 -0.05346882 0.99759273 2.08857137] [ 0. 0. 0. 1. ]] SLAMing on 177.86925976399996 meters Centerline goodness : 0.757279 with order 1 Centerline is valid? [False, False] Translation: X:-5.64, Y:9.71, Z:2.09 [[ 0.98736751 -0.15021704 -0.0504009 -5.6403593 ] [ 0.15243116 0.98736094 0.04339487 9.70551234] [ 0.04324523 -0.05052935 0.99778587 2.0898162 ] [ 0. 0. 0. 1. ]] SLAMing on 177.92925976399997 meters Centerline goodness : 0.758024 with order 1 Centerline is valid? [False, False] Translation: X:-5.64, Y:9.70, Z:2.09 [[ 0.98683673 -0.15373558 -0.05018613 -5.64040554] [ 0.15579807 0.9869731 0.04013807 9.7031356 ] [ 0.04336171 -0.04742862 0.99793301 2.09100278] [ 0. 0. 0. 1. ]] SLAMing on 177.98925976399997 meters Centerline goodness : 0.756967 with order 1 Centerline is valid? [False, False] Translation: X:-5.64, Y:9.70, Z:2.09 [[ 0.98666057 -0.15511883 -0.04938698 -5.64340931] [ 0.15710718 0.98679985 0.03928603 9.70114293] [ 0.04264106 -0.04652103 0.99800678 2.09394866] [ 0. 0. 0. 1. ]] SLAMing on 178.04925976399997 meters Centerline goodness : 0.757901 with order 1 Centerline is valid? [False, False] Translation: X:-5.64, Y:9.70, Z:2.10 [[ 0.98644695 -0.15642404 -0.04953709 -5.6440837 ] [ 0.15839162 0.98662026 0.03863374 9.70061891] [ 0.04283105 -0.0459564 0.9980248 2.09564097] [ 0. 0. 0. 1. ]] SLAMing on 178.10925976399997 meters Centerline goodness : 0.755812 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:9.70, Z:2.10 [[ 0.98591789 -0.16012109 -0.04824048 -5.64641785] [ 0.16185825 0.98620952 0.03453529 9.69949261] [ 0.04204539 -0.04185708 0.99823853 2.09727775] [ 0. 0. 0. 1. ]] SLAMing on 178.16925976399997 meters Centerline goodness : 0.757076 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:9.70, Z:2.10 [[ 0.98595896 -0.15988132 -0.04819634 -5.64804877] [ 0.16163379 0.9862319 0.03494507 9.69921293] [ 0.0419457 -0.04224456 0.9982264 2.09929581] [ 0. 0. 0. 1. ]] SLAMing on 178.22925976399995 meters Centerline goodness : 0.760145 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:9.69, Z:2.11 [[ 0.98629225 -0.15313281 -0.06146492 -5.64977214] [ 0.15542149 0.98725135 0.03433552 9.69479121] [ 0.05542343 -0.04341783 0.99751849 2.11114149] [ 0. 0. 0. 1. ]] SLAMing on 178.28925976399995 meters Centerline goodness : 0.759937 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:9.69, Z:2.11 [[ 0.98601921 -0.15520421 -0.06064457 -5.6507632 ] [ 0.15727145 0.98707129 0.03091861 9.69467179] [ 0.05506182 -0.040024 0.99768045 2.11110082] [ 0. 0. 0. 1. ]] SLAMing on 178.34925976399995 meters Centerline goodness : 0.762668 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:9.69, Z:2.11 [[ 0.9859656 -0.15539378 -0.06102964 -5.64944168] [ 0.15749255 0.98702705 0.03120406 9.69498589] [ 0.05538899 -0.04037785 0.99764808 2.11024253] [ 0. 0. 0. 1. ]] SLAMing on 178.40925976399996 meters Centerline goodness : 0.760189 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:9.69, Z:2.11 [[ 0.98603921 -0.15492976 -0.06102001 -5.64945281] [ 0.15705919 0.98707797 0.03177256 9.69478743] [ 0.05530899 -0.04091274 0.99763072 2.10992415] [ 0. 0. 0. 1. ]] SLAMing on 178.46925976399996 meters Centerline goodness : 0.763661 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:9.69, Z:2.11 [[ 0.9859594 -0.15562965 -0.06052661 -5.65102522] [ 0.15768004 0.98701322 0.0306906 9.69493905] [ 0.0549642 -0.03980353 0.99769465 2.11100992] [ 0. 0. 0. 1. ]] SLAMing on 178.52925976399996 meters Centerline goodness : 0.764585 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:9.70, Z:2.11 [[ 0.98601143 -0.155608 -0.05972942 -5.65292399] [ 0.15751589 0.98710053 0.02865803 9.69571368] [ 0.05449952 -0.03766548 0.99780314 2.11107988] [ 0. 0. 0. 1. ]] SLAMing on 178.58925976399996 meters Centerline goodness : 0.764286 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.70, Z:2.11 [[ 0.9862172 -0.1545438 -0.0590918 -5.65529634] [ 0.15637013 0.98731237 0.02761649 9.69699757] [ 0.0540741 -0.03647605 0.99787048 2.11167701] [ 0. 0. 0. 1. ]] SLAMing on 178.64925976399996 meters Centerline goodness : 0.761815 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.70, Z:2.11 [[ 0.98682877 -0.15068027 -0.0588595 -5.65507559] [ 0.15253834 0.98788828 0.02843962 9.69889137] [ 0.05386132 -0.03704337 0.99786109 2.10874392] [ 0. 0. 0. 1. ]] SLAMing on 178.70925976399997 meters Centerline goodness : 0.763754 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.70, Z:2.11 [[ 0.98717692 -0.14831054 -0.05903995 -5.65550478] [ 0.1501808 0.98824513 0.02858825 9.70096525] [ 0.05410601 -0.03708833 0.99784618 2.10825578] [ 0. 0. 0. 1. ]] SLAMing on 178.76925976399997 meters Centerline goodness : 0.761350 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:9.70, Z:2.10 [[ 0.98793302 -0.14330017 -0.05876575 -5.65470826] [ 0.14523749 0.98893832 0.03011755 9.70355462] [ 0.05379985 -0.03828912 0.99781738 2.10393156] [ 0. 0. 0. 1. ]] SLAMing on 178.82925976399997 meters Centerline goodness : 0.760833 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.71, Z:2.10 [[ 0.98865017 -0.13855335 -0.05808455 -5.65776594] [ 0.14051874 0.98958563 0.03122122 9.70594917] [ 0.05315383 -0.03902883 0.99782334 2.10381526] [ 0. 0. 0. 1. ]] SLAMing on 178.88925976399997 meters Centerline goodness : 0.761625 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.71, Z:2.10 [[ 0.98932907 -0.13349808 -0.05836306 -5.65677549] [ 0.13566757 0.9901387 0.0349237 9.71034713] [ 0.05312528 -0.04246901 0.99768436 2.10222001] [ 0. 0. 0. 1. ]] SLAMing on 178.94925976399995 meters Centerline goodness : 0.760668 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.71, Z:2.10 [[ 0.98993518 -0.12881834 -0.0586018 -5.65584795] [ 0.13121741 0.99058207 0.03910438 9.71253082] [ 0.05301253 -0.04640038 0.99751525 2.09977183] [ 0. 0. 0. 1. ]] SLAMing on 179.00925976399995 meters Centerline goodness : 0.761066 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:9.71, Z:2.10 [[ 0.99105603 -0.11956639 -0.05926056 -5.65428713] [ 0.12246074 0.99131794 0.0478759 9.71389779] [ 0.05302171 -0.05470479 0.99709382 2.09594523] [ 0. 0. 0. 1. ]] SLAMing on 179.06925976399995 meters Centerline goodness : 0.761109 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:9.72, Z:2.10 [[ 0.99156958 -0.11509826 -0.05951601 -5.65423601] [ 0.11818441 0.9916696 0.05122354 9.71716042] [ 0.05312448 -0.05782557 0.99691223 2.09559232] [ 0. 0. 0. 1. ]] SLAMing on 179.12925976399995 meters Centerline goodness : 0.757697 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.73, Z:2.09 [[ 0.99319928 -0.10273183 -0.05478463 -5.65917026] [ 0.10525636 0.99340945 0.04537351 9.72648616] [ 0.04976226 -0.05083137 0.99746674 2.09402442] [ 0. 0. 0. 1. ]] SLAMing on 179.18925976399996 meters Centerline goodness : 0.757441 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.73, Z:2.09 [[ 0.99372984 -0.09719337 -0.05526704 -5.65597706] [ 0.09996224 0.99374636 0.04975659 9.72987958] [ 0.05008541 -0.05496922 0.99723108 2.09061055] [ 0. 0. 0. 1. ]] SLAMing on 179.24925976399996 meters Centerline goodness : 0.759165 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:9.73, Z:2.09 [[ 0.99422079 -0.09156669 -0.05604072 -5.65227339] [ 0.09459452 0.99405051 0.05399509 9.73305062] [ 0.05076315 -0.05898419 0.99696739 2.08795694] [ 0. 0. 0. 1. ]] SLAMing on 179.30925976399996 meters Centerline goodness : 0.761176 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:9.74, Z:2.09 [[ 0.99529058 -0.07640263 -0.05965983 -5.65361057] [ 0.07933714 0.99566869 0.04847146 9.74278117] [ 0.05569808 -0.05297643 0.99704123 2.09304426] [ 0. 0. 0. 1. ]] SLAMing on 179.36925976399996 meters Centerline goodness : 0.760975 with order 1 Centerline is valid? [False, False] Translation: X:-5.65, Y:9.75, Z:2.09 [[ 0.99571326 -0.07061507 -0.05973795 -5.65056573] [ 0.07379384 0.99587522 0.05279225 9.74634954] [ 0.05576362 -0.05697423 0.99681711 2.08959731] [ 0. 0. 0. 1. ]] SLAMing on 179.42925976399997 meters Centerline goodness : 0.763847 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.75, Z:2.10 [[ 0.99591977 -0.06246823 -0.06512702 -5.65784168] [ 0.06536166 0.99692242 0.04328449 9.75407743] [ 0.06222268 -0.04736469 0.99693777 2.09812829] [ 0. 0. 0. 1. ]] SLAMing on 179.48925976399997 meters Centerline goodness : 0.764078 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.76, Z:2.10 [[ 0.99595803 -0.06195583 -0.06503142 -5.65725791] [ 0.06478418 0.99700142 0.04232225 9.75969063] [ 0.06221431 -0.0463642 0.99698533 2.09849781] [ 0. 0. 0. 1. ]] SLAMing on 179.54925976399997 meters Centerline goodness : 0.767553 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.76, Z:2.10 [[ 0.9959579 -0.06171939 -0.06525785 -5.65585128] [ 0.06450549 0.99705474 0.04148364 9.76449655] [ 0.06250531 -0.04552545 0.99700578 2.09833179] [ 0. 0. 0. 1. ]] SLAMing on 179.60925976399997 meters Centerline goodness : 0.765518 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.76, Z:2.10 [[ 0.99597821 -0.06170415 -0.06496162 -5.65563584] [ 0.06450213 0.9970379 0.04189151 9.76371193] [ 0.06218432 -0.04591319 0.99700807 2.09656355] [ 0. 0. 0. 1. ]] SLAMing on 179.66925976399997 meters Centerline goodness : 0.765094 with order 1 Centerline is valid? [False, False] Translation: X:-5.66, Y:9.77, Z:2.10 [[ 0.99569187 -0.06619676 -0.06492826 -5.65530478] [ 0.06867519 0.9969634 0.03671104 9.76678175] [ 0.06230095 -0.04101185 0.99721443 2.09804334] [ 0. 0. 0. 1. ]] SLAMing on 179.72925976399995 meters Centerline goodness : 0.766052 with order 1 Centerline is valid? [False, False] Translation: X:-5.64, Y:9.76, Z:2.09 [[ 0.99560843 -0.07257015 -0.05913904 -5.64249145] [ 0.07518399 0.99623177 0.04323922 9.76330278] [ 0.05577831 -0.04749564 0.99731286 2.09146104] [ 0. 0. 0. 1. ]] SLAMing on 179.78925976399995 meters Centerline goodness : 0.762566 with order 1 Centerline is valid? [False, False] Translation: X:-5.63, Y:9.76, Z:2.09 [[ 0.99513798 -0.08297141 -0.05306738 -5.63028562] [ 0.08541932 0.99529863 0.04565285 9.75965432] [ 0.04903001 -0.04996387 0.99754683 2.08649191] [ 0. 0. 0. 1. ]] SLAMing on 179.84925976399995 meters Centerline goodness : 0.760453 with order 1 Centerline is valid? [False, False] Translation: X:-5.62, Y:9.76, Z:2.08 [[ 0.99481151 -0.09022585 -0.04700386 -5.61806307] [ 0.09259477 0.99440072 0.05092552 9.756353 ] [ 0.04214587 -0.05501361 0.99759572 2.08102171] [ 0. 0. 0. 1. ]] SLAMing on 179.90925976399996 meters Centerline goodness : 0.760344 with order 1 Centerline is valid? [False, False] Translation: X:-5.60, Y:9.75, Z:2.07 [[ 0.99403626 -0.10072089 -0.04179969 -5.60413125] [ 0.10292259 0.99320245 0.05436754 9.75084101] [ 0.03603961 -0.05834544 0.99764571 2.07480964] [ 0. 0. 0. 1. ]] SLAMing on 179.96925976399996 meters Centerline goodness : 0.757035 with order 1 Centerline is valid? [False, False] Translation: X:-5.60, Y:9.76, Z:2.08 [[ 0.99310679 -0.10967247 -0.04136251 -5.60464129] [ 0.11150098 0.99275206 0.04484291 9.75505231] [ 0.03614468 -0.04914576 0.99813739 2.07782256] [ 0. 0. 0. 1. ]] SLAMing on 180.02925976399996 meters Centerline goodness : 0.760583 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:9.76, Z:2.08 [[ 0.99303107 -0.11045244 -0.04110419 -5.60738553] [ 0.1122043 0.99275108 0.04307537 9.75792694] [ 0.03604845 -0.04738724 0.99822591 2.082069 ] [ 0. 0. 0. 1. ]] SLAMing on 180.08925976399996 meters Centerline goodness : 0.760967 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:9.76, Z:2.08 [[ 0.99307176 -0.11021302 -0.04076227 -5.60713195] [ 0.11197123 0.9927499 0.04370456 9.75585299] [ 0.03564993 -0.04796596 0.99821258 2.08036048] [ 0. 0. 0. 1. ]] SLAMing on 180.14925976399996 meters Centerline goodness : 0.760323 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:9.76, Z:2.08 [[ 0.99306616 -0.1103278 -0.04058781 -5.60762612] [ 0.11207082 0.99274702 0.04351412 9.75615906] [ 0.03549261 -0.04776111 0.99822801 2.08048945] [ 0. 0. 0. 1. ]] SLAMing on 180.20925976399997 meters Centerline goodness : 0.760242 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:9.76, Z:2.08 [[ 0.99305676 -0.11042036 -0.04056629 -5.60806936] [ 0.1121183 0.9927951 0.04227748 9.75952683] [ 0.03560572 -0.04653216 0.99828202 2.08228288] [ 0. 0. 0. 1. ]] SLAMing on 180.26925976399997 meters Centerline goodness : 0.764337 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:9.76, Z:2.08 [[ 0.99305087 -0.11057419 -0.04029042 -5.60949992] [ 0.11224462 0.99279831 0.04186481 9.75882551] [ 0.03537109 -0.04609627 0.99831058 2.08394147] [ 0. 0. 0. 1. ]] SLAMing on 180.32925976399997 meters Centerline goodness : 0.763156 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:9.76, Z:2.08 [[ 0.99304085 -0.11076161 -0.04002161 -5.61063531] [ 0.11241891 0.9927794 0.04184548 9.7578949 ] [ 0.03509776 -0.04605346 0.99832221 2.08453744] [ 0. 0. 0. 1. ]] SLAMing on 180.38925976399997 meters Centerline goodness : 0.762386 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:9.76, Z:2.09 [[ 0.99257811 -0.1149243 -0.03976301 -5.61085187] [ 0.11639988 0.99251208 0.03702484 9.75856299] [ 0.03521021 -0.04137845 0.99852294 2.08687087] [ 0. 0. 0. 1. ]] SLAMing on 180.44925976399995 meters Centerline goodness : 0.763053 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:9.75, Z:2.09 [[ 0.9925494 -0.11535389 -0.03923236 -5.61325664] [ 0.11681456 0.99245571 0.03722932 9.75491313] [ 0.03464183 -0.04153485 0.99853633 2.08822802] [ 0. 0. 0. 1. ]] SLAMing on 180.50925976399995 meters Centerline goodness : 0.760289 with order 1 Centerline is valid? [False, False] Translation: X:-5.60, Y:9.75, Z:2.08 [[ 0.99223273 -0.11952278 -0.03447491 -5.59593057] [ 0.12099153 0.99166757 0.044232 9.74812139] [ 0.02890092 -0.04805961 0.99842627 2.08279888] [ 0. 0. 0. 1. ]] SLAMing on 180.56925976399995 meters Centerline goodness : 0.758352 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:9.74, Z:2.08 [[ 0.99179044 -0.12432906 -0.02989999 -5.57755462] [ 0.12574237 0.99073793 0.05125635 9.73934098] [ 0.0232504 -0.05459525 0.99823784 2.07635357] [ 0. 0. 0. 1. ]] SLAMing on 180.62925976399995 meters Centerline goodness : 0.758755 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:9.73, Z:2.08 [[ 0.99121036 -0.12877825 -0.0303015 -5.57724353] [ 0.13017577 0.99023684 0.04985246 9.73437199] [ 0.02358575 -0.0533588 0.99829682 2.07952882] [ 0. 0. 0. 1. ]] SLAMing on 180.68925976399996 meters Centerline goodness : 0.758301 with order 1 Centerline is valid? [False, False] Translation: X:-5.57, Y:9.72, Z:2.09 [[ 0.99026914 -0.13032743 -0.04880363 -5.56947173] [ 0.13276234 0.98986069 0.05049721 9.72203787] [ 0.04172762 -0.05648511 0.99753107 2.09437316] [ 0. 0. 0. 1. ]] SLAMing on 180.74925976399996 meters Centerline goodness : 0.758127 with order 1 Centerline is valid? [False, False] Translation: X:-5.57, Y:9.72, Z:2.10 [[ 0.98938732 -0.13700319 -0.048403 -5.57241887] [ 0.13935058 0.98903042 0.04899232 9.71703265] [ 0.04115994 -0.05521736 0.99762563 2.10064599] [ 0. 0. 0. 1. ]] SLAMing on 180.80925976399996 meters Centerline goodness : 0.759828 with order 1 Centerline is valid? [False, False] Translation: X:-5.57, Y:9.71, Z:2.11 [[ 0.98848407 -0.14359641 -0.04774213 -5.57495791] [ 0.14579328 0.98823398 0.04623774 9.71307106] [ 0.04054082 -0.05266575 0.99778894 2.10544376] [ 0. 0. 0. 1. ]] SLAMing on 180.86925976399996 meters Centerline goodness : 0.759233 with order 1 Centerline is valid? [False, False] Translation: X:-5.57, Y:9.71, Z:2.11 [[ 0.98712382 -0.15230797 -0.04887588 -5.57388237] [ 0.15449932 0.98698108 0.04470247 9.70966956] [ 0.04143102 -0.05167816 0.99780401 2.11095575] [ 0. 0. 0. 1. ]] SLAMing on 180.92925976399997 meters Centerline goodness : 0.764805 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:9.71, Z:2.11 [[ 0.98716573 -0.15213736 -0.04855964 -5.57637599] [ 0.15432305 0.98699687 0.04496186 9.70951534] [ 0.04108784 -0.05187868 0.99780779 2.11324721] [ 0. 0. 0. 1. ]] SLAMing on 180.98925976399997 meters Centerline goodness : 0.763787 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:9.71, Z:2.11 [[ 0.98749349 -0.15024094 -0.04779409 -5.57879869] [ 0.1523687 0.98732121 0.04450402 9.70841973] [ 0.0405018 -0.05122976 0.99786528 2.11392443] [ 0. 0. 0. 1. ]] SLAMing on 181.04925976399997 meters Centerline goodness : 0.765016 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:9.71, Z:2.11 [[ 0.98745553 -0.15071881 -0.04706833 -5.58040645] [ 0.15269814 0.98739145 0.04173004 9.70714934] [ 0.04018536 -0.0483938 0.99801963 2.11473294] [ 0. 0. 0. 1. ]] SLAMing on 181.10925976399997 meters Centerline goodness : 0.766612 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:9.71, Z:2.12 [[ 0.9874008 -0.1513127 -0.0463048 -5.58181159] [ 0.15316218 0.98741573 0.03938944 9.70504563] [ 0.03976196 -0.04598531 0.99815046 2.11520979] [ 0. 0. 0. 1. ]] SLAMing on 181.16925976399997 meters Centerline goodness : 0.771647 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:9.70, Z:2.12 [[ 0.98744709 -0.15103845 -0.04621291 -5.58408939] [ 0.15292278 0.98741305 0.04037441 9.70197261] [ 0.03953314 -0.0469346 0.99811536 2.11849759] [ 0. 0. 0. 1. ]] SLAMing on 181.22925976399995 meters Centerline goodness : 0.772389 with order 1 Centerline is valid? [False, False] Translation: X:-5.59, Y:9.70, Z:2.12 [[ 0.98710885 -0.15334064 -0.04585584 -5.58516511] [ 0.15516744 0.98710464 0.03933834 9.69796604] [ 0.03923235 -0.04594656 0.9981732 2.12084874] [ 0. 0. 0. 1. ]] SLAMing on 181.28925976399995 meters Centerline goodness : 0.773997 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:9.69, Z:2.12 [[ 0.98683962 -0.15511112 -0.04569572 -5.58470783] [ 0.15692848 0.98682828 0.03928606 9.69106429] [ 0.03900012 -0.04594 0.9981826 2.12209329] [ 0. 0. 0. 1. ]] SLAMing on 181.34925976399995 meters Centerline goodness : 0.776122 with order 1 Centerline is valid? [False, False] Translation: X:-5.59, Y:9.68, Z:2.14 [[ 0.98651882 -0.15265039 -0.05897863 -5.58682057] [ 0.15495831 0.98723746 0.0367439 9.68145653] [ 0.05261694 -0.04538778 0.99758278 2.13774753] [ 0. 0. 0. 1. ]] SLAMing on 181.40925976399996 meters Centerline goodness : 0.776392 with order 1 Centerline is valid? [False, False] Translation: X:-5.59, Y:9.67, Z:2.14 [[ 0.98566895 -0.15812804 -0.05875578 -5.58886412] [ 0.16038954 0.98639794 0.0359763 9.67377445] [ 0.05226772 -0.04488454 0.99762391 2.1437579 ] [ 0. 0. 0. 1. ]] SLAMing on 181.46925976399996 meters Centerline goodness : 0.777322 with order 1 Centerline is valid? [False, False] Translation: X:-5.59, Y:9.67, Z:2.15 [[ 0.98485383 -0.16361873 -0.05737451 -5.59276568] [ 0.16568431 0.98561716 0.03327943 9.66786402] [ 0.05110416 -0.04228143 0.9977979 2.14880432] [ 0. 0. 0. 1. ]] SLAMing on 181.52925976399996 meters Centerline goodness : 0.778829 with order 1 Centerline is valid? [False, False] Translation: X:-5.60, Y:9.66, Z:2.15 [[ 0.98456872 -0.16574335 -0.05615679 -5.59617761] [ 0.16764885 0.98535666 0.03108246 9.663214 ] [ 0.05018275 -0.04001743 0.99793802 2.15198824] [ 0. 0. 0. 1. ]] SLAMing on 181.58925976399996 meters Centerline goodness : 0.781769 with order 1 Centerline is valid? [False, False] Translation: X:-5.60, Y:9.66, Z:2.16 [[ 0.9839738 -0.16944661 -0.05552836 -5.60011884] [ 0.17133463 0.98471934 0.03118116 9.65824477] [ 0.0493963 -0.04019537 0.99797011 2.15851403] [ 0. 0. 0. 1. ]] SLAMing on 181.64925976399996 meters Centerline goodness : 0.783478 with order 1 Centerline is valid? [False, False] Translation: X:-5.60, Y:9.66, Z:2.16 [[ 0.98407121 -0.16872492 -0.0559978 -5.59987471] [ 0.1706906 0.98479284 0.03236936 9.65533881] [ 0.04968472 -0.04141206 0.99790604 2.15965809] [ 0. 0. 0. 1. ]] SLAMing on 181.70925976399997 meters Centerline goodness : 0.787275 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:9.65, Z:2.17 [[ 0.9838914 -0.16683039 -0.06422876 -5.60612088] [ 0.1689393 0.98520268 0.02889952 9.64749266] [ 0.05845703 -0.03928476 0.99751666 2.17334771] [ 0. 0. 0. 1. ]] SLAMing on 181.76925976399997 meters Centerline goodness : 0.785367 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:9.64, Z:2.18 [[ 0.98351081 -0.16934212 -0.06348019 -5.60904768] [ 0.17133612 0.98483244 0.02736776 9.6448668 ] [ 0.05788283 -0.03779294 0.99760777 2.1768376 ] [ 0. 0. 0. 1. ]] SLAMing on 181.82925976399997 meters Centerline goodness : 0.788816 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:9.64, Z:2.18 [[ 0.98335319 -0.16996156 -0.06426175 -5.60756592] [ 0.17212583 0.98462553 0.02975331 9.64217123] [ 0.05821684 -0.04031912 0.99748943 2.17779923] [ 0. 0. 0. 1. ]] SLAMing on 181.88925976399997 meters Centerline goodness : 0.784228 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:9.64, Z:2.18 [[ 0.98283906 -0.1729157 -0.06424601 -5.61004803] [ 0.17512689 0.98407317 0.03050536 9.64016314] [ 0.05794792 -0.04123306 0.99746773 2.18282296] [ 0. 0. 0. 1. ]] SLAMing on 181.94925976399995 meters Centerline goodness : 0.784714 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:9.64, Z:2.19 [[ 0.98302773 -0.17194613 -0.06396105 -5.61301357] [ 0.1741675 0.98423092 0.03090598 9.64007051] [ 0.05763828 -0.04152137 0.99747371 2.18541214] [ 0. 0. 0. 1. ]] SLAMing on 182.00925976399995 meters Centerline goodness : 0.784269 with order 1 Centerline is valid? [False, False] Translation: X:-5.62, Y:9.64, Z:2.19 [[ 0.98336183 -0.1700531 -0.06388631 -5.61532823] [ 0.17233007 0.98452053 0.03196375 9.64046436] [ 0.05746185 -0.04244146 0.99744517 2.18729821] [ 0. 0. 0. 1. ]] SLAMing on 182.06925976399995 meters Centerline goodness : 0.782833 with order 1 Centerline is valid? [False, False] Translation: X:-5.62, Y:9.64, Z:2.19 [[ 0.9832092 -0.17096005 -0.06381485 -5.61573334] [ 0.17318062 0.9844015 0.03101868 9.64093685] [ 0.05751648 -0.04154935 0.99747958 2.18785022] [ 0. 0. 0. 1. ]] SLAMing on 182.12925976399995 meters Centerline goodness : 0.785486 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:9.64, Z:2.19 [[ 0.98341162 -0.16947223 -0.06465866 -5.61461051] [ 0.17184195 0.98457161 0.03300142 9.64114831] [ 0.05806825 -0.04356505 0.9973616 2.18769182] [ 0. 0. 0. 1. ]] SLAMing on 182.18925976399996 meters Centerline goodness : 0.785248 with order 1 Centerline is valid? [False, False] Translation: X:-5.62, Y:9.64, Z:2.19 [[ 0.98381935 -0.16705203 -0.06475414 -5.61704514] [ 0.16947105 0.98495457 0.03382386 9.64278906] [ 0.05812954 -0.04425052 0.99732785 2.18973392] [ 0. 0. 0. 1. ]] SLAMing on 182.24925976399996 meters Centerline goodness : 0.784237 with order 1 Centerline is valid? [False, False] Translation: X:-5.62, Y:9.64, Z:2.19 [[ 0.98392779 -0.16649251 -0.06454728 -5.61908699] [ 0.16888266 0.98506682 0.03349629 9.64385201] [ 0.0580065 -0.04385885 0.99735232 2.19110865] [ 0. 0. 0. 1. ]] SLAMing on 182.30925976399996 meters Centerline goodness : 0.782883 with order 1 Centerline is valid? [False, False] Translation: X:-5.62, Y:9.65, Z:2.19 [[ 0.98458746 -0.16265392 -0.06427475 -5.62086964] [ 0.16502611 0.98572115 0.03346923 9.64726583] [ 0.05791308 -0.0435604 0.99737083 2.19013839] [ 0. 0. 0. 1. ]] SLAMing on 182.36925976399996 meters Centerline goodness : 0.784686 with order 1 Centerline is valid? [False, False] Translation: X:-5.61, Y:9.65, Z:2.18 [[ 0.98609104 -0.15732538 -0.05360207 -5.61015702] [ 0.15952629 0.9863998 0.0395828 9.64551106] [ 0.04664569 -0.04758319 0.99777754 2.17998281] [ 0. 0. 0. 1. ]] SLAMing on 182.42925976399997 meters Centerline goodness : 0.781206 with order 1 Centerline is valid? [False, False] Translation: X:-5.60, Y:9.64, Z:2.17 [[ 0.98716695 -0.15373268 -0.04321668 -5.59723937] [ 0.1556111 0.98683386 0.04409217 9.64295662] [ 0.03586927 -0.05025133 0.99809228 2.16868435] [ 0. 0. 0. 1. ]] SLAMing on 182.48925976399997 meters Centerline goodness : 0.780082 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:9.64, Z:2.16 [[ 0.98748584 -0.15226686 -0.04106724 -5.57594171] [ 0.15443721 0.98640272 0.05620338 9.63930323] [ 0.03195093 -0.06184235 0.99757439 2.16248591] [ 0. 0. 0. 1. ]] SLAMing on 182.54925976399997 meters Centerline goodness : 0.778391 with order 1 Centerline is valid? [False, False] Translation: X:-5.54, Y:9.64, Z:2.16 [[ 0.98823727 -0.14776566 -0.03940071 -5.54486088] [ 0.15008738 0.98656664 0.06449834 9.63940655] [ 0.02934079 -0.06965322 0.99713968 2.16036858] [ 0. 0. 0. 1. ]] SLAMing on 182.60925976399997 meters Centerline goodness : 0.775668 with order 1 Centerline is valid? [False, False] Translation: X:-5.53, Y:9.64, Z:2.15 [[ 0.98938919 -0.1422248 -0.02968397 -5.52684449] [ 0.14393026 0.9873399 0.06666338 9.63913002] [ 0.01982698 -0.07022845 0.99733387 2.15304341] [ 0. 0. 0. 1. ]] SLAMing on 182.66925976399995 meters Centerline goodness : 0.772274 with order 1 Centerline is valid? [False, False] Translation: X:-5.52, Y:9.64, Z:2.15 [[ 0.98947685 -0.14144608 -0.03047254 -5.52423255] [ 0.1431902 0.98750689 0.06577769 9.64325539] [ 0.02078784 -0.06944888 0.9973689 2.15338102] [ 0. 0. 0. 1. ]] SLAMing on 182.72925976399995 meters Centerline goodness : 0.773535 with order 1 Centerline is valid? [False, False] Translation: X:-5.52, Y:9.65, Z:2.16 [[ 0.98953595 -0.14086715 -0.03122574 -5.52269142] [ 0.14262066 0.98772227 0.06375009 9.65036299] [ 0.02186206 -0.06753644 0.99747726 2.15590873] [ 0. 0. 0. 1. ]] SLAMing on 182.78925976399995 meters Centerline goodness : 0.772159 with order 1 Centerline is valid? [False, False] Translation: X:-5.50, Y:9.65, Z:2.15 [[ 0.99071793 -0.13423122 -0.02144679 -5.50439642] [ 0.13536339 0.98864255 0.06528909 9.65102279] [ 0.01243937 -0.06758619 0.99763589 2.1495698 ] [ 0. 0. 0. 1. ]] SLAMing on 182.84925976399995 meters Centerline goodness : 0.772221 with order 1 Centerline is valid? [False, False] Translation: X:-5.50, Y:9.66, Z:2.15 [[ 0.99042533 -0.13615049 -0.02281892 -5.49836672] [ 0.13727473 0.98880678 0.05845344 9.65831298] [ 0.01460504 -0.06102623 0.9980293 2.15461544] [ 0. 0. 0. 1. ]] SLAMing on 182.90925976399996 meters Centerline goodness : 0.771998 with order 1 Centerline is valid? [False, False] Translation: X:-5.47, Y:9.66, Z:2.15 [[ 0.990663 -0.13487509 -0.01988779 -5.46781776] [ 0.13589092 0.98862865 0.06439754 9.65583221] [ 0.01097601 -0.06649883 0.99772613 2.15240473] [ 0. 0. 0. 1. ]] SLAMing on 182.96925976399996 meters Centerline goodness : 0.772602 with order 1 Centerline is valid? [False, False] Translation: X:-5.43, Y:9.65, Z:2.15 [[ 9.91221811e-01 -1.31084790e-01 -1.72075255e-02 -5.43473976e+00] [ 1.31993297e-01 9.88622367e-01 7.21358717e-02 9.65350401e+00] [ 7.55582896e-03 -7.37739275e-02 9.97246367e-01 2.14883082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02925976399996 meters Centerline goodness : 0.773213 with order 1 Centerline is valid? [False, False] Translation: X:-5.43, Y:9.66, Z:2.15 [[ 9.91238099e-01 -1.30913885e-01 -1.75665891e-02 -5.43388594e+00] [ 1.31843139e-01 9.88698689e-01 7.13602722e-02 9.65694926e+00] [ 8.02601318e-03 -7.30510549e-02 9.97295907e-01 2.14921075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.08925976399996 meters Centerline goodness : 0.772889 with order 1 Centerline is valid? [False, False] Translation: X:-5.40, Y:9.66, Z:2.15 [[ 9.91286203e-01 -1.30920091e-01 -1.45462361e-02 -5.40184560e+00] [ 1.31638646e-01 9.88586726e-01 7.32635759e-02 9.65758536e+00] [ 4.78854190e-03 -7.45400189e-02 9.97206526e-01 2.14862570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14925976399996 meters Centerline goodness : 0.772029 with order 1 Centerline is valid? [False, False] Translation: X:-5.37, Y:9.66, Z:2.15 [[ 9.91133714e-01 -1.32390829e-01 -1.12529796e-02 -5.37491528e+00] [ 1.32863274e-01 9.88265998e-01 7.53502932e-02 9.65821903e+00] [ 1.14524926e-03 -7.61773237e-02 9.97093628e-01 2.14947564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20925976399997 meters Centerline goodness : 0.772380 with order 1 Centerline is valid? [False, False] Translation: X:-5.35, Y:9.66, Z:2.15 [[ 9.91164489e-01 -1.32391611e-01 -8.08807474e-03 -5.34927446e+00] [ 1.32613581e-01 9.87954092e-01 7.97518032e-02 9.65905866e+00] [-2.56782314e-03 -8.01197439e-02 9.96781939e-01 2.15014160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26925976399997 meters Centerline goodness : 0.772228 with order 1 Centerline is valid? [False, False] Translation: X:-5.35, Y:9.67, Z:2.15 [[ 9.90690118e-01 -1.35866580e-01 -8.56524764e-03 -5.34727563e+00] [ 1.36127700e-01 9.87957927e-01 7.35417152e-02 9.66544224e+00] [-1.52975702e-03 -7.40230179e-02 9.97255360e-01 2.15356874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32925976399997 meters Centerline goodness : 0.768686 with order 1 Centerline is valid? [False, False] Translation: X:-5.35, Y:9.66, Z:2.15 [[ 9.91313919e-01 -1.31217325e-01 -8.87283281e-03 -5.34672305e+00] [ 1.31508666e-01 9.88234713e-01 7.80872793e-02 9.66440854e+00] [-1.47796255e-03 -7.85758613e-02 9.96907042e-01 2.15209241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38925976399997 meters Centerline goodness : 0.766575 with order 1 Centerline is valid? [False, False] Translation: X:-5.35, Y:9.66, Z:2.15 [[ 9.91940786e-01 -1.26355358e-01 -9.37021025e-03 -5.34514711e+00] [ 1.26696737e-01 9.88486784e-01 8.27152679e-02 9.66419531e+00] [-1.18918829e-03 -8.32358229e-02 9.96529168e-01 2.14975664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44925976399995 meters Centerline goodness : 0.764336 with order 1 Centerline is valid? [False, False] Translation: X:-5.34, Y:9.67, Z:2.15 [[ 9.91974827e-01 -1.26067831e-01 -9.63559009e-03 -5.34416777e+00] [ 1.26433012e-01 9.88589584e-01 8.18860619e-02 9.66712394e+00] [-7.97554215e-04 -8.24471687e-02 9.96595118e-01 2.15023481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50925976399995 meters Centerline goodness : 0.763872 with order 1 Centerline is valid? [False, False] Translation: X:-5.34, Y:9.67, Z:2.15 [[ 9.91439745e-01 -1.30226759e-01 -9.39272380e-03 -5.34460442e+00] [ 1.30563891e-01 9.88559191e-01 7.55234835e-02 9.67314783e+00] [-5.49915075e-04 -7.61033338e-02 9.97099784e-01 2.15399390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56925976399995 meters Centerline goodness : 0.763644 with order 1 Centerline is valid? [False, False] Translation: X:-5.34, Y:9.68, Z:2.16 [[ 9.90898534e-01 -1.34289050e-01 -9.30307356e-03 -5.34441334e+00] [ 1.34610844e-01 9.88462756e-01 6.94355799e-02 9.67919436e+00] [-1.28696293e-04 -7.00559088e-02 9.97543058e-01 2.15707167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62925976399995 meters Centerline goodness : 0.763511 with order 1 Centerline is valid? [False, False] Translation: X:-5.32, Y:9.68, Z:2.15 [[ 9.90888754e-01 -1.34565376e-01 -5.62466371e-03 -5.32025179e+00] [ 1.34605197e-01 9.88035080e-01 7.52869266e-02 9.67820669e+00] [-4.57364852e-03 -7.53580779e-02 9.97146048e-01 2.15445627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68925976399996 meters Centerline goodness : 0.762829 with order 1 Centerline is valid? [False, False] Translation: X:-5.32, Y:9.68, Z:2.15 [[ 9.90883817e-01 -1.34604472e-01 -5.55856794e-03 -5.32046085e+00] [ 1.34641627e-01 9.88070018e-01 7.47614263e-02 9.67945031e+00] [-4.57096795e-03 -7.48283020e-02 9.97185956e-01 2.15490974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74925976399996 meters Centerline goodness : 0.763516 with order 1 Centerline is valid? [False, False] Translation: X:-5.32, Y:9.68, Z:2.16 [[ 9.90400443e-01 -1.38115196e-01 -5.58162814e-03 -5.31863268e+00] [ 1.38168472e-01 9.87982692e-01 6.92796817e-02 9.68444992e+00] [-4.05402481e-03 -6.93858325e-02 9.97581661e-01 2.15659313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.80925976399996 meters Centerline goodness : 0.763335 with order 1 Centerline is valid? [False, False] Translation: X:-5.32, Y:9.69, Z:2.16 [[ 9.90388631e-01 -1.38196093e-01 -5.67442054e-03 -5.31911974e+00] [ 1.38261228e-01 9.88070250e-01 6.78307744e-02 9.68870911e+00] [-3.76722187e-03 -6.79633802e-02 9.97680704e-01 2.15868606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86925976399996 meters Centerline goodness : 0.763090 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.70, Z:2.17 [[ 9.90286144e-01 -1.38931758e-01 -5.59630731e-03 -5.31294606e+00] [ 1.39016105e-01 9.88469895e-01 6.00149174e-02 9.69650267e+00] [-2.80619669e-03 -6.02099180e-02 9.98181793e-01 2.16601352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92925976399997 meters Centerline goodness : 0.764679 with order 1 Centerline is valid? [False, False] Translation: X:-5.32, Y:9.69, Z:2.18 [[ 9.91117747e-01 -1.31967697e-01 -1.64358645e-02 -5.31769316e+00] [ 1.32692334e-01 9.89564444e-01 5.61689991e-02 9.69314094e+00] [ 8.85185368e-03 -5.78510051e-02 9.98285984e-01 2.17882530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98925976399997 meters Centerline goodness : 0.763606 with order 1 Centerline is valid? [False, False] Translation: X:-5.32, Y:9.69, Z:2.18 [[ 9.91087787e-01 -1.32211514e-01 -1.62822934e-02 -5.31820566e+00] [ 1.32924008e-01 9.89552010e-01 5.58392952e-02 9.69381836e+00] [ 8.72957842e-03 -5.75059513e-02 9.98306997e-01 2.17918805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04925976399997 meters Centerline goodness : 0.764737 with order 1 Centerline is valid? [False, False] Translation: X:-5.32, Y:9.70, Z:2.18 [[ 9.91045021e-01 -1.32539419e-01 -1.62193951e-02 -5.31911828e+00] [ 1.33237308e-01 9.89576788e-01 5.46406388e-02 9.69649964e+00] [ 8.80829837e-03 -5.63123615e-02 9.98374345e-01 2.18105026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10925976399997 meters Centerline goodness : 0.762341 with order 1 Centerline is valid? [False, False] Translation: X:-5.32, Y:9.70, Z:2.18 [[ 9.90999545e-01 -1.32901714e-01 -1.60323166e-02 -5.32035448e+00] [ 1.33580618e-01 9.89580443e-01 5.37286181e-02 9.69796614e+00] [ 8.72464151e-03 -5.53866429e-02 9.98426863e-01 2.18267758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16925976399995 meters Centerline goodness : 0.763885 with order 1 Centerline is valid? [False, False] Translation: X:-5.32, Y:9.70, Z:2.18 [[ 9.90515457e-01 -1.36451953e-01 -1.61243096e-02 -5.31856864e+00] [ 1.37084693e-01 9.89366944e-01 4.85884566e-02 9.70228335e+00] [ 9.32286913e-03 -5.03380133e-02 9.98688725e-01 2.18398059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22925976399995 meters Centerline goodness : 0.760098 with order 1 Centerline is valid? [False, False] Translation: X:-5.30, Y:9.70, Z:2.18 [[ 9.90228529e-01 -1.38880963e-01 -1.26308590e-02 -5.29849603e+00] [ 1.39371645e-01 9.88690184e-01 5.53828891e-02 9.70050780e+00] [ 4.79637729e-03 -5.66021004e-02 9.98385295e-01 2.17943844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28925976399995 meters Centerline goodness : 0.757582 with order 1 Centerline is valid? [False, False] Translation: X:-5.30, Y:9.70, Z:2.20 [[ 0.99082715 -0.13280737 -0.02497521 -5.30260024] [ 0.13394336 0.98966226 0.05126187 9.69636761] [ 0.01790906 -0.05413692 0.99837291 2.19726766] [ 0. 0. 0. 1. ]] SLAMing on 184.34925976399995 meters Centerline goodness : 0.757228 with order 1 Centerline is valid? [False, False] Translation: X:-5.30, Y:9.70, Z:2.20 [[ 0.99079078 -0.13303764 -0.02519155 -5.30317778] [ 0.13415355 0.98972176 0.04953443 9.70127351] [ 0.01834268 -0.05245779 0.99845467 2.20009653] [ 0. 0. 0. 1. ]] SLAMing on 184.40925976399996 meters Centerline goodness : 0.757487 with order 1 Centerline is valid? [False, False] Translation: X:-5.30, Y:9.70, Z:2.20 [[ 0.99077932 -0.13317877 -0.02489496 -5.30388425] [ 0.1342745 0.98971766 0.04928796 9.70085971] [ 0.01807487 -0.05217625 0.9984743 2.20043637] [ 0. 0. 0. 1. ]] SLAMing on 184.46925976399996 meters Centerline goodness : 0.757319 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.70, Z:2.20 [[ 0.99071109 -0.1337784 -0.02439023 -5.30574741] [ 0.13483719 0.98966921 0.04872159 9.70068613] [ 0.01762036 -0.05155773 0.99851456 2.20153505] [ 0. 0. 0. 1. ]] SLAMing on 184.52925976399996 meters Centerline goodness : 0.755341 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.70, Z:2.20 [[ 0.99066267 -0.13415587 -0.02428317 -5.3067389 ] [ 0.13518754 0.98967995 0.04751759 9.70410004] [ 0.0176578 -0.05035669 0.99857519 2.20307714] [ 0. 0. 0. 1. ]] SLAMing on 184.58925976399996 meters Centerline goodness : 0.755758 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.71, Z:2.20 [[ 0.9906175 -0.13448475 -0.02430664 -5.3073394 ] [ 0.13550028 0.9896827 0.04655989 9.70669906] [ 0.01779426 -0.0494166 0.99861973 2.20439706] [ 0. 0. 0. 1. ]] SLAMing on 184.64925976399996 meters Centerline goodness : 0.757945 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.71, Z:2.20 [[ 0.99060108 -0.13460369 -0.02431756 -5.30742249] [ 0.13560274 0.98971267 0.04561495 9.70989188] [ 0.01792745 -0.04848375 0.99866307 2.20490762] [ 0. 0. 0. 1. ]] SLAMing on 184.70925976399997 meters Centerline goodness : 0.757848 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.71, Z:2.21 [[ 0.99064325 -0.13426636 -0.02446407 -5.30666511] [ 0.13525515 0.98980455 0.04464297 9.71450898] [ 0.0182206 -0.04753415 0.99870342 2.20514066] [ 0. 0. 0. 1. ]] SLAMing on 184.76925976399997 meters Centerline goodness : 0.759601 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.72, Z:2.21 [[ 0.99115235 -0.13044975 -0.02449252 -5.30803886] [ 0.13150947 0.99013826 0.04828552 9.71555859] [ 0.01795215 -0.0510793 0.99853324 2.20504804] [ 0. 0. 0. 1. ]] SLAMing on 184.82925976399997 meters Centerline goodness : 0.760179 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.72, Z:2.21 [[ 0.99069364 -0.13389033 -0.02448463 -5.30674547] [ 0.13484063 0.98995613 0.04248379 9.7222826 ] [ 0.01855054 -0.04538995 0.99879709 2.20748673] [ 0. 0. 0. 1. ]] SLAMing on 184.88925976399997 meters Centerline goodness : 0.761419 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.72, Z:2.21 [[ 0.9911848 -0.13023148 -0.02434052 -5.30890614] [ 0.13124797 0.99026783 0.04629898 9.72241874] [ 0.01807405 -0.04908549 0.99863103 2.20770898] [ 0. 0. 0. 1. ]] SLAMing on 184.94925976399995 meters Centerline goodness : 0.759490 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.73, Z:2.21 [[ 0.99117557 -0.13021583 -0.02479587 -5.30825502] [ 0.1312317 0.99032695 0.04506409 9.72707947] [ 0.01868796 -0.04792042 0.99867632 2.20912249] [ 0. 0. 0. 1. ]] SLAMing on 185.00925976399995 meters Centerline goodness : 0.758004 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.73, Z:2.21 [[ 0.99114988 -0.13041758 -0.02476234 -5.30850089] [ 0.13142672 0.99031308 0.04479968 9.72742073] [ 0.01867981 -0.04765763 0.99868905 2.20930798] [ 0. 0. 0. 1. ]] SLAMing on 185.06925976399995 meters Centerline goodness : 0.757601 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.73, Z:2.21 [[ 0.9906269 -0.13430972 -0.02488454 -5.30757715] [ 0.13521048 0.99005018 0.03897123 9.73262371] [ 0.01940273 -0.0419706 0.99893043 2.21240451] [ 0. 0. 0. 1. ]] SLAMing on 185.12925976399995 meters Centerline goodness : 0.758750 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.73, Z:2.21 [[ 0.99053345 -0.13505471 -0.0245705 -5.30972378] [ 0.1359253 0.98998597 0.03810624 9.73412231] [ 0.01917802 -0.04108526 0.99897157 2.21449564] [ 0. 0. 0. 1. ]] SLAMing on 185.18925976399996 meters Centerline goodness : 0.757737 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.73, Z:2.23 [[ 0.99080169 -0.12877563 -0.04157931 -5.30654566] [ 0.13034563 0.99075733 0.03754914 9.73050984] [ 0.0363596 -0.04262343 0.99842938 2.22726531] [ 0. 0. 0. 1. ]] SLAMing on 185.24925976399996 meters Centerline goodness : 0.758545 with order 1 Centerline is valid? [False, False] Translation: X:-5.30, Y:9.73, Z:2.23 [[ 0.99084816 -0.12825338 -0.04208323 -5.30485113] [ 0.12982981 0.99084045 0.03714047 9.7330884 ] [ 0.03693438 -0.04226423 0.99842355 2.22738335] [ 0. 0. 0. 1. ]] SLAMing on 185.30925976399996 meters Centerline goodness : 0.758759 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.73, Z:2.23 [[ 0.99082752 -0.12845361 -0.04195836 -5.30571841] [ 0.12999231 0.99085171 0.03626141 9.73455761] [ 0.0369166 -0.04138307 0.99846112 2.22898789] [ 0. 0. 0. 1. ]] SLAMing on 185.36925976399996 meters Centerline goodness : 0.757796 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.73, Z:2.23 [[ 0.99079655 -0.12882508 -0.04154872 -5.30721212] [ 0.13033152 0.99082235 0.03584353 9.73498173] [ 0.03654986 -0.04092875 0.99849334 2.22970022] [ 0. 0. 0. 1. ]] SLAMing on 185.42925976399997 meters Centerline goodness : 0.757703 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.73, Z:2.23 [[ 0.99079675 -0.12879433 -0.04163928 -5.30684428] [ 0.13031466 0.99081449 0.03612117 9.73468912] [ 0.0366046 -0.04121495 0.99847956 2.22939368] [ 0. 0. 0. 1. ]] SLAMing on 185.48925976399997 meters Centerline goodness : 0.756713 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.73, Z:2.23 [[ 0.99077253 -0.12915137 -0.04110611 -5.3082495 ] [ 0.13066972 0.99074735 0.03667578 9.73140589] [ 0.03598904 -0.04170868 0.99848143 2.22896543] [ 0. 0. 0. 1. ]] SLAMing on 185.54925976399997 meters Centerline goodness : 0.756663 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.73, Z:2.23 [[ 0.99021237 -0.13340146 -0.04103074 -5.30823385] [ 0.13472538 0.99038574 0.0313871 9.73442067] [ 0.03644917 -0.03660778 0.99866477 2.23170378] [ 0. 0. 0. 1. ]] SLAMing on 185.60925976399997 meters Centerline goodness : 0.756658 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.74, Z:2.23 [[ 0.9901755 -0.13364767 -0.04111917 -5.309267 ] [ 0.13493794 0.99038824 0.03037911 9.73676553] [ 0.03666385 -0.03562919 0.99869231 2.23404766] [ 0. 0. 0. 1. ]] SLAMing on 185.66925976399995 meters Centerline goodness : 0.756943 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.74, Z:2.23 [[ 0.99025103 -0.13315018 -0.0409137 -5.30876002] [ 0.13445008 0.99044014 0.03084655 9.73506108] [ 0.03641535 -0.03604667 0.99868642 2.23313014] [ 0. 0. 0. 1. ]] SLAMing on 185.72925976399995 meters Centerline goodness : 0.758962 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.73, Z:2.23 [[ 0.99030435 -0.13277406 -0.04084528 -5.30785429] [ 0.13410334 0.99045941 0.0317247 9.73320102] [ 0.03624337 -0.0368946 0.99866171 2.23130578] [ 0. 0. 0. 1. ]] SLAMing on 185.78925976399995 meters Centerline goodness : 0.759684 with order 1 Centerline is valid? [False, False] Translation: X:-5.29, Y:9.73, Z:2.22 [[ 0.99022244 -0.13459726 -0.03664841 -5.28881815] [ 0.13606925 0.98984382 0.04116282 9.72901179] [ 0.0307358 -0.04574706 0.9984801 2.22423684] [ 0. 0. 0. 1. ]] SLAMing on 185.84925976399995 meters Centerline goodness : 0.760616 with order 1 Centerline is valid? [False, False] Translation: X:-5.29, Y:9.73, Z:2.23 [[ 0.99012854 -0.13544055 -0.03607397 -5.29192478] [ 0.13686228 0.98976669 0.04038095 9.72873239] [ 0.0302356 -0.0449195 0.99853295 2.22664772] [ 0. 0. 0. 1. ]] SLAMing on 185.90925976399996 meters Centerline goodness : 0.759982 with order 1 Centerline is valid? [False, False] Translation: X:-5.29, Y:9.72, Z:2.22 [[ 0.99076528 -0.13359726 -0.02315 -5.28527519] [ 0.13447942 0.9900247 0.04202829 9.7248032 ] [ 0.01730421 -0.04475337 0.99884819 2.21842095] [ 0. 0. 0. 1. ]] SLAMing on 185.96925976399996 meters Centerline goodness : 0.758706 with order 1 Centerline is valid? [False, False] Translation: X:-5.27, Y:9.72, Z:2.21 [[ 0.9906596 -0.13508895 -0.01856159 -5.26628336] [ 0.13586609 0.98945081 0.05027429 9.72140128] [ 0.01157428 -0.0523266 0.99856295 2.21319218] [ 0. 0. 0. 1. ]] SLAMing on 186.02925976399996 meters Centerline goodness : 0.760749 with order 1 Centerline is valid? [False, False] Translation: X:-5.26, Y:9.72, Z:2.23 [[ 0.99101508 -0.12924376 -0.0344261 -5.26432858] [ 0.13084391 0.99018184 0.04919141 9.71600992] [ 0.02773041 -0.05325387 0.9981959 2.22570039] [ 0. 0. 0. 1. ]] SLAMing on 186.08925976399996 meters Centerline goodness : 0.759083 with order 1 Centerline is valid? [False, False] Translation: X:-5.26, Y:9.71, Z:2.23 [[ 0.99046077 -0.13351161 -0.03408984 -5.26372054] [ 0.13500365 0.98977508 0.04603592 9.71303021] [ 0.02759494 -0.05019903 0.99835794 2.22513366] [ 0. 0. 0. 1. ]] SLAMing on 186.14925976399996 meters Centerline goodness : 0.759133 with order 1 Centerline is valid? [False, False] Translation: X:-5.26, Y:9.72, Z:2.23 [[ 0.99051392 -0.13292514 -0.03482917 -5.26244082] [ 0.13442242 0.98990635 0.04490021 9.7175708 ] [ 0.02850924 -0.04915611 0.99838414 2.22708117] [ 0. 0. 0. 1. ]] SLAMing on 186.20925976399997 meters Centerline goodness : 0.760759 with order 1 Centerline is valid? [False, False] Translation: X:-5.26, Y:9.72, Z:2.23 [[ 0.99050705 -0.13305088 -0.03454328 -5.26382055] [ 0.13450021 0.98994917 0.04370743 9.71952068] [ 0.02838078 -0.0479386 0.99844701 2.22935945] [ 0. 0. 0. 1. ]] SLAMing on 186.26925976399997 meters Centerline goodness : 0.761126 with order 1 Centerline is valid? [False, False] Translation: X:-5.26, Y:9.72, Z:2.23 [[ 0.99004986 -0.13638117 -0.03466187 -5.26156051] [ 0.13769869 0.98970675 0.03898239 9.72240001] [ 0.02898863 -0.0433674 0.99863854 2.23013904] [ 0. 0. 0. 1. ]] SLAMing on 186.32925976399997 meters Centerline goodness : 0.764043 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.72, Z:2.22 [[ 0.98977763 -0.13929975 -0.03059128 -5.24272401] [ 0.14065962 0.98889231 0.04802999 9.71716443] [ 0.02356091 -0.05184196 0.99837733 2.2231386 ] [ 0. 0. 0. 1. ]] SLAMing on 186.38925976399997 meters Centerline goodness : 0.764651 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.71, Z:2.24 [[ 0.98963303 -0.1355392 -0.04749304 -5.23933013] [ 0.13782946 0.98925261 0.04880891 9.71084725] [ 0.0403671 -0.05484885 0.99767836 2.23598854] [ 0. 0. 0. 1. ]] SLAMing on 186.44925976399995 meters Centerline goodness : 0.765621 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.71, Z:2.24 [[ 0.98901462 -0.14017182 -0.04692483 -5.24027598] [ 0.14223592 0.98885524 0.0439802 9.71220657] [ 0.04023708 -0.05017146 0.99792976 2.2376848 ] [ 0. 0. 0. 1. ]] SLAMing on 186.50925976399995 meters Centerline goodness : 0.765489 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.71, Z:2.23 [[ 0.98997682 -0.13694554 -0.03452268 -5.23571388] [ 0.13847828 0.98925908 0.04680008 9.71134819] [ 0.02774281 -0.05111164 0.99830754 2.23020294] [ 0. 0. 0. 1. ]] SLAMing on 186.56925976399995 meters Centerline goodness : 0.768050 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.71, Z:2.23 [[ 0.9899904 -0.13693407 -0.03417708 -5.23616334] [ 0.13845338 0.98925524 0.04695456 9.71020746] [ 0.02738017 -0.05121649 0.99831217 2.22978015] [ 0. 0. 0. 1. ]] SLAMing on 186.62925976399995 meters Centerline goodness : 0.768312 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.71, Z:2.23 [[ 0.99003407 -0.13656102 -0.03440395 -5.23537893] [ 0.1380795 0.98932921 0.04649475 9.71197905] [ 0.02768747 -0.05078186 0.9983259 2.23022409] [ 0. 0. 0. 1. ]] SLAMing on 186.68925976399996 meters Centerline goodness : 0.766263 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.71, Z:2.23 [[ 0.99005244 -0.13635646 -0.03468546 -5.23483343] [ 0.13786997 0.98939073 0.04580242 9.71429061] [ 0.02807202 -0.05012888 0.99834816 2.23104182] [ 0. 0. 0. 1. ]] SLAMing on 186.74925976399996 meters Centerline goodness : 0.765598 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.72, Z:2.23 [[ 0.99002321 -0.13668319 -0.03423081 -5.23616641] [ 0.13815717 0.98937808 0.04520643 9.71524586] [ 0.02768825 -0.04948464 0.99839102 2.23166555] [ 0. 0. 0. 1. ]] SLAMing on 186.80925976399996 meters Centerline goodness : 0.765910 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.72, Z:2.23 [[ 0.9894695 -0.14061122 -0.03433074 -5.23504728] [ 0.14194414 0.98906281 0.04008256 9.71957475] [ 0.0283192 -0.04453352 0.99860642 2.23338377] [ 0. 0. 0. 1. ]] SLAMing on 186.86925976399996 meters Centerline goodness : 0.768203 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.72, Z:2.23 [[ 0.98935774 -0.14155455 -0.03366853 -5.23799025] [ 0.14284404 0.98895292 0.03959414 9.71979574] [ 0.02769186 -0.04398212 0.99864845 2.23490155] [ 0. 0. 0. 1. ]] SLAMing on 186.92925976399997 meters Centerline goodness : 0.768131 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.72, Z:2.24 [[ 0.98933192 -0.14183518 -0.03324365 -5.23923127] [ 0.14310553 0.98891561 0.03958185 9.71936853] [ 0.02726107 -0.04391694 0.99866317 2.23508008] [ 0. 0. 0. 1. ]] SLAMing on 186.98925976399997 meters Centerline goodness : 0.768520 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.72, Z:2.23 [[ 0.9893846 -0.14134846 -0.03374499 -5.23756984] [ 0.14263355 0.98899457 0.03931179 9.72203057] [ 0.02781695 -0.04370765 0.99865703 2.23471705] [ 0. 0. 0. 1. ]] SLAMing on 187.04925976399997 meters Centerline goodness : 0.768087 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.72, Z:2.24 [[ 0.98943459 -0.14093048 -0.03402641 -5.23672508] [ 0.1422111 0.98907911 0.03871067 9.72451109] [ 0.0281993 -0.0431406 0.99867096 2.23541242] [ 0. 0. 0. 1. ]] SLAMing on 187.10925976399997 meters Centerline goodness : 0.770232 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.72, Z:2.23 [[ 0.98942618 -0.14201469 -0.02945605 -5.2216899 ] [ 0.14333013 0.9884717 0.04878705 9.72183084] [ 0.02218799 -0.05249312 0.99837476 2.23067207] [ 0. 0. 0. 1. ]] SLAMing on 187.16925976399995 meters Centerline goodness : 0.770412 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.72, Z:2.24 [[ 0.98961609 -0.13625831 -0.04575668 -5.2197003 ] [ 0.1384728 0.98913742 0.04931993 9.7172992 ] [ 0.03853939 -0.05514385 0.99773437 2.24430788] [ 0. 0. 0. 1. ]] SLAMing on 187.22925976399995 meters Centerline goodness : 0.770966 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.72, Z:2.25 [[ 0.98904157 -0.14041976 -0.04559672 -5.21935346] [ 0.1424375 0.98880288 0.04450187 9.72010033] [ 0.03883723 -0.05050888 0.9979682 2.24567642] [ 0. 0. 0. 1. ]] SLAMing on 187.28925976399995 meters Centerline goodness : 0.771756 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.72, Z:2.25 [[ 0.98907475 -0.14009467 -0.04587616 -5.21846049] [ 0.1421179 0.98885885 0.04427948 9.7208209 ] [ 0.03916173 -0.05031554 0.99796528 2.24621945] [ 0. 0. 0. 1. ]] SLAMing on 187.34925976399995 meters Centerline goodness : 0.773036 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.72, Z:2.25 [[ 0.98928752 -0.13866396 -0.04563458 -5.22043537] [ 0.14066441 0.98907915 0.04399966 9.72184932] [ 0.03903504 -0.04994747 0.99798874 2.2473532 ] [ 0. 0. 0. 1. ]] SLAMing on 187.40925976399996 meters Centerline goodness : 0.773153 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.72, Z:2.25 [[ 0.9893042 -0.13849943 -0.04577232 -5.22031812] [ 0.14047466 0.98914214 0.04318217 9.72211161] [ 0.03929463 -0.04915015 0.99801813 2.24709114] [ 0. 0. 0. 1. ]] SLAMing on 187.46925976399996 meters Centerline goodness : 0.774657 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.72, Z:2.25 [[ 0.98881551 -0.14203363 -0.04550089 -5.22214425] [ 0.14393485 0.98871052 0.04164457 9.72217513] [ 0.03907228 -0.04772796 0.99809589 2.25006583] [ 0. 0. 0. 1. ]] SLAMing on 187.52925976399996 meters Centerline goodness : 0.776602 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.72, Z:2.25 [[ 0.98855341 -0.1436716 -0.0460503 -5.22175839] [ 0.1456122 0.98845074 0.04197893 9.7216045 ] [ 0.03948728 -0.0482039 0.99805668 2.25158251] [ 0. 0. 0. 1. ]] SLAMing on 187.58925976399996 meters Centerline goodness : 0.777478 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.72, Z:2.25 [[ 0.98857784 -0.14360055 -0.04574636 -5.22422473] [ 0.14551295 0.98847992 0.04163435 9.72173802] [ 0.03924064 -0.04781549 0.99808509 2.25387399] [ 0. 0. 0. 1. ]] SLAMing on 187.64925976399996 meters Centerline goodness : 0.776349 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.72, Z:2.26 [[ 0.98835199 -0.14511755 -0.04583926 -5.22530379] [ 0.14703647 0.98825207 0.04169074 9.72067292] [ 0.03925068 -0.04794517 0.99807848 2.25613099] [ 0. 0. 0. 1. ]] SLAMing on 187.70925976399997 meters Centerline goodness : 0.776049 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.72, Z:2.26 [[ 0.98825833 -0.14560346 -0.04631523 -5.22511045] [ 0.14753958 0.98818306 0.04154897 9.71940653] [ 0.03971825 -0.04789445 0.99806241 2.25726711] [ 0. 0. 0. 1. ]] SLAMing on 187.76925976399997 meters Centerline goodness : 0.773778 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.72, Z:2.26 [[ 0.98841017 -0.14483828 -0.04546648 -5.22864943] [ 0.14672344 0.98831572 0.04128279 9.71961473] [ 0.03895591 -0.04747533 0.99811248 2.25924351] [ 0. 0. 0. 1. ]] SLAMing on 187.82925976399997 meters Centerline goodness : 0.775953 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.72, Z:2.26 [[ 0.98852429 -0.14420499 -0.04499612 -5.23069277] [ 0.14604834 0.98843669 0.04077746 9.72051994] [ 0.03859551 -0.04688112 0.99815457 2.26020351] [ 0. 0. 0. 1. ]] SLAMing on 187.88925976399997 meters Centerline goodness : 0.779180 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.72, Z:2.26 [[ 0.98846873 -0.14437884 -0.04565442 -5.23030185] [ 0.14625251 0.98840714 0.04076179 9.72066168] [ 0.03924001 -0.04696883 0.99812532 2.26116346] [ 0. 0. 0. 1. ]] SLAMing on 187.94925976399995 meters Centerline goodness : 0.783023 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.72, Z:2.26 [[ 0.98840564 -0.14490146 -0.04536352 -5.23208915] [ 0.14672161 0.98837911 0.0397431 9.72248198] [ 0.03907752 -0.04593811 0.99817966 2.26307081] [ 0. 0. 0. 1. ]] SLAMing on 188.00925976399995 meters Centerline goodness : 0.782692 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.72, Z:2.26 [[ 0.98895374 -0.14106269 -0.04551717 -5.23377975] [ 0.14303266 0.98876678 0.04338105 9.72349426] [ 0.03888642 -0.0494123 0.99802118 2.26358933] [ 0. 0. 0. 1. ]] SLAMing on 188.06925976399995 meters Centerline goodness : 0.784971 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.26 [[ 0.98893961 -0.1410912 -0.04573539 -5.23352738] [ 0.14304476 0.98879522 0.04268744 9.72651837] [ 0.03920012 -0.04875751 0.99804111 2.26396976] [ 0. 0. 0. 1. ]] SLAMing on 188.12925976399995 meters Centerline goodness : 0.782967 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.26 [[ 0.98902403 -0.1405402 -0.04560614 -5.23264835] [ 0.14248494 0.98887888 0.04262153 9.72726399] [ 0.03910891 -0.0486519 0.99804984 2.26297101] [ 0. 0. 0. 1. ]] SLAMing on 188.18925976399996 meters Centerline goodness : 0.784847 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.73, Z:2.26 [[ 0.98954286 -0.13684016 -0.04560377 -5.23501292] [ 0.13891642 0.98923651 0.04597131 9.72861433] [ 0.03882219 -0.05182569 0.99790127 2.26424137] [ 0. 0. 0. 1. ]] SLAMing on 188.24925976399996 meters Centerline goodness : 0.787838 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.26 [[ 0.98958025 -0.13639509 -0.04612276 -5.23352012] [ 0.13847684 0.9893234 0.0454244 9.73239168] [ 0.03943466 -0.05133802 0.99790246 2.26424375] [ 0. 0. 0. 1. ]] SLAMing on 188.30925976399996 meters Centerline goodness : 0.786807 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.26 [[ 0.98961005 -0.13619056 -0.04608769 -5.23296616] [ 0.13827758 0.98934309 0.04560211 9.73181119] [ 0.03938596 -0.0515012 0.99789597 2.26342899] [ 0. 0. 0. 1. ]] SLAMing on 188.36925976399996 meters Centerline goodness : 0.787173 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.27 [[ 0.98957127 -0.13648343 -0.04605415 -5.2338191 ] [ 0.13853219 0.98934959 0.04467906 9.73380716] [ 0.03946571 -0.05059309 0.99793928 2.26511554] [ 0. 0. 0. 1. ]] SLAMing on 188.42925976399997 meters Centerline goodness : 0.786642 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.73, Z:2.27 [[ 0.99008352 -0.1326587 -0.04621997 -5.23565636] [ 0.13485915 0.98968832 0.0482705 9.73446406] [ 0.03933986 -0.05402501 0.99776434 2.26614307] [ 0. 0. 0. 1. ]] SLAMing on 188.48925976399997 meters Centerline goodness : 0.782359 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.26 [[ 0.99070612 -0.12773025 -0.04675861 -5.23437012] [ 0.13014409 0.99008624 0.05283707 9.7337438 ] [ 0.03954616 -0.05843137 0.99750783 2.26455901] [ 0. 0. 0. 1. ]] SLAMing on 188.54925976399997 meters Centerline goodness : 0.779160 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.26 [[ 0.9913098 -0.12288721 -0.0469426 -5.23354465] [ 0.12551848 0.99039704 0.05795534 9.7310268 ] [ 0.03936984 -0.06334386 0.99721491 2.26203549] [ 0. 0. 0. 1. ]] SLAMing on 188.60925976399997 meters Centerline goodness : 0.776354 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.26 [[ 0.99131484 -0.12271932 -0.04727435 -5.23287097] [ 0.12534465 0.99045868 0.05727408 9.73371029] [ 0.03979465 -0.06270223 0.9972386 2.26262605] [ 0. 0. 0. 1. ]] SLAMing on 188.66925976399995 meters Centerline goodness : 0.770954 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.74, Z:2.26 [[ 0.99131934 -0.12265814 -0.04733865 -5.2329643 ] [ 0.12525685 0.99051386 0.05650679 9.73572709] [ 0.03995857 -0.06194576 0.99727932 2.26385442] [ 0. 0. 0. 1. ]] SLAMing on 188.72925976399995 meters Centerline goodness : 0.767805 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.74, Z:2.26 [[ 0.99128189 -0.1230172 -0.04719087 -5.23406325] [ 0.12557802 0.99051355 0.0557949 9.73762454] [ 0.03987947 -0.06123461 0.9973264 2.26490198] [ 0. 0. 0. 1. ]] SLAMing on 188.78925976399995 meters Centerline goodness : 0.768035 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.74, Z:2.26 [[ 0.99126662 -0.12323124 -0.04695259 -5.23479195] [ 0.12577035 0.99049894 0.05562078 9.7377004 ] [ 0.03965227 -0.06104027 0.99734737 2.26497388] [ 0. 0. 0. 1. ]] SLAMing on 188.84925976399995 meters Centerline goodness : 0.764554 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.74, Z:2.27 [[ 0.99076309 -0.12726651 -0.0468159 -5.23399203] [ 0.12960731 0.99025746 0.05091283 9.7399627 ] [ 0.03988029 -0.05651024 0.99760521 2.26584807] [ 0. 0. 0. 1. ]] SLAMing on 188.90925976399996 meters Centerline goodness : 0.761778 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.74, Z:2.27 [[ 0.99065805 -0.12813935 -0.04665765 -5.23643293] [ 0.1304089 0.99023075 0.04936164 9.74352724] [ 0.03987667 -0.05498508 0.99769058 2.26889674] [ 0. 0. 0. 1. ]] SLAMing on 188.96925976399996 meters Centerline goodness : 0.762235 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.27 [[ 0.99057779 -0.12884662 -0.04641324 -5.23849246] [ 0.13104768 0.99021404 0.04798605 9.74658281] [ 0.03977621 -0.05361626 0.99776909 2.27126626] [ 0. 0. 0. 1. ]] SLAMing on 189.02925976399996 meters Centerline goodness : 0.759777 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.27 [[ 0.99058072 -0.12883218 -0.04639076 -5.238278 ] [ 0.13102452 0.99022622 0.04779748 9.74739146] [ 0.03977949 -0.05342559 0.99777918 2.27090687] [ 0. 0. 0. 1. ]] SLAMing on 189.08925976399996 meters Centerline goodness : 0.757142 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.27 [[ 0.99057482 -0.12866373 -0.04698049 -5.23686467] [ 0.13087579 0.99026006 0.04750298 9.74978012] [ 0.04041099 -0.05320386 0.99776565 2.27094248] [ 0. 0. 0. 1. ]] SLAMing on 189.14925976399996 meters Centerline goodness : 0.754984 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.27 [[ 0.99054659 -0.12898198 -0.04670235 -5.23797565] [ 0.13117207 0.99022926 0.04732768 9.74954504] [ 0.04014162 -0.05300632 0.99778704 2.27134766] [ 0. 0. 0. 1. ]] SLAMing on 189.20925976399997 meters Centerline goodness : 0.754060 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.27 [[ 0.99053996 -0.12911517 -0.04647439 -5.23841663] [ 0.13130084 0.99020293 0.04752096 9.74845262] [ 0.03988341 -0.05317353 0.9977885 2.27098068] [ 0. 0. 0. 1. ]] SLAMing on 189.26925976399997 meters Centerline goodness : 0.754267 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.27 [[ 0.99047879 -0.12969291 -0.04616832 -5.24009501] [ 0.13183722 0.99016154 0.04689429 9.74953179] [ 0.03963224 -0.0525345 0.99783236 2.27237187] [ 0. 0. 0. 1. ]] SLAMing on 189.32925976399997 meters Centerline goodness : 0.754155 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.27 [[ 0.99039597 -0.1304665 -0.04576367 -5.24237031] [ 0.13255307 0.9901091 0.04597448 9.75097895] [ 0.0393129 -0.05159905 0.9978938 2.27407511] [ 0. 0. 0. 1. ]] SLAMing on 189.38925976399997 meters Centerline goodness : 0.752065 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.27 [[ 0.99095032 -0.12612715 -0.04592825 -5.24261683] [ 0.12839526 0.99044546 0.05032341 9.75102942] [ 0.03914228 -0.05576497 0.99767638 2.27270993] [ 0. 0. 0. 1. ]] SLAMing on 189.44925976399995 meters Centerline goodness : 0.753852 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.27 [[ 0.99099016 -0.12572748 -0.04616393 -5.24144011] [ 0.12799569 0.99051419 0.04998738 9.75313672] [ 0.03944124 -0.05544579 0.99768239 2.27233788] [ 0. 0. 0. 1. ]] SLAMing on 189.50925976399995 meters Centerline goodness : 0.752165 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.76, Z:2.27 [[ 0.99100593 -0.12562078 -0.0461158 -5.24128238] [ 0.12786771 0.99055444 0.04951514 9.75532729] [ 0.03946008 -0.05496652 0.99770817 2.27229735] [ 0. 0. 0. 1. ]] SLAMing on 189.56925976399995 meters Centerline goodness : 0.749597 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.76, Z:2.28 [[ 0.99092501 -0.12625701 -0.04611717 -5.24287232] [ 0.12843348 0.99056826 0.04774265 9.7602997 ] [ 0.03965436 -0.05323237 0.99779449 2.27506868] [ 0. 0. 0. 1. ]] SLAMing on 189.62925976399995 meters Centerline goodness : 0.750490 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.76, Z:2.28 [[ 0.99090539 -0.12646537 -0.04596763 -5.24333638] [ 0.12860785 0.99057696 0.04708834 9.76248947] [ 0.03957943 -0.05257189 0.99783248 2.27535172] [ 0. 0. 0. 1. ]] SLAMing on 189.68925976399996 meters Centerline goodness : 0.749139 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.76, Z:2.27 [[ 0.99090671 -0.12642664 -0.04604568 -5.24274215] [ 0.12856442 0.99059312 0.04686631 9.76413165] [ 0.03968739 -0.05235997 0.99783934 2.27462432] [ 0. 0. 0. 1. ]] SLAMing on 189.74925976399996 meters Centerline goodness : 0.747654 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.77, Z:2.27 [[ 0.9909194 -0.12630968 -0.04609343 -5.24228215] [ 0.12844712 0.99061176 0.04679395 9.76507956] [ 0.03975016 -0.0522896 0.99784053 2.27401724] [ 0. 0. 0. 1. ]] SLAMing on 189.80925976399996 meters Centerline goodness : 0.743186 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.76, Z:2.27 [[ 0.99092888 -0.126351 -0.04577539 -5.24291204] [ 0.12848584 0.99058985 0.04715018 9.76286891] [ 0.03938717 -0.05260396 0.9978384 2.27367208] [ 0. 0. 0. 1. ]] SLAMing on 189.86925976399996 meters Centerline goodness : 0.745081 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.76, Z:2.27 [[ 0.99089357 -0.12673907 -0.04546589 -5.24445124] [ 0.12884073 0.99056401 0.04672261 9.76295476] [ 0.0391153 -0.05215499 0.99787266 2.274846 ] [ 0. 0. 0. 1. ]] SLAMing on 189.92925976399997 meters Centerline goodness : 0.745841 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:9.76, Z:2.28 [[ 0.99085761 -0.12725661 -0.04479901 -5.2469323 ] [ 0.12932397 0.99050017 0.04674098 9.76036589] [ 0.03842533 -0.05210725 0.99790196 2.27615868] [ 0. 0. 0. 1. ]] SLAMing on 189.98925976399997 meters Centerline goodness : 0.745062 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:9.76, Z:2.28 [[ 0.99033951 -0.13130901 -0.04455998 -5.24649764] [ 0.13320252 0.99017416 0.04257011 9.76067323] [ 0.0385323 -0.04809436 0.99809929 2.27697095] [ 0. 0. 0. 1. ]] SLAMing on 190.04925976399997 meters Centerline goodness : 0.743185 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:9.76, Z:2.28 [[ 0.99025825 -0.13215741 -0.04385213 -5.24916938] [ 0.1340386 0.99003625 0.04314957 9.75573468] [ 0.03771266 -0.04860709 0.99810576 2.27744105] [ 0. 0. 0. 1. ]] SLAMing on 190.10925976399997 meters Centerline goodness : 0.742546 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.27 [[ 0.98923332 -0.14110141 -0.03883075 -5.23613395] [ 0.14290415 0.9885524 0.04839988 9.7484558 ] [ 0.03155694 -0.05342785 0.99807296 2.27122284] [ 0. 0. 0. 1. ]] SLAMing on 190.16925976399995 meters Centerline goodness : 0.742704 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.74, Z:2.26 [[ 0.98859424 -0.14690797 -0.03315843 -5.22358614] [ 0.14862041 0.98724942 0.05701361 9.74095802] [ 0.02435989 -0.06129135 0.99782261 2.26362912] [ 0. 0. 0. 1. ]] SLAMing on 190.22925976399995 meters Centerline goodness : 0.742953 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.73, Z:2.27 [[ 0.98812015 -0.1448104 -0.05146373 -5.21617201] [ 0.1477785 0.98722939 0.05949486 9.73237034] [ 0.04219103 -0.0663933 0.99690112 2.27453662] [ 0. 0. 0. 1. ]] SLAMing on 190.28925976399995 meters Centerline goodness : 0.741482 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.73, Z:2.27 [[ 0.98812539 -0.14486456 -0.05121011 -5.21684893] [ 0.14782566 0.98720809 0.05973072 9.73095158] [ 0.04190217 -0.06659161 0.99690008 2.27474945] [ 0. 0. 0. 1. ]] SLAMing on 190.34925976399995 meters Centerline goodness : 0.745481 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.73, Z:2.27 [[ 0.98758073 -0.14862879 -0.05092916 -5.21546098] [ 0.15140202 0.98689776 0.05576951 9.7312562 ] [ 0.04197292 -0.06278767 0.99714391 2.27493719] [ 0. 0. 0. 1. ]] SLAMing on 190.40925976399996 meters Centerline goodness : 0.744111 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.73, Z:2.28 [[ 0.98751753 -0.14934992 -0.05003719 -5.21832338] [ 0.1520305 0.98685017 0.05489511 9.72885139] [ 0.04118063 -0.06181707 0.99723759 2.27715817] [ 0. 0. 0. 1. ]] SLAMing on 190.46925976399996 meters Centerline goodness : 0.745010 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.73, Z:2.28 [[ 0.98745804 -0.14995815 -0.04938802 -5.22077255] [ 0.15258028 0.98678965 0.05445597 9.72848801] [ 0.04056947 -0.06130862 0.99729402 2.2786414 ] [ 0. 0. 0. 1. ]] SLAMing on 190.52925976399996 meters Centerline goodness : 0.747497 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.73, Z:2.28 [[ 0.98729267 -0.15091044 -0.04979185 -5.21988521] [ 0.15352898 0.98667959 0.05377948 9.72779013] [ 0.04101272 -0.06074057 0.99731065 2.27881323] [ 0. 0. 0. 1. ]] SLAMing on 190.58925976399996 meters Centerline goodness : 0.748188 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.73, Z:2.28 [[ 0.98743467 -0.15006521 -0.04952979 -5.22174111] [ 0.15264757 0.98684383 0.05327266 9.72785697] [ 0.0408838 -0.06016388 0.9973509 2.28009427] [ 0. 0. 0. 1. ]] SLAMing on 190.64925976399996 meters Centerline goodness : 0.748312 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.73, Z:2.28 [[ 0.98741127 -0.15026855 -0.04937956 -5.22268255] [ 0.15279799 0.9868777 0.05220332 9.73098572] [ 0.04088707 -0.05909124 0.99741489 2.28137838] [ 0. 0. 0. 1. ]] SLAMing on 190.70925976399997 meters Centerline goodness : 0.748635 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.73, Z:2.28 [[ 0.98781425 -0.14767266 -0.04915071 -5.22288452] [ 0.15015858 0.98732295 0.05143724 9.73301977] [ 0.04093175 -0.05819084 0.997466 2.27945159] [ 0. 0. 0. 1. ]] SLAMing on 190.76925976399997 meters Centerline goodness : 0.752144 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.73, Z:2.28 [[ 0.98770014 -0.14854918 -0.04880136 -5.2226723 ] [ 0.15091319 0.98733381 0.04896081 9.73389069] [ 0.04091014 -0.05572337 0.99760777 2.27822336] [ 0. 0. 0. 1. ]] SLAMing on 190.82925976399997 meters Centerline goodness : 0.752241 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.73, Z:2.28 [[ 0.98744289 -0.1500808 -0.04931826 -5.22215521] [ 0.15248639 0.98707615 0.04928053 9.73305116] [ 0.04128482 -0.05618208 0.99756661 2.27952961] [ 0. 0. 0. 1. ]] SLAMing on 190.88925976399995 meters Centerline goodness : 0.752376 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.73, Z:2.28 [[ 0.98726381 -0.15102186 -0.05002566 -5.2226741 ] [ 0.15352444 0.98684587 0.05065053 9.73190664] [ 0.04171828 -0.0576856 0.99746276 2.28245034] [ 0. 0. 0. 1. ]] SLAMing on 190.94925976399995 meters Centerline goodness : 0.750527 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.73, Z:2.28 [[ 0.98799717 -0.14631786 -0.04952453 -5.22494691] [ 0.1488491 0.98749232 0.05198898 9.73352328] [ 0.04129817 -0.05873665 0.9974189 2.28190113] [ 0. 0. 0. 1. ]] SLAMing on 191.00925976399995 meters Centerline goodness : 0.749635 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.28 [[ 0.98813648 -0.14573101 -0.04846406 -5.2264344 ] [ 0.14804002 0.98781343 0.04804978 9.73345957] [ 0.0408711 -0.05465437 0.99766851 2.28058039] [ 0. 0. 0. 1. ]] SLAMing on 191.06925976399995 meters Centerline goodness : 0.746467 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.28 [[ 0.98813338 -0.14576453 -0.04842645 -5.22678386] [ 0.14805024 0.98783695 0.04753185 9.73462216] [ 0.04090897 -0.05413735 0.99769515 2.28144524] [ 0. 0. 0. 1. ]] SLAMing on 191.12925976399995 meters Centerline goodness : 0.747842 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.74, Z:2.28 [[ 0.98806395 -0.14625273 -0.04837113 -5.22813582] [ 0.14849061 0.9878227 0.04644201 9.73755146] [ 0.04098982 -0.05307034 0.99774915 2.28330839] [ 0. 0. 0. 1. ]] SLAMing on 191.18925976399996 meters Centerline goodness : 0.746152 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.74, Z:2.28 [[ 0.98804966 -0.14633307 -0.04842013 -5.22826347] [ 0.14855219 0.98783768 0.04592343 9.73928664] [ 0.04111111 -0.05256754 0.99777078 2.28387593] [ 0. 0. 0. 1. ]] SLAMing on 191.24925976399996 meters Centerline goodness : 0.746384 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.74, Z:2.28 [[ 0.98802389 -0.14655818 -0.04826484 -5.22860074] [ 0.14874577 0.98783477 0.04535603 9.7408822 ] [ 0.04103039 -0.05199203 0.99780426 2.2839736 ] [ 0. 0. 0. 1. ]] SLAMing on 191.30925976399996 meters Centerline goodness : 0.747412 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.74, Z:2.28 [[ 0.98799237 -0.14684597 -0.04803483 -5.2295151 ] [ 0.14899353 0.98782859 0.04467223 9.74259446] [ 0.04089025 -0.0512927 0.9978462 2.28499482] [ 0. 0. 0. 1. ]] SLAMing on 191.36925976399996 meters Centerline goodness : 0.745141 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.74, Z:2.29 [[ 0.98804933 -0.14626436 -0.0486339 -5.22949405] [ 0.14844813 0.98790492 0.04479975 9.74408422] [ 0.04149306 -0.05148397 0.99781147 2.28580704] [ 0. 0. 0. 1. ]] SLAMing on 191.42925976399997 meters Centerline goodness : 0.745812 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.75, Z:2.29 [[ 0.98803284 -0.14643185 -0.04846452 -5.22974332] [ 0.14859196 0.98789954 0.04444026 9.74536674] [ 0.04137061 -0.05110988 0.99783578 2.2859544 ] [ 0. 0. 0. 1. ]] SLAMing on 191.48925976399997 meters Centerline goodness : 0.745810 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.75, Z:2.29 [[ 0.9880302 -0.14638076 -0.04867225 -5.22936628] [ 0.14852254 0.98794097 0.04374582 9.74791034] [ 0.04168177 -0.05045112 0.99785636 2.28649979] [ 0. 0. 0. 1. ]] SLAMing on 191.54925976399997 meters Centerline goodness : 0.744455 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.75, Z:2.29 [[ 0.98858074 -0.14254515 -0.04887744 -5.23081405] [ 0.14483182 0.98834195 0.04694608 9.7510862 ] [ 0.04161568 -0.053489 0.99770089 2.28699057] [ 0. 0. 0. 1. ]] SLAMing on 191.60925976399997 meters Centerline goodness : 0.741612 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.76, Z:2.29 [[ 0.98865969 -0.14187557 -0.04922742 -5.22925072] [ 0.14414565 0.98848191 0.0461036 9.75527071] [ 0.04211944 -0.05267669 0.99772297 2.28722048] [ 0. 0. 0. 1. ]] SLAMing on 191.66925976399995 meters Centerline goodness : 0.741376 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.76, Z:2.29 [[ 0.98885527 -0.1406166 -0.04891046 -5.23130926] [ 0.1428667 0.98867145 0.04602027 9.75624631] [ 0.04188516 -0.05249506 0.9977424 2.28831318] [ 0. 0. 0. 1. ]] SLAMing on 191.72925976399995 meters Centerline goodness : 0.740602 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.76, Z:2.29 [[ 0.9891083 -0.13879053 -0.04900987 -5.23285116] [ 0.14106319 0.98891154 0.04642351 9.75746124] [ 0.04202328 -0.05283137 0.99771884 2.28947815] [ 0. 0. 0. 1. ]] SLAMing on 191.78925976399995 meters Centerline goodness : 0.739702 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.76, Z:2.29 [[ 0.98944835 -0.13636069 -0.04896657 -5.23330432] [ 0.13860585 0.98928728 0.04581579 9.75857494] [ 0.04219453 -0.05211941 0.99774906 2.28872667] [ 0. 0. 0. 1. ]] SLAMing on 191.84925976399995 meters Centerline goodness : 0.738455 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.76, Z:2.29 [[ 0.98945121 -0.13637038 -0.04888172 -5.23328586] [ 0.13858691 0.98931631 0.0452427 9.76066635] [ 0.04218972 -0.05153981 0.99777937 2.28873566] [ 0. 0. 0. 1. ]] SLAMing on 191.90925976399996 meters Centerline goodness : 0.738616 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.76, Z:2.29 [[ 0.98944647 -0.13626566 -0.04926828 -5.23251492] [ 0.13846358 0.98937447 0.04433961 9.76415409] [ 0.04270281 -0.05069353 0.9978009 2.28969754] [ 0. 0. 0. 1. ]] SLAMing on 191.96925976399996 meters Centerline goodness : 0.737796 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.77, Z:2.29 [[ 0.98947138 -0.13599793 -0.04950703 -5.23158252] [ 0.13819394 0.98942675 0.04401308 9.76607804] [ 0.04299789 -0.05039125 0.99780354 2.28952288] [ 0. 0. 0. 1. ]] SLAMing on 192.02925976399996 meters Centerline goodness : 0.734623 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.77, Z:2.29 [[ 0.98947108 -0.13597191 -0.04958457 -5.23135415] [ 0.13815057 0.98945457 0.04352091 9.76821337] [ 0.04314406 -0.04991281 0.99782128 2.28965717] [ 0. 0. 0. 1. ]] SLAMing on 192.08925976399996 meters Centerline goodness : 0.734008 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.77, Z:2.29 [[ 0.98949734 -0.13572787 -0.04972887 -5.23105116] [ 0.13787871 0.98952764 0.04271424 9.77093859] [ 0.04341058 -0.04912218 0.99784895 2.29053532] [ 0. 0. 0. 1. ]] SLAMing on 192.14925976399996 meters Centerline goodness : 0.734061 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.77, Z:2.29 [[ 0.98954097 -0.13539983 -0.04975494 -5.23047626] [ 0.1375431 0.98958309 0.04251135 9.77226743] [ 0.04348061 -0.04891017 0.99785632 2.29025639] [ 0. 0. 0. 1. ]] SLAMing on 192.20925976399997 meters Centerline goodness : 0.734969 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.77, Z:2.29 [[ 0.99013251 -0.13089085 -0.05005202 -5.23048895] [ 0.13325093 0.98996079 0.04713616 9.77074868] [ 0.04337984 -0.05334052 0.99763369 2.28914546] [ 0. 0. 0. 1. ]] SLAMing on 192.26925976399997 meters Centerline goodness : 0.731244 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.77, Z:2.29 [[ 0.99013777 -0.13086403 -0.0500181 -5.23057201] [ 0.13320988 0.98997988 0.04685043 9.77167241] [ 0.04338588 -0.05305129 0.99764885 2.28934837] [ 0. 0. 0. 1. ]] SLAMing on 192.32925976399997 meters Centerline goodness : 0.729681 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.77, Z:2.29 [[ 0.99017192 -0.13069518 -0.04978286 -5.23049621] [ 0.13303119 0.99000103 0.04691133 9.77119274] [ 0.043154 -0.05307296 0.99765775 2.2888382 ] [ 0. 0. 0. 1. ]] SLAMing on 192.38925976399995 meters Centerline goodness : 0.728684 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.77, Z:2.29 [[ 0.99010989 -0.13125352 -0.04954705 -5.23226657] [ 0.13354 0.98997276 0.04605445 9.77265878] [ 0.04300542 -0.05221548 0.99770942 2.29066416] [ 0. 0. 0. 1. ]] SLAMing on 192.44925976399995 meters Centerline goodness : 0.726220 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.77, Z:2.29 [[ 0.99007327 -0.13169494 -0.04910556 -5.23402041] [ 0.13394944 0.98992703 0.04584775 9.77222375] [ 0.04257301 -0.05197029 0.99774076 2.29143881] [ 0. 0. 0. 1. ]] SLAMing on 192.50925976399995 meters Centerline goodness : 0.723651 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.77, Z:2.29 [[ 0.99001624 -0.13233569 -0.04852946 -5.23616336] [ 0.13455398 0.98985177 0.04570232 9.77134883] [ 0.04198892 -0.05177587 0.99777562 2.29200592] [ 0. 0. 0. 1. ]] SLAMing on 192.56925976399995 meters Centerline goodness : 0.723075 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.77, Z:2.29 [[ 0.98993356 -0.13307578 -0.04819114 -5.23820513] [ 0.13523144 0.98980854 0.04462627 9.7737133 ] [ 0.04176133 -0.050694 0.99784072 2.29374183] [ 0. 0. 0. 1. ]] SLAMing on 192.62925976399995 meters Centerline goodness : 0.723658 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.77, Z:2.29 [[ 0.9899151 -0.13341148 -0.04763899 -5.23964213] [ 0.13553126 0.98977603 0.04443753 9.77320807] [ 0.04122345 -0.05044596 0.99787566 2.29375402] [ 0. 0. 0. 1. ]] SLAMing on 192.68925976399996 meters Centerline goodness : 0.722829 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.78, Z:2.29 [[ 0.98985172 -0.13384324 -0.04774468 -5.24025561] [ 0.13593103 0.98976117 0.04353837 9.77634593] [ 0.04142851 -0.04958651 0.99791024 2.29483318] [ 0. 0. 0. 1. ]] SLAMing on 192.74925976399996 meters Centerline goodness : 0.721234 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.78, Z:2.30 [[ 0.98980904 -0.13423406 -0.04753191 -5.24142964] [ 0.13628967 0.98973467 0.04301628 9.7773007 ] [ 0.04126973 -0.04905601 0.99794304 2.29574894] [ 0. 0. 0. 1. ]] SLAMing on 192.80925976399996 meters Centerline goodness : 0.718242 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.78, Z:2.29 [[ 0.98983862 -0.13413541 -0.04719309 -5.24162004] [ 0.13619741 0.9897228 0.04357795 9.77507261] [ 0.04086273 -0.04956271 0.99793475 2.29468146] [ 0. 0. 0. 1. ]] SLAMing on 192.86925976399996 meters Centerline goodness : 0.715575 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.78, Z:2.30 [[ 0.98978028 -0.13463332 -0.04699848 -5.24317415] [ 0.136644 0.98970562 0.04255834 9.77711349] [ 0.04078489 -0.04854547 0.99798794 2.29665654] [ 0. 0. 0. 1. ]] SLAMing on 192.92925976399997 meters Centerline goodness : 0.719966 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:9.78, Z:2.30 [[ 0.98971167 -0.13531743 -0.04647586 -5.24583933] [ 0.13725734 0.98966832 0.04143708 9.77909226] [ 0.04038853 -0.04738992 0.9980596 2.2988836 ] [ 0. 0. 0. 1. ]] SLAMing on 192.98925976399997 meters Centerline goodness : 0.718359 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:9.78, Z:2.30 [[ 0.98968922 -0.13569313 -0.04585441 -5.24758163] [ 0.13760387 0.98961986 0.04144524 9.77778124] [ 0.0397546 -0.04732765 0.99808801 2.29903416] [ 0. 0. 0. 1. ]] SLAMing on 193.04925976399997 meters Centerline goodness : 0.718725 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:9.78, Z:2.30 [[ 0.98967263 -0.13594596 -0.04546184 -5.24848698] [ 0.13785693 0.98956448 0.04192384 9.77530615] [ 0.03928804 -0.04775811 0.99808597 2.29833557] [ 0. 0. 0. 1. ]] SLAMing on 193.10925976399997 meters Centerline goodness : 0.718696 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:9.77, Z:2.30 [[ 0.98963585 -0.13636991 -0.04499025 -5.25029266] [ 0.13826485 0.98950039 0.04209295 9.77315616] [ 0.03877766 -0.04787726 0.99810023 2.29911072] [ 0. 0. 0. 1. ]] SLAMing on 193.16925976399995 meters Centerline goodness : 0.720425 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:9.77, Z:2.30 [[ 0.98959719 -0.13673694 -0.04472605 -5.25131296] [ 0.1386257 0.98944266 0.04226265 9.77151584] [ 0.038475 -0.04802318 0.99810493 2.29952552] [ 0. 0. 0. 1. ]] SLAMing on 193.22925976399995 meters Centerline goodness : 0.722848 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:9.77, Z:2.30 [[ 0.98953119 -0.13747955 -0.04390215 -5.25411553] [ 0.13932931 0.989343 0.04228196 9.76900344] [ 0.03762138 -0.04795617 0.99814069 2.30031618] [ 0. 0. 0. 1. ]] SLAMing on 193.28925976399995 meters Centerline goodness : 0.725877 with order 1 Centerline is valid? [False, False] Translation: X:-5.26, Y:9.77, Z:2.30 [[ 0.98894376 -0.14196255 -0.04285869 -5.25526401] [ 0.14362501 0.98888025 0.03857085 9.76570531] [ 0.0369065 -0.04429998 0.99833633 2.3010305 ] [ 0. 0. 0. 1. ]] SLAMing on 193.34925976399995 meters Centerline goodness : 0.725959 with order 1 Centerline is valid? [False, False] Translation: X:-5.26, Y:9.76, Z:2.30 [[ 0.98871894 -0.14358261 -0.04264849 -5.25748754] [ 0.145229 0.98865299 0.03839022 9.76330917] [ 0.03665238 -0.04415094 0.99835229 2.30442088] [ 0. 0. 0. 1. ]] SLAMing on 193.40925976399996 meters Centerline goodness : 0.727840 with order 1 Centerline is valid? [False, False] Translation: X:-5.26, Y:9.76, Z:2.31 [[ 0.98819392 -0.14719503 -0.04250174 -5.25839678] [ 0.1487552 0.98821061 0.03621724 9.76146856] [ 0.03666967 -0.04211201 0.99843974 2.3069755 ] [ 0. 0. 0. 1. ]] SLAMing on 193.46925976399996 meters Centerline goodness : 0.727718 with order 1 Centerline is valid? [False, False] Translation: X:-5.26, Y:9.76, Z:2.31 [[ 0.98837567 -0.146196 -0.04171658 -5.2599504 ] [ 0.14766507 0.98843168 0.03460976 9.75974681] [ 0.03617418 -0.04036752 0.99852987 2.30685579] [ 0. 0. 0. 1. ]] SLAMing on 193.52925976399996 meters Centerline goodness : 0.729916 with order 1 Centerline is valid? [False, False] Translation: X:-5.26, Y:9.76, Z:2.31 [[ 0.98857535 -0.14505734 -0.04095305 -5.26224248] [ 0.14646572 0.98863911 0.03377128 9.75882875] [ 0.03558901 -0.03938367 0.99859018 2.30757923] [ 0. 0. 0. 1. ]] SLAMing on 193.58925976399996 meters Centerline goodness : 0.731575 with order 1 Centerline is valid? [False, False] Translation: X:-5.26, Y:9.76, Z:2.31 [[ 0.988597 -0.14508099 -0.04034192 -5.26438598] [ 0.14644954 0.98865674 0.0333223 9.75735456] [ 0.03504987 -0.03885038 0.99863014 2.30915688] [ 0. 0. 0. 1. ]] SLAMing on 193.64925976399996 meters Centerline goodness : 0.731015 with order 1 Centerline is valid? [False, False] Translation: X:-5.27, Y:9.76, Z:2.31 [[ 0.98855728 -0.14540122 -0.04016203 -5.26569324] [ 0.14673904 0.98863649 0.03264273 9.75601365] [ 0.03495936 -0.03816255 0.99865983 2.31053949] [ 0. 0. 0. 1. ]] SLAMing on 193.70925976399997 meters Centerline goodness : 0.729509 with order 1 Centerline is valid? [False, False] Translation: X:-5.27, Y:9.75, Z:2.31 [[ 0.98846764 -0.14616927 -0.03957605 -5.26744478] [ 0.14751047 0.98849669 0.033391 9.75003778] [ 0.03424005 -0.03884381 0.99865849 2.31055896] [ 0. 0. 0. 1. ]] SLAMing on 193.76925976399997 meters Centerline goodness : 0.730204 with order 1 Centerline is valid? [False, False] Translation: X:-5.26, Y:9.74, Z:2.32 [[ 0.98812849 -0.14321871 -0.05559215 -5.26455888] [ 0.14517388 0.98886008 0.03286761 9.74314847] [ 0.0502656 -0.04054795 0.99791244 2.32295124] [ 0. 0. 0. 1. ]] SLAMing on 193.82925976399997 meters Centerline goodness : 0.729275 with order 1 Centerline is valid? [False, False] Translation: X:-5.27, Y:9.74, Z:2.32 [[ 0.98800916 -0.14426524 -0.05500399 -5.26716952] [ 0.14622892 0.98868324 0.03350451 9.73777982] [ 0.04954798 -0.04114594 0.99792385 2.32352183] [ 0. 0. 0. 1. ]] SLAMing on 193.88925976399995 meters Centerline goodness : 0.729430 with order 1 Centerline is valid? [False, False] Translation: X:-5.27, Y:9.74, Z:2.32 [[ 0.9880324 -0.14419813 -0.0547619 -5.26761861] [ 0.14616247 0.98868571 0.03372098 9.73744985] [ 0.04927981 -0.04132156 0.99792987 2.32336432] [ 0. 0. 0. 1. ]] SLAMing on 193.94925976399995 meters Centerline goodness : 0.728143 with order 1 Centerline is valid? [False, False] Translation: X:-5.27, Y:9.73, Z:2.32 [[ 0.98808656 -0.1440771 -0.05409943 -5.26781015] [ 0.1460692 0.9886601 0.03485688 9.73251762] [ 0.04846387 -0.04234387 0.99792698 2.3213769 ] [ 0. 0. 0. 1. ]] SLAMing on 194.00925976399995 meters Centerline goodness : 0.729698 with order 1 Centerline is valid? [False, False] Translation: X:-5.27, Y:9.73, Z:2.32 [[ 0.9875052 -0.14813041 -0.05376681 -5.26734959] [ 0.14989154 0.98823715 0.03032915 9.73487361] [ 0.04864169 -0.03800938 0.99809282 2.32217727] [ 0. 0. 0. 1. ]] SLAMing on 194.06925976399995 meters Centerline goodness : 0.727438 with order 1 Centerline is valid? [False, False] Translation: X:-5.27, Y:9.73, Z:2.32 [[ 0.98768017 -0.14678761 -0.05423359 -5.26793806] [ 0.14868121 0.98834482 0.03268664 9.73460875] [ 0.04880349 -0.04034746 0.99799314 2.3235745 ] [ 0. 0. 0. 1. ]] SLAMing on 194.12925976399995 meters Centerline goodness : 0.731468 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.74, Z:2.34 [[ 0.98846816 -0.14279431 -0.0504032 -5.27826645] [ 0.14422336 0.98920517 0.0259375 9.73545824] [ 0.04615538 -0.03290771 0.99839209 2.33505455] [ 0. 0. 0. 1. ]] SLAMing on 194.18925976399996 meters Centerline goodness : 0.730913 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.74, Z:2.33 [[ 0.98854756 -0.14229862 -0.05024757 -5.2774695 ] [ 0.14373246 0.98927074 0.02616072 9.73523833] [ 0.04598582 -0.03308332 0.99839411 2.33378785] [ 0. 0. 0. 1. ]] SLAMing on 194.24925976399996 meters Centerline goodness : 0.733453 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.73, Z:2.33 [[ 0.98854553 -0.14237725 -0.0500646 -5.27805649] [ 0.14380749 0.98925844 0.02621336 9.73499421] [ 0.04579464 -0.03311276 0.99840192 2.33382934] [ 0. 0. 0. 1. ]] SLAMing on 194.30925976399996 meters Centerline goodness : 0.733300 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.73, Z:2.33 [[ 0.98856329 -0.14237602 -0.04971617 -5.27847504] [ 0.14382731 0.9892363 0.02693036 9.73316571] [ 0.0453468 -0.03377291 0.99840025 2.33274261] [ 0. 0. 0. 1. ]] SLAMing on 194.36925976399996 meters Centerline goodness : 0.734160 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.73, Z:2.33 [[ 0.9885941 -0.14224215 -0.04948615 -5.27839119] [ 0.14372048 0.98923047 0.02770364 9.73138212] [ 0.04501258 -0.03449983 0.99839052 2.3315319 ] [ 0. 0. 0. 1. ]] SLAMing on 194.42925976399997 meters Centerline goodness : 0.733451 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.73, Z:2.33 [[ 0.98836728 -0.14380999 -0.0494855 -5.27748097] [ 0.14524924 0.98903165 0.02681523 9.73137042] [ 0.04508642 -0.03369103 0.99841481 2.3308883 ] [ 0. 0. 0. 1. ]] SLAMing on 194.48925976399997 meters Centerline goodness : 0.735585 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.73, Z:2.33 [[ 0.98839423 -0.14370684 -0.04924627 -5.27763054] [ 0.14514961 0.9890392 0.02707487 9.73054223] [ 0.04481565 -0.03390872 0.99841963 2.33020463] [ 0. 0. 0. 1. ]] SLAMing on 194.54925976399997 meters Centerline goodness : 0.734625 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.73, Z:2.33 [[ 0.98908436 -0.13875609 -0.049587 -5.27802715] [ 0.14035158 0.98963882 0.03027289 9.7317726 ] [ 0.04487267 -0.03690206 0.99831091 2.3293638 ] [ 0. 0. 0. 1. ]] SLAMing on 194.60925976399997 meters Centerline goodness : 0.733733 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.73, Z:2.33 [[ 0.98970272 -0.13421125 -0.04975802 -5.27801559] [ 0.13602109 0.99008905 0.03495611 9.72999016] [ 0.04457337 -0.04136429 0.99814939 2.32777689] [ 0. 0. 0. 1. ]] SLAMing on 194.66925976399995 meters Centerline goodness : 0.734022 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.73, Z:2.33 [[ 0.98973292 -0.13397382 -0.04979719 -5.2772934 ] [ 0.13576836 0.99013694 0.03458015 9.73242903] [ 0.0446732 -0.040986 0.99816053 2.32724881] [ 0. 0. 0. 1. ]] SLAMing on 194.72925976399995 meters Centerline goodness : 0.735345 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.73, Z:2.33 [[ 0.98970584 -0.13424842 -0.04959544 -5.27826676] [ 0.13600726 0.99012554 0.03396248 9.73427643] [ 0.0445463 -0.0403582 0.99819179 2.32800464] [ 0. 0. 0. 1. ]] SLAMing on 194.78925976399995 meters Centerline goodness : 0.733614 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.74, Z:2.33 [[ 0.98967989 -0.134554 -0.04928419 -5.27932748] [ 0.13628264 0.99010131 0.03356242 9.73539505] [ 0.04428039 -0.03993263 0.99822073 2.32832379] [ 0. 0. 0. 1. ]] SLAMing on 194.84925976399995 meters Centerline goodness : 0.732436 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.74, Z:2.33 [[ 0.98965549 -0.13484934 -0.04896604 -5.28049487] [ 0.13654244 0.99008302 0.033042 9.7368317 ] [ 0.04402475 -0.03938614 0.99825375 2.32902176] [ 0. 0. 0. 1. ]] SLAMing on 194.90925976399996 meters Centerline goodness : 0.735184 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.74, Z:2.33 [[ 0.98959575 -0.13534707 -0.04879978 -5.28175798] [ 0.13699553 0.99004911 0.03217112 9.7401779 ] [ 0.04395991 -0.03852175 0.99829034 2.33005321] [ 0. 0. 0. 1. ]] SLAMing on 194.96925976399996 meters Centerline goodness : 0.735543 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.74, Z:2.33 [[ 0.99017715 -0.13087407 -0.04920558 -5.28145061] [ 0.13269975 0.99050735 0.03586032 9.74283308] [ 0.0440453 -0.04203764 0.9981447 2.3293348 ] [ 0. 0. 0. 1. ]] SLAMing on 195.02925976399996 meters Centerline goodness : 0.735774 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.74, Z:2.33 [[ 0.99074209 -0.12640972 -0.04950441 -5.28120321] [ 0.12842668 0.99091506 0.03992417 9.74408819] [ 0.04400786 -0.04591224 0.99797564 2.32813168] [ 0. 0. 0. 1. ]] SLAMing on 195.08925976399996 meters Centerline goodness : 0.734293 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.74, Z:2.33 [[ 0.99130973 -0.12184554 -0.0495852 -5.28095228] [ 0.1240529 0.99129187 0.04417359 9.74367561] [ 0.04377105 -0.0499409 0.99779256 2.32653858] [ 0. 0. 0. 1. ]] SLAMing on 195.14925976399996 meters Centerline goodness : 0.736628 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.75, Z:2.33 [[ 0.99127472 -0.12219897 -0.04941501 -5.28223469] [ 0.12433956 0.99131438 0.04284242 9.74758074] [ 0.04375051 -0.04861285 0.99785905 2.32845025] [ 0. 0. 0. 1. ]] SLAMing on 195.20925976399997 meters Centerline goodness : 0.735955 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.75, Z:2.33 [[ 0.99126975 -0.12220831 -0.04949146 -5.28218794] [ 0.12432444 0.99134377 0.0422014 9.75061702] [ 0.04390569 -0.04798596 0.99788258 2.32895631] [ 0. 0. 0. 1. ]] SLAMing on 195.26925976399997 meters Centerline goodness : 0.735618 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.75, Z:2.33 [[ 0.9912962 -0.1219326 -0.04964155 -5.28094948] [ 0.12404786 0.99138618 0.04201877 9.7524218 ] [ 0.04409049 -0.04781097 0.99788283 2.32803249] [ 0. 0. 0. 1. ]] SLAMing on 195.32925976399997 meters Centerline goodness : 0.735310 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.76, Z:2.33 [[ 0.99127727 -0.12209056 -0.04963138 -5.28134706] [ 0.12416607 0.99140862 0.04113065 9.75556361] [ 0.04418331 -0.04693442 0.99792034 2.32899652] [ 0. 0. 0. 1. ]] SLAMing on 195.38925976399995 meters Centerline goodness : 0.738712 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.76, Z:2.33 [[ 0.99176606 -0.11809434 -0.04953598 -5.28270485] [ 0.12034882 0.99169755 0.04530056 9.75527719] [ 0.04377497 -0.05088915 0.99774448 2.32827092] [ 0. 0. 0. 1. ]] SLAMing on 195.44925976399995 meters Centerline goodness : 0.740390 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.76, Z:2.33 [[ 0.99172944 -0.11846193 -0.04939125 -5.28352298] [ 0.12067323 0.99169513 0.04448308 9.75735595] [ 0.04371151 -0.05007538 0.99778843 2.32923783] [ 0. 0. 0. 1. ]] SLAMing on 195.50925976399995 meters Centerline goodness : 0.738885 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.76, Z:2.33 [[ 0.99224584 -0.11402229 -0.04946835 -5.28391622] [ 0.11643213 0.99199318 0.04891932 9.75636619] [ 0.04349437 -0.0542997 0.99757696 2.3282644 ] [ 0. 0. 0. 1. ]] SLAMing on 195.56925976399995 meters Centerline goodness : 0.741074 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.76, Z:2.33 [[ 0.99223071 -0.11417713 -0.04941458 -5.28444826] [ 0.11655714 0.9920087 0.0483029 9.75830739] [ 0.04350461 -0.05368724 0.99760966 2.32904296] [ 0. 0. 0. 1. ]] SLAMing on 195.62925976399995 meters Centerline goodness : 0.740009 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.76, Z:2.33 [[ 0.99276681 -0.10939085 -0.04947418 -5.28408884] [ 0.11199536 0.99227562 0.05334919 9.75541547] [ 0.04325611 -0.05850418 0.99734957 2.32694453] [ 0. 0. 0. 1. ]] SLAMing on 195.68925976399996 meters Centerline goodness : 0.739006 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.76, Z:2.33 [[ 0.99277275 -0.1093103 -0.04953302 -5.28401634] [ 0.11189536 0.99231514 0.05282128 9.75724499] [ 0.04337846 -0.05798204 0.99737475 2.32753883] [ 0. 0. 0. 1. ]] SLAMing on 195.74925976399996 meters Centerline goodness : 0.739668 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.76, Z:2.33 [[ 0.99274431 -0.10955634 -0.04955959 -5.28489431] [ 0.11209781 0.99234677 0.05178773 9.75973154] [ 0.04350662 -0.0569675 0.99742763 2.32956516] [ 0. 0. 0. 1. ]] SLAMing on 195.80925976399996 meters Centerline goodness : 0.736597 with order 1 Centerline is valid? [False, False] Translation: X:-5.29, Y:9.76, Z:2.33 [[ 0.99275822 -0.10950243 -0.04939965 -5.28533682] [ 0.11203124 0.99235855 0.05170605 9.75927381] [ 0.04336022 -0.05686591 0.9974398 2.3299066 ] [ 0. 0. 0. 1. ]] SLAMing on 195.86925976399996 meters Centerline goodness : 0.736528 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.76, Z:2.33 [[ 0.99279581 -0.1091038 -0.04952618 -5.28415113] [ 0.11166463 0.99237024 0.0522716 9.75791421] [ 0.04344528 -0.05742535 0.99740405 2.32865244] [ 0. 0. 0. 1. ]] SLAMing on 195.92925976399997 meters Centerline goodness : 0.735714 with order 1 Centerline is valid? [False, False] Translation: X:-5.28, Y:9.76, Z:2.33 [[ 0.99281792 -0.10898338 -0.04934771 -5.28442796] [ 0.11154597 0.992369 0.05254778 9.75648118] [ 0.0432443 -0.05767491 0.99739838 2.32847979] [ 0. 0. 0. 1. ]] SLAMing on 195.98925976399997 meters Centerline goodness : 0.735499 with order 1 Centerline is valid? [False, False] Translation: X:-5.29, Y:9.75, Z:2.33 [[ 0.99280659 -0.1092678 -0.04894513 -5.28621319] [ 0.1118043 0.99234326 0.05248486 9.75458597] [ 0.04283547 -0.05757959 0.99742153 2.32989199] [ 0. 0. 0. 1. ]] SLAMing on 196.04925976399997 meters Centerline goodness : 0.736318 with order 1 Centerline is valid? [False, False] Translation: X:-5.29, Y:9.75, Z:2.33 [[ 0.99280389 -0.10951525 -0.04844427 -5.28792654] [ 0.11202632 0.99231374 0.05256938 9.75250863] [ 0.04231477 -0.05761812 0.99744153 2.33057408] [ 0. 0. 0. 1. ]] SLAMing on 196.10925976399997 meters Centerline goodness : 0.738310 with order 1 Centerline is valid? [False, False] Translation: X:-5.29, Y:9.75, Z:2.33 [[ 0.99236659 -0.11343457 -0.04838547 -5.28685628] [ 0.11575547 0.99210714 0.04820894 9.75359995] [ 0.04253501 -0.05344182 0.99766465 2.33133499] [ 0. 0. 0. 1. ]] SLAMing on 196.16925976399995 meters Centerline goodness : 0.737813 with order 1 Centerline is valid? [False, False] Translation: X:-5.29, Y:9.76, Z:2.33 [[ 0.99190336 -0.11732657 -0.04860254 -5.28540739] [ 0.11945723 0.99188469 0.04352864 9.75666576] [ 0.04310104 -0.04898213 0.99786926 2.33241716] [ 0. 0. 0. 1. ]] SLAMing on 196.22925976399995 meters Centerline goodness : 0.739476 with order 1 Centerline is valid? [False, False] Translation: X:-5.29, Y:9.76, Z:2.33 [[ 0.99187851 -0.11766777 -0.04828362 -5.28675126] [ 0.11978965 0.99183753 0.0436892 9.75503282] [ 0.04274869 -0.04911826 0.99787772 2.33290445] [ 0. 0. 0. 1. ]] SLAMing on 196.28925976399995 meters Centerline goodness : 0.740210 with order 1 Centerline is valid? [False, False] Translation: X:-5.27, Y:9.75, Z:2.33 [[ 0.99137996 -0.12334339 -0.04418362 -5.26689226] [ 0.12541448 0.99095978 0.04764368 9.75414425] [ 0.03790766 -0.05277425 0.99788671 2.32933422] [ 0. 0. 0. 1. ]] SLAMing on 196.34925976399995 meters Centerline goodness : 0.738112 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:9.75, Z:2.33 [[ 0.99101673 -0.127952 -0.03891172 -5.25176406] [ 0.12992409 0.99009214 0.05326613 9.75229644] [ 0.03171068 -0.0578432 0.99782193 2.32574729] [ 0. 0. 0. 1. ]] SLAMing on 196.40925976399996 meters Centerline goodness : 0.740102 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.32 [[ 0.99046578 -0.13358329 -0.03366064 -5.23768554] [ 0.13538914 0.98904844 0.05876199 9.751041 ] [ 0.02544238 -0.06275903 0.99770436 2.32147021] [ 0. 0. 0. 1. ]] SLAMing on 196.46925976399996 meters Centerline goodness : 0.743354 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.32 [[ 0.99030247 -0.13469012 -0.03405264 -5.23799381] [ 0.13652459 0.98887951 0.05897754 9.7493304 ] [ 0.02573026 -0.06305462 0.99767834 2.32371225] [ 0. 0. 0. 1. ]] SLAMing on 196.52925976399996 meters Centerline goodness : 0.743272 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.74, Z:2.34 [[ 0.99051816 -0.12833031 -0.0490418 -5.23730072] [ 0.13105622 0.98972777 0.05712452 9.74478564] [ 0.04120722 -0.06301011 0.99716182 2.33811014] [ 0. 0. 0. 1. ]] SLAMing on 196.58925976399996 meters Centerline goodness : 0.744664 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.75, Z:2.34 [[ 0.99007421 -0.13160269 -0.0493335 -5.23492971] [ 0.13412958 0.98959969 0.05197802 9.74978372] [ 0.04197997 -0.05807917 0.99742894 2.33965836] [ 0. 0. 0. 1. ]] SLAMing on 196.64925976399996 meters Centerline goodness : 0.744947 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.75, Z:2.34 [[ 0.9896891 -0.13442008 -0.04946441 -5.23199594] [ 0.1367699 0.98945623 0.04764832 9.75193203] [ 0.04253797 -0.05392227 0.99763867 2.33993678] [ 0. 0. 0. 1. ]] SLAMing on 196.70925976399997 meters Centerline goodness : 0.745181 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.75, Z:2.34 [[ 0.99001302 -0.13205534 -0.04935191 -5.23380105] [ 0.13444185 0.98972704 0.04863928 9.7505531 ] [ 0.04242184 -0.05478848 0.99759642 2.34137796] [ 0. 0. 0. 1. ]] SLAMing on 196.76925976399997 meters Centerline goodness : 0.748440 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.75, Z:2.34 [[ 0.99000588 -0.13221423 -0.04906895 -5.23496252] [ 0.13456787 0.98972993 0.04823022 9.7501063 ] [ 0.04218829 -0.05435131 0.99763023 2.34264813] [ 0. 0. 0. 1. ]] SLAMing on 196.82925976399997 meters Centerline goodness : 0.747679 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.75, Z:2.34 [[ 0.98957772 -0.13536209 -0.04912277 -5.23222671] [ 0.13753234 0.98952557 0.04386349 9.75229926] [ 0.04267079 -0.0501623 0.99782912 2.34289662] [ 0. 0. 0. 1. ]] SLAMing on 196.88925976399995 meters Centerline goodness : 0.748338 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.75, Z:2.35 [[ 0.98961572 -0.13525066 -0.04866186 -5.23482798] [ 0.13738471 0.9895597 0.04355497 9.74926072] [ 0.04226298 -0.04978808 0.99786522 2.34560807] [ 0. 0. 0. 1. ]] SLAMing on 196.94925976399995 meters Centerline goodness : 0.750735 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.35 [[ 0.98989564 -0.13337867 -0.04813265 -5.23703013] [ 0.13546971 0.98984119 0.0431552 9.74730519] [ 0.0418877 -0.04923966 0.99790825 2.34659675] [ 0. 0. 0. 1. ]] SLAMing on 197.00925976399995 meters Centerline goodness : 0.748901 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.35 [[ 0.99033412 -0.13051616 -0.04694533 -5.23975503] [ 0.13249439 0.99030096 0.04182389 9.74596581] [ 0.04103131 -0.04763962 0.99802149 2.34593803] [ 0. 0. 0. 1. ]] SLAMing on 197.06925976399995 meters Centerline goodness : 0.752408 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.35 [[ 0.99041592 -0.12982299 -0.04714125 -5.23840855] [ 0.1318154 0.99038666 0.04194002 9.7464997 ] [ 0.04124329 -0.047752 0.99800738 2.34547036] [ 0. 0. 0. 1. ]] SLAMing on 197.12925976399995 meters Centerline goodness : 0.754031 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.74, Z:2.35 [[ 0.990628 -0.1285875 -0.04605895 -5.24171754] [ 0.13049582 0.99059513 0.04113544 9.74440227] [ 0.04033627 -0.04676042 0.9980914 2.34671009] [ 0. 0. 0. 1. ]] SLAMing on 197.18925976399996 meters Centerline goodness : 0.755685 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.35 [[ 0.9905857 -0.12905395 -0.04566231 -5.24367963] [ 0.13091503 0.99056926 0.04042026 9.74556894] [ 0.04001528 -0.04601761 0.99813885 2.34829159] [ 0. 0. 0. 1. ]] SLAMing on 197.24925976399996 meters Centerline goodness : 0.756310 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.35 [[ 0.99010962 -0.13265663 -0.04566357 -5.24167696] [ 0.13435351 0.99026707 0.03633557 9.74751324] [ 0.04039898 -0.04211126 0.99829583 2.34781685] [ 0. 0. 0. 1. ]] SLAMing on 197.30925976399996 meters Centerline goodness : 0.754997 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.35 [[ 0.99005261 -0.13330063 -0.04501976 -5.2438424 ] [ 0.13495936 0.99019487 0.03605677 9.74675672] [ 0.03977194 -0.04177393 0.99833518 2.34835764] [ 0. 0. 0. 1. ]] SLAMing on 197.36925976399996 meters Centerline goodness : 0.756351 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.75, Z:2.34 [[ 0.98985008 -0.13621397 -0.04052861 -5.22710059] [ 0.13794815 0.98947929 0.04360089 9.74570517] [ 0.03416317 -0.04874919 0.99822662 2.34322265] [ 0. 0. 0. 1. ]] SLAMing on 197.42925976399997 meters Centerline goodness : 0.755679 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.75, Z:2.35 [[ 0.98966242 -0.13784002 -0.03960329 -5.23151427] [ 0.13949851 0.98930111 0.0427022 9.74556257] [ 0.03329351 -0.04778536 0.99830261 2.34548212] [ 0. 0. 0. 1. ]] SLAMing on 197.48925976399997 meters Centerline goodness : 0.757516 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.74, Z:2.35 [[ 0.98960708 -0.13838046 -0.03909826 -5.23338105] [ 0.14000824 0.98923743 0.04250874 9.74485781] [ 0.03279508 -0.04754103 0.99833077 2.34613095] [ 0. 0. 0. 1. ]] SLAMing on 197.54925976399997 meters Centerline goodness : 0.756202 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.74, Z:2.34 [[ 0.98868571 -0.14607928 -0.03407954 -5.21846372] [ 0.14755691 0.98799031 0.04584874 9.74451261] [ 0.0269727 -0.05035866 0.99836691 2.34283033] [ 0. 0. 0. 1. ]] SLAMing on 197.60925976399994 meters Centerline goodness : 0.753502 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.74, Z:2.35 [[ 0.98807884 -0.14505789 -0.05155989 -5.21357816] [ 0.14741966 0.98803187 0.04539243 9.74024585] [ 0.04435828 -0.05245224 0.99763776 2.35485161] [ 0. 0. 0. 1. ]] SLAMing on 197.66925976399995 meters Centerline goodness : 0.759069 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.74, Z:2.36 [[ 0.98816702 -0.14433826 -0.05188847 -5.21248893] [ 0.14668387 0.98817534 0.0446468 9.74479489] [ 0.04483067 -0.05172969 0.99765437 2.35527777] [ 0. 0. 0. 1. ]] SLAMing on 197.72925976399995 meters Centerline goodness : 0.760280 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.75, Z:2.36 [[ 0.98819852 -0.14413485 -0.0518539 -5.21227824] [ 0.14646067 0.98822646 0.04424635 9.74586547] [ 0.04486595 -0.05131873 0.99767401 2.35560841] [ 0. 0. 0. 1. ]] SLAMing on 197.78925976399995 meters Centerline goodness : 0.757297 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.75, Z:2.36 [[ 0.98872993 -0.14084736 -0.05074583 -5.21553315] [ 0.14306104 0.9887796 0.04299348 9.74660907] [ 0.04412092 -0.04976869 0.99778576 2.35527231] [ 0. 0. 0. 1. ]] SLAMing on 197.84925976399995 meters Centerline goodness : 0.760809 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.75, Z:2.36 [[ 0.9887013 -0.14102724 -0.050804 -5.21602943] [ 0.1432013 0.98880055 0.04203405 9.74944207] [ 0.04430708 -0.04883432 0.99782368 2.35662541] [ 0. 0. 0. 1. ]] SLAMing on 197.90925976399996 meters Centerline goodness : 0.759757 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.75, Z:2.36 [[ 0.98870821 -0.14099276 -0.05076538 -5.21614951] [ 0.14313539 0.98883813 0.04136912 9.75197484] [ 0.044366 -0.04816831 0.99785343 2.35709682] [ 0. 0. 0. 1. ]] SLAMing on 197.96925976399996 meters Centerline goodness : 0.759392 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.75, Z:2.36 [[ 0.98870644 -0.14108097 -0.05055424 -5.21676582] [ 0.14318369 0.98885899 0.04069803 9.75349581] [ 0.0442493 -0.04747695 0.99789175 2.35815999] [ 0. 0. 0. 1. ]] SLAMing on 198.02925976399996 meters Centerline goodness : 0.758722 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.76, Z:2.36 [[ 0.9886424 -0.14160556 -0.0503396 -5.2182851 ] [ 0.14365888 0.98882627 0.03980875 9.75579653] [ 0.04413998 -0.04658835 0.99793847 2.35955518] [ 0. 0. 0. 1. ]] SLAMing on 198.08925976399996 meters Centerline goodness : 0.758258 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.75, Z:2.36 [[ 0.98856173 -0.14383776 -0.04534758 -5.20199797] [ 0.14597976 0.98811735 0.04810429 9.7535656 ] [ 0.03788951 -0.05417389 0.99781239 2.35524009] [ 0. 0. 0. 1. ]] SLAMing on 198.14925976399996 meters Centerline goodness : 0.758279 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.76, Z:2.36 [[ 0.98792783 -0.14824524 -0.04496603 -5.20261314] [ 0.15014373 0.98776046 0.04226272 9.75798021] [ 0.03815042 -0.04850388 0.99809414 2.35847694] [ 0. 0. 0. 1. ]] SLAMing on 198.20925976399997 meters Centerline goodness : 0.756624 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.76, Z:2.36 [[ 0.98824238 -0.14594928 -0.0455609 -5.20205969] [ 0.14799539 0.98794909 0.0453207 9.75761013] [ 0.03839732 -0.05153064 0.99793298 2.35862362] [ 0. 0. 0. 1. ]] SLAMing on 198.26925976399997 meters Centerline goodness : 0.757088 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.76, Z:2.36 [[ 0.98817071 -0.14642273 -0.04559648 -5.2034999 ] [ 0.14849398 0.9878461 0.04593053 9.75706326] [ 0.03831703 -0.05215801 0.99790348 2.3608287 ] [ 0. 0. 0. 1. ]] SLAMing on 198.32925976399997 meters Centerline goodness : 0.755229 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.76, Z:2.36 [[ 0.98781859 -0.14908691 -0.04458167 -5.20707663] [ 0.15105074 0.98752394 0.04449888 9.7558193 ] [ 0.03739127 -0.05069091 0.99801419 2.36396538] [ 0. 0. 0. 1. ]] SLAMing on 198.38925976399995 meters Centerline goodness : 0.755414 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.76, Z:2.36 [[ 0.98799834 -0.14817901 -0.04361497 -5.21033163] [ 0.15007211 0.98770006 0.0438972 9.75662044] [ 0.03657386 -0.04991575 0.99808355 2.36484307] [ 0. 0. 0. 1. ]] SLAMing on 198.44925976399995 meters Centerline goodness : 0.756100 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.76, Z:2.37 [[ 0.9879866 -0.14825137 -0.04363494 -5.21045837] [ 0.15013672 0.98770077 0.04365942 9.75654836] [ 0.0366257 -0.04968613 0.99809311 2.36551489] [ 0. 0. 0. 1. ]] SLAMing on 198.50925976399995 meters Centerline goodness : 0.757322 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.76, Z:2.37 [[ 0.98734973 -0.15245452 -0.04356756 -5.20940022] [ 0.15416604 0.9872727 0.0390569 9.75898842] [ 0.03705866 -0.04527945 0.99828675 2.36652162] [ 0. 0. 0. 1. ]] SLAMing on 198.56925976399995 meters Centerline goodness : 0.756642 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.76, Z:2.38 [[ 0.98725972 -0.14922964 -0.05521556 -5.21200333] [ 0.15137316 0.98778774 0.03689916 9.75533205] [ 0.0490348 -0.04478721 0.99779241 2.3826973 ] [ 0. 0. 0. 1. ]] SLAMing on 198.62925976399995 meters Centerline goodness : 0.757812 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.75, Z:2.38 [[ 0.9870097 -0.15059075 -0.05598461 -5.21087556] [ 0.15279235 0.98755207 0.03735527 9.75436749] [ 0.04966236 -0.04542403 0.99773258 2.38381453] [ 0. 0. 0. 1. ]] SLAMing on 198.68925976399996 meters Centerline goodness : 0.758112 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.75, Z:2.39 [[ 0.98665507 -0.15303855 -0.05559648 -5.21217726] [ 0.15510027 0.98728353 0.03485885 9.75172548] [ 0.04955474 -0.0430167 0.99784462 2.38569438] [ 0. 0. 0. 1. ]] SLAMing on 198.74925976399996 meters Centerline goodness : 0.756425 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.75, Z:2.39 [[ 0.98625863 -0.15564519 -0.05539393 -5.21373642] [ 0.15766566 0.98690127 0.03416762 9.74853757] [ 0.04935032 -0.04243183 0.9978798 2.3888318 ] [ 0. 0. 0. 1. ]] SLAMing on 198.80925976399996 meters Centerline goodness : 0.758349 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.75, Z:2.39 [[ 0.98611026 -0.1564905 -0.05565323 -5.21443338] [ 0.15852206 0.98676442 0.03415742 9.7459063 ] [ 0.04957132 -0.04250525 0.99786572 2.39111304] [ 0. 0. 0. 1. ]] SLAMing on 198.86925976399996 meters Centerline goodness : 0.757735 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.74, Z:2.39 [[ 0.98590817 -0.15778543 -0.05557723 -5.21615464] [ 0.15977094 0.98659306 0.03327736 9.742863 ] [ 0.04958143 -0.04168805 0.99789969 2.39387807] [ 0. 0. 0. 1. ]] SLAMing on 198.92925976399997 meters Centerline goodness : 0.755619 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.74, Z:2.40 [[ 0.98567701 -0.15932389 -0.05528777 -5.21884952] [ 0.16127726 0.98636226 0.03285019 9.73971805] [ 0.04929995 -0.04129634 0.99792992 2.39770155] [ 0. 0. 0. 1. ]] SLAMing on 198.98925976399997 meters Centerline goodness : 0.752081 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.74, Z:2.40 [[ 0.98549737 -0.16074378 -0.05437259 -5.22214101] [ 0.16255979 0.98621838 0.0307834 9.73721617] [ 0.048675 -0.03917576 0.99804609 2.40034978] [ 0. 0. 0. 1. ]] SLAMing on 199.04925976399997 meters Centerline goodness : 0.751528 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.73, Z:2.41 [[ 0.98504099 -0.15679377 -0.07148399 -5.2164931 ] [ 0.1594199 0.98667213 0.03260999 9.72841188] [ 0.06541822 -0.04351814 0.99690854 2.40951131] [ 0. 0. 0. 1. ]] SLAMing on 199.10925976399994 meters Centerline goodness : 0.753767 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.73, Z:2.41 [[ 0.98457579 -0.15982348 -0.07118261 -5.21926562] [ 0.16240455 0.98620376 0.03204528 9.72593175] [ 0.06507897 -0.04311138 0.99694841 2.41399771] [ 0. 0. 0. 1. ]] SLAMing on 199.16925976399995 meters Centerline goodness : 0.754060 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.72, Z:2.42 [[ 0.98366552 -0.16519174 -0.07151109 -5.2177651 ] [ 0.16778268 0.98530964 0.03184161 9.72236608] [ 0.06520059 -0.04331981 0.99693143 2.41597495] [ 0. 0. 0. 1. ]] SLAMing on 199.22925976399995 meters Centerline goodness : 0.754971 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.72, Z:2.42 [[ 0.98294717 -0.16935759 -0.07164403 -5.21729852] [ 0.17186028 0.98465528 0.03029882 9.72067611] [ 0.06541334 -0.0420949 0.99696997 2.41785096] [ 0. 0. 0. 1. ]] SLAMing on 199.28925976399995 meters Centerline goodness : 0.757050 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.72, Z:2.42 [[ 0.98191747 -0.1751675 -0.07179438 -5.21784899] [ 0.17757363 0.9836925 0.02857736 9.7177093 ] [ 0.06561777 -0.0408094 0.99700998 2.421876 ] [ 0. 0. 0. 1. ]] SLAMing on 199.34925976399995 meters Centerline goodness : 0.761655 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.72, Z:2.42 [[ 0.98276661 -0.17058569 -0.07120617 -5.22093456] [ 0.17304313 0.98446162 0.02985625 9.71713166] [ 0.06500669 -0.04166347 0.99701469 2.42223217] [ 0. 0. 0. 1. ]] SLAMing on 199.40925976399996 meters Centerline goodness : 0.763530 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.72, Z:2.42 [[ 0.98288021 -0.17018815 -0.07058675 -5.22306123] [ 0.17257322 0.98456533 0.02914776 9.71739949] [ 0.06453667 -0.04083014 0.9970797 2.42288305] [ 0. 0. 0. 1. ]] SLAMing on 199.46925976399996 meters Centerline goodness : 0.765684 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.72, Z:2.42 [[ 0.98313343 -0.16902708 -0.0698463 -5.22462519] [ 0.17129503 0.98482678 0.02782501 9.71764276] [ 0.06408333 -0.03932002 0.99716963 2.42214458] [ 0. 0. 0. 1. ]] SLAMing on 199.52925976399996 meters Centerline goodness : 0.764665 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.72, Z:2.42 [[ 0.98355739 -0.1667868 -0.06926049 -5.22785296] [ 0.16901221 0.98522801 0.0275797 9.71865899] [ 0.06363744 -0.03883209 0.9972173 2.42320443] [ 0. 0. 0. 1. ]] SLAMing on 199.58925976399996 meters Centerline goodness : 0.764674 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.72, Z:2.42 [[ 0.98511534 -0.15788575 -0.06796949 -5.23242587] [ 0.16014981 0.98665995 0.02922625 9.72064274] [ 0.06244836 -0.03967653 0.99725923 2.42166094] [ 0. 0. 0. 1. ]] SLAMing on 199.64925976399996 meters Centerline goodness : 0.764494 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.72, Z:2.42 [[ 0.98653562 -0.14910087 -0.06720414 -5.23561853] [ 0.15143915 0.9879763 0.03112889 9.72289602] [ 0.06175475 -0.04088709 0.99725353 2.41937566] [ 0. 0. 0. 1. ]] SLAMing on 199.70925976399997 meters Centerline goodness : 0.764161 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.72, Z:2.41 [[ 0.98891857 -0.1358134 -0.05995658 -5.2432573 ] [ 0.13802696 0.98982924 0.03444746 9.72354538] [ 0.05466835 -0.04234135 0.99760643 2.41086212] [ 0. 0. 0. 1. ]] SLAMing on 199.76925976399997 meters Centerline goodness : 0.763132 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.73, Z:2.41 [[ 0.98960007 -0.13045514 -0.06060651 -5.24122241] [ 0.13292721 0.99036964 0.03870822 9.72535003] [ 0.05497316 -0.04636191 0.99741091 2.40898716] [ 0. 0. 0. 1. ]] SLAMing on 199.82925976399997 meters Centerline goodness : 0.761308 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.73, Z:2.41 [[ 0.99037463 -0.12406399 -0.06136949 -5.23739205] [ 0.12684311 0.99096133 0.04366313 9.72753819] [ 0.05539777 -0.05102715 0.99715962 2.40569343] [ 0. 0. 0. 1. ]] SLAMing on 199.88925976399995 meters Centerline goodness : 0.759441 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.73, Z:2.41 [[ 0.9909675 -0.11901977 -0.0617876 -5.23681071] [ 0.12204161 0.99137948 0.0476716 9.72850991] [ 0.0555811 -0.05478167 0.9969502 2.40540715] [ 0. 0. 0. 1. ]] SLAMing on 199.94925976399995 meters Centerline goodness : 0.762611 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.73, Z:2.41 [[ 0.99103928 -0.11831923 -0.06198145 -5.23541912] [ 0.12133508 0.99148019 0.04737968 9.73049154] [ 0.05584745 -0.05447565 0.99695209 2.40502266] [ 0. 0. 0. 1. ]] SLAMing on 200.00925976399995 meters Centerline goodness : 0.763238 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.40 [[ 0.99115204 -0.11722045 -0.06226558 -5.23331054] [ 0.12026586 0.99159809 0.04763762 9.73181245] [ 0.05615832 -0.05470454 0.99692209 2.40391514] [ 0. 0. 0. 1. ]] SLAMing on 200.06925976399995 meters Centerline goodness : 0.763198 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.40 [[ 0.9911884 -0.11694876 -0.06219755 -5.23327335] [ 0.11998574 0.99163593 0.04755631 9.73192385] [ 0.05611568 -0.05460009 0.99693022 2.40406667] [ 0. 0. 0. 1. ]] SLAMing on 200.12925976399995 meters Centerline goodness : 0.762405 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.41 [[ 0.99118395 -0.11690322 -0.062354 -5.23350841] [ 0.11991638 0.99167165 0.04698308 9.73375267] [ 0.05634222 -0.05404614 0.99694763 2.40541143] [ 0. 0. 0. 1. ]] SLAMing on 200.18925976399996 meters Centerline goodness : 0.762564 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.41 [[ 0.99120629 -0.11677278 -0.06224313 -5.23352943] [ 0.11978492 0.99168328 0.04707267 9.73340607] [ 0.05622867 -0.05411452 0.99695033 2.40515987] [ 0. 0. 0. 1. ]] SLAMing on 200.24925976399996 meters Centerline goodness : 0.761563 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.40 [[ 0.99124342 -0.11661879 -0.06193984 -5.23381781] [ 0.11963817 0.99168078 0.04749677 9.73078146] [ 0.05588553 -0.05449123 0.9969491 2.40473568] [ 0. 0. 0. 1. ]] SLAMing on 200.30925976399996 meters Centerline goodness : 0.760943 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.73, Z:2.41 [[ 0.99120479 -0.1170283 -0.06178542 -5.23514942] [ 0.12000706 0.99166376 0.04691802 9.73156155] [ 0.05577963 -0.05392005 0.99698609 2.40611687] [ 0. 0. 0. 1. ]] SLAMing on 200.36925976399996 meters Centerline goodness : 0.762418 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.73, Z:2.41 [[ 0.99117279 -0.11745451 -0.06148937 -5.23674666] [ 0.12040149 0.99162947 0.04663126 9.73114034] [ 0.05549762 -0.05362305 0.99701784 2.40729977] [ 0. 0. 0. 1. ]] SLAMing on 200.42925976399997 meters Centerline goodness : 0.761415 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.73, Z:2.41 [[ 0.99116085 -0.11774926 -0.0611169 -5.23790448] [ 0.12068068 0.99159183 0.04671 9.72993217] [ 0.05510295 -0.05367275 0.99703706 2.40740634] [ 0. 0. 0. 1. ]] SLAMing on 200.48925976399997 meters Centerline goodness : 0.760924 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.73, Z:2.41 [[ 0.99061866 -0.12226849 -0.06103352 -5.23774272] [ 0.12492892 0.99128266 0.04185044 9.73204898] [ 0.05538448 -0.04908268 0.99725797 2.40903611] [ 0. 0. 0. 1. ]] SLAMing on 200.54925976399997 meters Centerline goodness : 0.760044 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.73, Z:2.41 [[ 0.99002831 -0.12718406 -0.06056532 -5.23907786] [ 0.12953873 0.99089614 0.03666817 9.734583 ] [ 0.05535034 -0.04414809 0.99749049 2.41139973] [ 0. 0. 0. 1. ]] SLAMing on 200.60925976399994 meters Centerline goodness : 0.760137 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.73, Z:2.41 [[ 0.98928856 -0.13486346 -0.05585683 -5.22343422] [ 0.13723155 0.98969138 0.04096907 9.73247215] [ 0.04975579 -0.04819556 0.99759789 2.40629326] [ 0. 0. 0. 1. ]] SLAMing on 200.66925976399995 meters Centerline goodness : 0.757196 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.73, Z:2.41 [[ 0.9886305 -0.13988897 -0.05514359 -5.22463314] [ 0.14201106 0.98918696 0.03663366 9.73291966] [ 0.04942268 -0.04404816 0.99780617 2.40695118] [ 0. 0. 0. 1. ]] SLAMing on 200.72925976399995 meters Centerline goodness : 0.754347 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.73, Z:2.40 [[ 0.98751275 -0.14947097 -0.04976948 -5.21346824] [ 0.15157174 0.98757483 0.04149644 9.72980604] [ 0.04294857 -0.04852191 0.99789831 2.40099782] [ 0. 0. 0. 1. ]] SLAMing on 200.78925976399995 meters Centerline goodness : 0.754687 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.73, Z:2.40 [[ 0.9863868 -0.15623601 -0.05129713 -5.21102477] [ 0.1583749 0.98654164 0.04065692 9.72962692] [ 0.04425468 -0.04822763 0.99785551 2.40452433] [ 0. 0. 0. 1. ]] SLAMing on 200.84925976399995 meters Centerline goodness : 0.756228 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.73, Z:2.41 [[ 0.98470038 -0.16589708 -0.05332273 -5.20753159] [ 0.16810653 0.9849568 0.04000363 9.72989935] [ 0.0458841 -0.04835548 0.99777572 2.40915394] [ 0. 0. 0. 1. ]] SLAMing on 200.90925976399996 meters Centerline goodness : 0.756094 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.73, Z:2.41 [[ 0.98377684 -0.17101475 -0.05419486 -5.20720419] [ 0.17321402 0.98411781 0.0388464 9.73049844] [ 0.04669082 -0.0476035 0.99777446 2.41275881] [ 0. 0. 0. 1. ]] SLAMing on 200.96925976399996 meters Centerline goodness : 0.758295 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.73, Z:2.41 [[ 0.98342469 -0.17257947 -0.05560757 -5.20586231] [ 0.17488777 0.98378786 0.03969536 9.73358488] [ 0.04785545 -0.04876248 0.99766331 2.4142804 ] [ 0. 0. 0. 1. ]] SLAMing on 201.02925976399996 meters Centerline goodness : 0.758800 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.74, Z:2.41 [[ 0.98487927 -0.16415526 -0.05537038 -5.20877156] [ 0.16658002 0.98511452 0.04243197 9.73845134] [ 0.04758073 -0.05101397 0.99756386 2.41266822] [ 0. 0. 0. 1. ]] SLAMing on 201.08925976399996 meters Centerline goodness : 0.756907 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.74, Z:2.41 [[ 0.98634131 -0.1556004 -0.05403081 -5.21126024] [ 0.15785381 0.98664087 0.04027356 9.74444264] [ 0.04704242 -0.04825244 0.99772677 2.40763627] [ 0. 0. 0. 1. ]] SLAMing on 201.14925976399996 meters Centerline goodness : 0.755074 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.75, Z:2.41 [[ 0.98693365 -0.15202595 -0.05338617 -5.2134017 ] [ 0.15418027 0.98727892 0.03884306 9.74811297] [ 0.04680188 -0.04656662 0.99781819 2.40634428] [ 0. 0. 0. 1. ]] SLAMing on 201.20925976399997 meters Centerline goodness : 0.755125 with order 1 Centerline is valid? [False, False] Translation: X:-5.21, Y:9.75, Z:2.41 [[ 0.98753009 -0.14798456 -0.05371113 -5.21423038] [ 0.150283 0.98776717 0.0416057 9.7531393 ] [ 0.04689709 -0.04915875 0.99768937 2.4069419 ] [ 0. 0. 0. 1. ]] SLAMing on 201.26925976399997 meters Centerline goodness : 0.757948 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.75, Z:2.41 [[ 0.98783554 -0.14598457 -0.05356723 -5.21574589] [ 0.14827654 0.98806938 0.04162888 9.75423185] [ 0.04685096 -0.04906525 0.99769614 2.40725981] [ 0. 0. 0. 1. ]] SLAMing on 201.32925976399997 meters Centerline goodness : 0.756122 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.76, Z:2.41 [[ 0.98828692 -0.14305911 -0.05313245 -5.2183482 ] [ 0.14533537 0.98850058 0.04176409 9.75640892] [ 0.04654673 -0.04899693 0.99771374 2.40798133] [ 0. 0. 0. 1. ]] SLAMing on 201.38925976399995 meters Centerline goodness : 0.754095 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.76, Z:2.41 [[ 0.98851998 -0.14145577 -0.05308965 -5.21973291] [ 0.14374482 0.98871927 0.04209071 9.75726187] [ 0.04653679 -0.04923887 0.99770229 2.40875266] [ 0. 0. 0. 1. ]] SLAMing on 201.44925976399995 meters Centerline goodness : 0.751531 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.76, Z:2.41 [[ 0.98891675 -0.13911069 -0.05188337 -5.22298818] [ 0.1412767 0.98913294 0.04070532 9.7587641 ] [ 0.04565701 -0.04758408 0.99782323 2.40869995] [ 0. 0. 0. 1. ]] SLAMing on 201.50925976399995 meters Centerline goodness : 0.752226 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.76, Z:2.41 [[ 0.98896428 -0.13865748 -0.05218963 -5.22139147] [ 0.14084971 0.98918334 0.04095949 9.75966529] [ 0.04594577 -0.04785837 0.99779685 2.40744453] [ 0. 0. 0. 1. ]] SLAMing on 201.56925976399995 meters Centerline goodness : 0.752202 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.76, Z:2.41 [[ 0.98898938 -0.13860789 -0.05184464 -5.22334901] [ 0.14078111 0.98919533 0.04090571 9.76036521] [ 0.04561462 -0.04775405 0.99781705 2.4087757 ] [ 0. 0. 0. 1. ]] SLAMing on 201.62925976399995 meters Centerline goodness : 0.751954 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.76, Z:2.41 [[ 0.98903061 -0.13803019 -0.05259383 -5.22240806] [ 0.14029818 0.98921053 0.04217749 9.75919345] [ 0.0462046 -0.04909365 0.99772489 2.40933094] [ 0. 0. 0. 1. ]] SLAMing on 201.68925976399996 meters Centerline goodness : 0.753431 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.76, Z:2.41 [[ 0.98897345 -0.13858378 -0.05221159 -5.22453387] [ 0.14080665 0.98916263 0.04160265 9.75846698] [ 0.0458803 -0.04849566 0.9977691 2.41137038] [ 0. 0. 0. 1. ]] SLAMing on 201.74925976399996 meters Centerline goodness : 0.752946 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.76, Z:2.41 [[ 0.98847989 -0.1423042 -0.05154633 -5.22598813] [ 0.14435561 0.98877576 0.03852208 9.75746817] [ 0.0454859 -0.0455193 0.99792736 2.41298888] [ 0. 0. 0. 1. ]] SLAMing on 201.80925976399996 meters Centerline goodness : 0.752046 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.76, Z:2.42 [[ 0.98786218 -0.14622817 -0.05239873 -5.22511194] [ 0.14829238 0.98821596 0.03792877 9.75524563] [ 0.046235 -0.04523873 0.9979057 2.4156658 ] [ 0. 0. 0. 1. ]] SLAMing on 201.86925976399996 meters Centerline goodness : 0.753698 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.75, Z:2.42 [[ 0.9871905 -0.15052947 -0.05287527 -5.22659411] [ 0.15260612 0.98756787 0.03769712 9.75216679] [ 0.04654339 -0.04528333 0.99788934 2.42111169] [ 0. 0. 0. 1. ]] SLAMing on 201.92925976399997 meters Centerline goodness : 0.751027 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.75, Z:2.42 [[ 0.98733479 -0.14979611 -0.05226031 -5.22910739] [ 0.15181755 0.98771163 0.03711017 9.75216194] [ 0.04605915 -0.04457419 0.99794373 2.4222681 ] [ 0. 0. 0. 1. ]] SLAMing on 201.98925976399997 meters Centerline goodness : 0.750779 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.75, Z:2.42 [[ 0.98710011 -0.15172235 -0.05112434 -5.23063432] [ 0.15348731 0.98761432 0.03255156 9.75141158] [ 0.04555234 -0.03997858 0.99816166 2.42199236] [ 0. 0. 0. 1. ]] SLAMing on 202.04925976399997 meters Centerline goodness : 0.751098 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.75, Z:2.42 [[ 0.98711717 -0.15173525 -0.0507553 -5.23136992] [ 0.15344177 0.98765266 0.03158857 9.74988577] [ 0.04533551 -0.0389696 0.99821143 2.4222454 ] [ 0. 0. 0. 1. ]] SLAMing on 202.10925976399994 meters Centerline goodness : 0.754082 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.75, Z:2.43 [[ 0.98687195 -0.15329552 -0.05083536 -5.23328978] [ 0.15501483 0.98740077 0.03178248 9.74824115] [ 0.04532277 -0.03924547 0.9982012 2.42594114] [ 0. 0. 0. 1. ]] SLAMing on 202.16925976399995 meters Centerline goodness : 0.756095 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.75, Z:2.43 [[ 0.98650207 -0.15585786 -0.05021942 -5.23505849] [ 0.15744881 0.98708845 0.0294324 9.74657225] [ 0.04498374 -0.03694211 0.99830443 2.42790221] [ 0. 0. 0. 1. ]] SLAMing on 202.22925976399995 meters Centerline goodness : 0.757357 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.74, Z:2.43 [[ 0.98607286 -0.1585967 -0.05007392 -5.23581342] [ 0.16010994 0.98670799 0.0277877 9.74331516] [ 0.0450013 -0.03541803 0.99835888 2.43028785] [ 0. 0. 0. 1. ]] SLAMing on 202.28925976399995 meters Centerline goodness : 0.756689 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.74, Z:2.43 [[ 0.98592698 -0.15931929 -0.05064936 -5.23537957] [ 0.16088967 0.98655845 0.02858228 9.74179876] [ 0.04541485 -0.036329 0.99830742 2.43174435] [ 0. 0. 0. 1. ]] SLAMing on 202.34925976399995 meters Centerline goodness : 0.759030 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.44 [[ 0.98511258 -0.1585118 -0.06653738 -5.23169682] [ 0.16047478 0.98671718 0.02524002 9.73341455] [ 0.06165273 -0.03554183 0.99746465 2.44204184] [ 0. 0. 0. 1. ]] SLAMing on 202.40925976399996 meters Centerline goodness : 0.762153 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.44 [[ 0.98492643 -0.15984761 -0.06609588 -5.23327515] [ 0.1617739 0.98651457 0.02486386 9.73131825] [ 0.06123012 -0.03518166 0.99750345 2.44373827] [ 0. 0. 0. 1. ]] SLAMing on 202.46925976399996 meters Centerline goodness : 0.762672 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.73, Z:2.44 [[ 0.98464427 -0.16129761 -0.06677386 -5.23170189] [ 0.16331805 0.98623191 0.02595833 9.72939731] [ 0.0616675 -0.0364651 0.99743041 2.4443173 ] [ 0. 0. 0. 1. ]] SLAMing on 202.52925976399996 meters Centerline goodness : 0.765096 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.73, Z:2.45 [[ 0.98466257 -0.16171691 -0.06547715 -5.23501756] [ 0.16359871 0.98622413 0.02444229 9.72653548] [ 0.06062242 -0.03477939 0.99755467 2.44601124] [ 0. 0. 0. 1. ]] SLAMing on 202.58925976399996 meters Centerline goodness : 0.765065 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.72, Z:2.45 [[ 0.98461014 -0.16230176 -0.06481527 -5.23775085] [ 0.16410388 0.98616343 0.0234864 9.72484362] [ 0.06010657 -0.03376138 0.99762085 2.44828754] [ 0. 0. 0. 1. ]] SLAMing on 202.64925976399996 meters Centerline goodness : 0.765569 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.72, Z:2.45 [[ 0.98470132 -0.16200856 -0.06416029 -5.23969926] [ 0.16373814 0.98624378 0.02264994 9.72460129] [ 0.05960821 -0.03280892 0.99768253 2.4489134 ] [ 0. 0. 0. 1. ]] SLAMing on 202.70925976399997 meters Centerline goodness : 0.768677 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.72, Z:2.45 [[ 0.98531035 -0.15826684 -0.06414924 -5.23908465] [ 0.16009318 0.98680092 0.02437457 9.72423689] [ 0.05944484 -0.03428637 0.9976426 2.44645718] [ 0. 0. 0. 1. ]] SLAMing on 202.76925976399997 meters Centerline goodness : 0.770309 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.72, Z:2.44 [[ 0.98563925 -0.15622225 -0.06410836 -5.2381596 ] [ 0.15809382 0.98710223 0.02520961 9.72390865] [ 0.05934321 -0.03498272 0.99762448 2.4442055 ] [ 0. 0. 0. 1. ]] SLAMing on 202.82925976399997 meters Centerline goodness : 0.767770 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.72, Z:2.44 [[ 0.98571257 -0.15584774 -0.06389221 -5.23811727] [ 0.15765863 0.98719405 0.02432429 9.72262908] [ 0.05928312 -0.03404992 0.99766032 2.44361143] [ 0. 0. 0. 1. ]] SLAMing on 202.88925976399995 meters Centerline goodness : 0.767810 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.72, Z:2.45 [[ 0.98605083 -0.15403173 -0.06307127 -5.24181246] [ 0.1558463 0.98746718 0.02490996 9.72173266] [ 0.05844389 -0.03439191 0.9976981 2.44575073] [ 0. 0. 0. 1. ]] SLAMing on 202.94925976399995 meters Centerline goodness : 0.772037 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.72, Z:2.45 [[ 0.98605996 -0.1541797 -0.06256502 -5.24426696] [ 0.15595205 0.98746123 0.02447996 9.72235798] [ 0.05800622 -0.03389585 0.99774062 2.44738419] [ 0. 0. 0. 1. ]] SLAMing on 203.00925976399995 meters Centerline goodness : 0.776674 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.72, Z:2.45 [[ 0.98590333 -0.15507075 -0.06283068 -5.24272563] [ 0.15679182 0.9873538 0.02342626 9.72097004] [ 0.05840339 -0.03294736 0.99774922 2.44654125] [ 0. 0. 0. 1. ]] SLAMing on 203.06925976399995 meters Centerline goodness : 0.776753 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:9.72, Z:2.45 [[ 0.98570763 -0.1565643 -0.06219404 -5.24511072] [ 0.15820834 0.98715113 0.02242242 9.71913086] [ 0.05788437 -0.03194157 0.99781217 2.44895989] [ 0. 0. 0. 1. ]] SLAMing on 203.12925976399995 meters Centerline goodness : 0.777289 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:9.72, Z:2.45 [[ 0.98599056 -0.15506771 -0.06145425 -5.24909649] [ 0.15672002 0.98737483 0.02301713 9.71847568] [ 0.05710916 -0.03232579 0.99784447 2.451603 ] [ 0. 0. 0. 1. ]] SLAMing on 203.18925976399996 meters Centerline goodness : 0.778275 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:9.72, Z:2.45 [[ 0.98614735 -0.15419878 -0.06112397 -5.25111667] [ 0.15583387 0.98751724 0.02292392 9.71849988] [ 0.05682613 -0.03213155 0.9978669 2.4527877 ] [ 0. 0. 0. 1. ]] SLAMing on 203.24925976399996 meters Centerline goodness : 0.779464 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:9.72, Z:2.45 [[ 0.98625984 -0.15394525 -0.05993649 -5.25356029] [ 0.15541241 0.98763463 0.0206111 9.71813597] [ 0.05602237 -0.02964277 0.99798938 2.45273194] [ 0. 0. 0. 1. ]] SLAMing on 203.30925976399996 meters Centerline goodness : 0.780727 with order 1 Centerline is valid? [False, False] Translation: X:-5.25, Y:9.71, Z:2.45 [[ 0.98625009 -0.15424248 -0.05932967 -5.25478534] [ 0.15572891 0.98757068 0.02127601 9.71474345] [ 0.05531057 -0.03022282 0.99801168 2.45172288] [ 0. 0. 0. 1. ]] SLAMing on 203.36925976399996 meters Centerline goodness : 0.780823 with order 1 Centerline is valid? [False, False] Translation: X:-5.24, Y:9.71, Z:2.45 [[ 0.98594708 -0.15766537 -0.05522662 -5.23966336] [ 0.15949651 0.98672845 0.03046021 9.71173158] [ 0.04969116 -0.03884061 0.99800912 2.44548353] [ 0. 0. 0. 1. ]] SLAMing on 203.42925976399997 meters Centerline goodness : 0.781787 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.71, Z:2.44 [[ 0.98618097 -0.15756761 -0.05118139 -5.22288378] [ 0.15968765 0.98634251 0.04035231 9.71034719] [ 0.04412416 -0.04796772 0.99787382 2.44148085] [ 0. 0. 0. 1. ]] SLAMing on 203.48925976399997 meters Centerline goodness : 0.782097 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.71, Z:2.44 [[ 0.98619866 -0.15753042 -0.05095458 -5.2228545 ] [ 0.15963995 0.98634986 0.04036138 9.71048701] [ 0.0439009 -0.04793872 0.99788506 2.44071239] [ 0. 0. 0. 1. ]] SLAMing on 203.54925976399997 meters Centerline goodness : 0.777613 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.71, Z:2.44 [[ 0.98624309 -0.15721446 -0.05107033 -5.22204861] [ 0.15932856 0.98640109 0.04033992 9.7111203 ] [ 0.04403381 -0.04792193 0.99788001 2.44032306] [ 0. 0. 0. 1. ]] SLAMing on 203.60925976399994 meters Centerline goodness : 0.776985 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.71, Z:2.44 [[ 0.98625019 -0.15722575 -0.05089812 -5.2219953 ] [ 0.15935496 0.98637491 0.04087223 9.70964456] [ 0.04377847 -0.04842111 0.99786715 2.43942265] [ 0. 0. 0. 1. ]] SLAMing on 203.66925976399995 meters Centerline goodness : 0.774086 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.71, Z:2.43 [[ 0.98602549 -0.15978044 -0.04715879 -5.20378634] [ 0.16205349 0.98555938 0.04910568 9.70703552] [ 0.03863166 -0.0560617 0.99767965 2.4338595 ] [ 0. 0. 0. 1. ]] SLAMing on 203.72925976399995 meters Centerline goodness : 0.773450 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.71, Z:2.44 [[ 0.98600625 -0.15984232 -0.04735097 -5.20413367] [ 0.16208131 0.98561141 0.04795612 9.70994747] [ 0.03900424 -0.05495974 0.99772646 2.43588586] [ 0. 0. 0. 1. ]] SLAMing on 203.78925976399995 meters Centerline goodness : 0.771388 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.71, Z:2.44 [[ 0.98608699 -0.15923093 -0.04772793 -5.20308417] [ 0.16145801 0.98575382 0.04712438 9.71313889] [ 0.03954433 -0.0541748 0.99774813 2.43699616] [ 0. 0. 0. 1. ]] SLAMing on 203.84925976399995 meters Centerline goodness : 0.769909 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.72, Z:2.44 [[ 0.98559125 -0.16214489 -0.04815516 -5.19963831] [ 0.16420846 0.98550919 0.04251142 9.71587588] [ 0.04056435 -0.04980637 0.9979348 2.43780686] [ 0. 0. 0. 1. ]] SLAMing on 203.90925976399996 meters Centerline goodness : 0.766139 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.71, Z:2.44 [[ 0.98536226 -0.16351739 -0.04820035 -5.20040603] [ 0.16557658 0.98528716 0.0423511 9.71406326] [ 0.04056604 -0.04971202 0.99793943 2.44006773] [ 0. 0. 0. 1. ]] SLAMing on 203.96925976399996 meters Centerline goodness : 0.766847 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:9.71, Z:2.45 [[ 0.98458721 -0.1631277 -0.06306652 -5.18855915] [ 0.16595173 0.98521968 0.0424525 9.70903569] [ 0.0552092 -0.05226419 0.99710601 2.45456965] [ 0. 0. 0. 1. ]] SLAMing on 204.02925976399996 meters Centerline goodness : 0.764402 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:9.71, Z:2.46 [[ 0.98367583 -0.1684165 -0.06338569 -5.18711793] [ 0.1711705 0.98439512 0.0408278 9.70818174] [ 0.05552049 -0.05101108 0.99715362 2.45590896] [ 0. 0. 0. 1. ]] SLAMing on 204.08925976399996 meters Centerline goodness : 0.765309 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:9.71, Z:2.46 [[ 0.98383401 -0.16759747 -0.06310094 -5.18949123] [ 0.17033226 0.98454353 0.04075476 9.70894102] [ 0.05529523 -0.05084404 0.99717467 2.45753148] [ 0. 0. 0. 1. ]] SLAMing on 204.14925976399996 meters Centerline goodness : 0.764768 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:9.71, Z:2.45 [[ 0.98391878 -0.16691008 -0.06359918 -5.18714687] [ 0.16972289 0.98460899 0.04170452 9.71107033] [ 0.05565942 -0.0518281 0.99710374 2.45486178] [ 0. 0. 0. 1. ]] SLAMing on 204.20925976399997 meters Centerline goodness : 0.763492 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:9.71, Z:2.45 [[ 0.98469912 -0.16274637 -0.06229975 -5.19041817] [ 0.16543547 0.98537934 0.0407266 9.71250755] [ 0.05476078 -0.05041004 0.9972262 2.45350008] [ 0. 0. 0. 1. ]] SLAMing on 204.26925976399997 meters Centerline goodness : 0.764351 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:9.71, Z:2.45 [[ 0.98548199 -0.1580647 -0.06197423 -5.19257432] [ 0.16084044 0.9860576 0.04267036 9.71398315] [ 0.05436548 -0.05201884 0.9971652 2.45310694] [ 0. 0. 0. 1. ]] SLAMing on 204.32925976399997 meters Centerline goodness : 0.763276 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.72, Z:2.45 [[ 0.98589133 -0.15575482 -0.06130845 -5.19522114] [ 0.15848768 0.98644401 0.04254256 9.71506801] [ 0.05385115 -0.05165898 0.99721181 2.45335653] [ 0. 0. 0. 1. ]] SLAMing on 204.38925976399995 meters Centerline goodness : 0.761927 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.72, Z:2.45 [[ 0.98685726 -0.14989148 -0.06037622 -5.1986872 ] [ 0.15263437 0.9873164 0.04369304 9.71835306] [ 0.05306122 -0.05233428 0.99721895 2.45224695] [ 0. 0. 0. 1. ]] SLAMing on 204.44925976399995 meters Centerline goodness : 0.760879 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.72, Z:2.45 [[ 0.98734159 -0.14698741 -0.0595927 -5.20084029] [ 0.14962861 0.98782559 0.0425661 9.72023722] [ 0.05261051 -0.05094406 0.99731481 2.45106369] [ 0. 0. 0. 1. ]] SLAMing on 204.50925976399995 meters Centerline goodness : 0.759770 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.72, Z:2.45 [[ 0.98820433 -0.14156243 -0.0584147 -5.20394247] [ 0.14421412 0.9885689 0.04397529 9.72226488] [ 0.05152171 -0.05188079 0.99732337 2.44957773] [ 0. 0. 0. 1. ]] SLAMing on 204.56925976399995 meters Centerline goodness : 0.760001 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.73, Z:2.45 [[ 0.98821541 -0.14126146 -0.05895347 -5.20264213] [ 0.14389709 0.98865217 0.04313366 9.72638447] [ 0.05219135 -0.05110858 0.99732842 2.45020551] [ 0. 0. 0. 1. ]] SLAMing on 204.62925976399995 meters Centerline goodness : 0.760353 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.73, Z:2.45 [[ 0.98824441 -0.14095159 -0.05920833 -5.20163755] [ 0.14356398 0.98873034 0.04244644 9.73001591] [ 0.05255818 -0.05044764 0.99734281 2.45022334] [ 0. 0. 0. 1. ]] SLAMing on 204.68925976399996 meters Centerline goodness : 0.760534 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.73, Z:2.45 [[ 0.98822613 -0.14111907 -0.05911449 -5.20224047] [ 0.14369215 0.98873975 0.04178836 9.73203162] [ 0.05255171 -0.04979064 0.99737616 2.45089279] [ 0. 0. 0. 1. ]] SLAMing on 204.74925976399996 meters Centerline goodness : 0.761844 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.74, Z:2.45 [[ 0.98817139 -0.14143488 -0.05927453 -5.20235816] [ 0.14395528 0.9887494 0.0406386 9.73609529] [ 0.05285995 -0.04869078 0.99741417 2.45184295] [ 0. 0. 0. 1. ]] SLAMing on 204.80925976399996 meters Centerline goodness : 0.761828 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.74, Z:2.45 [[ 0.98819293 -0.14120975 -0.05945199 -5.20130096] [ 0.14372786 0.98879083 0.04043517 9.73744228] [ 0.05307574 -0.04850266 0.99741188 2.45130306] [ 0. 0. 0. 1. ]] SLAMing on 204.86925976399996 meters Centerline goodness : 0.761783 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.74, Z:2.45 [[ 0.98879801 -0.13661534 -0.0601228 -5.20064899] [ 0.13933754 0.98928148 0.04367155 9.74234426] [ 0.05351217 -0.0515597 0.9972352 2.45126322] [ 0. 0. 0. 1. ]] SLAMing on 204.92925976399997 meters Centerline goodness : 0.761954 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.75, Z:2.45 [[ 0.98881682 -0.13625359 -0.06063211 -5.19941072] [ 0.13893236 0.98939425 0.04238895 9.74806521] [ 0.05421341 -0.05033867 0.99725971 2.45234547] [ 0. 0. 0. 1. ]] SLAMing on 204.98925976399997 meters Centerline goodness : 0.760752 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.75, Z:2.45 [[ 0.98940815 -0.13180187 -0.06082586 -5.19940188] [ 0.13467738 0.98982745 0.04586531 9.75096435] [ 0.05416197 -0.05357138 0.99709407 2.45145926] [ 0. 0. 0. 1. ]] SLAMing on 205.04925976399997 meters Centerline goodness : 0.760877 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.75, Z:2.45 [[ 0.98994484 -0.12769608 -0.06085172 -5.20034271] [ 0.13077268 0.99017219 0.04957359 9.75270665] [ 0.05392333 -0.05703286 0.99691501 2.45084997] [ 0. 0. 0. 1. ]] SLAMing on 205.10925976399994 meters Centerline goodness : 0.760040 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.76, Z:2.45 [[ 0.98990739 -0.12782753 -0.06118397 -5.2001394 ] [ 0.1308608 0.99021722 0.04842847 9.75652444] [ 0.05439493 -0.05594628 0.99695095 2.45227959] [ 0. 0. 0. 1. ]] SLAMing on 205.16925976399995 meters Centerline goodness : 0.760569 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.76, Z:2.45 [[ 0.99043929 -0.12362579 -0.06121009 -5.20096135] [ 0.12684474 0.99056774 0.05182636 9.75939714] [ 0.05422566 -0.05909504 0.99677849 2.45192542] [ 0. 0. 0. 1. ]] SLAMing on 205.22925976399995 meters Centerline goodness : 0.759497 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.76, Z:2.45 [[ 0.99046451 -0.12321492 -0.061629 -5.19949813] [ 0.12642136 0.99065717 0.05114686 9.76270096] [ 0.05475115 -0.05845037 0.99678777 2.45205971] [ 0. 0. 0. 1. ]] SLAMing on 205.28925976399995 meters Centerline goodness : 0.760995 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.77, Z:2.45 [[ 0.98997792 -0.12697926 -0.06180598 -5.19782414] [ 0.12990852 0.99046184 0.04592515 9.76678985] [ 0.05538492 -0.05349401 0.99703104 2.4538734 ] [ 0. 0. 0. 1. ]] SLAMing on 205.34925976399995 meters Centerline goodness : 0.760604 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.77, Z:2.46 [[ 0.98941436 -0.13132636 -0.06174639 -5.19770399] [ 0.13395626 0.99015678 0.04056202 9.77022244] [ 0.05581175 -0.04840396 0.99726732 2.45650242] [ 0. 0. 0. 1. ]] SLAMing on 205.40925976399996 meters Centerline goodness : 0.759795 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:9.77, Z:2.45 [[ 0.98913541 -0.1352487 -0.05761008 -5.1797384 ] [ 0.13802554 0.9892989 0.04729314 9.7672071 ] [ 0.05059726 -0.05473098 0.99721835 2.45182306] [ 0. 0. 0. 1. ]] SLAMing on 205.46925976399996 meters Centerline goodness : 0.758919 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.76, Z:2.44 [[ 0.98974842 -0.13497777 -0.0466804 -5.16828809] [ 0.13709566 0.98950761 0.0456013 9.76402598] [ 0.04003545 -0.05153349 0.99786846 2.44443447] [ 0. 0. 0. 1. ]] SLAMing on 205.52925976399996 meters Centerline goodness : 0.760003 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.76, Z:2.44 [[ 0.98881428 -0.14262538 -0.04363854 -5.12836418] [ 0.14507085 0.98764697 0.05922756 9.75935312] [ 0.03465212 -0.06489573 0.99729022 2.43878648] [ 0. 0. 0. 1. ]] SLAMing on 205.58925976399996 meters Centerline goodness : 0.763223 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.76, Z:2.44 [[ 0.98858436 -0.14405383 -0.04415261 -5.13002201] [ 0.14658593 0.98732812 0.06079262 9.75800247] [ 0.0348357 -0.06657079 0.99717341 2.4432635 ] [ 0. 0. 0. 1. ]] SLAMing on 205.64925976399996 meters Centerline goodness : 0.763412 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.76, Z:2.44 [[ 0.98878084 -0.14308646 -0.04288029 -5.13290051] [ 0.1454482 0.98765077 0.05823034 9.75842572] [ 0.03401878 -0.0638139 0.99738183 2.44303443] [ 0. 0. 0. 1. ]] SLAMing on 205.70925976399997 meters Centerline goodness : 0.764338 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.76, Z:2.44 [[ 0.98901436 -0.14161155 -0.04238818 -5.13334519] [ 0.1438511 0.98804158 0.05550396 9.75943745] [ 0.03402128 -0.0609918 0.9975583 2.44134647] [ 0. 0. 0. 1. ]] SLAMing on 205.76925976399997 meters Centerline goodness : 0.763705 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.76, Z:2.44 [[ 0.9893872 -0.13877823 -0.04305318 -5.13210611] [ 0.14115856 0.98826843 0.05830754 9.7603457 ] [ 0.03445628 -0.06376606 0.99736987 2.44007465] [ 0. 0. 0. 1. ]] SLAMing on 205.82925976399994 meters Centerline goodness : 0.765472 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.76, Z:2.44 [[ 0.98997821 -0.13455435 -0.04287501 -5.13408352] [ 0.13697873 0.9887689 0.05977358 9.76224533] [ 0.03435068 -0.06504751 0.99729076 2.44021493] [ 0. 0. 0. 1. ]] SLAMing on 205.88925976399995 meters Centerline goodness : 0.764652 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.76, Z:2.44 [[ 0.99030916 -0.13232937 -0.04215098 -5.1356645 ] [ 0.13465098 0.98919093 0.05805522 9.76280585] [ 0.03401296 -0.06316829 0.99742312 2.43923166] [ 0. 0. 0. 1. ]] SLAMing on 205.94925976399995 meters Centerline goodness : 0.763606 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.76, Z:2.44 [[ 0.99076423 -0.12919307 -0.04117506 -5.13895997] [ 0.13144479 0.98964286 0.05769989 9.76359704] [ 0.03329418 -0.06257923 0.9974845 2.43963724] [ 0. 0. 0. 1. ]] SLAMing on 206.00925976399995 meters Centerline goodness : 0.763516 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.77, Z:2.44 [[ 0.9914202 -0.12422004 -0.04068619 -5.14139646] [ 0.12651824 0.99015654 0.0598595 9.76556861] [ 0.03284995 -0.06449346 0.9973773 2.4395432 ] [ 0. 0. 0. 1. ]] SLAMing on 206.06925976399995 meters Centerline goodness : 0.764064 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.77, Z:2.44 [[ 0.99140517 -0.12435909 -0.04062767 -5.14184138] [ 0.12662403 0.99019643 0.05896935 9.76814327] [ 0.032896 -0.06360695 0.99743271 2.4405359 ] [ 0. 0. 0. 1. ]] SLAMing on 206.12925976399995 meters Centerline goodness : 0.764232 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.77, Z:2.44 [[ 0.99137809 -0.12464041 -0.04042579 -5.14314249] [ 0.12685623 0.99023124 0.05787553 9.77061146] [ 0.03281725 -0.0625048 0.99750498 2.44243912] [ 0. 0. 0. 1. ]] SLAMing on 206.18925976399996 meters Centerline goodness : 0.764716 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.77, Z:2.44 [[ 0.99134117 -0.12500425 -0.04020713 -5.14439841] [ 0.12718792 0.9902208 0.05732362 9.77123619] [ 0.03264824 -0.06194112 0.99754568 2.44381392] [ 0. 0. 0. 1. ]] SLAMing on 206.24925976399996 meters Centerline goodness : 0.766059 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.77, Z:2.45 [[ 0.9911814 -0.12607581 -0.04079618 -5.14449209] [ 0.12828904 0.99008885 0.05714883 9.77026287] [ 0.03318676 -0.06187856 0.9975318 2.44595118] [ 0. 0. 0. 1. ]] SLAMing on 206.30925976399996 meters Centerline goodness : 0.765345 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.77, Z:2.45 [[ 0.99099757 -0.1278067 -0.03986553 -5.14705814] [ 0.12989581 0.98999245 0.05515453 9.76795518] [ 0.03241746 -0.05983637 0.99768167 2.44806554] [ 0. 0. 0. 1. ]] SLAMing on 206.36925976399996 meters Centerline goodness : 0.763635 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.77, Z:2.45 [[ 0.9906951 -0.13013777 -0.03984196 -5.14910562] [ 0.1322143 0.98970061 0.05488252 9.76531233] [ 0.03228932 -0.05963952 0.99769761 2.45201442] [ 0. 0. 0. 1. ]] SLAMing on 206.42925976399997 meters Centerline goodness : 0.760956 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.76, Z:2.45 [[ 0.9909665 -0.12817342 -0.03945847 -5.15208104] [ 0.13028896 0.98985029 0.0567556 9.76447423] [ 0.03178342 -0.0613839 0.99760805 2.45454867] [ 0. 0. 0. 1. ]] SLAMing on 206.48925976399997 meters Centerline goodness : 0.758612 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.76, Z:2.46 [[ 0.99094964 -0.12848483 -0.03886465 -5.15385382] [ 0.13056457 0.98981205 0.05678906 9.76268868] [ 0.03117216 -0.06134944 0.99762946 2.45504784] [ 0. 0. 0. 1. ]] SLAMing on 206.54925976399997 meters Centerline goodness : 0.759385 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.76, Z:2.46 [[ 0.99093932 -0.12871499 -0.03836283 -5.15516635] [ 0.13076948 0.98977411 0.05697858 9.76053148] [ 0.03063654 -0.06147901 0.99763808 2.45531319] [ 0. 0. 0. 1. ]] SLAMing on 206.60925976399994 meters Centerline goodness : 0.757058 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.76, Z:2.46 [[ 0.99088363 -0.12924012 -0.03803451 -5.15714124] [ 0.13124857 0.98975809 0.05614931 9.76182624] [ 0.03038822 -0.0606294 0.99769767 2.45724955] [ 0. 0. 0. 1. ]] SLAMing on 206.66925976399995 meters Centerline goodness : 0.757884 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.76, Z:2.46 [[ 0.99084482 -0.12955483 -0.03797496 -5.15813155] [ 0.13153868 0.9897578 0.0554713 9.76308319] [ 0.03039944 -0.05995862 0.99773786 2.45868703] [ 0. 0. 0. 1. ]] SLAMing on 206.72925976399995 meters Centerline goodness : 0.759182 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.77, Z:2.46 [[ 0.99084043 -0.12961055 -0.03789925 -5.1585293 ] [ 0.13156625 0.98979719 0.05469769 9.7653743 ] [ 0.03042318 -0.05918295 0.99778345 2.45964276] [ 0. 0. 0. 1. ]] SLAMing on 206.78925976399995 meters Centerline goodness : 0.758358 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.77, Z:2.46 [[ 0.9908483 -0.12947055 -0.03817098 -5.15804482] [ 0.131411 0.98987375 0.05367597 9.76897021] [ 0.03083499 -0.05820083 0.99782858 2.4607642 ] [ 0. 0. 0. 1. ]] SLAMing on 206.84925976399995 meters Centerline goodness : 0.758925 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.77, Z:2.46 [[ 0.99136882 -0.12543007 -0.03814649 -5.15951866] [ 0.12749331 0.99016715 0.05757153 9.76899617] [ 0.0305502 -0.06193804 0.99761233 2.46096645] [ 0. 0. 0. 1. ]] SLAMing on 206.90925976399996 meters Centerline goodness : 0.758117 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.77, Z:2.46 [[ 0.9919186 -0.12096571 -0.03827248 -5.15961233] [ 0.12317257 0.99045844 0.0618109 9.76892797] [ 0.03043031 -0.0660255 0.99735381 2.45985623] [ 0. 0. 0. 1. ]] SLAMing on 206.96925976399996 meters Centerline goodness : 0.759448 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.77, Z:2.46 [[ 0.99201315 -0.12006453 -0.03865765 -5.15761452] [ 0.12228112 0.99060308 0.06126059 9.77274616] [ 0.03093916 -0.06549841 0.99737291 2.45966848] [ 0. 0. 0. 1. ]] SLAMing on 207.02925976399996 meters Centerline goodness : 0.758281 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.78, Z:2.46 [[ 0.9920496 -0.11964483 -0.03902195 -5.15617438] [ 0.12186906 0.99068686 0.06072464 9.77536282] [ 0.03139314 -0.06499742 0.9973915 2.4596467 ] [ 0. 0. 0. 1. ]] SLAMing on 207.08925976399996 meters Centerline goodness : 0.759488 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.78, Z:2.46 [[ 0.99203573 -0.1197309 -0.03911026 -5.15652348] [ 0.1219265 0.99074561 0.05964106 9.77875184] [ 0.03160744 -0.06393464 0.99745342 2.4612475 ] [ 0. 0. 0. 1. ]] SLAMing on 207.14925976399996 meters Centerline goodness : 0.760547 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.78, Z:2.46 [[ 0.99201628 -0.11985051 -0.03923713 -5.15708806] [ 0.12202209 0.99079376 0.05863739 9.78143638] [ 0.03184819 -0.06295704 0.99750795 2.4632831 ] [ 0. 0. 0. 1. ]] SLAMing on 207.20925976399997 meters Centerline goodness : 0.759889 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.78, Z:2.46 [[ 0.99199604 -0.12010806 -0.03896044 -5.15830728] [ 0.12225811 0.99077172 0.05851798 9.7805617 ] [ 0.03157242 -0.06281283 0.9975258 2.46404835] [ 0. 0. 0. 1. ]] SLAMing on 207.26925976399997 meters Centerline goodness : 0.757537 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.78, Z:2.46 [[ 0.99197342 -0.12041181 -0.03859712 -5.15957843] [ 0.1225466 0.99072099 0.05877281 9.77825055] [ 0.03116203 -0.06303102 0.99752495 2.46440126] [ 0. 0. 0. 1. ]] SLAMing on 207.32925976399994 meters Centerline goodness : 0.756712 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.78, Z:2.47 [[ 0.99139161 -0.1252297 -0.03821249 -5.16102903] [ 0.12716953 0.99044002 0.05344596 9.78026968] [ 0.03115416 -0.05784534 0.99783933 2.46771175] [ 0. 0. 0. 1. ]] SLAMing on 207.38925976399995 meters Centerline goodness : 0.757673 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.78, Z:2.47 [[ 0.99124849 -0.12655255 -0.03756184 -5.16477292] [ 0.12843655 0.99030621 0.05289298 9.77815283] [ 0.03050398 -0.0572544 0.9978935 2.47019827] [ 0. 0. 0. 1. ]] SLAMing on 207.44925976399995 meters Centerline goodness : 0.757956 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.47 [[ 0.9911736 -0.12733206 -0.03689782 -5.16739624] [ 0.12916825 0.9902271 0.0525914 9.77701524] [ 0.02984065 -0.05689323 0.99793421 2.47126829] [ 0. 0. 0. 1. ]] SLAMing on 207.50925976399995 meters Centerline goodness : 0.757037 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.47 [[ 0.99170421 -0.12295161 -0.03749215 -5.1670596 ] [ 0.12495366 0.99053615 0.05678668 9.7772172 ] [ 0.03015531 -0.06100037 0.99768212 2.47086772] [ 0. 0. 0. 1. ]] SLAMing on 207.56925976399995 meters Centerline goodness : 0.758552 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.47 [[ 0.99169646 -0.12299741 -0.03754688 -5.16729543] [ 0.1249897 0.99055619 0.05635615 9.77858605] [ 0.03026064 -0.06058117 0.99770447 2.47160695] [ 0. 0. 0. 1. ]] SLAMing on 207.62925976399995 meters Centerline goodness : 0.756632 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.47 [[ 0.99172571 -0.12276715 -0.037528 -5.16706683] [ 0.12475912 0.99058421 0.05637459 9.7780588 ] [ 0.0302537 -0.06059009 0.99770414 2.47162986] [ 0. 0. 0. 1. ]] SLAMing on 207.68925976399996 meters Centerline goodness : 0.757155 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.47 [[ 0.99165056 -0.12342088 -0.03736916 -5.16895994] [ 0.12537188 0.99056396 0.05536184 9.77938015] [ 0.03018373 -0.05958464 0.99776681 2.47414382] [ 0. 0. 0. 1. ]] SLAMing on 207.74925976399996 meters Centerline goodness : 0.756787 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.48 [[ 0.99157533 -0.12419428 -0.03679875 -5.1714002 ] [ 0.12610253 0.99048604 0.05509585 9.77815952] [ 0.02960606 -0.0592721 0.99780274 2.47523085] [ 0. 0. 0. 1. ]] SLAMing on 207.80925976399996 meters Centerline goodness : 0.753639 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.48 [[ 0.991006 -0.12880473 -0.03628296 -5.17206153] [ 0.13055608 0.99013142 0.05093989 9.77731034] [ 0.0293636 -0.0552187 0.99804242 2.47623313] [ 0. 0. 0. 1. ]] SLAMing on 207.86925976399996 meters Centerline goodness : 0.753777 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:9.78, Z:2.48 [[ 0.99087941 -0.12993686 -0.03569872 -5.17506512] [ 0.13164374 0.99000729 0.05055178 9.77609579] [ 0.02877345 -0.05479023 0.99808322 2.47768907] [ 0. 0. 0. 1. ]] SLAMing on 207.92925976399997 meters Centerline goodness : 0.748063 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:9.78, Z:2.48 [[ 0.99083385 -0.13019952 -0.03600517 -5.17515647] [ 0.13189481 0.9900227 0.04958632 9.77870018] [ 0.02918982 -0.0538807 0.99812065 2.47939257] [ 0. 0. 0. 1. ]] SLAMing on 207.98925976399997 meters Centerline goodness : 0.745775 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:9.78, Z:2.48 [[ 0.99078377 -0.13059586 -0.0359477 -5.17611792] [ 0.13226382 0.99001411 0.04876834 9.78068046] [ 0.02921978 -0.05307346 0.99816302 2.4807059 ] [ 0. 0. 0. 1. ]] SLAMing on 208.04925976399997 meters Centerline goodness : 0.745363 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:9.78, Z:2.48 [[ 0.99078843 -0.13059547 -0.03582049 -5.17623083] [ 0.13225511 0.99001792 0.04871444 9.78045277] [ 0.02910104 -0.05300315 0.99817022 2.4805512 ] [ 0. 0. 0. 1. ]] SLAMing on 208.10925976399994 meters Centerline goodness : 0.748245 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:9.78, Z:2.48 [[ 0.9907615 -0.13075892 -0.03596876 -5.17637977] [ 0.13241331 0.99001847 0.04827159 9.78146159] [ 0.0292978 -0.05258837 0.99818641 2.4813388 ] [ 0. 0. 0. 1. ]] SLAMing on 208.16925976399995 meters Centerline goodness : 0.739582 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:9.79, Z:2.48 [[ 0.99021201 -0.13485035 -0.0359939 -5.17578548] [ 0.13634667 0.98972857 0.04297596 9.78533894] [ 0.02982887 -0.04746296 0.99842752 2.48412716] [ 0. 0. 0. 1. ]] SLAMing on 208.22925976399995 meters Centerline goodness : 0.738305 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:9.78, Z:2.49 [[ 0.99014834 -0.13543098 -0.03556282 -5.17778844] [ 0.13689174 0.98967503 0.0424733 9.78455677] [ 0.02944343 -0.04692312 0.99846447 2.48570073] [ 0. 0. 0. 1. ]] SLAMing on 208.28925976399995 meters Centerline goodness : 0.738617 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.48 [[ 0.99071391 -0.13375722 -0.02439153 -5.16696271] [ 0.13471105 0.98995588 0.04289861 9.78279083] [ 0.01840853 -0.04578606 0.99878164 2.4777982 ] [ 0. 0. 0. 1. ]] SLAMing on 208.34925976399995 meters Centerline goodness : 0.734030 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.48 [[ 0.9907019 -0.13385173 -0.02436119 -5.16736726] [ 0.1348006 0.98995191 0.0427085 9.78318336] [ 0.0183998 -0.04559529 0.99879053 2.47823047] [ 0. 0. 0. 1. ]] SLAMing on 208.40925976399996 meters Centerline goodness : 0.741296 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.48 [[ 0.99070768 -0.13373605 -0.02475818 -5.16633393] [ 0.13470668 0.98995651 0.04289779 9.78331382] [ 0.01877254 -0.04583426 0.99877265 2.47787358] [ 0. 0. 0. 1. ]] SLAMing on 208.46925976399996 meters Centerline goodness : 0.738585 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.48 [[ 0.99075807 -0.13335229 -0.02481171 -5.16544984] [ 0.13433205 0.98999269 0.04323632 9.78296176] [ 0.01879775 -0.04616974 0.99875673 2.47680656] [ 0. 0. 0. 1. ]] SLAMing on 208.52925976399996 meters Centerline goodness : 0.733440 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.48 [[ 0.99077653 -0.13323858 -0.02468514 -5.16540396] [ 0.13421502 0.99000285 0.04336695 9.78283937] [ 0.01866021 -0.04628008 0.9987542 2.47614885] [ 0. 0. 0. 1. ]] SLAMing on 208.58925976399996 meters Centerline goodness : 0.733085 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.48 [[ 0.99079565 -0.13310987 -0.02461175 -5.16506255] [ 0.1340925 0.98999696 0.0438773 9.78174372] [ 0.01852505 -0.04677368 0.99873372 2.47502297] [ 0. 0. 0. 1. ]] SLAMing on 208.64925976399996 meters Centerline goodness : 0.733333 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.48 [[ 0.9907742 -0.13333571 -0.02425025 -5.16603172] [ 0.1343017 0.9899675 0.04390208 9.78089546] [ 0.01815325 -0.0467539 0.99874147 2.47505131] [ 0. 0. 0. 1. ]] SLAMing on 208.70925976399997 meters Centerline goodness : 0.737884 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.48 [[ 0.99073172 -0.13369143 -0.02402609 -5.16698624] [ 0.13463738 0.98994464 0.04338657 9.78235966] [ 0.01798409 -0.04621926 0.99876942 2.47566584] [ 0. 0. 0. 1. ]] SLAMing on 208.76925976399997 meters Centerline goodness : 0.738453 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.47 [[ 0.9912641 -0.12971613 -0.02385799 -5.16847029] [ 0.13073333 0.99027127 0.04766147 9.78137835] [ 0.01744342 -0.05036414 0.99857858 2.47473532] [ 0. 0. 0. 1. ]] SLAMing on 208.82925976399994 meters Centerline goodness : 0.748061 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.47 [[ 0.99178823 -0.12567302 -0.023715 -5.16988511] [ 0.1267575 0.99058351 0.05173832 9.7812491 ] [ 0.01698958 -0.05431951 0.99837906 2.47407991] [ 0. 0. 0. 1. ]] SLAMing on 208.88925976399995 meters Centerline goodness : 0.742570 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.48 [[ 0.99175251 -0.12600536 -0.02344393 -5.17119479] [ 0.12705628 0.99060191 0.05064154 9.7843692 ] [ 0.0168425 -0.05320257 0.99844169 2.4754375 ] [ 0. 0. 0. 1. ]] SLAMing on 208.94925976399995 meters Centerline goodness : 0.740899 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.79, Z:2.48 [[ 0.99226494 -0.1219345 -0.02328654 -5.17266604] [ 0.12303151 0.99095364 0.0536109 9.78862091] [ 0.01653887 -0.05606119 0.99829034 2.47570452] [ 0. 0. 0. 1. ]] SLAMing on 209.00925976399995 meters Centerline goodness : 0.736543 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.79, Z:2.48 [[ 0.99233405 -0.12137896 -0.02324413 -5.17205854] [ 0.12246268 0.9910618 0.05290941 9.7933534 ] [ 0.01661428 -0.05535034 0.99832876 2.47549769] [ 0. 0. 0. 1. ]] SLAMing on 209.06925976399995 meters Centerline goodness : 0.739507 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.79, Z:2.47 [[ 0.99285388 -0.11707221 -0.02313601 -5.17243131] [ 0.11822479 0.99134352 0.05710456 9.79379666] [ 0.01625037 -0.05943173 0.99810009 2.47364635] [ 0. 0. 0. 1. ]] SLAMing on 209.12925976399995 meters Centerline goodness : 0.745354 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.80, Z:2.47 [[ 0.99288464 -0.11683583 -0.02301026 -5.1721547 ] [ 0.11797165 0.99140779 0.05650916 9.79689967] [ 0.01621026 -0.05882164 0.99813689 2.47329106] [ 0. 0. 0. 1. ]] SLAMing on 209.18925976399996 meters Centerline goodness : 0.748762 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.80, Z:2.47 [[ 0.99298063 -0.11606442 -0.02277116 -5.17141591] [ 0.11718052 0.99152564 0.05608589 9.79972323] [ 0.01606862 -0.05836054 0.99816624 2.4727354 ] [ 0. 0. 0. 1. ]] SLAMing on 209.24925976399996 meters Centerline goodness : 0.744382 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.80, Z:2.47 [[ 0.99297077 -0.11620452 -0.0224846 -5.17240846] [ 0.1172921 0.99155356 0.05535439 9.80219916] [ 0.01586225 -0.05760255 0.99821357 2.47346854] [ 0. 0. 0. 1. ]] SLAMing on 209.30925976399996 meters Centerline goodness : 0.753385 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.80, Z:2.47 [[ 0.99301677 -0.11586491 -0.0222039 -5.17229948] [ 0.11693826 0.99159015 0.05544746 9.8022887 ] [ 0.01559275 -0.05765674 0.99821469 2.47257606] [ 0. 0. 0. 1. ]] SLAMing on 209.36925976399996 meters Centerline goodness : 0.753558 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.80, Z:2.47 [[ 0.9930235 -0.11587695 -0.02183726 -5.17286956] [ 0.11692986 0.99158851 0.05549453 9.80187043] [ 0.01522304 -0.0576608 0.99822016 2.47211042] [ 0. 0. 0. 1. ]] SLAMing on 209.42925976399997 meters Centerline goodness : 0.752042 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.80, Z:2.47 [[ 0.99302617 -0.11590616 -0.02155891 -5.17335443] [ 0.1169445 0.99158109 0.05559614 9.80122125] [ 0.01493348 -0.05772962 0.99822056 2.47173256] [ 0. 0. 0. 1. ]] SLAMing on 209.48925976399997 meters Centerline goodness : 0.753846 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:9.80, Z:2.47 [[ 0.99296512 -0.11657361 -0.02075714 -5.17617816] [ 0.11756272 0.99151586 0.05545547 9.79952605] [ 0.01411639 -0.05750561 0.99824538 2.47268858] [ 0. 0. 0. 1. ]] SLAMing on 209.54925976399997 meters Centerline goodness : 0.749289 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:9.80, Z:2.47 [[ 0.99294439 -0.1168604 -0.02012692 -5.1778278 ] [ 0.11781778 0.99146508 0.05582079 9.79717016] [ 0.0134319 -0.05779825 0.99823792 2.4724922 ] [ 0. 0. 0. 1. ]] SLAMing on 209.60925976399994 meters Centerline goodness : 0.749246 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:9.79, Z:2.47 [[ 0.99288202 -0.11752004 -0.01934766 -5.18021999] [ 0.1184376 0.99136352 0.05631073 9.79386525] [ 0.01256293 -0.0582014 0.99822581 2.47234795] [ 0. 0. 0. 1. ]] SLAMing on 209.66925976399995 meters Centerline goodness : 0.751242 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:9.80, Z:2.47 [[ 0.9923596 -0.12198015 -0.01852742 -5.18207163] [ 0.12278396 0.99110643 0.05130438 9.79600906] [ 0.01210453 -0.05318727 0.99851119 2.47456679] [ 0. 0. 0. 1. ]] SLAMing on 209.72925976399995 meters Centerline goodness : 0.752521 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:9.79, Z:2.48 [[ 0.99229084 -0.12262498 -0.01794441 -5.18438499] [ 0.12339481 0.99104031 0.0511159 9.79467282] [ 0.01151555 -0.05293608 0.9985315 2.47559356] [ 0. 0. 0. 1. ]] SLAMing on 209.78925976399995 meters Centerline goodness : 0.750394 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:9.79, Z:2.48 [[ 0.99174704 -0.12705746 -0.01715266 -5.18573814] [ 0.12773289 0.99070528 0.04676919 9.79442984] [ 0.01105086 -0.04857417 0.99875844 2.47692986] [ 0. 0. 0. 1. ]] SLAMing on 209.84925976399995 meters Centerline goodness : 0.750240 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:9.79, Z:2.48 [[ 0.99164697 -0.12794983 -0.01628245 -5.18893417] [ 0.12858167 0.99059742 0.04672803 9.79154947] [ 0.01015051 -0.04843133 0.99877494 2.47814126] [ 0. 0. 0. 1. ]] SLAMing on 209.90925976399996 meters Centerline goodness : 0.749768 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.79, Z:2.47 [[ 9.90871460e-01 -1.34299696e-01 -1.17192685e-02 -5.17323094e+00] [ 1.34734641e-01 9.89475382e-01 5.27735178e-02 9.78670155e+00] [ 4.50846025e-03 -5.38707641e-02 9.98537738e-01 2.47207250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96925976399996 meters Centerline goodness : 0.750461 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.48 [[ 0.99067945 -0.1328091 -0.03026518 -5.16541276] [ 0.13426071 0.98955759 0.05243892 9.7809679 ] [ 0.02298478 -0.05601358 0.99816541 2.48380915] [ 0. 0. 0. 1. ]] SLAMing on 210.02925976399996 meters Centerline goodness : 0.752049 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.77, Z:2.50 [[ 0.98968586 -0.13463621 -0.04893872 -5.15847445] [ 0.13714311 0.98918087 0.05208629 9.77430671] [ 0.04139655 -0.05826068 0.99744274 2.497745 ] [ 0. 0. 0. 1. ]] SLAMing on 210.08925976399996 meters Centerline goodness : 0.751656 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.77, Z:2.49 [[ 0.98905802 -0.14089668 -0.04373044 -5.14359053] [ 0.1432837 0.98801956 0.05733352 9.77062865] [ 0.03512842 -0.06297203 0.99739687 2.49325481] [ 0. 0. 0. 1. ]] SLAMing on 210.14925976399996 meters Centerline goodness : 0.752160 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.77, Z:2.50 [[ 0.98897565 -0.14131383 -0.04424444 -5.14427255] [ 0.14376795 0.98789157 0.05831828 9.76991414] [ 0.03546753 -0.06403629 0.9973171 2.49567902] [ 0. 0. 0. 1. ]] SLAMing on 210.20925976399997 meters Centerline goodness : 0.751926 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.77, Z:2.50 [[ 0.98889861 -0.14188629 -0.04413417 -5.14516314] [ 0.14428991 0.98788589 0.05711302 9.77098304] [ 0.03549597 -0.0628471 0.99739174 2.49632339] [ 0. 0. 0. 1. ]] SLAMing on 210.26925976399997 meters Centerline goodness : 0.752322 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.77, Z:2.50 [[ 0.98847282 -0.14499687 -0.04355919 -5.14503969] [ 0.14719591 0.98771752 0.05241621 9.77101882] [ 0.03542398 -0.05822373 0.99767487 2.49556901] [ 0. 0. 0. 1. ]] SLAMing on 210.32925976399994 meters Centerline goodness : 0.754060 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.77, Z:2.50 [[ 0.98855417 -0.14429246 -0.04404916 -5.14569987] [ 0.14656931 0.98773786 0.05377124 9.7712936 ] [ 0.03575024 -0.05961204 0.99758124 2.49730711] [ 0. 0. 0. 1. ]] SLAMing on 210.38925976399995 meters Centerline goodness : 0.755097 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.77, Z:2.50 [[ 0.98877487 -0.14243823 -0.0451176 -5.14508438] [ 0.14484904 0.98788856 0.05563221 9.77150783] [ 0.03664701 -0.06154297 0.99743143 2.49826269] [ 0. 0. 0. 1. ]] SLAMing on 210.44925976399995 meters Centerline goodness : 0.754362 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.77, Z:2.50 [[ 0.98875472 -0.14280921 -0.04438056 -5.14620853] [ 0.14504695 0.98805112 0.05211871 9.77143603] [ 0.03640723 -0.05796989 0.99765425 2.49787123] [ 0. 0. 0. 1. ]] SLAMing on 210.50925976399995 meters Centerline goodness : 0.753576 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.77, Z:2.50 [[ 0.98862963 -0.14347349 -0.04502002 -5.14462966] [ 0.14573341 0.98797068 0.05172732 9.77133503] [ 0.03705696 -0.05770008 0.99764597 2.49739534] [ 0. 0. 0. 1. ]] SLAMing on 210.56925976399995 meters Centerline goodness : 0.754776 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.77, Z:2.50 [[ 0.98858101 -0.14392804 -0.0446352 -5.14632609] [ 0.14614309 0.98794176 0.05112026 9.77233217] [ 0.03673934 -0.05705964 0.99769455 2.49857638] [ 0. 0. 0. 1. ]] SLAMing on 210.62925976399995 meters Centerline goodness : 0.754231 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.77, Z:2.50 [[ 0.98855785 -0.14412299 -0.04451907 -5.14673051] [ 0.14631829 0.98793407 0.05076647 9.77349008] [ 0.03666529 -0.05669954 0.9977178 2.49878187] [ 0. 0. 0. 1. ]] SLAMing on 210.68925976399996 meters Centerline goodness : 0.753875 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.77, Z:2.50 [[ 0.98855754 -0.144227 -0.04418776 -5.14700588] [ 0.14640514 0.98791877 0.05081374 9.77317354] [ 0.03632521 -0.05670162 0.99773013 2.4979281 ] [ 0. 0. 0. 1. ]] SLAMing on 210.74925976399996 meters Centerline goodness : 0.756236 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.77, Z:2.50 [[ 0.9885433 -0.14443493 -0.04382572 -5.14780716] [ 0.14658083 0.98790915 0.05049334 9.77315149] [ 0.03600283 -0.05633886 0.99776236 2.49811603] [ 0. 0. 0. 1. ]] SLAMing on 210.80925976399996 meters Centerline goodness : 0.754636 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.77, Z:2.50 [[ 0.98852909 -0.14452418 -0.04385207 -5.14811029] [ 0.14664913 0.98793046 0.04987433 9.77487041] [ 0.03611475 -0.0557331 0.99779234 2.49907762] [ 0. 0. 0. 1. ]] SLAMing on 210.86925976399996 meters Centerline goodness : 0.754881 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.78, Z:2.50 [[ 0.9886036 -0.14390451 -0.04420867 -5.14688572] [ 0.14602217 0.98806103 0.04912163 9.77930742] [ 0.03661204 -0.05501727 0.99781394 2.49952556] [ 0. 0. 0. 1. ]] SLAMing on 210.92925976399997 meters Centerline goodness : 0.755085 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.78, Z:2.50 [[ 0.98912036 -0.14068998 -0.04297958 -5.14931278] [ 0.14267704 0.98863805 0.04730834 9.78056343] [ 0.03583544 -0.05292584 0.99795525 2.49828228] [ 0. 0. 0. 1. ]] SLAMing on 210.98925976399997 meters Centerline goodness : 0.754980 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.78, Z:2.50 [[ 0.98943758 -0.13874794 -0.04197956 -5.15209084] [ 0.14064912 0.9889744 0.04634063 9.78174532] [ 0.03508704 -0.05175555 0.99804322 2.4984161 ] [ 0. 0. 0. 1. ]] SLAMing on 211.04925976399997 meters Centerline goodness : 0.756659 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.79, Z:2.50 [[ 0.98942383 -0.13879319 -0.04215365 -5.15222901] [ 0.14066684 0.98901969 0.04530876 9.78515768] [ 0.03540225 -0.05075919 0.99808326 2.49984557] [ 0. 0. 0. 1. ]] SLAMing on 211.10925976399994 meters Centerline goodness : 0.757928 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.78, Z:2.50 [[ 0.98946714 -0.13844995 -0.04226562 -5.15137456] [ 0.14034076 0.98905138 0.04562713 9.78458515] [ 0.0354858 -0.05107813 0.99806402 2.49910791] [ 0. 0. 0. 1. ]] SLAMing on 211.16925976399995 meters Centerline goodness : 0.757938 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.78, Z:2.50 [[ 0.98945715 -0.13861357 -0.04196226 -5.15208554] [ 0.14048604 0.98903435 0.04554908 9.78385597] [ 0.0351884 -0.05096398 0.99808038 2.49919009] [ 0. 0. 0. 1. ]] SLAMing on 211.22925976399995 meters Centerline goodness : 0.762292 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.79, Z:2.50 [[ 0.98947655 -0.13850144 -0.04187482 -5.15243424] [ 0.14035413 0.9890731 0.04511223 9.78524483] [ 0.03516915 -0.0505148 0.9981039 2.50005691] [ 0. 0. 0. 1. ]] SLAMing on 211.28925976399995 meters Centerline goodness : 0.763925 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.79, Z:2.50 [[ 0.9900565 -0.13428146 -0.04191194 -5.15362744] [ 0.13627345 0.98946045 0.04896501 9.78547552] [ 0.03489511 -0.05418961 0.99792075 2.50021755] [ 0. 0. 0. 1. ]] SLAMing on 211.34925976399995 meters Centerline goodness : 0.762022 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.79, Z:2.50 [[ 0.99010419 -0.13392071 -0.04193977 -5.15279417] [ 0.13590664 0.98952187 0.04874268 9.78697552] [ 0.03497267 -0.05396022 0.99793046 2.49963119] [ 0. 0. 0. 1. ]] SLAMing on 211.40925976399996 meters Centerline goodness : 0.767474 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.79, Z:2.50 [[ 0.9901474 -0.13359112 -0.04197067 -5.15244985] [ 0.13554337 0.98962096 0.04773199 9.7903038 ] [ 0.03515849 -0.05295056 0.99797802 2.50070789] [ 0. 0. 0. 1. ]] SLAMing on 211.46925976399996 meters Centerline goodness : 0.768897 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.79, Z:2.50 [[ 0.9902678 -0.13264167 -0.04214103 -5.15232182] [ 0.1346098 0.98973973 0.04791102 9.79088965] [ 0.03535366 -0.05311734 0.99796226 2.5002549 ] [ 0. 0. 0. 1. ]] SLAMing on 211.52925976399996 meters Centerline goodness : 0.771209 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.80, Z:2.50 [[ 0.98975026 -0.13656627 -0.04176215 -5.15214769] [ 0.13831887 0.98947869 0.04242411 9.79502274] [ 0.03552906 -0.04776577 0.99822649 2.50277653] [ 0. 0. 0. 1. ]] SLAMing on 211.58925976399996 meters Centerline goodness : 0.774993 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.79, Z:2.50 [[ 0.98973157 -0.13685704 -0.04125005 -5.1538239 ] [ 0.13858176 0.98944595 0.04232966 9.79403276] [ 0.03502159 -0.0476115 0.99825179 2.50347186] [ 0. 0. 0. 1. ]] SLAMing on 211.64925976399996 meters Centerline goodness : 0.775597 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.79, Z:2.51 [[ 0.98970633 -0.13719217 -0.04073922 -5.15653598] [ 0.13887535 0.98942582 0.0418352 9.79337951] [ 0.03456897 -0.04706224 0.99829361 2.50637868] [ 0. 0. 0. 1. ]] SLAMing on 211.70925976399997 meters Centerline goodness : 0.775652 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.79, Z:2.51 [[ 0.9897371 -0.13709395 -0.04032018 -5.15848547] [ 0.13872484 0.98948666 0.04088483 9.79397586] [ 0.03429122 -0.04605865 0.99835 2.50766421] [ 0. 0. 0. 1. ]] SLAMing on 211.76925976399997 meters Centerline goodness : 0.779345 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.80, Z:2.51 [[ 0.99036146 -0.13240931 -0.0406442 -5.1584517 ] [ 0.13408185 0.99009591 0.04161911 9.79506064] [ 0.0347309 -0.04666761 0.99830652 2.50642411] [ 0. 0. 0. 1. ]] SLAMing on 211.82925976399994 meters Centerline goodness : 0.783944 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.80, Z:2.51 [[ 0.99108317 -0.12701113 -0.04027814 -5.1600159 ] [ 0.12869636 0.99077566 0.04243637 9.79599758] [ 0.03451671 -0.04724162 0.99828695 2.50536684] [ 0. 0. 0. 1. ]] SLAMing on 211.88925976399995 meters Centerline goodness : 0.780333 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.80, Z:2.50 [[ 0.99174653 -0.12222319 -0.03873381 -5.16327708] [ 0.12377337 0.99148274 0.0405233 9.79532322] [ 0.03345102 -0.04498305 0.99842754 2.50433599] [ 0. 0. 0. 1. ]] SLAMing on 211.94925976399995 meters Centerline goodness : 0.781492 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.79, Z:2.50 [[ 0.992183 -0.1190465 -0.03742751 -5.16491834] [ 0.12062044 0.99176457 0.04305522 9.79200497] [ 0.03199371 -0.04723318 0.99837139 2.50373577] [ 0. 0. 0. 1. ]] SLAMing on 212.00925976399995 meters Centerline goodness : 0.781138 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.79, Z:2.50 [[ 0.99221246 -0.11887562 -0.03718896 -5.1656153 ] [ 0.12044204 0.99178122 0.04317101 9.79121126] [ 0.03175134 -0.04731393 0.9983753 2.50420171] [ 0. 0. 0. 1. ]] SLAMing on 212.06925976399995 meters Centerline goodness : 0.781301 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.79, Z:2.50 [[ 0.99227095 -0.1185109 -0.03679027 -5.16626072] [ 0.12008763 0.9917835 0.04409601 9.78680493] [ 0.03126212 -0.04817325 0.99834965 2.50387836] [ 0. 0. 0. 1. ]] SLAMing on 212.12925976399995 meters Centerline goodness : 0.783913 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.50 [[ 0.99232658 -0.11820359 -0.03627502 -5.16725399] [ 0.11978149 0.9917828 0.04493642 9.78279427] [ 0.03066529 -0.04893668 0.99833103 2.50369073] [ 0. 0. 0. 1. ]] SLAMing on 212.18925976399996 meters Centerline goodness : 0.787641 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.78, Z:2.50 [[ 0.99235346 -0.11810074 -0.03587244 -5.16856799] [ 0.11967716 0.99176802 0.04553643 9.77891469] [ 0.03019926 -0.04948135 0.99831839 2.50441764] [ 0. 0. 0. 1. ]] SLAMing on 212.24925976399996 meters Centerline goodness : 0.786614 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.77, Z:2.51 [[ 0.99208949 -0.12019771 -0.03620709 -5.16877141] [ 0.1217825 0.99152221 0.04530714 9.7728091 ] [ 0.03045432 -0.04935812 0.99831674 2.50745867] [ 0. 0. 0. 1. ]] SLAMing on 212.30925976399996 meters Centerline goodness : 0.789080 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.77, Z:2.51 [[ 0.99181724 -0.12282139 -0.03483476 -5.17219718] [ 0.12425279 0.99134315 0.04242642 9.76792058] [ 0.02932233 -0.04640758 0.99849213 2.51028629] [ 0. 0. 0. 1. ]] SLAMing on 212.36925976399996 meters Centerline goodness : 0.789286 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:9.76, Z:2.52 [[ 0.99124844 -0.12750635 -0.03418566 -5.17534108] [ 0.12884615 0.99084289 0.04036142 9.761964 ] [ 0.02872628 -0.04441288 0.99860017 2.51610163] [ 0. 0. 0. 1. ]] SLAMing on 212.42925976399997 meters Centerline goodness : 0.793017 with order 1 Centerline is valid? [False, False] Translation: X:-5.18, Y:9.76, Z:2.52 [[ 0.99076233 -0.13125001 -0.0341091 -5.1761086 ] [ 0.13254618 0.99040888 0.03900977 9.7588405 ] [ 0.02866193 -0.04317044 0.9986565 2.51902102] [ 0. 0. 0. 1. ]] SLAMing on 212.48925976399997 meters Centerline goodness : 0.793946 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.75, Z:2.53 [[ 0.98982851 -0.13267391 -0.05135321 -5.17056683] [ 0.13472103 0.99012818 0.03868365 9.74994599] [ 0.04571395 -0.04520854 0.99793107 2.53173242] [ 0. 0. 0. 1. ]] SLAMing on 212.54925976399994 meters Centerline goodness : 0.795426 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.75, Z:2.53 [[ 0.98922999 -0.13735497 -0.05057315 -5.17199104] [ 0.13918227 0.98966333 0.03456577 9.74913397] [ 0.04530261 -0.04123238 0.99812202 2.5327529 ] [ 0. 0. 0. 1. ]] SLAMing on 212.60925976399994 meters Centerline goodness : 0.796824 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.74, Z:2.53 [[ 0.98861326 -0.14336793 -0.04571051 -5.15832606] [ 0.14532888 0.98845219 0.04291612 9.74258929] [ 0.03902986 -0.0490705 0.99803244 2.52545483] [ 0. 0. 0. 1. ]] SLAMing on 212.66925976399995 meters Centerline goodness : 0.795518 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.74, Z:2.53 [[ 0.98794143 -0.14822661 -0.044728 -5.1604172 ] [ 0.14996303 0.98794829 0.03833094 9.74309415] [ 0.03850728 -0.04457627 0.99826356 2.52700462] [ 0. 0. 0. 1. ]] SLAMing on 212.72925976399995 meters Centerline goodness : 0.797123 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.74, Z:2.52 [[ 0.98758058 -0.15187461 -0.04023297 -5.14391642] [ 0.15367211 0.98704363 0.04614933 9.73972498] [ 0.03270279 -0.05175887 0.99812401 2.52088335] [ 0. 0. 0. 1. ]] SLAMing on 212.78925976399995 meters Centerline goodness : 0.800005 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.73, Z:2.53 [[ 0.98785053 -0.14486018 -0.05627478 -5.14262052] [ 0.14754252 0.98794594 0.04684044 9.73455651] [ 0.04881113 -0.05457428 0.99731596 2.53346766] [ 0. 0. 0. 1. ]] SLAMing on 212.84925976399995 meters Centerline goodness : 0.800077 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.74, Z:2.54 [[ 0.98784607 -0.14498261 -0.05603726 -5.14393229] [ 0.14761508 0.98797068 0.04608383 9.73527481] [ 0.04868182 -0.05379568 0.99736458 2.5354568 ] [ 0. 0. 0. 1. ]] SLAMing on 212.90925976399996 meters Centerline goodness : 0.802507 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.74, Z:2.54 [[ 0.98734732 -0.14858416 -0.05538961 -5.14352346] [ 0.15097901 0.98764948 0.04187891 9.73546884] [ 0.04848298 -0.0497117 0.99758616 2.53604578] [ 0. 0. 0. 1. ]] SLAMing on 212.96925976399996 meters Centerline goodness : 0.801184 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.73, Z:2.53 [[ 0.98840712 -0.14510767 -0.04466693 -5.13675007] [ 0.14703697 0.9881766 0.04344118 9.73260423] [ 0.03783517 -0.04950526 0.99805698 2.52894123] [ 0. 0. 0. 1. ]] SLAMing on 213.02925976399996 meters Centerline goodness : 0.803332 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.73, Z:2.53 [[ 0.98837113 -0.145494 -0.04420425 -5.13868049] [ 0.14737476 0.98815596 0.04276065 9.73347664] [ 0.03745927 -0.04877798 0.99810696 2.53037268] [ 0. 0. 0. 1. ]] SLAMing on 213.08925976399996 meters Centerline goodness : 0.802912 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.73, Z:2.53 [[ 0.98829189 -0.14623655 -0.04352026 -5.14163912] [ 0.1480572 0.98808484 0.04204069 9.73363976] [ 0.03685382 -0.04799196 0.99816761 2.53222165] [ 0. 0. 0. 1. ]] SLAMing on 213.14925976399996 meters Centerline goodness : 0.803778 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.73, Z:2.53 [[ 0.98827195 -0.14638271 -0.04348161 -5.1418927 ] [ 0.14819516 0.98807143 0.04186928 9.73394508] [ 0.036834 -0.047822 0.99817649 2.53247718] [ 0. 0. 0. 1. ]] SLAMing on 213.20925976399997 meters Centerline goodness : 0.802423 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.74, Z:2.53 [[ 0.98832694 -0.14599389 -0.04353898 -5.14126858] [ 0.14780391 0.98813605 0.04172717 9.73519 ] [ 0.03693053 -0.04767532 0.99817994 2.53215043] [ 0. 0. 0. 1. ]] SLAMing on 213.26925976399997 meters Centerline goodness : 0.800333 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.74, Z:2.53 [[ 0.98891876 -0.14186249 -0.04375749 -5.1426463 ] [ 0.14382078 0.988561 0.04541724 9.73542508] [ 0.03681395 -0.0512072 0.9980093 2.5330782 ] [ 0. 0. 0. 1. ]] SLAMing on 213.32925976399994 meters Centerline goodness : 0.798760 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.74, Z:2.53 [[ 0.98892874 -0.14186939 -0.04350898 -5.14316343] [ 0.1438004 0.98858211 0.04502073 9.73644628] [ 0.03662514 -0.0507789 0.99803813 2.53330088] [ 0. 0. 0. 1. ]] SLAMing on 213.38925976399995 meters Centerline goodness : 0.796406 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.74, Z:2.53 [[ 0.9888812 -0.14230396 -0.04316901 -5.14432127] [ 0.14418601 0.98856499 0.04415488 9.73807617] [ 0.03639196 -0.04988829 0.99809157 2.53424093] [ 0. 0. 0. 1. ]] SLAMing on 213.44925976399995 meters Centerline goodness : 0.791068 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.74, Z:2.53 [[ 0.98864851 -0.1452145 -0.03855998 -5.12853625] [ 0.14710934 0.98775525 0.05194625 9.73647393] [ 0.03054448 -0.05702912 0.99790516 2.52973734] [ 0. 0. 0. 1. ]] SLAMing on 213.50925976399995 meters Centerline goodness : 0.788028 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.74, Z:2.53 [[ 0.98857059 -0.14578103 -0.03841985 -5.13049451] [ 0.14762489 0.98775049 0.05055554 9.73922341] [ 0.03057919 -0.05564944 0.99798199 2.53284471] [ 0. 0. 0. 1. ]] SLAMing on 213.56925976399995 meters Centerline goodness : 0.783870 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.74, Z:2.53 [[ 0.98857432 -0.1457033 -0.03861819 -5.13044964] [ 0.14752274 0.98782389 0.04940652 9.74277278] [ 0.03094928 -0.05453908 0.99803188 2.53441081] [ 0. 0. 0. 1. ]] SLAMing on 213.62925976399995 meters Centerline goodness : 0.778259 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.74, Z:2.53 [[ 0.98868941 -0.14485202 -0.03887338 -5.12821673] [ 0.14669354 0.98793536 0.04964613 9.74370897] [ 0.03121304 -0.05478707 0.99801008 2.53271401] [ 0. 0. 0. 1. ]] SLAMing on 213.68925976399996 meters Centerline goodness : 0.778023 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.74, Z:2.53 [[ 0.98869657 -0.14483333 -0.03876067 -5.12828253] [ 0.14665667 0.9879601 0.04926124 9.7449728 ] [ 0.03115933 -0.05438893 0.99803354 2.53280603] [ 0. 0. 0. 1. ]] SLAMing on 213.74925976399996 meters Centerline goodness : 0.773831 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.75, Z:2.54 [[ 0.98871572 -0.14455854 -0.03929444 -5.12772563] [ 0.1463455 0.98810668 0.04720363 9.75077343] [ 0.03200341 -0.05242154 0.9981121 2.5363855 ] [ 0. 0. 0. 1. ]] SLAMing on 213.80925976399996 meters Centerline goodness : 0.772315 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.75, Z:2.54 [[ 0.98877086 -0.14408122 -0.03965837 -5.12674329] [ 0.14585631 0.98822447 0.0462422 9.75457348] [ 0.03252873 -0.05150737 0.99814271 2.53760234] [ 0. 0. 0. 1. ]] SLAMing on 213.86925976399996 meters Centerline goodness : 0.772210 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.76, Z:2.54 [[ 0.98883478 -0.14367638 -0.03953336 -5.1260548 ] [ 0.14544773 0.98828111 0.04631857 9.75509307] [ 0.03241519 -0.05155145 0.99814413 2.53652362] [ 0. 0. 0. 1. ]] SLAMing on 213.92925976399997 meters Centerline goodness : 0.771835 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.76, Z:2.54 [[ 0.98839875 -0.14642888 -0.04032992 -5.12190256] [ 0.14803519 0.98816393 0.04021965 9.75998015] [ 0.03396325 -0.0457233 0.99837662 2.54063271] [ 0. 0. 0. 1. ]] SLAMing on 213.98925976399997 meters Centerline goodness : 0.775170 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.76, Z:2.54 [[ 0.98834005 -0.14692258 -0.03997121 -5.12372873] [ 0.14849403 0.98811707 0.03967589 9.76097506] [ 0.03366695 -0.04514875 0.9984128 2.5419264 ] [ 0. 0. 0. 1. ]] SLAMing on 214.04925976399994 meters Centerline goodness : 0.777357 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.76, Z:2.54 [[ 0.9883194 -0.14709888 -0.03983328 -5.12480043] [ 0.14864795 0.98811306 0.03919659 9.76141534] [ 0.03359401 -0.04465989 0.99843725 2.5433453 ] [ 0. 0. 0. 1. ]] SLAMing on 214.10925976399994 meters Centerline goodness : 0.776862 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.76, Z:2.54 [[ 0.9883489 -0.14696432 -0.03959731 -5.12522897] [ 0.14851135 0.9881235 0.03945036 9.76023626] [ 0.03332924 -0.04487137 0.99843664 2.54329781] [ 0. 0. 0. 1. ]] SLAMing on 214.16925976399995 meters Centerline goodness : 0.774886 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.76, Z:2.54 [[ 0.98842546 -0.1463882 -0.03981975 -5.12429222] [ 0.14794455 0.98820947 0.03942657 9.76067575] [ 0.03357867 -0.04486134 0.99842873 2.54336264] [ 0. 0. 0. 1. ]] SLAMing on 214.22925976399995 meters Centerline goodness : 0.774593 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.76, Z:2.54 [[ 0.98847514 -0.14603854 -0.03987038 -5.12414685] [ 0.14758538 0.98827715 0.03907479 9.76193449] [ 0.03369656 -0.04450875 0.99844054 2.54404659] [ 0. 0. 0. 1. ]] SLAMing on 214.28925976399995 meters Centerline goodness : 0.770220 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.76, Z:2.54 [[ 0.98856444 -0.14535154 -0.04016575 -5.12275194] [ 0.14693926 0.98834103 0.0398857 9.76036277] [ 0.03390001 -0.04533151 0.99839664 2.54314173] [ 0. 0. 0. 1. ]] SLAMing on 214.34925976399995 meters Centerline goodness : 0.768591 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.76, Z:2.54 [[ 0.98859714 -0.14520962 -0.03987309 -5.12321588] [ 0.14680228 0.98833941 0.04042637 9.75876615] [ 0.03353785 -0.04581885 0.99838662 2.54256267] [ 0. 0. 0. 1. ]] SLAMing on 214.40925976399996 meters Centerline goodness : 0.767091 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.76, Z:2.54 [[ 0.98861265 -0.14519821 -0.03952846 -5.12386538] [ 0.14679104 0.98832131 0.04090704 9.75732821] [ 0.03312719 -0.04624364 0.99838075 2.54211187] [ 0. 0. 0. 1. ]] SLAMing on 214.46925976399996 meters Centerline goodness : 0.763311 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.76, Z:2.54 [[ 0.9886108 -0.1452389 -0.03942513 -5.12373316] [ 0.1468509 0.9882821 0.04163289 9.75500158] [ 0.03291644 -0.04694834 0.99835483 2.54121057] [ 0. 0. 0. 1. ]] SLAMing on 214.52925976399996 meters Centerline goodness : 0.764814 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.75, Z:2.54 [[ 0.98882044 -0.14456177 -0.03655174 -5.09674256] [ 0.14628432 0.98798256 0.04991346 9.75119653] [ 0.02889691 -0.05470239 0.99808447 2.53596761] [ 0. 0. 0. 1. ]] SLAMing on 214.58925976399996 meters Centerline goodness : 0.763062 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:9.75, Z:2.55 [[ 0.9889675 -0.13816431 -0.05342193 -5.09274221] [ 0.14087446 0.98872312 0.05080339 9.74707428] [ 0.04580028 -0.05776869 0.99727885 2.54667883] [ 0. 0. 0. 1. ]] SLAMing on 214.64925976399996 meters Centerline goodness : 0.761019 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:9.75, Z:2.55 [[ 0.98899402 -0.13795633 -0.05346844 -5.09248769] [ 0.14065859 0.9887657 0.05057225 9.74841335] [ 0.045891 -0.05753645 0.99728811 2.5467338 ] [ 0. 0. 0. 1. ]] SLAMing on 214.70925976399997 meters Centerline goodness : 0.762069 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:9.75, Z:2.55 [[ 0.9896028 -0.13346117 -0.05361362 -5.09273142] [ 0.13635959 0.98915252 0.05462004 9.74908107] [ 0.04574239 -0.06136287 0.99706681 2.54574997] [ 0. 0. 0. 1. ]] SLAMing on 214.76925976399997 meters Centerline goodness : 0.758529 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:9.75, Z:2.55 [[ 0.9896344 -0.13323268 -0.05359849 -5.09289815] [ 0.1360768 0.98925503 0.05345648 9.75262243] [ 0.04590042 -0.06019588 0.99713069 2.54707702] [ 0. 0. 0. 1. ]] SLAMing on 214.82925976399994 meters Centerline goodness : 0.759112 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:9.75, Z:2.55 [[ 0.99016659 -0.12921948 -0.05359517 -5.09422915] [ 0.13224117 0.98956079 0.05728617 9.75324368] [ 0.04563319 -0.06381034 0.99691818 2.54679859] [ 0. 0. 0. 1. ]] SLAMing on 214.88925976399995 meters Centerline goodness : 0.757703 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:9.76, Z:2.55 [[ 0.99019285 -0.12892485 -0.05381918 -5.09324329] [ 0.13193065 0.98964023 0.05662609 9.75687382] [ 0.04596111 -0.06317115 0.99694382 2.54655549] [ 0. 0. 0. 1. ]] SLAMing on 214.94925976399995 meters Centerline goodness : 0.758113 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.76, Z:2.55 [[ 0.99016437 -0.12936232 -0.0532908 -5.09503922] [ 0.13229933 0.98963476 0.05585635 9.75842564] [ 0.04551272 -0.06235731 0.99701563 2.54740171] [ 0. 0. 0. 1. ]] SLAMing on 215.00925976399995 meters Centerline goodness : 0.756337 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.76, Z:2.55 [[ 0.99011819 -0.12990082 -0.05283701 -5.09687105] [ 0.13277038 0.98961972 0.05499856 9.76028258] [ 0.04514419 -0.06147027 0.99708746 2.5484646 ] [ 0. 0. 0. 1. ]] SLAMing on 215.06925976399995 meters Centerline goodness : 0.755655 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.76, Z:2.55 [[ 0.99005283 -0.13043118 -0.05275508 -5.09772043] [ 0.13325003 0.98961053 0.05399474 9.76302675] [ 0.04516438 -0.06048726 0.99714666 2.54947857] [ 0. 0. 0. 1. ]] SLAMing on 215.12925976399995 meters Centerline goodness : 0.756774 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.77, Z:2.55 [[ 0.99006593 -0.1303491 -0.05271219 -5.0974079 ] [ 0.13313709 0.9896596 0.05337027 9.76588882] [ 0.04521036 -0.05985803 0.99718255 2.54917212] [ 0. 0. 0. 1. ]] SLAMing on 215.18925976399996 meters Centerline goodness : 0.758153 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.77, Z:2.55 [[ 0.99063012 -0.12600461 -0.05267637 -5.09801619] [ 0.1289928 0.98995962 0.05779979 9.76555131] [ 0.04486444 -0.06405308 0.9969375 2.54757756] [ 0. 0. 0. 1. ]] SLAMing on 215.24925976399996 meters Centerline goodness : 0.760558 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.77, Z:2.55 [[ 0.991166 -0.12178477 -0.05252082 -5.09917426] [ 0.12492923 0.99026155 0.06143904 9.76695274] [ 0.04452701 -0.06745768 0.99672805 2.54707027] [ 0. 0. 0. 1. ]] SLAMing on 215.30925976399996 meters Centerline goodness : 0.758699 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.77, Z:2.55 [[ 0.99117577 -0.12174089 -0.05243805 -5.09944088] [ 0.12483157 0.99034028 0.06035907 9.77085885] [ 0.04458335 -0.06637238 0.99679839 2.54791517] [ 0. 0. 0. 1. ]] SLAMing on 215.36925976399996 meters Centerline goodness : 0.761021 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.78, Z:2.55 [[ 0.9912183 -0.12126739 -0.05273044 -5.09844549] [ 0.12431839 0.99048433 0.05904014 9.77580247] [ 0.04506903 -0.06507703 0.99686196 2.54905092] [ 0. 0. 0. 1. ]] SLAMing on 215.42925976399997 meters Centerline goodness : 0.761521 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.78, Z:2.55 [[ 0.99124392 -0.12112283 -0.05258089 -5.09859582] [ 0.124134 0.99054711 0.05837104 9.77828789] [ 0.04501378 -0.06438701 0.99690926 2.54930087] [ 0. 0. 0. 1. ]] SLAMing on 215.48925976399997 meters Centerline goodness : 0.764798 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.78, Z:2.55 [[ 0.99129703 -0.12075954 -0.05241505 -5.09849952] [ 0.12372099 0.99064974 0.0574996 9.78156776] [ 0.04498133 -0.06348402 0.99696864 2.54988157] [ 0. 0. 0. 1. ]] SLAMing on 215.54925976399994 meters Centerline goodness : 0.763547 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.78, Z:2.55 [[ 0.99130222 -0.12081552 -0.05218729 -5.09896574] [ 0.12374937 0.99066306 0.05720836 9.78265535] [ 0.04478836 -0.06316892 0.99699734 2.54987293] [ 0. 0. 0. 1. ]] SLAMing on 215.60925976399994 meters Centerline goodness : 0.761573 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.78, Z:2.55 [[ 0.9912759 -0.12117661 -0.05184904 -5.10056237] [ 0.12404864 0.9906772 0.05630823 9.78419378] [ 0.04454242 -0.06224879 0.99706623 2.55154354] [ 0. 0. 0. 1. ]] SLAMing on 215.66925976399995 meters Centerline goodness : 0.764660 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.78, Z:2.55 [[ 0.99125209 -0.12155727 -0.05141129 -5.1021922 ] [ 0.12438151 0.99066139 0.05585017 9.78436425] [ 0.04414218 -0.06175621 0.99711466 2.55242739] [ 0. 0. 0. 1. ]] SLAMing on 215.72925976399995 meters Centerline goodness : 0.764618 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.79, Z:2.55 [[ 0.99077904 -0.12549111 -0.05107709 -5.1017183 ] [ 0.12806405 0.99047086 0.05066626 9.78774766] [ 0.0442322 -0.05674021 0.99740867 2.55407423] [ 0. 0. 0. 1. ]] SLAMing on 215.78925976399995 meters Centerline goodness : 0.764548 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.79, Z:2.55 [[ 0.99075646 -0.1259199 -0.05045604 -5.10365562] [ 0.12846285 0.99041282 0.05079107 9.78558264] [ 0.04357671 -0.05680331 0.99743394 2.55432047] [ 0. 0. 0. 1. ]] SLAMing on 215.84925976399995 meters Centerline goodness : 0.764721 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.78, Z:2.56 [[ 0.99070913 -0.12658505 -0.04971569 -5.10636881] [ 0.12907908 0.99034052 0.05063829 9.78431287] [ 0.04282542 -0.05658507 0.99747888 2.55515435] [ 0. 0. 0. 1. ]] SLAMing on 215.90925976399996 meters Centerline goodness : 0.768256 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.79, Z:2.56 [[ 0.99013082 -0.13118706 -0.04930433 -5.10748991] [ 0.1334133 0.99004074 0.04494701 9.78855625] [ 0.04291683 -0.05108128 0.99777194 2.55843073] [ 0. 0. 0. 1. ]] SLAMing on 215.96925976399996 meters Centerline goodness : 0.767954 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.79, Z:2.56 [[ 0.98956277 -0.13556838 -0.04885423 -5.10809574] [ 0.1375463 0.98970012 0.03968232 9.79164188] [ 0.04297137 -0.04598787 0.99801732 2.56068701] [ 0. 0. 0. 1. ]] SLAMing on 216.02925976399996 meters Centerline goodness : 0.768267 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.79, Z:2.56 [[ 0.98895263 -0.14023692 -0.04802408 -5.10934212] [ 0.14199341 0.98923647 0.03534222 9.79140203] [ 0.04255089 -0.04177089 0.99822072 2.56147821] [ 0. 0. 0. 1. ]] SLAMing on 216.08925976399996 meters Centerline goodness : 0.770858 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.79, Z:2.56 [[ 0.98897108 -0.14012713 -0.0479645 -5.10953935] [ 0.14188288 0.98925083 0.03538426 9.79099477] [ 0.04249063 -0.04179935 0.9982221 2.56176079] [ 0. 0. 0. 1. ]] SLAMing on 216.14925976399996 meters Centerline goodness : 0.770518 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.79, Z:2.56 [[ 0.98897703 -0.14014864 -0.04777849 -5.11050448] [ 0.14186572 0.98927906 0.03465618 9.79304375] [ 0.04240924 -0.0410523 0.99825656 2.56309529] [ 0. 0. 0. 1. ]] SLAMing on 216.20925976399997 meters Centerline goodness : 0.768276 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.79, Z:2.56 [[ 0.98906206 -0.13957268 -0.04770438 -5.10980451] [ 0.14129862 0.9893502 0.03494115 9.79260285] [ 0.04231951 -0.04129953 0.99825017 2.56236646] [ 0. 0. 0. 1. ]] SLAMing on 216.26925976399997 meters Centerline goodness : 0.769584 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.79, Z:2.56 [[ 0.98905413 -0.13973301 -0.04739842 -5.11096815] [ 0.14144283 0.98933253 0.03485788 9.79222933] [ 0.042022 -0.0411805 0.99826766 2.56279388] [ 0. 0. 0. 1. ]] SLAMing on 216.32925976399994 meters Centerline goodness : 0.766939 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:9.79, Z:2.56 [[ 0.98903722 -0.14143477 -0.04244514 -5.09449024] [ 0.14328445 0.98869174 0.04425161 9.7875858 ] [ 0.03570644 -0.04984821 0.99811833 2.55641306] [ 0. 0. 0. 1. ]] SLAMing on 216.38925976399995 meters Centerline goodness : 0.768118 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.79, Z:2.56 [[ 0.98904772 -0.14145926 -0.04211748 -5.09527296] [ 0.14331162 0.98866359 0.04478923 9.78561606] [ 0.03530416 -0.05033461 0.99810823 2.55616553] [ 0. 0. 0. 1. ]] SLAMing on 216.44925976399995 meters Centerline goodness : 0.770199 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.78, Z:2.56 [[ 0.98901097 -0.14194742 -0.04133077 -5.0977815 ] [ 0.14376726 0.98858785 0.04500035 9.78306018] [ 0.03447141 -0.05044785 0.99813162 2.55662169] [ 0. 0. 0. 1. ]] SLAMing on 216.50925976399995 meters Centerline goodness : 0.771826 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.78, Z:2.56 [[ 0.98841334 -0.14618158 -0.04086573 -5.09837673] [ 0.14780781 0.98820348 0.04008411 9.7847017 ] [ 0.0345241 -0.04565994 0.99836028 2.5589613 ] [ 0. 0. 0. 1. ]] SLAMing on 216.56925976399995 meters Centerline goodness : 0.772144 with order 1 Centerline is valid? [False, False] Translation: X:-5.08, Y:9.78, Z:2.55 [[ 0.98818544 -0.14904752 -0.03569848 -5.08384248] [ 0.15070213 0.98734959 0.0492916 9.78028416] [ 0.02790009 -0.05408908 0.99814626 2.5528931 ] [ 0. 0. 0. 1. ]] SLAMing on 216.62925976399995 meters Centerline goodness : 0.774951 with order 1 Centerline is valid? [False, False] Translation: X:-5.08, Y:9.77, Z:2.57 [[ 0.98806506 -0.14531093 -0.05110934 -5.08220644] [ 0.14776261 0.98785809 0.04798543 9.77356674] [ 0.04351596 -0.05496477 0.99753959 2.56878245] [ 0. 0. 0. 1. ]] SLAMing on 216.68925976399996 meters Centerline goodness : 0.773448 with order 1 Centerline is valid? [False, False] Translation: X:-5.08, Y:9.77, Z:2.57 [[ 0.9877185 -0.14770484 -0.05094558 -5.08340296] [ 0.15009181 0.98756781 0.04671481 9.77188422] [ 0.04341221 -0.0537876 0.99760828 2.57111711] [ 0. 0. 0. 1. ]] SLAMing on 216.74925976399996 meters Centerline goodness : 0.772101 with order 1 Centerline is valid? [False, False] Translation: X:-5.08, Y:9.77, Z:2.57 [[ 0.98680261 -0.15376289 -0.05076983 -5.08296949] [ 0.15597937 0.98682307 0.04301932 9.76877698] [ 0.04348607 -0.05037062 0.99778342 2.57309361] [ 0. 0. 0. 1. ]] SLAMing on 216.80925976399996 meters Centerline goodness : 0.772674 with order 1 Centerline is valid? [False, False] Translation: X:-5.08, Y:9.76, Z:2.58 [[ 0.98609538 -0.15807725 -0.05125893 -5.0829707 ] [ 0.16028461 0.98616641 0.04224518 9.76455276] [ 0.04387184 -0.0498738 0.99779149 2.57698746] [ 0. 0. 0. 1. ]] SLAMing on 216.86925976399996 meters Centerline goodness : 0.772842 with order 1 Centerline is valid? [False, False] Translation: X:-5.08, Y:9.76, Z:2.58 [[ 0.98597111 -0.15877049 -0.05150633 -5.08380917] [ 0.1610308 0.98600505 0.04316399 9.76180956] [ 0.04393233 -0.05085255 0.99773943 2.57953362] [ 0. 0. 0. 1. ]] SLAMing on 216.92925976399997 meters Centerline goodness : 0.773223 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:9.76, Z:2.58 [[ 0.98569991 -0.1606396 -0.05089805 -5.08579661] [ 0.16282277 0.98575672 0.0421004 9.75894146] [ 0.0434101 -0.04978572 0.99781609 2.58202067] [ 0. 0. 0. 1. ]] SLAMing on 216.98925976399997 meters Centerline goodness : 0.770817 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:9.76, Z:2.58 [[ 0.98521146 -0.16384586 -0.05012891 -5.08755548] [ 0.1658844 0.98534921 0.03961436 9.75514204] [ 0.04290383 -0.04734413 0.99795681 2.5845012 ] [ 0. 0. 0. 1. ]] SLAMing on 217.04925976399994 meters Centerline goodness : 0.770808 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:9.75, Z:2.59 [[ 0.98503769 -0.1647911 -0.05044455 -5.0883494 ] [ 0.166897 0.9851288 0.04082454 9.75239436] [ 0.04296685 -0.04863275 0.99789213 2.58744282] [ 0. 0. 0. 1. ]] SLAMing on 217.10925976399994 meters Centerline goodness : 0.771028 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:9.74, Z:2.60 [[ 0.98445921 -0.16290414 -0.06559199 -5.08777905] [ 0.165614 0.98545012 0.0382109 9.74339446] [ 0.05841292 -0.04848003 0.99711465 2.60265243] [ 0. 0. 0. 1. ]] SLAMing on 217.16925976399995 meters Centerline goodness : 0.772307 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:9.74, Z:2.60 [[ 0.98454551 -0.16279224 -0.06456645 -5.09090804] [ 0.16543418 0.98549239 0.03789835 9.74099581] [ 0.05746019 -0.04799415 0.99719351 2.60444907] [ 0. 0. 0. 1. ]] SLAMing on 217.22925976399995 meters Centerline goodness : 0.770252 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:9.74, Z:2.61 [[ 0.98452402 -0.16316414 -0.06395252 -5.09382904] [ 0.1657997 0.98541546 0.03829911 9.73773852] [ 0.05677076 -0.04830971 0.99721776 2.60738408] [ 0. 0. 0. 1. ]] SLAMing on 217.28925976399995 meters Centerline goodness : 0.769562 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.74, Z:2.61 [[ 0.98443402 -0.16420406 -0.06266324 -5.09691377] [ 0.16664583 0.98536203 0.03592818 9.73615113] [ 0.05584643 -0.04581149 0.99738783 2.60864207] [ 0. 0. 0. 1. ]] SLAMing on 217.34925976399995 meters Centerline goodness : 0.768107 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.73, Z:2.61 [[ 0.98389102 -0.16709166 -0.06355181 -5.09574357] [ 0.16959619 0.98484625 0.03626285 9.7343339 ] [ 0.05652954 -0.04645684 0.99731949 2.61107554] [ 0. 0. 0. 1. ]] SLAMing on 217.40925976399996 meters Centerline goodness : 0.766218 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.73, Z:2.61 [[ 0.98344734 -0.16943185 -0.06421984 -5.09509676] [ 0.17198049 0.98442586 0.03644776 9.73340074] [ 0.05704426 -0.04688901 0.99726996 2.6130903 ] [ 0. 0. 0. 1. ]] SLAMing on 217.46925976399996 meters Centerline goodness : 0.768195 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.73, Z:2.61 [[ 0.98407159 -0.16603949 -0.06351369 -5.09823165] [ 0.16855123 0.98501911 0.03643947 9.73379792] [ 0.0565118 -0.04656435 0.99731549 2.61353748] [ 0. 0. 0. 1. ]] SLAMing on 217.52925976399996 meters Centerline goodness : 0.769164 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.73, Z:2.61 [[ 0.98469586 -0.16219162 -0.06378047 -5.09914549] [ 0.16482407 0.98557494 0.03840655 9.7349404 ] [ 0.05663121 -0.04833133 0.99722464 2.61331068] [ 0. 0. 0. 1. ]] SLAMing on 217.58925976399996 meters Centerline goodness : 0.768675 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.74, Z:2.61 [[ 0.98541621 -0.15796648 -0.06325726 -5.09958689] [ 0.1605314 0.98630952 0.03772526 9.73550614] [ 0.05643191 -0.04732986 0.99728397 2.61047934] [ 0. 0. 0. 1. ]] SLAMing on 217.64925976399996 meters Centerline goodness : 0.769649 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.74, Z:2.61 [[ 0.98557507 -0.15713987 -0.06283982 -5.10202808] [ 0.15966129 0.98646627 0.03731725 9.73639294] [ 0.05612534 -0.04681204 0.99732571 2.61173876] [ 0. 0. 0. 1. ]] SLAMing on 217.70925976399997 meters Centerline goodness : 0.769155 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.74, Z:2.61 [[ 0.98563572 -0.1565926 -0.0632533 -5.10363948] [ 0.15918553 0.9865076 0.03824549 9.73770842] [ 0.05641091 -0.04776513 0.99726441 2.61431425] [ 0. 0. 0. 1. ]] SLAMing on 217.76925976399997 meters Centerline goodness : 0.768973 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.74, Z:2.61 [[ 0.98600361 -0.15447195 -0.06273195 -5.1055885 ] [ 0.15704954 0.98684198 0.03844939 9.73849543] [ 0.05596717 -0.04776327 0.9972895 2.61421127] [ 0. 0. 0. 1. ]] SLAMing on 217.82925976399994 meters Centerline goodness : 0.771048 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.74, Z:2.61 [[ 0.98645702 -0.15195275 -0.06174871 -5.10802719] [ 0.15442306 0.98729679 0.03739749 9.74016701] [ 0.05528165 -0.04642644 0.99739086 2.61321234] [ 0. 0. 0. 1. ]] SLAMing on 217.88925976399995 meters Centerline goodness : 0.770455 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.74, Z:2.61 [[ 0.98691215 -0.14923872 -0.0610919 -5.10999378] [ 0.15165673 0.98773888 0.03704229 9.74074302] [ 0.0548147 -0.04582248 0.99744456 2.61272932] [ 0. 0. 0. 1. ]] SLAMing on 217.94925976399995 meters Centerline goodness : 0.771806 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.74, Z:2.61 [[ 0.98753172 -0.14523526 -0.06072741 -5.11181028] [ 0.14770426 0.98828812 0.03834109 9.74115511] [ 0.0544477 -0.04683274 0.99741774 2.61260653] [ 0. 0. 0. 1. ]] SLAMing on 218.00925976399995 meters Centerline goodness : 0.775579 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.74, Z:2.61 [[ 0.98782943 -0.1433543 -0.06035365 -5.11323458] [ 0.14585164 0.98852902 0.03921314 9.74188441] [ 0.05403997 -0.04753858 0.99740652 2.61241963] [ 0. 0. 0. 1. ]] SLAMing on 218.06925976399995 meters Centerline goodness : 0.773985 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.74, Z:2.61 [[ 0.98793581 -0.14276304 -0.06001286 -5.11489957] [ 0.14522557 0.9886345 0.03887628 9.74197263] [ 0.05378069 -0.04712267 0.99744027 2.61330838] [ 0. 0. 0. 1. ]] SLAMing on 218.12925976399995 meters Centerline goodness : 0.774225 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.74, Z:2.61 [[ 0.98776916 -0.14411445 -0.05952403 -5.11631332] [ 0.14650634 0.98848077 0.03796927 9.74102759] [ 0.05336644 -0.04622552 0.9975045 2.61469055] [ 0. 0. 0. 1. ]] SLAMing on 218.18925976399996 meters Centerline goodness : 0.775494 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.74, Z:2.62 [[ 0.98789502 -0.14349684 -0.05892438 -5.11906893] [ 0.1458772 0.98856165 0.0382845 9.7410642 ] [ 0.05275668 -0.04641679 0.99752805 2.61635998] [ 0. 0. 0. 1. ]] SLAMing on 218.24925976399996 meters Centerline goodness : 0.774973 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.74, Z:2.62 [[ 0.98837369 -0.14056998 -0.05794411 -5.12230176] [ 0.14291348 0.98898659 0.03848705 9.74204495] [ 0.05189583 -0.04632058 0.99757768 2.61664651] [ 0. 0. 0. 1. ]] SLAMing on 218.30925976399996 meters Centerline goodness : 0.775648 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.74, Z:2.62 [[ 0.98842829 -0.14028807 -0.05769558 -5.12228982] [ 0.14263738 0.98901323 0.03882545 9.74110675] [ 0.05161494 -0.04660572 0.99757897 2.61584179] [ 0. 0. 0. 1. ]] SLAMing on 218.36925976399996 meters Centerline goodness : 0.778227 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.74, Z:2.62 [[ 0.98839769 -0.1406087 -0.05743868 -5.12359786] [ 0.14292684 0.98898611 0.03844985 9.74148704] [ 0.05139967 -0.04621327 0.99760834 2.61676346] [ 0. 0. 0. 1. ]] SLAMing on 218.42925976399997 meters Centerline goodness : 0.777906 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.74, Z:2.62 [[ 0.98840033 -0.14058056 -0.05746214 -5.12381699] [ 0.14290603 0.98898439 0.03857127 9.74143731] [ 0.05140679 -0.04633554 0.99760231 2.61694312] [ 0. 0. 0. 1. ]] SLAMing on 218.48925976399997 meters Centerline goodness : 0.777558 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.74, Z:2.62 [[ 0.98840098 -0.14081251 -0.05688002 -5.12527826] [ 0.14314401 0.98892453 0.03921817 9.73904026] [ 0.05072764 -0.04690531 0.99761044 2.61645554] [ 0. 0. 0. 1. ]] SLAMing on 218.54925976399994 meters Centerline goodness : 0.775356 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.74, Z:2.62 [[ 0.98841363 -0.14080746 -0.05667237 -5.12612082] [ 0.1431361 0.98892025 0.03935475 9.73829382] [ 0.05050301 -0.04701063 0.99761688 2.61710488] [ 0. 0. 0. 1. ]] SLAMing on 218.60925976399994 meters Centerline goodness : 0.776307 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.74, Z:2.62 [[ 0.98842006 -0.14077319 -0.05664537 -5.12639773] [ 0.14310334 0.98892279 0.03941002 9.73822851] [ 0.05047002 -0.0470598 0.99761623 2.61733497] [ 0. 0. 0. 1. ]] SLAMing on 218.66925976399995 meters Centerline goodness : 0.771964 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.74, Z:2.62 [[ 0.98839595 -0.14116932 -0.05607726 -5.12790318] [ 0.14348973 0.9888533 0.03974721 9.73558168] [ 0.0498411 -0.04733249 0.99763495 2.61741416] [ 0. 0. 0. 1. ]] SLAMing on 218.72925976399995 meters Centerline goodness : 0.771402 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.73, Z:2.62 [[ 0.98841799 -0.14107348 -0.05592994 -5.12823846] [ 0.14340567 0.98885023 0.04012515 9.73480517] [ 0.04964574 -0.04768109 0.99762809 2.61716038] [ 0. 0. 0. 1. ]] SLAMing on 218.78925976399995 meters Centerline goodness : 0.768826 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.74, Z:2.62 [[ 0.98843085 -0.14100406 -0.0558777 -5.12930554] [ 0.14330151 0.98889139 0.03947783 9.73647672] [ 0.04969044 -0.04702846 0.99765685 2.61921459] [ 0. 0. 0. 1. ]] SLAMing on 218.84925976399995 meters Centerline goodness : 0.766637 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.74, Z:2.62 [[ 0.98842658 -0.14116385 -0.05554878 -5.13059183] [ 0.14344456 0.9888717 0.03945142 9.73541818] [ 0.0493615 -0.046963 0.99767626 2.61999105] [ 0. 0. 0. 1. ]] SLAMing on 218.90925976399996 meters Centerline goodness : 0.763859 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.73, Z:2.62 [[ 0.98847575 -0.14087736 -0.05540098 -5.13009181] [ 0.14320771 0.98885942 0.04060303 9.7325952 ] [ 0.04906373 -0.04806896 0.99763827 2.61863324] [ 0. 0. 0. 1. ]] SLAMing on 218.96925976399996 meters Centerline goodness : 0.763431 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.73, Z:2.62 [[ 0.98849441 -0.14068257 -0.05556272 -5.13012849] [ 0.14299987 0.98890668 0.04018229 9.73459909] [ 0.0492934 -0.04766543 0.99764631 2.61944309] [ 0. 0. 0. 1. ]] SLAMing on 219.02925976399996 meters Centerline goodness : 0.761226 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.74, Z:2.62 [[ 0.98850671 -0.14053044 -0.05572868 -5.13001698] [ 0.1428527 0.98893033 0.04012356 9.73550705] [ 0.0494732 -0.0476234 0.99763942 2.61990651] [ 0. 0. 0. 1. ]] SLAMing on 219.08925976399996 meters Centerline goodness : 0.761621 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.73, Z:2.62 [[ 0.98853711 -0.14047252 -0.05533394 -5.130545 ] [ 0.14280012 0.98891783 0.0406159 9.73387094] [ 0.04901531 -0.04805202 0.99764147 2.61924041] [ 0. 0. 0. 1. ]] SLAMing on 219.14925976399996 meters Centerline goodness : 0.758279 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.73, Z:2.61 [[ 0.98942662 -0.13804283 -0.04448761 -5.12625076] [ 0.14002058 0.9891297 0.04490739 9.7294639 ] [ 0.03780487 -0.05066175 0.99800009 2.60784687] [ 0. 0. 0. 1. ]] SLAMing on 219.20925976399997 meters Centerline goodness : 0.758693 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.73, Z:2.61 [[ 0.99001688 -0.13369681 -0.04462898 -5.12714039] [ 0.13583785 0.98951931 0.04898578 9.72927456] [ 0.037612 -0.05455905 0.99780191 2.60786019] [ 0. 0. 0. 1. ]] SLAMing on 219.26925976399997 meters Centerline goodness : 0.757517 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.73, Z:2.61 [[ 0.99010954 -0.13303228 -0.04455901 -5.12688085] [ 0.13514275 0.98964977 0.0482676 9.73218877] [ 0.03767666 -0.05381204 0.99784003 2.60869122] [ 0. 0. 0. 1. ]] SLAMing on 219.32925976399994 meters Centerline goodness : 0.756573 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.73, Z:2.61 [[ 0.99013816 -0.13273417 -0.04481149 -5.12618359] [ 0.13483919 0.98971566 0.0477631 9.7339623 ] [ 0.03801083 -0.05333441 0.997853 2.60938144] [ 0. 0. 0. 1. ]] SLAMing on 219.38925976399995 meters Centerline goodness : 0.756825 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.74, Z:2.61 [[ 0.99013221 -0.13273724 -0.04493357 -5.12669406] [ 0.13479051 0.98979451 0.04624224 9.73848702] [ 0.03833693 -0.05184255 0.99791915 2.61191815] [ 0. 0. 0. 1. ]] SLAMing on 219.44925976399995 meters Centerline goodness : 0.754974 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.74, Z:2.61 [[ 0.9901278 -0.13270626 -0.04512195 -5.12666063] [ 0.1347222 0.98985996 0.04502429 9.74274562] [ 0.0386894 -0.05065873 0.99796634 2.613637 ] [ 0. 0. 0. 1. ]] SLAMing on 219.50925976399995 meters Centerline goodness : 0.757107 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.74, Z:2.61 [[ 0.99011262 -0.1329109 -0.04485183 -5.12769121] [ 0.13488266 0.98987369 0.04423502 9.74469571] [ 0.03851833 -0.04984738 0.99801382 2.61487347] [ 0. 0. 0. 1. ]] SLAMing on 219.56925976399995 meters Centerline goodness : 0.757702 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.75, Z:2.62 [[ 0.99009807 -0.1330915 -0.04463702 -5.12855497] [ 0.13502792 0.98988228 0.04359517 9.7469551 ] [ 0.03838325 -0.04919074 0.9980516 2.61564809] [ 0. 0. 0. 1. ]] SLAMing on 219.62925976399995 meters Centerline goodness : 0.756886 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.75, Z:2.61 [[ 0.99014679 -0.13420666 -0.0399739 -5.11265289] [ 0.13623761 0.98923829 0.05335647 9.7451983 ] [ 0.03238292 -0.05827668 0.99777511 2.60990822] [ 0. 0. 0. 1. ]] SLAMing on 219.68925976399996 meters Centerline goodness : 0.756098 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.75, Z:2.61 [[ 0.9897264 -0.13727298 -0.03997217 -5.11374707] [ 0.13924158 0.98891721 0.05152224 9.74579616] [ 0.03245655 -0.05655871 0.99787158 2.61226577] [ 0. 0. 0. 1. ]] SLAMing on 219.74925976399996 meters Centerline goodness : 0.757452 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.75, Z:2.61 [[ 0.98970194 -0.13730582 -0.04046197 -5.114521 ] [ 0.1393139 0.9888884 0.05187849 9.74624114] [ 0.03288915 -0.05698116 0.99783338 2.61430601] [ 0. 0. 0. 1. ]] SLAMing on 219.80925976399996 meters Centerline goodness : 0.760666 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.75, Z:2.61 [[ 0.99025753 -0.13338537 -0.03997966 -5.11720448] [ 0.13539396 0.98939269 0.05263623 9.74697311] [ 0.03253468 -0.05753642 0.99781314 2.61484221] [ 0. 0. 0. 1. ]] SLAMing on 219.86925976399996 meters Centerline goodness : 0.759976 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.75, Z:2.61 [[ 0.99113509 -0.12708458 -0.03873951 -5.12082427] [ 0.12903357 0.99023217 0.05282606 9.74901666] [ 0.03164773 -0.05735646 0.99785202 2.6135527 ] [ 0. 0. 0. 1. ]] SLAMing on 219.92925976399997 meters Centerline goodness : 0.759225 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.75, Z:2.62 [[ 0.99178233 -0.12235017 -0.0373931 -5.12706058] [ 0.12411131 0.99105289 0.04909747 9.75124112] [ 0.03105145 -0.05333491 0.99809378 2.62154686] [ 0. 0. 0. 1. ]] SLAMing on 219.98925976399997 meters Centerline goodness : 0.759050 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.76, Z:2.63 [[ 0.99153139 -0.12405288 -0.03842389 -5.1216276 ] [ 0.12562638 0.99120224 0.04166691 9.75869246] [ 0.03291695 -0.0461411 0.99839244 2.62830539] [ 0. 0. 0. 1. ]] SLAMing on 220.04925976399994 meters Centerline goodness : 0.758137 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.76, Z:2.63 [[ 0.99187636 -0.1214418 -0.03785726 -5.1247064 ] [ 0.12298728 0.99153674 0.04158155 9.76019599] [ 0.03248713 -0.04589972 0.99841765 2.62967841] [ 0. 0. 0. 1. ]] SLAMing on 220.10925976399994 meters Centerline goodness : 0.757910 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.76, Z:2.63 [[ 0.99204579 -0.12037475 -0.03681133 -5.12783013] [ 0.12182864 0.9917371 0.04019095 9.76108914] [ 0.03166919 -0.04435594 0.9985137 2.63030409] [ 0. 0. 0. 1. ]] SLAMing on 220.16925976399995 meters Centerline goodness : 0.757712 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.76, Z:2.63 [[ 0.99201821 -0.12074579 -0.0363362 -5.12928742] [ 0.12216281 0.99171617 0.03968982 9.76241149] [ 0.03124282 -0.04381195 0.99855115 2.63081246] [ 0. 0. 0. 1. ]] SLAMing on 220.22925976399995 meters Centerline goodness : 0.757720 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.76, Z:2.63 [[ 0.99212767 -0.12088992 -0.03268491 -5.1045669 ] [ 0.12237924 0.99131094 0.04822804 9.75978895] [ 0.02657062 -0.05184832 0.99830143 2.62589135] [ 0. 0. 0. 1. ]] SLAMing on 220.28925976399995 meters Centerline goodness : 0.760306 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.76, Z:2.63 [[ 0.99206564 -0.1213948 -0.03269662 -5.10594226] [ 0.12286805 0.99127998 0.0476176 9.76016257] [ 0.02663098 -0.05125716 0.99833035 2.62759239] [ 0. 0. 0. 1. ]] SLAMing on 220.34925976399995 meters Centerline goodness : 0.758882 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.76, Z:2.63 [[ 0.99209542 -0.12107146 -0.03299054 -5.10519262] [ 0.12254605 0.99134459 0.04709958 9.76227534] [ 0.02700258 -0.05077014 0.99834526 2.62811503] [ 0. 0. 0. 1. ]] SLAMing on 220.40925976399996 meters Centerline goodness : 0.760734 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.76, Z:2.63 [[ 0.99260055 -0.11680886 -0.0331637 -5.10564372] [ 0.11838958 0.99167938 0.05055615 9.76462436] [ 0.02698235 -0.0541083 0.99817045 2.6281319 ] [ 0. 0. 0. 1. ]] SLAMing on 220.46925976399996 meters Centerline goodness : 0.760625 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.77, Z:2.63 [[ 0.9926437 -0.11633929 -0.033521 -5.10461486] [ 0.11791362 0.99178422 0.04960285 9.76842321] [ 0.02747484 -0.05319054 0.99820634 2.62889573] [ 0. 0. 0. 1. ]] SLAMing on 220.52925976399996 meters Centerline goodness : 0.761570 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.77, Z:2.63 [[ 0.99264835 -0.11628002 -0.03358894 -5.10470007] [ 0.11782366 0.99185623 0.04836112 9.77202704] [ 0.02769197 -0.05196316 0.99826499 2.63034399] [ 0. 0. 0. 1. ]] SLAMing on 220.58925976399996 meters Centerline goodness : 0.761359 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.78, Z:2.63 [[ 0.99275301 -0.11528835 -0.0339126 -5.10300055] [ 0.11683789 0.99199305 0.04794481 9.77585071] [ 0.02811359 -0.05155963 0.99827413 2.63042228] [ 0. 0. 0. 1. ]] SLAMing on 220.64925976399996 meters Centerline goodness : 0.762482 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.78, Z:2.63 [[ 0.99281026 -0.11470213 -0.03422302 -5.10175703] [ 0.11624426 0.99210286 0.04710819 9.77918491] [ 0.02854935 -0.05074772 0.99830336 2.63112789] [ 0. 0. 0. 1. ]] SLAMing on 220.70925976399997 meters Centerline goodness : 0.762217 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.78, Z:2.63 [[ 0.99278145 -0.11503126 -0.03395283 -5.10316869] [ 0.11653406 0.99211094 0.04621363 9.78096936] [ 0.02836896 -0.0498367 0.9983544 2.63263587] [ 0. 0. 0. 1. ]] SLAMing on 220.76925976399994 meters Centerline goodness : 0.763661 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.78, Z:2.64 [[ 0.99273898 -0.11546442 -0.03372361 -5.1047948 ] [ 0.11691061 0.99213935 0.04462521 9.78454555] [ 0.02830589 -0.04824383 0.99843443 2.63557624] [ 0. 0. 0. 1. ]] SLAMing on 220.82925976399994 meters Centerline goodness : 0.761633 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.78, Z:2.64 [[ 0.99272428 -0.11563176 -0.03358265 -5.10552932] [ 0.11706609 0.99212891 0.04444956 9.78442654] [ 0.02817854 -0.04805755 0.99844702 2.63614935] [ 0. 0. 0. 1. ]] SLAMing on 220.88925976399995 meters Centerline goodness : 0.763340 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.78, Z:2.64 [[ 0.99266627 -0.11637502 -0.03271892 -5.10817116] [ 0.11776994 0.99204139 0.04454343 9.78169258] [ 0.02727478 -0.04807007 0.99847151 2.63651743] [ 0. 0. 0. 1. ]] SLAMing on 220.94925976399995 meters Centerline goodness : 0.764113 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.78, Z:2.64 [[ 0.99262495 -0.11682223 -0.03237713 -5.10977374] [ 0.11819325 0.99200296 0.04427735 9.78128814] [ 0.02694563 -0.04777756 0.99849449 2.63753262] [ 0. 0. 0. 1. ]] SLAMing on 221.00925976399995 meters Centerline goodness : 0.762231 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.78, Z:2.64 [[ 0.99258589 -0.11719143 -0.03224009 -5.1111167 ] [ 0.11854918 0.99197124 0.04403573 9.78160511] [ 0.02682064 -0.04753128 0.9985096 2.63867238] [ 0. 0. 0. 1. ]] SLAMing on 221.06925976399995 meters Centerline goodness : 0.763776 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.78, Z:2.64 [[ 0.99248324 -0.11826163 -0.03148338 -5.11392435] [ 0.11957632 0.99185884 0.04378978 9.78040263] [ 0.02604841 -0.04722529 0.99854457 2.6390881 ] [ 0. 0. 0. 1. ]] SLAMing on 221.12925976399995 meters Centerline goodness : 0.767709 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.78, Z:2.64 [[ 0.99243272 -0.11870999 -0.03138839 -5.11499516] [ 0.11999636 0.99184765 0.0428849 9.78311285] [ 0.02604164 -0.04632687 0.99858683 2.64019984] [ 0. 0. 0. 1. ]] SLAMing on 221.18925976399996 meters Centerline goodness : 0.769267 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.79, Z:2.64 [[ 0.9929169 -0.11451507 -0.03165963 -5.11561388] [ 0.11589465 0.99220271 0.04584987 9.78727231] [ 0.02616227 -0.04919429 0.99844652 2.64087442] [ 0. 0. 0. 1. ]] SLAMing on 221.24925976399996 meters Centerline goodness : 0.774069 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.79, Z:2.64 [[ 0.99296871 -0.11407605 -0.03161966 -5.11520899] [ 0.11542557 0.9923068 0.04476779 9.79240006] [ 0.02626947 -0.04810273 0.99849689 2.64108972] [ 0. 0. 0. 1. ]] SLAMing on 221.30925976399996 meters Centerline goodness : 0.777778 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.80, Z:2.64 [[ 0.99347189 -0.10953003 -0.03188706 -5.11492864] [ 0.11097729 0.9926707 0.04784274 9.79856701] [ 0.02641313 -0.05106916 0.99834578 2.64055144] [ 0. 0. 0. 1. ]] SLAMing on 221.36925976399996 meters Centerline goodness : 0.779953 with order 1 Centerline is valid? [False, False] Translation: X:-5.12, Y:9.80, Z:2.64 [[ 0.99389783 -0.10557619 -0.03194965 -5.11597628] [ 0.10710765 0.99295021 0.05077237 9.80298067] [ 0.02636406 -0.0538846 0.99819907 2.64092798] [ 0. 0. 0. 1. ]] SLAMing on 221.42925976399997 meters Centerline goodness : 0.776991 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.81, Z:2.65 [[ 0.99455756 -0.097589 -0.0364918 -5.13403747] [ 0.09920262 0.99403174 0.04538435 9.81271547] [ 0.031845 -0.04875743 0.99830286 2.64854302] [ 0. 0. 0. 1. ]] SLAMing on 221.48925976399997 meters Centerline goodness : 0.776268 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.82, Z:2.65 [[ 0.9953589 -0.08882115 -0.03703322 -5.13344074] [ 0.09070772 0.99447557 0.05282478 9.81843199] [ 0.03213667 -0.05593882 0.99791687 2.64692108] [ 0. 0. 0. 1. ]] SLAMing on 221.54925976399994 meters Centerline goodness : 0.776248 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.82, Z:2.65 [[ 0.99576278 -0.08398165 -0.03746434 -5.13183173] [ 0.08600624 0.99470982 0.05617199 9.82394889] [ 0.03254873 -0.05915614 0.99771796 2.64573918] [ 0. 0. 0. 1. ]] SLAMing on 221.60925976399994 meters Centerline goodness : 0.775810 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.83, Z:2.64 [[ 0.99615141 -0.07902761 -0.03790783 -5.1299145 ] [ 0.08120663 0.99489717 0.05987568 9.82851491] [ 0.03298256 -0.06272361 0.99748579 2.64395114] [ 0. 0. 0. 1. ]] SLAMing on 221.66925976399995 meters Centerline goodness : 0.776265 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.84, Z:2.65 [[ 0.99658549 -0.07013815 -0.04356604 -5.14145113] [ 0.07240266 0.99597801 0.05277935 9.83973513] [ 0.03968897 -0.05575343 0.99765542 2.65215781] [ 0. 0. 0. 1. ]] SLAMing on 221.72925976399995 meters Centerline goodness : 0.773488 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.85, Z:2.66 [[ 0.99680238 -0.06330583 -0.04875856 -5.15846665] [ 0.06560477 0.99673406 0.04708748 9.84675784] [ 0.04561841 -0.0501357 0.99770004 2.65919046] [ 0. 0. 0. 1. ]] SLAMing on 221.78925976399995 meters Centerline goodness : 0.772961 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.85, Z:2.66 [[ 0.99712486 -0.05798833 -0.04877881 -5.15674489] [ 0.06046506 0.99687007 0.05093181 9.85181076] [ 0.04567268 -0.05373478 0.99751019 2.65714951] [ 0. 0. 0. 1. ]] SLAMing on 221.84925976399995 meters Centerline goodness : 0.770063 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.86, Z:2.67 [[ 0.99736997 -0.04819278 -0.054135 -5.16256127] [ 0.05047343 0.99785938 0.04158233 9.86188984] [ 0.05201515 -0.04420535 0.99766744 2.66770907] [ 0. 0. 0. 1. ]] SLAMing on 221.90925976399996 meters Centerline goodness : 0.770639 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.86, Z:2.67 [[ 0.99738099 -0.04739255 -0.05463617 -5.16007097] [ 0.04968912 0.99790339 0.04147056 9.86434069] [ 0.05255623 -0.04407677 0.99764477 2.66701053] [ 0. 0. 0. 1. ]] SLAMing on 221.96925976399996 meters Centerline goodness : 0.772087 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.86, Z:2.67 [[ 0.99739336 -0.04736788 -0.05443132 -5.16043505] [ 0.04964545 0.99791341 0.04128137 9.86423538] [ 0.05236233 -0.04387604 0.99766381 2.66701023] [ 0. 0. 0. 1. ]] SLAMing on 222.02925976399996 meters Centerline goodness : 0.769726 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.86, Z:2.67 [[ 0.99740003 -0.0475254 -0.05417123 -5.16093986] [ 0.049784 0.99791253 0.04113568 9.86452122] [ 0.05210316 -0.04372559 0.99768399 2.6666329 ] [ 0. 0. 0. 1. ]] SLAMing on 222.08925976399996 meters Centerline goodness : 0.767056 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.87, Z:2.67 [[ 0.9971561 -0.05188646 -0.05465803 -5.15997717] [ 0.05388538 0.9979068 0.0357546 9.869784 ] [ 0.05268844 -0.03859818 0.99786477 2.66880968] [ 0. 0. 0. 1. ]] SLAMing on 222.14925976399996 meters Centerline goodness : 0.767555 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.87, Z:2.67 [[ 0.99714216 -0.05288989 -0.05394605 -5.16298312] [ 0.05485566 0.99785827 0.03563333 9.86894165] [ 0.05194587 -0.03849074 0.99790786 2.6689592 ] [ 0. 0. 0. 1. ]] SLAMing on 222.20925976399997 meters Centerline goodness : 0.760915 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.87, Z:2.66 [[ 0.99682271 -0.06192907 -0.05009267 -5.15096558] [ 0.0640677 0.99704963 0.04227731 9.86510649] [ 0.04732668 -0.04535231 0.99784936 2.66028014] [ 0. 0. 0. 1. ]] SLAMing on 222.26925976399994 meters Centerline goodness : 0.757670 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.86, Z:2.66 [[ 0.99680539 -0.06285188 -0.04928142 -5.15400914] [ 0.06495799 0.99698823 0.04236669 9.863061 ] [ 0.04647017 -0.04543257 0.99788597 2.66034036] [ 0. 0. 0. 1. ]] SLAMing on 222.32925976399994 meters Centerline goodness : 0.754088 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.87, Z:2.66 [[ 0.99611087 -0.07376687 -0.04818281 -5.15902617] [ 0.07540263 0.99660496 0.03306061 9.86502275] [ 0.04558045 -0.03656515 0.99829125 2.66287417] [ 0. 0. 0. 1. ]] SLAMing on 222.38925976399995 meters Centerline goodness : 0.754599 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.87, Z:2.66 [[ 0.9960978 -0.07391792 -0.04822155 -5.15912338] [ 0.07556016 0.99658941 0.03316957 9.86659089] [ 0.04560526 -0.03668377 0.99828576 2.6623198 ] [ 0. 0. 0. 1. ]] SLAMing on 222.44925976399995 meters Centerline goodness : 0.747221 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.86, Z:2.66 [[ 0.99613991 -0.07308576 -0.0486184 -5.15616628] [ 0.07482722 0.99658151 0.03501685 9.864342 ] [ 0.04589297 -0.03851966 0.99820342 2.65783937] [ 0. 0. 0. 1. ]] SLAMing on 222.50925976399995 meters Centerline goodness : 0.741967 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.86, Z:2.65 [[ 0.9959162 -0.07580815 -0.04903117 -5.15126621] [ 0.07750337 0.99642413 0.03364775 9.85964576] [ 0.04630507 -0.03731042 0.99823032 2.65215977] [ 0. 0. 0. 1. ]] SLAMing on 222.56925976399995 meters Centerline goodness : 0.736554 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.86, Z:2.65 [[ 0.99595837 -0.07547002 -0.04869503 -5.1506738 ] [ 0.07722804 0.99638871 0.0352898 9.85520388] [ 0.04585586 -0.03890779 0.99819007 2.64867464] [ 0. 0. 0. 1. ]] SLAMing on 222.62925976399995 meters Centerline goodness : 0.732908 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.85, Z:2.65 [[ 0.99596674 -0.07556994 -0.04836768 -5.15105321] [ 0.07735628 0.99634645 0.03619045 9.85258026] [ 0.04545606 -0.03978603 0.99817374 2.64669829] [ 0. 0. 0. 1. ]] SLAMing on 222.68925976399996 meters Centerline goodness : 0.730003 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.85, Z:2.65 [[ 0.99565217 -0.07948727 -0.04856465 -5.14977591] [ 0.08111999 0.99617023 0.03262542 9.85227213] [ 0.04578535 -0.03642313 0.99828706 2.64643422] [ 0. 0. 0. 1. ]] SLAMing on 222.74925976399996 meters Centerline goodness : 0.728557 with order 1 Centerline is valid? [False, False] Translation: X:-5.15, Y:9.85, Z:2.65 [[ 0.99530479 -0.08378572 -0.04845959 -5.14985421] [ 0.08523304 0.99595019 0.0286104 9.85197882] [ 0.0458662 -0.03260643 0.9984153 2.6471596 ] [ 0. 0. 0. 1. ]] SLAMing on 222.80925976399996 meters Centerline goodness : 0.726972 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.84, Z:2.63 [[ 0.99501124 -0.08904381 -0.044987 -5.13420177] [ 0.09084657 0.99507109 0.03975458 9.83963179] [ 0.04122536 -0.04364317 0.99819624 2.63440872] [ 0. 0. 0. 1. ]] SLAMing on 222.86925976399996 meters Centerline goodness : 0.723197 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.84, Z:2.64 [[ 0.99463861 -0.09321679 -0.04477358 -5.13444852] [ 0.09485604 0.99483998 0.03599643 9.83735424] [ 0.04118707 -0.04005049 0.99834843 2.63529156] [ 0. 0. 0. 1. ]] SLAMing on 222.92925976399997 meters Centerline goodness : 0.725050 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.83, Z:2.64 [[ 0.99425392 -0.09739201 -0.04442894 -5.13485611] [ 0.09887609 0.99456814 0.03252281 9.83485737] [ 0.04102015 -0.03672889 0.99848302 2.635542 ] [ 0. 0. 0. 1. ]] SLAMing on 222.98925976399997 meters Centerline goodness : 0.724687 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.82, Z:2.62 [[ 0.99353051 -0.10572268 -0.04147107 -5.11477412] [ 0.10739783 0.99339145 0.04048626 9.81936546] [ 0.03691669 -0.04467823 0.99831909 2.62339019] [ 0. 0. 0. 1. ]] SLAMing on 223.04925976399994 meters Centerline goodness : 0.725639 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.81, Z:2.62 [[ 0.99276635 -0.11437719 -0.03650789 -5.10075954] [ 0.11600329 0.99218056 0.04605398 9.81083048] [ 0.03095489 -0.04995588 0.99827161 2.61574789] [ 0. 0. 0. 1. ]] SLAMing on 223.10925976399994 meters Centerline goodness : 0.727233 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.81, Z:2.62 [[ 0.99222928 -0.1192314 -0.03556581 -5.10368901] [ 0.12069438 0.99178837 0.04229303 9.80641401] [ 0.0302311 -0.04625697 0.99847202 2.61795433] [ 0. 0. 0. 1. ]] SLAMing on 223.16925976399995 meters Centerline goodness : 0.729757 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:9.79, Z:2.61 [[ 0.99116159 -0.12915403 -0.03029752 -5.09078567] [ 0.13048204 0.99033815 0.0469552 9.7949227 ] [ 0.02394034 -0.05049347 0.99843741 2.61185266] [ 0. 0. 0. 1. ]] SLAMing on 223.22925976399995 meters Centerline goodness : 0.727346 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:9.79, Z:2.61 [[ 0.99069129 -0.1328089 -0.0298757 -5.09009868] [ 0.13404299 0.989998 0.044005 9.79070437] [ 0.02373263 -0.0476 0.9985845 2.61133207] [ 0. 0. 0. 1. ]] SLAMing on 223.28925976399995 meters Centerline goodness : 0.729236 with order 1 Centerline is valid? [False, False] Translation: X:-5.09, Y:9.79, Z:2.61 [[ 0.9901206 -0.13715953 -0.02912827 -5.09132587] [ 0.13826672 0.98957952 0.0401831 9.78761705] [ 0.02331325 -0.04381358 0.99876767 2.6124352 ] [ 0. 0. 0. 1. ]] SLAMing on 223.34925976399995 meters Centerline goodness : 0.731853 with order 1 Centerline is valid? [False, False] Translation: X:-5.05, Y:9.77, Z:2.60 [[ 0.98873048 -0.14813108 -0.02166142 -5.05109678] [ 0.14912047 0.98728615 0.05503762 9.77475517] [ 0.01323324 -0.05764753 0.99824929 2.60152014] [ 0. 0. 0. 1. ]] SLAMing on 223.40925976399996 meters Centerline goodness : 0.735804 with order 1 Centerline is valid? [False, False] Translation: X:-5.04, Y:9.77, Z:2.60 [[ 9.88049813e-01 -1.53342916e-01 -1.56050535e-02 -5.03862311e+00] [ 1.54012648e-01 9.86224859e-01 6.03376451e-02 9.76874453e+00] [ 6.13774126e-03 -6.20199746e-02 9.98056036e-01 2.60146438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46925976399996 meters Centerline goodness : 0.737166 with order 1 Centerline is valid? [False, False] Translation: X:-5.04, Y:9.76, Z:2.61 [[ 0.98806107 -0.1507236 -0.03190178 -5.03573915] [ 0.15239849 0.98655787 0.05897686 9.76039553] [ 0.02258375 -0.06313453 0.99774947 2.61318225] [ 0. 0. 0. 1. ]] SLAMing on 223.52925976399996 meters Centerline goodness : 0.738598 with order 1 Centerline is valid? [False, False] Translation: X:-5.02, Y:9.75, Z:2.61 [[ 0.98679436 -0.15987941 -0.02598959 -5.02095309] [ 0.16123391 0.98489684 0.0631018 9.74808525] [ 0.01550838 -0.0664589 0.99766863 2.60752908] [ 0. 0. 0. 1. ]] SLAMing on 223.58925976399996 meters Centerline goodness : 0.742368 with order 1 Centerline is valid? [False, False] Translation: X:-5.02, Y:9.74, Z:2.63 [[ 0.98598327 -0.16111512 -0.04334634 -5.01831378] [ 0.1637756 0.98421322 0.06709606 9.73566178] [ 0.03185185 -0.07325467 0.9968045 2.62518423] [ 0. 0. 0. 1. ]] SLAMing on 223.64925976399996 meters Centerline goodness : 0.745446 with order 1 Centerline is valid? [False, False] Translation: X:-5.02, Y:9.73, Z:2.63 [[ 0.98582611 -0.1622058 -0.04285033 -5.02175749] [ 0.16488738 0.98389594 0.06899948 9.73194628] [ 0.03096815 -0.07508696 0.996696 2.63014108] [ 0. 0. 0. 1. ]] SLAMing on 223.70925976399997 meters Centerline goodness : 0.751703 with order 1 Centerline is valid? [False, False] Translation: X:-5.02, Y:9.72, Z:2.65 [[ 0.98534146 -0.16034667 -0.05823359 -5.02115778] [ 0.16408999 0.98420312 0.06647321 9.72166597] [ 0.04665493 -0.07505436 0.99608743 2.64542905] [ 0. 0. 0. 1. ]] SLAMing on 223.76925976399994 meters Centerline goodness : 0.755484 with order 1 Centerline is valid? [False, False] Translation: X:-5.02, Y:9.72, Z:2.65 [[ 0.98522769 -0.16134193 -0.05740361 -5.02300111] [ 0.16496427 0.98414035 0.06522694 9.71829067] [ 0.04596936 -0.07373293 0.99621798 2.64685262] [ 0. 0. 0. 1. ]] SLAMing on 223.82925976399994 meters Centerline goodness : 0.759715 with order 1 Centerline is valid? [False, False] Translation: X:-5.03, Y:9.72, Z:2.65 [[ 0.98519029 -0.1618179 -0.05670151 -5.02523286] [ 0.16536034 0.98411378 0.06462225 9.7150682 ] [ 0.0453437 -0.07304139 0.9962976 2.64887667] [ 0. 0. 0. 1. ]] SLAMing on 223.88925976399995 meters Centerline goodness : 0.755406 with order 1 Centerline is valid? [False, False] Translation: X:-5.03, Y:9.71, Z:2.66 [[ 0.98506285 -0.16336125 -0.0544452 -5.03397269] [ 0.16647336 0.98430414 0.05858305 9.71195605] [ 0.04402043 -0.06677166 0.99679674 2.66308492] [ 0. 0. 0. 1. ]] SLAMing on 223.94925976399995 meters Centerline goodness : 0.755806 with order 1 Centerline is valid? [False, False] Translation: X:-5.04, Y:9.71, Z:2.67 [[ 0.98541301 -0.16173525 -0.05294243 -5.03883222] [ 0.16476088 0.98457473 0.05887664 9.70806351] [ 0.04260335 -0.06674065 0.99686039 2.6658815 ] [ 0. 0. 0. 1. ]] SLAMing on 224.00925976399995 meters Centerline goodness : 0.760204 with order 1 Centerline is valid? [False, False] Translation: X:-5.04, Y:9.71, Z:2.67 [[ 0.98571948 -0.16002499 -0.05243203 -5.0421839 ] [ 0.16306906 0.98478333 0.06008556 9.70647347] [ 0.042019 -0.06777754 0.99681523 2.66854056] [ 0. 0. 0. 1. ]] SLAMing on 224.06925976399995 meters Centerline goodness : 0.764788 with order 1 Centerline is valid? [False, False] Translation: X:-5.05, Y:9.71, Z:2.67 [[ 0.98646518 -0.15553246 -0.051924 -5.0455774 ] [ 0.15865127 0.98534833 0.06259742 9.70513849] [ 0.0414273 -0.06998798 0.99668724 2.67000668] [ 0. 0. 0. 1. ]] SLAMing on 224.12925976399995 meters Centerline goodness : 0.764102 with order 1 Centerline is valid? [False, False] Translation: X:-5.03, Y:9.70, Z:2.66 [[ 0.98757676 -0.15185677 -0.04039389 -5.03396056] [ 0.15427129 0.98585463 0.0655059 9.7036342 ] [ 0.02987499 -0.07092372 0.99703426 2.66242655] [ 0. 0. 0. 1. ]] SLAMing on 224.18925976399996 meters Centerline goodness : 0.765000 with order 1 Centerline is valid? [False, False] Translation: X:-5.03, Y:9.70, Z:2.66 [[ 0.98862409 -0.1477943 -0.02791499 -5.02774297] [ 0.14938702 0.9864397 0.06797234 9.70225843] [ 0.01749053 -0.07136923 0.9972966 2.65563633] [ 0. 0. 0. 1. ]] SLAMing on 224.24925976399996 meters Centerline goodness : 0.764981 with order 1 Centerline is valid? [False, False] Translation: X:-5.03, Y:9.70, Z:2.66 [[ 0.98865513 -0.14759375 -0.02787672 -5.0284736 ] [ 0.14916762 0.98653736 0.06703026 9.70413863] [ 0.01760818 -0.07042812 0.99736144 2.65745454] [ 0. 0. 0. 1. ]] SLAMing on 224.30925976399996 meters Centerline goodness : 0.768933 with order 1 Centerline is valid? [False, False] Translation: X:-5.02, Y:9.70, Z:2.65 [[ 9.89635807e-01 -1.42591491e-01 -1.69893254e-02 -5.02272229e+00] [ 1.43417511e-01 9.87399491e-01 6.68854421e-02 9.70350986e+00] [ 7.23795639e-03 -6.86287952e-02 9.97616009e-01 2.65382470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36925976399996 meters Centerline goodness : 0.765413 with order 1 Centerline is valid? [False, False] Translation: X:-5.01, Y:9.70, Z:2.65 [[ 9.90471635e-01 -1.37588649e-01 -5.94176501e-03 -5.01134559e+00] [ 1.37669763e-01 9.88082160e-01 6.88526039e-02 9.70245687e+00] [-3.60238471e-03 -6.90145525e-02 9.97609149e-01 2.64706331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42925976399997 meters Centerline goodness : 0.767829 with order 1 Centerline is valid? [False, False] Translation: X:-5.01, Y:9.70, Z:2.65 [[ 9.91109232e-01 -1.32913219e-01 -6.04699865e-03 -5.01134474e+00] [ 1.32995996e-01 9.88374777e-01 7.36706498e-02 9.69926484e+00] [-3.81510224e-03 -7.38198878e-02 9.97264293e-01 2.64589558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48925976399997 meters Centerline goodness : 0.766443 with order 1 Centerline is valid? [False, False] Translation: X:-5.01, Y:9.70, Z:2.65 [[ 9.91173052e-01 -1.32432009e-01 -6.14357838e-03 -5.01106080e+00] [ 1.32524823e-01 9.88470075e-01 7.32398996e-02 9.70083290e+00] [-3.62656369e-03 -7.34075914e-02 9.97295429e-01 2.64639242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54925976399994 meters Centerline goodness : 0.765657 with order 1 Centerline is valid? [False, False] Translation: X:-5.01, Y:9.70, Z:2.65 [[ 9.91198566e-01 -1.32235225e-01 -6.26477853e-03 -5.01133839e+00] [ 1.32340365e-01 9.88556610e-01 7.24006717e-02 9.70300247e+00] [-3.38083089e-03 -7.25925251e-02 9.97355952e-01 2.64802330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60925976399994 meters Centerline goodness : 0.765486 with order 1 Centerline is valid? [False, False] Translation: X:-5.01, Y:9.70, Z:2.65 [[ 9.91781185e-01 -1.27781274e-01 -6.48275191e-03 -5.01198743e+00] [ 1.27899990e-01 9.88801095e-01 7.69024460e-02 9.70076093e+00] [-3.41654036e-03 -7.70995429e-02 9.97017546e-01 2.64826669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66925976399995 meters Centerline goodness : 0.766279 with order 1 Centerline is valid? [False, False] Translation: X:-5.03, Y:9.71, Z:2.66 [[ 9.92371033e-01 -1.22712533e-01 -1.18897837e-02 -5.02642150e+00] [ 1.23241910e-01 9.89996291e-01 6.86933470e-02 9.70559741e+00] [ 3.34130721e-03 -6.96346074e-02 9.97566969e-01 2.65614946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72925976399995 meters Centerline goodness : 0.766426 with order 1 Centerline is valid? [False, False] Translation: X:-5.03, Y:9.70, Z:2.65 [[ 9.92912615e-01 -1.18241172e-01 -1.19818064e-02 -5.02657947e+00] [ 1.18803979e-01 9.90201558e-01 7.33927104e-02 9.70366142e+00] [ 3.18636329e-03 -7.42960344e-02 9.97231140e-01 2.65489313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78925976399995 meters Centerline goodness : 0.766968 with order 1 Centerline is valid? [False, False] Translation: X:-5.03, Y:9.70, Z:2.66 [[ 9.93403287e-01 -1.14037257e-01 -1.20587360e-02 -5.02779352e+00] [ 1.14629919e-01 9.90407844e-01 7.71510479e-02 9.70402525e+00] [ 3.14497282e-03 -7.80243966e-02 9.96946489e-01 2.65570276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84925976399995 meters Centerline goodness : 0.765070 with order 1 Centerline is valid? [False, False] Translation: X:-5.03, Y:9.71, Z:2.66 [[ 9.93462637e-01 -1.13504911e-01 -1.21911805e-02 -5.02737191e+00] [ 1.14107587e-01 9.90512619e-01 7.65781317e-02 9.70689854e+00] [ 3.38352412e-03 -7.74686188e-02 9.96989050e-01 2.65624196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90925976399996 meters Centerline goodness : 0.766483 with order 1 Centerline is valid? [False, False] Translation: X:-5.04, Y:9.71, Z:2.65 [[ 9.94605823e-01 -1.03624609e-01 -4.60403971e-03 -5.03804651e+00] [ 1.03664173e-01 9.91482668e-01 7.88407141e-02 9.70511352e+00] [-3.60501264e-03 -7.88927073e-02 9.96876594e-01 2.65227265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96925976399996 meters Centerline goodness : 0.769356 with order 1 Centerline is valid? [False, False] Translation: X:-5.04, Y:9.71, Z:2.65 [[ 9.95337277e-01 -9.63889762e-02 -3.58739290e-03 -5.04188909e+00] [ 9.63462816e-02 9.91749099e-01 8.45642927e-02 9.70533766e+00] [-4.59327193e-03 -8.45156249e-02 9.96411567e-01 2.65452062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02925976399996 meters Centerline goodness : 0.770084 with order 1 Centerline is valid? [False, False] Translation: X:-5.05, Y:9.71, Z:2.66 [[ 9.96535182e-01 -8.27406591e-02 -8.46253135e-03 -5.04718912e+00] [ 8.31484918e-02 9.93513932e-01 7.75654299e-02 9.71168408e+00] [ 1.98982801e-03 -7.80003265e-02 9.96951348e-01 2.66488119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08925976399996 meters Centerline goodness : 0.765221 with order 1 Centerline is valid? [False, False] Translation: X:-5.06, Y:9.71, Z:2.66 [[ 9.97890773e-01 -6.46738672e-02 -5.59422593e-03 -5.06132695e+00] [ 6.49050815e-02 9.95554750e-01 6.82500530e-02 9.71050120e+00] [ 1.15536333e-03 -6.84691918e-02 9.97652562e-01 2.66424727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14925976399996 meters Centerline goodness : 0.764634 with order 1 Centerline is valid? [False, False] Translation: X:-5.07, Y:9.71, Z:2.67 [[ 9.98312752e-01 -5.68140537e-02 -1.19921593e-02 -5.07167647e+00] [ 5.74500474e-02 9.96429678e-01 6.18658903e-02 9.71232518e+00] [ 8.43449140e-03 -6.24504574e-02 9.98012425e-01 2.67180944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20925976399997 meters Centerline goodness : 0.764205 with order 1 Centerline is valid? [False, False] Translation: X:-5.08, Y:9.71, Z:2.68 [[ 0.99877144 -0.04620745 -0.01790212 -5.08344547] [ 0.04717376 0.99720388 0.05795736 9.71149381] [ 0.015174 -0.05873067 0.99815853 2.68101794] [ 0. 0. 0. 1. ]] SLAMing on 225.26925976399994 meters Centerline goodness : 0.765492 with order 1 Centerline is valid? [False, False] Translation: X:-5.10, Y:9.71, Z:2.69 [[ 0.99895868 -0.03906564 -0.02356759 -5.09515822] [ 0.0402203 0.9979042 0.05069053 9.71058674] [ 0.02153794 -0.05158564 0.9984363 2.68979437] [ 0. 0. 0. 1. ]] SLAMing on 225.32925976399994 meters Centerline goodness : 0.766223 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.71, Z:2.70 [[ 0.9991117 -0.0299317 -0.02966314 -5.10637351] [ 0.03128765 0.99843498 0.0463538 9.70830768] [ 0.02822927 -0.04724072 0.99848456 2.69675934] [ 0. 0. 0. 1. ]] SLAMing on 225.38925976399995 meters Centerline goodness : 0.770548 with order 1 Centerline is valid? [False, False] Translation: X:-5.11, Y:9.71, Z:2.70 [[ 0.99925469 -0.01363536 -0.03611281 -5.10977964] [ 0.01525636 0.99887053 0.04499895 9.70513858] [ 0.03545845 -0.04551636 0.99833409 2.70376741] [ 0. 0. 0. 1. ]] SLAMing on 225.44925976399995 meters Centerline goodness : 0.777386 with order 1 Centerline is valid? [False, False] Translation: X:-5.13, Y:9.70, Z:2.71 [[ 9.99535778e-01 2.02174178e-03 -3.03996984e-02 -5.12684426e+00] [-9.61156308e-04 9.99391665e-01 3.48622460e-02 9.70306079e+00] [ 3.04516877e-02 -3.48168433e-02 9.98929668e-01 2.70572317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50925976399995 meters Centerline goodness : 0.781955 with order 1 Centerline is valid? [False, False] Translation: X:-5.14, Y:9.70, Z:2.71 [[ 0.99921732 0.02726432 -0.02866003 -5.14438487] [-0.02632252 0.99911721 0.03274037 9.69522704] [ 0.02952738 -0.03196034 0.99905289 2.7068273 ] [ 0. 0. 0. 1. ]] SLAMing on 225.56925976399995 meters Centerline goodness : 0.783283 with order 1 Centerline is valid? [False, False] Translation: X:-5.16, Y:9.69, Z:2.71 [[ 0.99814911 0.0542407 -0.02750078 -5.16138389] [-0.05330958 0.99801493 0.03353055 9.68684087] [ 0.02926491 -0.03200244 0.99905926 2.70695096] [ 0. 0. 0. 1. ]] SLAMing on 225.62925976399995 meters Centerline goodness : 0.782653 with order 1 Centerline is valid? [False, False] Translation: X:-5.17, Y:9.68, Z:2.71 [[ 0.99715271 0.06748145 -0.03365614 -5.16819197] [-0.06639478 0.99726648 0.03242374 9.68127822] [ 0.03575214 -0.03009683 0.99890739 2.71081892] [ 0. 0. 0. 1. ]] SLAMing on 225.68925976399996 meters Centerline goodness : 0.788130 with order 1 Centerline is valid? [False, False] Translation: X:-5.19, Y:9.67, Z:2.71 [[ 0.99494703 0.09513993 -0.03207492 -5.18702888] [-0.09406601 0.99500291 0.03347829 9.67075399] [ 0.03509976 -0.03029197 0.99892462 2.71132716] [ 0. 0. 0. 1. ]] SLAMing on 225.74925976399996 meters Centerline goodness : 0.791798 with order 1 Centerline is valid? [False, False] Translation: X:-5.20, Y:9.67, Z:2.72 [[ 0.99285108 0.11343856 -0.03712713 -5.19714004] [-0.11203403 0.99297938 0.03795164 9.6667257 ] [ 0.04117166 -0.03352082 0.99858963 2.71693111] [ 0. 0. 0. 1. ]] SLAMing on 225.80925976399996 meters Centerline goodness : 0.789546 with order 1 Centerline is valid? [False, False] Translation: X:-5.22, Y:9.66, Z:2.71 [[ 0.98830407 0.14771132 -0.03790017 -5.21803546] [-0.14656742 0.98870274 0.03138273 9.65712802] [ 0.04210759 -0.02546075 0.99878862 2.71430676] [ 0. 0. 0. 1. ]] SLAMing on 225.86925976399996 meters Centerline goodness : 0.788146 with order 1 Centerline is valid? [False, False] Translation: X:-5.23, Y:9.65, Z:2.71 [[ 0.98388955 0.17529808 -0.03509895 -5.23367086] [-0.17425714 0.98421779 0.03081881 9.65143391] [ 0.03994749 -0.02420607 0.99890854 2.71081335] [ 0. 0. 0. 1. ]] SLAMing on 225.92925976399997 meters Centerline goodness : 0.789453 with order 1 Centerline is valid? [False, False] Translation: X:-5.26, Y:9.65, Z:2.71 [[ 0.97741879 0.20883169 -0.03227757 -5.25787366] [-0.20792372 0.97770476 0.02934497 9.648011 ] [ 0.03768609 -0.02197105 0.99904806 2.71126817] [ 0. 0. 0. 1. ]] SLAMing on 225.98925976399997 meters Centerline goodness : 0.789898 with order 1 Centerline is valid? [False, False] Translation: X:-5.29, Y:9.64, Z:2.71 [[ 0.96338253 0.26605752 -0.03327895 -5.28736989] [-0.26522141 0.96379519 0.02750343 9.63911526] [ 0.03939158 -0.01767003 0.9990676 2.71443234] [ 0. 0. 0. 1. ]] SLAMing on 226.04925976399994 meters Centerline goodness : 0.789121 with order 1 Centerline is valid? [False, False] Translation: X:-5.31, Y:9.64, Z:2.71 [[ 0.95762225 0.28641358 -0.03044473 -5.31351817] [-0.28572497 0.95798389 0.02506217 9.63600874] [ 0.03634371 -0.01530127 0.9992222 2.71111908] [ 0. 0. 0. 1. ]] SLAMing on 226.10925976399994 meters Centerline goodness : 0.794731 with order 1 Centerline is valid? [False, False] Translation: X:-5.35, Y:9.62, Z:2.71 [[ 0.93532497 0.35240169 -0.03130883 -5.35403723] [-0.35173043 0.93576675 0.02502583 9.62193349] [ 0.03811691 -0.01239502 0.99919641 2.71225641] [ 0. 0. 0. 1. ]] SLAMing on 226.16925976399995 meters Centerline goodness : 0.791710 with order 1 Centerline is valid? [False, False] Translation: X:-5.41, Y:9.60, Z:2.71 [[ 0.90601829 0.42237299 -0.02705395 -5.41024971] [-0.42180287 0.9063589 0.02441059 9.60266117] [ 0.03483096 -0.01070501 0.99933588 2.71187392] [ 0. 0. 0. 1. ]] SLAMing on 226.22925976399995 meters Centerline goodness : 0.780902 with order 1 Centerline is valid? [False, False] Translation: X:-5.48, Y:9.59, Z:2.71 [[ 8.82925426e-01 4.68778229e-01 -2.62614432e-02 -5.47863241e+00] [-4.68228387e-01 8.83265959e-01 2.45646595e-02 9.58626585e+00] [ 3.47112164e-02 -9.39240928e-03 9.99353248e-01 2.71244237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28925976399995 meters Centerline goodness : 0.739564 with order 1 Centerline is valid? [False, False] Translation: X:-5.58, Y:9.56, Z:2.70 [[ 8.48081047e-01 5.29271693e-01 -2.51000687e-02 -5.57612532e+00] [-5.28913913e-01 8.48445226e-01 1.97679051e-02 9.55886655e+00] [ 3.17586261e-02 -3.48901006e-03 9.99489478e-01 2.70371404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34925976399995 meters Centerline goodness : 0.716993 with order 1 Centerline is valid? [False, False] Translation: X:-5.68, Y:9.53, Z:2.69 [[ 8.26679660e-01 5.62231393e-01 -2.22845330e-02 -5.67718327e+00] [-5.61702317e-01 8.26931434e-01 2.59790616e-02 9.53431308e+00] [ 3.30340247e-02 -8.95908799e-03 9.99414072e-01 2.69109519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40925976399996 meters Centerline goodness : 0.749046 with order 1 Centerline is valid? [False, False] Translation: X:-5.79, Y:9.50, Z:2.68 [[ 0.79537276 0.60597459 -0.01330309 -5.78891193] [-0.60520321 0.79518473 0.03755436 9.49689097] [ 0.0333354 -0.02181864 0.99920603 2.67993598] [ 0. 0. 0. 1. ]] SLAMing on 226.46925976399996 meters Centerline goodness : 0.764507 with order 1 Centerline is valid? [False, False] Translation: X:-5.91, Y:9.47, Z:2.67 [[ 7.73144619e-01 6.34201746e-01 -5.96185091e-03 -5.91334243e+00] [-6.33382209e-01 7.72563116e-01 4.44208173e-02 9.46803109e+00] [ 3.27776660e-02 -3.05675856e-02 9.98995119e-01 2.67154035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52925976399996 meters Centerline goodness : 0.766399 with order 1 Centerline is valid? [False, False] Translation: X:-6.04, Y:9.44, Z:2.66 [[ 7.50578544e-01 6.60780107e-01 -1.22429789e-03 -6.03804759e+00] [-6.59887035e-01 7.49657891e-01 5.06176572e-02 9.43829543e+00] [ 3.43649455e-02 -3.71846292e-02 9.98717354e-01 2.66142153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58925976399996 meters Centerline goodness : 0.767063 with order 1 Centerline is valid? [False, False] Translation: X:-6.18, Y:9.39, Z:2.65 [[ 7.19253948e-01 6.94745465e-01 1.58060471e-03 -6.17596045e+00] [-6.93674572e-01 7.18015184e-01 5.71820238e-02 9.39370960e+00] [ 3.85920535e-02 -4.22248216e-02 9.98362518e-01 2.65297890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64925976399996 meters Centerline goodness : 0.763307 with order 1 Centerline is valid? [False, False] Translation: X:-6.33, Y:9.34, Z:2.64 [[ 6.95082329e-01 7.18897100e-01 6.89313644e-03 -6.32615267e+00] [-7.17731125e-01 6.93337663e-01 6.43810291e-02 9.34142835e+00] [ 4.15040640e-02 -4.96975342e-02 9.97901582e-01 2.64409815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70925976399997 meters Centerline goodness : 0.765927 with order 1 Centerline is valid? [False, False] Translation: X:-6.50, Y:9.30, Z:2.64 [[ 0.68122813 0.73194087 0.01381259 -6.4956731 ] [-0.73065179 0.67861191 0.07505888 9.30015826] [ 0.04556527 -0.06122441 0.99708344 2.64095018] [ 0. 0. 0. 1. ]] SLAMing on 226.76925976399994 meters Centerline goodness : 0.767320 with order 1 Centerline is valid? [False, False] Translation: X:-6.66, Y:9.24, Z:2.64 [[ 0.66713895 0.74468468 0.01924455 -6.6615569 ] [-0.74309819 0.66346116 0.08731758 9.24102832] [ 0.05225605 -0.07255355 0.99599462 2.64018458] [ 0. 0. 0. 1. ]] SLAMing on 226.82925976399994 meters Centerline goodness : 0.763405 with order 1 Centerline is valid? [False, False] Translation: X:-6.83, Y:9.19, Z:2.64 [[ 0.66340643 0.74794877 0.0215534 -6.83371279] [-0.74608587 0.65901119 0.09518469 9.19264057] [ 0.05698934 -0.07922682 0.99522627 2.64149206] [ 0. 0. 0. 1. ]] SLAMing on 226.88925976399995 meters Centerline goodness : 0.757308 with order 1 Centerline is valid? [False, False] Translation: X:-7.02, Y:9.12, Z:2.65 [[ 0.66011522 0.75071323 0.02602971 -7.01953747] [-0.74854018 0.65452005 0.10625961 9.12088025] [ 0.06273352 -0.08962787 0.99399766 2.64614912] [ 0. 0. 0. 1. ]] SLAMing on 226.94925976399995 meters Centerline goodness : 0.756819 with order 1 Centerline is valid? [False, False] Translation: X:-7.21, Y:9.07, Z:2.66 [[ 0.66062017 0.75011229 0.03020818 -7.20591406] [-0.74769001 0.65380885 0.11616214 9.06840734] [ 0.06738427 -0.09932541 0.99277078 2.65500609] [ 0. 0. 0. 1. ]] SLAMing on 227.00925976399995 meters Centerline goodness : 0.758443 with order 1 Centerline is valid? [False, False] Translation: X:-7.40, Y:9.00, Z:2.67 [[ 0.66204791 0.74863683 0.03514904 -7.39773031] [-0.74589693 0.65360537 0.12820991 9.0008336 ] [ 0.07300906 -0.11109867 0.99112399 2.66639963] [ 0. 0. 0. 1. ]] SLAMing on 227.06925976399995 meters Centerline goodness : 0.757272 with order 1 Centerline is valid? [False, False] Translation: X:-7.60, Y:8.93, Z:2.68 [[ 0.66287147 0.74766561 0.03996925 -7.59878513] [-0.74471668 0.65285351 0.13848957 8.93480146] [ 0.07744982 -0.12156655 0.98955702 2.68079562] [ 0. 0. 0. 1. ]] SLAMing on 227.12925976399995 meters Centerline goodness : 0.753207 with order 1 Centerline is valid? [False, False] Translation: X:-7.79, Y:8.89, Z:2.70 [[ 0.66276881 0.74776363 0.03983788 -7.78821515] [-0.74439373 0.65213604 0.14351503 8.89087232] [ 0.0813356 -0.12477235 0.98884598 2.6962105 ] [ 0. 0. 0. 1. ]] SLAMing on 227.18925976399996 meters Centerline goodness : 0.748955 with order 1 Centerline is valid? [False, False] Translation: X:-7.98, Y:8.84, Z:2.71 [[ 0.65874613 0.75142718 0.03755978 -7.97877494] [-0.74742471 0.64789256 0.14694058 8.8386239 ] [ 0.08608045 -0.12486965 0.98843195 2.71034211] [ 0. 0. 0. 1. ]] SLAMing on 227.24925976399996 meters Centerline goodness : 0.748031 with order 1 Centerline is valid? [False, False] Translation: X:-8.18, Y:8.80, Z:2.73 [[ 0.65503566 0.75465146 0.03780818 -8.17509723] [-0.75027125 0.64367212 0.15092799 8.80358693] [ 0.08956196 -0.12722961 0.98782148 2.72679553] [ 0. 0. 0. 1. ]] SLAMing on 227.30925976399996 meters Centerline goodness : 0.746519 with order 1 Centerline is valid? [False, False] Translation: X:-8.38, Y:8.76, Z:2.75 [[ 0.64683522 0.76160603 0.03950261 -8.3806711 ] [-0.75671948 0.63452448 0.15733503 8.76308324] [ 0.09476194 -0.13166223 0.9867549 2.74508214] [ 0. 0. 0. 1. ]] SLAMing on 227.36925976399996 meters Centerline goodness : 0.747646 with order 1 Centerline is valid? [False, False] Translation: X:-8.59, Y:8.73, Z:2.76 [[ 0.63999844 0.76724607 0.04165905 -8.58662399] [-0.761989 0.62676874 0.16289172 8.73181489] [ 0.09886745 -0.13599418 0.98576407 2.76312091] [ 0. 0. 0. 1. ]] SLAMing on 227.42925976399997 meters Centerline goodness : 0.745759 with order 1 Centerline is valid? [False, False] Translation: X:-8.80, Y:8.69, Z:2.78 [[ 0.63148259 0.77431032 0.04090555 -8.79625118] [-0.7683068 0.61772821 0.16767984 8.6886965 ] [ 0.10456771 -0.13731491 0.98499249 2.78135272] [ 0. 0. 0. 1. ]] SLAMing on 227.48925976399994 meters Centerline goodness : 0.746134 with order 1 Centerline is valid? [False, False] Translation: X:-9.01, Y:8.65, Z:2.80 [[ 0.62865683 0.77657323 0.04152839 -9.01179196] [-0.77022284 0.61435927 0.17122928 8.65301418] [ 0.10745872 -0.13963058 0.98435559 2.8001017 ] [ 0. 0. 0. 1. ]] SLAMing on 227.54925976399994 meters Centerline goodness : 0.744335 with order 1 Centerline is valid? [False, False] Translation: X:-9.23, Y:8.61, Z:2.82 [[ 0.62510792 0.77933732 0.043283 -9.23050741] [-0.77243498 0.60969662 0.17780393 8.6091335 ] [ 0.11217974 -0.14457995 0.9831136 2.82129966] [ 0. 0. 0. 1. ]] SLAMing on 227.60925976399994 meters Centerline goodness : 0.745307 with order 1 Centerline is valid? [False, False] Translation: X:-9.46, Y:8.57, Z:2.84 [[ 0.62408805 0.77996339 0.04659627 -9.45792403] [-0.77303519 0.60766575 0.18209595 8.56538008] [ 0.11371322 -0.14966446 0.98217608 2.84454759] [ 0. 0. 0. 1. ]] SLAMing on 227.66925976399995 meters Centerline goodness : 0.744411 with order 1 Centerline is valid? [False, False] Translation: X:-9.67, Y:8.53, Z:2.86 [[ 0.62405008 0.78019651 0.04306851 -9.67310709] [-0.77280382 0.60811313 0.18158377 8.53069567] [ 0.1154805 -0.14660088 0.9824319 2.86495084] [ 0. 0. 0. 1. ]] SLAMing on 227.72925976399995 meters Centerline goodness : 0.738535 with order 1 Centerline is valid? [False, False] Translation: X:-9.89, Y:8.49, Z:2.88 [[ 0.62534901 0.77942139 0.03795933 -9.89046439] [-0.77107803 0.6097165 0.18353327 8.49225036] [ 0.11990533 -0.14404196 0.98228032 2.88476549] [ 0. 0. 0. 1. ]] SLAMing on 227.78925976399995 meters Centerline goodness : 0.741103 with order 1 Centerline is valid? [False, False] Translation: X:-10.11, Y:8.46, Z:2.91 [[ 0.62709389 0.77797172 0.03890045 -10.11382985] [ -0.76952604 0.61099694 0.18577517 8.46412766] [ 0.12075977 -0.14643338 0.98182195 2.90661952] [ 0. 0. 0. 1. ]] SLAMing on 227.84925976399995 meters Centerline goodness : 0.742566 with order 1 Centerline is valid? [False, False] Translation: X:-10.34, Y:8.43, Z:2.93 [[ 0.62944087 0.77593543 0.04157403 -10.33914052] [ -0.7677315 0.61274281 0.18744223 8.43468786] [ 0.11996888 -0.1499015 0.98139544 2.92955715] [ 0. 0. 0. 1. ]] SLAMing on 227.90925976399996 meters Centerline goodness : 0.737335 with order 1 Centerline is valid? [False, False] Translation: X:-10.55, Y:8.41, Z:2.95 [[ 0.62964922 0.7760484 0.03592693 -10.5546933 ] [ -0.76747439 0.61418684 0.18373238 8.41060678] [ 0.12051937 -0.14325994 0.98231954 2.9487622 ] [ 0. 0. 0. 1. ]] SLAMing on 227.96925976399996 meters Centerline goodness : 0.736778 with order 1 Centerline is valid? [False, False] Translation: X:-10.77, Y:8.39, Z:2.97 [[ 0.62898883 0.7767388 0.03240192 -10.76744223] [ -0.76785841 0.61420265 0.18206749 8.39086264] [ 0.12151754 -0.13939851 0.98275203 2.96710342] [ 0. 0. 0. 1. ]] SLAMing on 228.02925976399996 meters Centerline goodness : 0.735139 with order 1 Centerline is valid? [False, False] Translation: X:-10.99, Y:8.37, Z:2.99 [[ 0.62609559 0.77915328 0.03040535 -10.98588598] [ -0.77004005 0.61169825 0.18128312 8.37200522] [ 0.12264844 -0.1369139 0.9829608 2.98539653] [ 0. 0. 0. 1. ]] SLAMing on 228.08925976399996 meters Centerline goodness : 0.738874 with order 1 Centerline is valid? [False, False] Translation: X:-11.21, Y:8.36, Z:3.00 [[ 0.61798524 0.78559181 0.03065544 -11.20590104] [ -0.77666465 0.60398252 0.17887744 8.35564655] [ 0.1220093 -0.13435261 0.98339367 3.00339235] [ 0. 0. 0. 1. ]] SLAMing on 228.14925976399996 meters Centerline goodness : 0.738722 with order 1 Centerline is valid? [False, False] Translation: X:-11.42, Y:8.34, Z:3.02 [[ 0.61149639 0.7907355 0.02845238 -11.42482239] [ -0.78158789 0.59803919 0.17739644 8.33692013] [ 0.12325802 -0.13071532 0.9837281 3.02135281] [ 0. 0. 0. 1. ]] SLAMing on 228.20925976399997 meters Centerline goodness : 0.738835 with order 1 Centerline is valid? [False, False] Translation: X:-11.65, Y:8.32, Z:3.04 [[ 0.60661836 0.79450431 0.02787592 -11.64869861] [ -0.78506597 0.59315105 0.17844677 8.31649749] [ 0.1252421 -0.13013353 0.98355462 3.03981605] [ 0. 0. 0. 1. ]] SLAMing on 228.26925976399994 meters Centerline goodness : 0.740434 with order 1 Centerline is valid? [False, False] Translation: X:-11.87, Y:8.30, Z:3.06 [[ 0.60049586 0.79911556 0.02861914 -11.87213766] [ -0.78921834 0.58654268 0.1819398 8.29508934] [ 0.12860458 -0.13184085 0.9828931 3.05542866] [ 0. 0. 0. 1. ]] SLAMing on 228.32925976399994 meters Centerline goodness : 0.738123 with order 1 Centerline is valid? [False, False] Translation: X:-12.09, Y:8.27, Z:3.07 [[ 0.59938686 0.79997492 0.02784816 -12.09178216] [ -0.78942942 0.58501406 0.18590248 8.27246595] [ 0.13242576 -0.13341166 0.98217348 3.0715763 ] [ 0. 0. 0. 1. ]] SLAMing on 228.38925976399995 meters Centerline goodness : 0.735955 with order 1 Centerline is valid? [False, False] Translation: X:-12.31, Y:8.24, Z:3.09 [[ 0.60693172 0.79432189 0.02620338 -12.31271375] [ -0.78334359 0.59232584 0.18847523 8.24464457] [ 0.13418906 -0.13491784 0.98172831 3.08906851] [ 0. 0. 0. 1. ]] SLAMing on 228.44925976399995 meters Centerline goodness : 0.739179 with order 1 Centerline is valid? [False, False] Translation: X:-12.54, Y:8.21, Z:3.11 [[ 0.62133209 0.78299702 0.02936139 -12.54447564] [ -0.77274439 0.60613426 0.18832782 8.21289051] [ 0.12966318 -0.13970297 0.98166723 3.10932811] [ 0. 0. 0. 1. ]] SLAMing on 228.50925976399995 meters Centerline goodness : 0.739854 with order 1 Centerline is valid? [False, False] Translation: X:-12.77, Y:8.19, Z:3.13 [[ 0.63085217 0.77541918 0.02739751 -12.76825187] [ -0.76515078 0.61586396 0.18776548 8.18585229] [ 0.12872382 -0.13941548 0.98183171 3.12760921] [ 0. 0. 0. 1. ]] SLAMing on 228.56925976399995 meters Centerline goodness : 0.738794 with order 1 Centerline is valid? [False, False] Translation: X:-12.99, Y:8.15, Z:3.15 [[ 0.64587105 0.76295423 0.02741223 -12.9927067 ] [ -0.75307309 0.63078547 0.18705777 8.15497428] [ 0.12542528 -0.14145861 0.98196637 3.14549895] [ 0. 0. 0. 1. ]] SLAMing on 228.62925976399995 meters Centerline goodness : 0.738027 with order 1 Centerline is valid? [False, False] Translation: X:-13.21, Y:8.13, Z:3.16 [[ 0.65518312 0.75507135 0.02454258 -13.21050862] [ -0.74533034 0.64074349 0.18420224 8.1274998 ] [ 0.12336033 -0.13897853 0.9825819 3.16110618] [ 0. 0. 0. 1. ]] SLAMing on 228.68925976399996 meters Centerline goodness : 0.736798 with order 1 Centerline is valid? [False, False] Translation: X:-13.43, Y:8.10, Z:3.18 [[ 0.66365116 0.74764437 0.02439325 -13.4317798 ] [ -0.7383328 0.64945183 0.18187083 8.09980533] [ 0.12013246 -0.13870912 0.98301982 3.17760587] [ 0. 0. 0. 1. ]] SLAMing on 228.74925976399996 meters Centerline goodness : 0.739221 with order 1 Centerline is valid? [False, False] Translation: X:-13.65, Y:8.08, Z:3.19 [[ 0.66990734 0.74207497 0.0234285 -13.64616307] [ -0.73332637 0.65641992 0.17704611 8.07798018] [ 0.11600255 -0.13578522 0.98392367 3.19320147] [ 0. 0. 0. 1. ]] SLAMing on 228.80925976399996 meters Centerline goodness : 0.739680 with order 1 Centerline is valid? [False, False] Translation: X:-13.86, Y:8.06, Z:3.21 [[ 0.67091444 0.74117557 0.02307791 -13.85777795] [ -0.73292419 0.65807371 0.17251413 8.0599528 ] [ 0.11267629 -0.13265658 0.98473666 3.20812667] [ 0. 0. 0. 1. ]] SLAMing on 228.86925976399996 meters Centerline goodness : 0.738204 with order 1 Centerline is valid? [False, False] Translation: X:-14.07, Y:8.04, Z:3.22 [[ 0.66719687 0.74460488 0.02029561 -14.06690829] [ -0.73639253 0.65524663 0.16845739 8.04307713] [ 0.11213556 -0.12733978 0.98549997 3.22219941] [ 0. 0. 0. 1. ]] SLAMing on 228.92925976399997 meters Centerline goodness : 0.738871 with order 1 Centerline is valid? [False, False] Translation: X:-14.27, Y:8.03, Z:3.23 [[ 0.65829368 0.7525484 0.01789788 -14.26995347] [ -0.74435494 0.64721497 0.16446431 8.03030451] [ 0.11218357 -0.12158819 0.98622064 3.23310357] [ 0. 0. 0. 1. ]] SLAMing on 228.98925976399994 meters Centerline goodness : 0.740269 with order 1 Centerline is valid? [False, False] Translation: X:-14.48, Y:8.02, Z:3.24 [[ 0.64587637 0.7632966 0.01490007 -14.47812509] [ -0.75473155 0.63544584 0.16306091 8.01745586] [ 0.11499566 -0.11656274 0.98650349 3.24299018] [ 0. 0. 0. 1. ]] SLAMing on 229.04925976399994 meters Centerline goodness : 0.736628 with order 1 Centerline is valid? [False, False] Translation: X:-14.70, Y:8.00, Z:3.26 [[ 0.63457406 0.7726571 0.01779804 -14.70278838] [ -0.76416508 0.6238218 0.16400639 8.00131753] [ 0.1156179 -0.11767484 0.9862987 3.25545289] [ 0. 0. 0. 1. ]] SLAMing on 229.10925976399994 meters Centerline goodness : 0.739623 with order 1 Centerline is valid? [False, False] Translation: X:-14.92, Y:7.98, Z:3.27 [[ 0.62844206 0.77767838 0.01664093 -14.92485621] [ -0.76919224 0.61811577 0.16209936 7.97988478] [ 0.11577515 -0.11467013 0.98663411 3.26566424] [ 0. 0. 0. 1. ]] SLAMing on 229.16925976399995 meters Centerline goodness : 0.739659 with order 1 Centerline is valid? [False, False] Translation: X:-15.14, Y:7.96, Z:3.28 [[ 6.22682200e-01 7.82343442e-01 1.43393117e-02 -1.51413164e+01] [-7.73542213e-01 6.12709257e-01 1.61925323e-01 7.95763079e+00] [ 1.17895386e-01 -1.11920079e-01 9.86698826e-01 3.27575173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22925976399995 meters Centerline goodness : 0.738928 with order 1 Centerline is valid? [False, False] Translation: X:-15.37, Y:7.93, Z:3.29 [[ 0.61632236 0.78729945 0.01750225 -15.36797009] [ -0.77845021 0.60573526 0.16462099 7.93364572] [ 0.11900428 -0.11508423 0.9862016 3.28955541] [ 0. 0. 0. 1. ]] SLAMing on 229.28925976399995 meters Centerline goodness : 0.737925 with order 1 Centerline is valid? [False, False] Translation: X:-15.59, Y:7.91, Z:3.30 [[ 0.61495199 0.78829471 0.0206275 -15.5929555 ] [ -0.77954233 0.60376248 0.16668721 7.90746395] [ 0.11894454 -0.11858464 0.98579404 3.30249384] [ 0. 0. 0. 1. ]] SLAMing on 229.34925976399995 meters Centerline goodness : 0.740014 with order 1 Centerline is valid? [False, False] Translation: X:-15.82, Y:7.88, Z:3.31 [[ 0.61530184 0.78807284 0.01856994 -15.81652318] [ -0.77901972 0.60429347 0.16720551 7.87678713] [ 0.12054842 -0.11734821 0.98574717 3.31434073] [ 0. 0. 0. 1. ]] SLAMing on 229.40925976399996 meters Centerline goodness : 0.737412 with order 1 Centerline is valid? [False, False] Translation: X:-16.04, Y:7.85, Z:3.33 [[ 0.61782947 0.78612216 0.01728272 -16.03869054] [ -0.77657927 0.60658715 0.17022532 7.84627522] [ 0.12333442 -0.11859162 0.9852536 3.32797052] [ 0. 0. 0. 1. ]] SLAMing on 229.46925976399996 meters Centerline goodness : 0.738159 with order 1 Centerline is valid? [False, False] Translation: X:-16.26, Y:7.81, Z:3.34 [[ 0.62541156 0.78008224 0.01822321 -16.26198788] [ -0.77040152 0.6136062 0.17311538 7.81179087] [ 0.12386236 -0.12230754 0.98473295 3.34183149] [ 0. 0. 0. 1. ]] SLAMing on 229.52925976399996 meters Centerline goodness : 0.738918 with order 1 Centerline is valid? [False, False] Translation: X:-16.48, Y:7.78, Z:3.36 [[ 0.63630171 0.77120769 0.01894309 -16.48246465] [ -0.76156687 0.62405237 0.17485577 7.77908039] [ 0.12302864 -0.12568745 0.98441181 3.35510908] [ 0. 0. 0. 1. ]] SLAMing on 229.58925976399996 meters Centerline goodness : 0.739097 with order 1 Centerline is valid? [False, False] Translation: X:-16.70, Y:7.75, Z:3.37 [[ 0.64772922 0.76160014 0.02029985 -16.70218325] [ -0.75250297 0.63537241 0.1733239 7.75197967] [ 0.11910554 -0.12754265 0.98465565 3.36805125] [ 0. 0. 0. 1. ]] SLAMing on 229.64925976399996 meters Centerline goodness : 0.743056 with order 1 Centerline is valid? [False, False] Translation: X:-16.91, Y:7.73, Z:3.38 [[ 0.65816844 0.75255098 0.02193925 -16.9116853 ] [ -0.74439471 0.64612187 0.16853203 7.72633013] [ 0.11265351 -0.12725393 0.98545199 3.38268054] [ 0. 0. 0. 1. ]] SLAMing on 229.70925976399997 meters Centerline goodness : 0.742396 with order 1 Centerline is valid? [False, False] Translation: X:-17.12, Y:7.70, Z:3.40 [[ 0.66156369 0.74959063 0.0211512 -17.1173678 ] [ -0.74188676 0.65013401 0.16410304 7.70292114] [ 0.10925899 -0.12425641 0.98621642 3.39561688] [ 0. 0. 0. 1. ]] SLAMing on 229.76925976399994 meters Centerline goodness : 0.742444 with order 1 Centerline is valid? [False, False] Translation: X:-17.32, Y:7.68, Z:3.41 [[ 0.66128612 0.74982872 0.0213906 -17.32219472] [ -0.74224608 0.64994218 0.16323578 7.68132847] [ 0.10849623 -0.12382264 0.98635517 3.40888575] [ 0. 0. 0. 1. ]] SLAMing on 229.82925976399994 meters Centerline goodness : 0.745150 with order 1 Centerline is valid? [False, False] Translation: X:-17.52, Y:7.66, Z:3.42 [[ 6.63031659e-01 7.48412388e-01 1.63681638e-02 -1.75232281e+01] [-7.40457968e-01 6.52456674e-01 1.61314246e-01 7.65873262e+00] [ 1.10050062e-01 -1.19076390e-01 9.86767347e-01 3.42016086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88925976399995 meters Centerline goodness : 0.746490 with order 1 Centerline is valid? [False, False] Translation: X:-17.73, Y:7.63, Z:3.43 [[ 6.64842229e-01 7.46815427e-01 1.58596659e-02 -1.77299014e+01] [-7.38918281e-01 6.54403778e-01 1.60485105e-01 7.63409632e+00] [ 1.09474127e-01 -1.18416272e-01 9.86910838e-01 3.43144444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94925976399995 meters Centerline goodness : 0.745309 with order 1 Centerline is valid? [False, False] Translation: X:-17.94, Y:7.61, Z:3.44 [[ 6.68102268e-01 7.43887431e-01 1.64574820e-02 -1.79383442e+01] [-7.36229561e-01 6.57698748e-01 1.59368723e-01 7.61069547e+00] [ 1.07728325e-01 -1.18591090e-01 9.87081943e-01 3.44274508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00925976399995 meters Centerline goodness : 0.748024 with order 1 Centerline is valid? [False, False] Translation: X:-18.14, Y:7.59, Z:3.45 [[ 6.72743722e-01 7.39669921e-01 1.74439740e-02 -1.81430104e+01] [-7.32403294e-01 6.62421968e-01 1.57424747e-01 7.58822319e+00] [ 1.04887079e-01 -1.18682535e-01 9.87376907e-01 3.45449736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06925976399995 meters Centerline goodness : 0.748318 with order 1 Centerline is valid? [False, False] Translation: X:-18.34, Y:7.56, Z:3.47 [[ 6.77384070e-01 7.35403187e-01 1.82475649e-02 -1.83435581e+01] [-7.28334563e-01 6.66975640e-01 1.57074060e-01 7.56416979e+00] [ 1.03342083e-01 -1.19689798e-01 9.87418233e-01 3.46555202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12925976399995 meters Centerline goodness : 0.747466 with order 1 Centerline is valid? [False, False] Translation: X:-18.54, Y:7.54, Z:3.48 [[ 6.78808809e-01 7.34145108e-01 1.57975079e-02 -1.85400262e+01] [-7.26950829e-01 6.68806564e-01 1.55692876e-01 7.53873969e+00] [ 1.03735686e-01 -1.17169707e-01 9.87679182e-01 3.47558418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18925976399996 meters Centerline goodness : 0.746167 with order 1 Centerline is valid? [False, False] Translation: X:-18.74, Y:7.51, Z:3.49 [[ 6.80852194e-01 7.32250634e-01 1.57892286e-02 -1.87397648e+01] [-7.24976158e-01 6.70709207e-01 1.56712253e-01 7.50854811e+00] [ 1.04162666e-01 -1.18144696e-01 9.87518086e-01 3.48795036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24925976399996 meters Centerline goodness : 0.746732 with order 1 Centerline is valid? [False, False] Translation: X:-18.94, Y:7.48, Z:3.50 [[ 6.81784020e-01 7.31350706e-01 1.72248657e-02 -1.89375788e+01] [-7.24378561e-01 6.71620426e-01 1.55568966e-01 7.47887220e+00] [ 1.02206901e-01 -1.18541758e-01 9.87674846e-01 3.49976654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30925976399996 meters Centerline goodness : 0.746854 with order 1 Centerline is valid? [False, False] Translation: X:-19.14, Y:7.45, Z:3.51 [[ 0.68279153 0.73035585 0.01939223 -19.14098841] [ -0.72363872 0.67237652 0.15574602 7.44898491] [ 0.10071113 -0.12037503 0.98760676 3.51031123] [ 0. 0. 0. 1. ]] SLAMing on 230.36925976399996 meters Centerline goodness : 0.746005 with order 1 Centerline is valid? [False, False] Translation: X:-19.34, Y:7.42, Z:3.52 [[ 6.83638520e-01 7.29598997e-01 1.79910407e-02 -1.93389831e+01] [-7.22557431e-01 6.73159881e-01 1.57373864e-01 7.41651087e+00] [ 1.02708967e-01 -1.20586396e-01 9.87375202e-01 3.52147843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42925976399997 meters Centerline goodness : 0.747339 with order 1 Centerline is valid? [False, False] Translation: X:-19.54, Y:7.38, Z:3.53 [[ 6.87038027e-01 7.26423378e-01 1.69654223e-02 -1.95369603e+01] [-7.19276057e-01 6.76595868e-01 1.57670495e-01 7.38442293e+00] [ 1.03056799e-01 -1.20528448e-01 9.87346033e-01 3.53291992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48925976399994 meters Centerline goodness : 0.748216 with order 1 Centerline is valid? [False, False] Translation: X:-19.72, Y:7.36, Z:3.54 [[ 6.99869844e-01 7.14141258e-01 1.35818028e-02 -1.97233450e+01] [-7.07409636e-01 6.90392908e-01 1.51424036e-01 7.35553777e+00] [ 9.87613713e-02 -1.15585015e-01 9.88375584e-01 3.54384245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54925976399994 meters Centerline goodness : 0.748784 with order 1 Centerline is valid? [False, False] Translation: X:-19.91, Y:7.33, Z:3.56 [[ 7.00496706e-01 7.13521863e-01 1.38172446e-02 -1.99118167e+01] [-7.07057180e-01 6.91263080e-01 1.49082186e-01 7.32796253e+00] [ 9.68220476e-02 -1.14201162e-01 9.88728267e-01 3.55556798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60925976399994 meters Centerline goodness : 0.747742 with order 1 Centerline is valid? [False, False] Translation: X:-20.10, Y:7.30, Z:3.56 [[ 6.98258170e-01 7.15713759e-01 1.37602124e-02 -2.00966355e+01] [-7.08976662e-01 6.88773219e-01 1.51471273e-01 7.30197118e+00] [ 9.89324081e-02 -1.15521723e-01 9.88365879e-01 3.56490283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66925976399995 meters Centerline goodness : 0.748308 with order 1 Centerline is valid? [False, False] Translation: X:-20.29, Y:7.28, Z:3.57 [[ 7.03306772e-01 7.10770330e-01 1.28500005e-02 -2.02856006e+01] [-7.04069989e-01 6.93951948e-01 1.50718758e-01 7.27739143e+00] [ 9.82091387e-02 -1.15048823e-01 9.88493163e-01 3.57390468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72925976399995 meters Centerline goodness : 0.750843 with order 1 Centerline is valid? [False, False] Translation: X:-20.47, Y:7.25, Z:3.59 [[ 7.03703699e-01 7.10414545e-01 1.05961302e-02 -2.04710022e+01] [-7.04314566e-01 6.95543555e-01 1.41986460e-01 7.25139646e+00] [ 9.34991764e-02 -1.07379406e-01 9.89811885e-01 3.58556600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78925976399995 meters Centerline goodness : 0.752486 with order 1 Centerline is valid? [False, False] Translation: X:-20.66, Y:7.23, Z:3.60 [[ 7.04616289e-01 7.09489279e-01 1.18679270e-02 -2.06560573e+01] [-7.03478167e-01 6.96260868e-01 1.42615819e-01 7.22721974e+00] [ 9.29212217e-02 -1.08838257e-01 9.89706967e-01 3.59548356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84925976399995 meters Centerline goodness : 0.752297 with order 1 Centerline is valid? [False, False] Translation: X:-20.85, Y:7.20, Z:3.61 [[ 7.02994583e-01 7.11027874e-01 1.54265260e-02 -2.08453210e+01] [-7.04944706e-01 6.93782750e-01 1.47371835e-01 7.20023816e+00] [ 9.40828251e-02 -1.14476450e-01 9.88960851e-01 3.60663567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90925976399996 meters Centerline goodness : 0.752331 with order 1 Centerline is valid? [False, False] Translation: X:-21.03, Y:7.17, Z:3.62 [[ 7.10887164e-01 7.03167683e-01 1.39517208e-02 -2.10321289e+01] [-6.97215593e-01 7.01987337e-01 1.45272829e-01 7.17164354e+00] [ 9.23572271e-02 -1.12999947e-01 9.89293260e-01 3.61685155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96925976399996 meters Centerline goodness : 0.752379 with order 1 Centerline is valid? [False, False] Translation: X:-21.20, Y:7.14, Z:3.63 [[ 7.13479218e-01 7.00594375e-01 1.07203878e-02 -2.12048746e+01] [-6.94763786e-01 7.05392320e-01 1.40445564e-01 7.14186498e+00] [ 9.08332929e-02 -1.07653128e-01 9.90030362e-01 3.62854808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02925976399996 meters Centerline goodness : 0.752477 with order 1 Centerline is valid? [False, False] Translation: X:-21.38, Y:7.11, Z:3.64 [[ 7.23494992e-01 6.90240061e-01 1.11199875e-02 -2.13822360e+01] [-6.84473383e-01 7.15170589e-01 1.41517549e-01 7.11179288e+00] [ 8.97283940e-02 -1.09998574e-01 9.89873289e-01 3.63817522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08925976399996 meters Centerline goodness : 0.754658 with order 1 Centerline is valid? [False, False] Translation: X:-21.55, Y:7.09, Z:3.65 [[ 7.33039742e-01 6.80066583e-01 1.27349232e-02 -2.15533462e+01] [-6.75033780e-01 7.25059816e-01 1.36446542e-01 7.08563822e+00] [ 8.35591526e-02 -1.08617241e-01 9.90565577e-01 3.64882279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14925976399996 meters Centerline goodness : 0.755371 with order 1 Centerline is valid? [False, False] Translation: X:-21.72, Y:7.06, Z:3.66 [[ 7.41108627e-01 6.71266955e-01 1.25967393e-02 -2.17220414e+01] [-6.66279477e-01 7.33033798e-01 1.36868949e-01 7.05757046e+00] [ 8.26417668e-02 -1.09827707e-01 9.90509068e-01 3.65925988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20925976399997 meters Centerline goodness : 0.755052 with order 1 Centerline is valid? [False, False] Translation: X:-21.89, Y:7.03, Z:3.67 [[ 7.47802209e-01 6.63814142e-01 1.19432480e-02 -2.18904406e+01] [-6.58681425e-01 7.39524294e-01 1.38717695e-01 7.03124391e+00] [ 8.32504458e-02 -1.11600195e-01 9.90259946e-01 3.66787266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26925976399994 meters Centerline goodness : 0.754869 with order 1 Centerline is valid? [False, False] Translation: X:-22.04, Y:7.01, Z:3.68 [[ 7.60338856e-01 6.49467136e-01 8.78997611e-03 -2.20394973e+01] [-6.44671665e-01 7.52934991e-01 1.32239723e-01 7.00810618e+00] [ 7.92670733e-02 -1.06213648e-01 9.91178789e-01 3.67826317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32925976399994 meters Centerline goodness : 0.756032 with order 1 Centerline is valid? [False, False] Translation: X:-22.20, Y:6.99, Z:3.69 [[ 7.65154168e-01 6.43758157e-01 1.07021063e-02 -2.21980685e+01] [-6.39664590e-01 7.58187026e-01 1.26418531e-01 6.98514682e+00] [ 7.32687625e-02 -1.03575424e-01 9.91919261e-01 3.68631302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38925976399995 meters Centerline goodness : 0.751088 with order 1 Centerline is valid? [False, False] Translation: X:-22.35, Y:6.96, Z:3.69 [[ 7.64572715e-01 6.44450301e-01 1.06005833e-02 -2.23462915e+01] [-6.40394162e-01 7.57693155e-01 1.25683733e-01 6.96350611e+00] [ 7.29649301e-02 -1.02882904e-01 9.92013723e-01 3.69380284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44925976399995 meters Centerline goodness : 0.751029 with order 1 Centerline is valid? [False, False] Translation: X:-22.49, Y:6.94, Z:3.70 [[ 7.65849606e-01 6.42957210e-01 8.96705946e-03 -2.24924386e+01] [-6.38989980e-01 7.59417294e-01 1.22381288e-01 6.94456999e+00] [ 7.18761912e-02 -9.94555221e-02 9.92442649e-01 3.70060873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50925976399995 meters Centerline goodness : 0.750498 with order 1 Centerline is valid? [False, False] Translation: X:-22.64, Y:6.93, Z:3.71 [[ 7.60209984e-01 6.49605654e-01 9.65783557e-03 -2.26442912e+01] [-6.45808823e-01 7.53979811e-01 1.20189052e-01 6.92555058e+00] [ 7.07936745e-02 -9.76060324e-02 9.92704044e-01 3.70857821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56925976399995 meters Centerline goodness : 0.751830 with order 1 Centerline is valid? [False, False] Translation: X:-22.80, Y:6.91, Z:3.71 [[ 7.58268730e-01 6.51863824e-01 1.01038571e-02 -2.27954306e+01] [-6.48315039e-01 7.52326998e-01 1.17011533e-01 6.90925260e+00] [ 6.86741810e-02 -9.52766692e-02 9.93079158e-01 3.71475993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62925976399995 meters Centerline goodness : 0.750725 with order 1 Centerline is valid? [False, False] Translation: X:-22.95, Y:6.89, Z:3.72 [[ 7.49983609e-01 6.61384661e-01 9.74249499e-03 -2.29526205e+01] [-6.57905728e-01 7.44352721e-01 1.14451209e-01 6.89060824e+00] [ 6.84444216e-02 -9.22461743e-02 9.93381097e-01 3.72200111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68925976399996 meters Centerline goodness : 0.750563 with order 1 Centerline is valid? [False, False] Translation: X:-23.10, Y:6.87, Z:3.73 [[ 7.47210286e-01 6.64543552e-01 7.65864695e-03 -2.31009944e+01] [-6.61098625e-01 7.42058814e-01 1.10893298e-01 6.87468882e+00] [ 6.80102598e-02 -8.79237341e-02 9.93802808e-01 3.72889603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74925976399996 meters Centerline goodness : 0.750693 with order 1 Centerline is valid? [False, False] Translation: X:-23.26, Y:6.86, Z:3.74 [[ 7.37805554e-01 6.74971871e-01 7.47915781e-03 -2.32610258e+01] [-6.71529752e-01 7.32828674e-01 1.09589810e-01 6.85752147e+00] [ 6.84890976e-02 -8.58784473e-02 9.93948759e-01 3.73609775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80925976399996 meters Centerline goodness : 0.747655 with order 1 Centerline is valid? [False, False] Translation: X:-23.43, Y:6.84, Z:3.74 [[ 7.24074456e-01 6.89639906e-01 1.06293190e-02 -2.34340107e+01] [-6.86014924e-01 7.18501788e-01 1.14624189e-01 6.83905374e+00] [ 7.14122304e-02 -9.02883190e-02 9.93352059e-01 3.74061038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86925976399996 meters Centerline goodness : 0.746496 with order 1 Centerline is valid? [False, False] Translation: X:-23.61, Y:6.82, Z:3.74 [[ 7.09185725e-01 7.04917063e-01 1.21466894e-02 -2.36110512e+01] [-7.01109193e-01 7.03332859e-01 1.17340480e-01 6.82203423e+00] [ 7.41721406e-02 -9.17323488e-02 9.93017457e-01 3.74496646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92925976399997 meters Centerline goodness : 0.742591 with order 1 Centerline is valid? [False, False] Translation: X:-23.80, Y:6.80, Z:3.75 [[ 6.97889369e-01 7.16097432e-01 1.24457863e-02 -2.37952443e+01] [-7.12118807e-01 6.91948587e-01 1.18717980e-01 6.79818295e+00] [ 7.64017967e-02 -9.17148949e-02 9.92850011e-01 3.75215090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98925976399994 meters Centerline goodness : 0.740023 with order 1 Centerline is valid? [False, False] Translation: X:-23.98, Y:6.78, Z:3.76 [[ 6.89732121e-01 7.23979868e-01 1.10793664e-02 -2.39762258e+01] [-7.19575001e-01 6.83673757e-01 1.21663523e-01 6.77636714e+00] [ 8.05072691e-02 -9.18876747e-02 9.92509564e-01 3.75889808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04925976399994 meters Centerline goodness : 0.738499 with order 1 Centerline is valid? [False, False] Translation: X:-24.16, Y:6.75, Z:3.76 [[ 6.73641019e-01 7.38956431e-01 1.22951082e-02 -2.41617343e+01] [-7.34126406e-01 6.67133901e-01 1.26454649e-01 6.75410571e+00] [ 8.52419929e-02 -9.42112024e-02 9.91896190e-01 3.76386208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10925976399994 meters Centerline goodness : 0.738196 with order 1 Centerline is valid? [False, False] Translation: X:-24.35, Y:6.73, Z:3.77 [[ 6.68774211e-01 7.43356896e-01 1.27113947e-02 -2.43548324e+01] [-7.38250204e-01 6.61964124e-01 1.29576751e-01 6.72828059e+00] [ 8.79072838e-02 -9.60417790e-02 9.91487915e-01 3.77251562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16925976399995 meters Centerline goodness : 0.734883 with order 1 Centerline is valid? [False, False] Translation: X:-24.54, Y:6.70, Z:3.78 [[ 6.58565567e-01 7.52437641e-01 1.13574056e-02 -2.45366394e+01] [-7.46804015e-01 6.51628685e-01 1.32905308e-01 6.70253117e+00] [ 9.26021454e-02 -9.60086159e-02 9.91063665e-01 3.77930723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22925976399995 meters Centerline goodness : 0.733273 with order 1 Centerline is valid? [False, False] Translation: X:-24.73, Y:6.67, Z:3.79 [[ 6.53521545e-01 7.56794664e-01 1.30930110e-02 -2.47310153e+01] [-7.50661275e-01 6.45813399e-01 1.39401232e-01 6.67335268e+00] [ 9.70424667e-02 -1.00930125e-01 9.90149418e-01 3.78842165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28925976399995 meters Centerline goodness : 0.734925 with order 1 Centerline is valid? [False, False] Translation: X:-24.93, Y:6.64, Z:3.80 [[ 6.54684026e-01 7.55695329e-01 1.77029695e-02 -2.49296907e+01] [-7.49532287e-01 6.45954541e-01 1.44720706e-01 6.64280371e+00] [ 9.79294483e-02 -1.08015282e-01 9.89314168e-01 3.79874741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34925976399995 meters Centerline goodness : 0.732659 with order 1 Centerline is valid? [False, False] Translation: X:-25.12, Y:6.61, Z:3.81 [[ 6.57357229e-01 7.53387222e-01 1.70049234e-02 -2.51201386e+01] [-7.46765992e-01 6.48220674e-01 1.48830479e-01 6.61468080e+00] [ 1.01104038e-01 -1.10533490e-01 9.88716502e-01 3.80766377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40925976399996 meters Centerline goodness : 0.730707 with order 1 Centerline is valid? [False, False] Translation: X:-25.31, Y:6.59, Z:3.82 [[ 6.59002319e-01 7.51978927e-01 1.56088435e-02 -2.53102380e+01] [-7.44815525e-01 6.49554214e-01 1.52738851e-01 6.58507272e+00] [ 1.04717607e-01 -1.12280966e-01 9.88143313e-01 3.81749729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46925976399996 meters Centerline goodness : 0.732651 with order 1 Centerline is valid? [False, False] Translation: X:-25.50, Y:6.55, Z:3.83 [[ 6.59024749e-01 7.51929630e-01 1.69768021e-02 -2.54962684e+01] [-7.45020820e-01 6.49542637e-01 1.51783864e-01 6.55411345e+00] [ 1.03103628e-01 -1.12677394e-01 9.88267902e-01 3.83132672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52925976399996 meters Centerline goodness : 0.737623 with order 1 Centerline is valid? [False, False] Translation: X:-25.69, Y:6.52, Z:3.84 [[ 6.62482188e-01 7.48845294e-01 1.86568043e-02 -2.56935801e+01] [-7.41692635e-01 6.52258691e-01 1.56366988e-01 6.52194719e+00] [ 1.04925621e-01 -1.17427959e-01 9.87522804e-01 3.84334326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58925976399996 meters Centerline goodness : 0.735071 with order 1 Centerline is valid? [False, False] Translation: X:-25.89, Y:6.49, Z:3.85 [[ 6.68376281e-01 7.43618317e-01 1.74627163e-02 -2.58869840e+01] [-7.36247146e-01 6.58043968e-01 1.57855237e-01 6.49148193e+00] [ 1.05892810e-01 -1.18363571e-01 9.87307843e-01 3.85473981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64925976399996 meters Centerline goodness : 0.739592 with order 1 Centerline is valid? [False, False] Translation: X:-26.06, Y:6.46, Z:3.87 [[ 6.74099621e-01 7.38437619e-01 1.73084949e-02 -2.60623382e+01] [-7.31482120e-01 6.64129038e-01 1.54487957e-01 6.46498834e+00] [ 1.02584645e-01 -1.16801128e-01 9.87843048e-01 3.86804409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70925976399997 meters Centerline goodness : 0.741226 with order 1 Centerline is valid? [False, False] Translation: X:-26.24, Y:6.44, Z:3.88 [[ 6.74690744e-01 7.37886624e-01 1.77687763e-02 -2.62446347e+01] [-7.31247371e-01 6.64959701e-01 1.52006180e-01 6.43809798e+00] [ 1.00347807e-01 -1.15550534e-01 9.88219809e-01 3.88303575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76925976399994 meters Centerline goodness : 0.742155 with order 1 Centerline is valid? [False, False] Translation: X:-26.42, Y:6.41, Z:3.90 [[ 6.72253506e-01 7.40181028e-01 1.43968504e-02 -2.64230695e+01] [-7.33424752e-01 6.63217184e-01 1.49100971e-01 6.40985869e+00] [ 1.00813472e-01 -1.10792657e-01 9.88717164e-01 3.89633550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82925976399994 meters Centerline goodness : 0.741265 with order 1 Centerline is valid? [False, False] Translation: X:-26.60, Y:6.38, Z:3.91 [[ 6.69719946e-01 7.42505580e-01 1.26750962e-02 -2.66020803e+01] [-7.35661498e-01 6.61023408e-01 1.47818178e-01 6.38345626e+00] [ 1.01377287e-01 -1.08321363e-01 9.88933328e-01 3.90906153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88925976399995 meters Centerline goodness : 0.741613 with order 1 Centerline is valid? [False, False] Translation: X:-26.80, Y:6.35, Z:3.92 [[ 6.67610905e-01 7.44359576e-01 1.49833496e-02 -2.68000914e+01] [-7.37646876e-01 6.58595992e-01 1.48756195e-01 6.35452705e+00] [ 1.00860124e-01 -1.10363679e-01 9.88760382e-01 3.92058728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94925976399995 meters Centerline goodness : 0.742111 with order 1 Centerline is valid? [False, False] Translation: X:-26.98, Y:6.33, Z:3.93 [[ 6.64567871e-01 7.47129212e-01 1.21443428e-02 -2.69806340e+01] [-7.40179660e-01 6.55985352e-01 1.47706763e-01 6.32807799e+00] [ 1.02389527e-01 -1.07150165e-01 9.88956636e-01 3.93252444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00925976399995 meters Centerline goodness : 0.742484 with order 1 Centerline is valid? [False, False] Translation: X:-27.17, Y:6.30, Z:3.94 [[ 6.63531681e-01 7.48061432e-01 1.13930779e-02 -2.71713979e+01] [-7.40891578e-01 6.54903753e-01 1.48932014e-01 6.29935746e+00] [ 1.03948926e-01 -1.07262145e-01 9.88781803e-01 3.94202036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06925976399995 meters Centerline goodness : 0.738998 with order 1 Centerline is valid? [False, False] Translation: X:-27.37, Y:6.27, Z:3.95 [[ 6.64582500e-01 7.47140125e-01 1.05704188e-02 -2.73703992e+01] [-7.39601494e-01 6.55730942e-01 1.51679138e-01 6.26847099e+00] [ 1.06394220e-01 -1.08621199e-01 9.88373262e-01 3.95221674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12925976399995 meters Centerline goodness : 0.736515 with order 1 Centerline is valid? [False, False] Translation: X:-27.57, Y:6.24, Z:3.96 [[ 6.66287114e-01 7.45614186e-01 1.09985637e-02 -2.75685264e+01] [-7.37984454e-01 6.57210053e-01 1.53146639e-01 6.23808763e+00] [ 1.06959940e-01 -1.10156401e-01 9.88142266e-01 3.96354018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18925976399996 meters Centerline goodness : 0.740468 with order 1 Centerline is valid? [False, False] Translation: X:-27.76, Y:6.21, Z:3.98 [[ 6.67922591e-01 7.44123409e-01 1.26397939e-02 -2.77591322e+01] [-7.36991524e-01 6.58967129e-01 1.50352306e-01 6.20749485e+00] [ 1.03551462e-01 -1.09739123e-01 9.88551678e-01 3.97805166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24925976399996 meters Centerline goodness : 0.739272 with order 1 Centerline is valid? [False, False] Translation: X:-27.95, Y:6.18, Z:3.99 [[ 6.72845842e-01 7.39686128e-01 1.19542797e-02 -2.79533792e+01] [-7.32402744e-01 6.63769849e-01 1.51643686e-01 6.17807780e+00] [ 1.04233840e-01 -1.10788171e-01 9.88362933e-01 3.98828885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30925976399996 meters Centerline goodness : 0.736063 with order 1 Centerline is valid? [False, False] Translation: X:-28.14, Y:6.15, Z:4.00 [[ 6.74090692e-01 7.38581939e-01 9.92258804e-03 -2.81428405e+01] [-7.30976125e-01 6.65097441e-01 1.52706577e-01 6.14779386e+00] [ 1.06186832e-01 -1.10191257e-01 9.88221758e-01 3.99853033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36925976399996 meters Centerline goodness : 0.735758 with order 1 Centerline is valid? [False, False] Translation: X:-28.34, Y:6.12, Z:4.01 [[ 6.77440562e-01 7.35519604e-01 9.23019367e-03 -2.83402675e+01] [-7.27901979e-01 6.68510873e-01 1.52485805e-01 6.11659686e+00] [ 1.05985814e-01 -1.10018745e-01 9.88262558e-01 4.01065207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42925976399997 meters Centerline goodness : 0.736927 with order 1 Centerline is valid? [False, False] Translation: X:-28.53, Y:6.09, Z:4.02 [[ 6.78034313e-01 7.34966479e-01 9.68218979e-03 -2.85251984e+01] [-7.27770079e-01 6.69432026e-01 1.49035143e-01 6.08874654e+00] [ 1.03054266e-01 -1.08097349e-01 9.88784497e-01 4.02430779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48925976399994 meters Centerline goodness : 0.737548 with order 1 Centerline is valid? [False, False] Translation: X:-28.71, Y:6.06, Z:4.04 [[ 6.76693140e-01 7.36222238e-01 7.95047072e-03 -2.87094680e+01] [-7.29190376e-01 6.68658335e-01 1.45524661e-01 6.06197906e+00] [ 1.01822343e-01 -1.04272947e-01 9.89322679e-01 4.03635366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54925976399994 meters Centerline goodness : 0.733749 with order 1 Centerline is valid? [False, False] Translation: X:-28.89, Y:6.03, Z:4.05 [[ 6.72333488e-01 7.40230232e-01 5.18504642e-03 -2.88914910e+01] [-7.32981489e-01 6.64737909e-01 1.44435625e-01 6.03409308e+00] [ 1.03468920e-01 -1.00909451e-01 9.89500614e-01 4.04733525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60925976399994 meters Centerline goodness : 0.731168 with order 1 Centerline is valid? [False, False] Translation: X:-29.09, Y:6.00, Z:4.06 [[ 6.70045304e-01 7.42311516e-01 3.59213279e-03 -2.90888456e+01] [-7.34610432e-01 6.62382798e-01 1.46957620e-01 6.00380166e+00] [ 1.06708966e-01 -1.01107081e-01 9.89136267e-01 4.05596728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66925976399995 meters Centerline goodness : 0.731691 with order 1 Centerline is valid? [False, False] Translation: X:-29.28, Y:5.97, Z:4.07 [[ 6.70059796e-01 7.42299333e-01 3.40158088e-03 -2.92839590e+01] [-7.34398720e-01 6.62247017e-01 1.48618329e-01 5.97393273e+00] [ 1.08066600e-01 -1.02081284e-01 9.88888781e-01 4.06538609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72925976399995 meters Centerline goodness : 0.734058 with order 1 Centerline is valid? [False, False] Translation: X:-29.47, Y:5.95, Z:4.08 [[ 6.66535083e-01 7.45451696e-01 5.72297052e-03 -2.94745618e+01] [-7.38019711e-01 6.58768076e-01 1.46121618e-01 5.94540697e+00] [ 1.05156498e-01 -1.01618850e-01 9.89250080e-01 4.07759997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78925976399995 meters Centerline goodness : 0.737201 with order 1 Centerline is valid? [False, False] Translation: X:-29.66, Y:5.92, Z:4.09 [[ 6.65081864e-01 7.46763552e-01 3.21123260e-03 -2.96572576e+01] [-7.39378634e-01 6.57889001e-01 1.43182742e-01 5.91903303e+00] [ 1.04811019e-01 -9.76025618e-02 9.89691058e-01 4.08851267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84925976399995 meters Centerline goodness : 0.735973 with order 1 Centerline is valid? [False, False] Translation: X:-29.86, Y:5.89, Z:4.10 [[ 6.64765993e-01 7.47047681e-01 2.43645726e-03 -2.98571949e+01] [-7.39343713e-01 6.57436263e-01 1.45425012e-01 5.88702622e+00] [ 1.07037603e-01 -9.84749820e-02 9.89366277e-01 4.09720206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90925976399996 meters Centerline goodness : 0.733030 with order 1 Centerline is valid? [False, False] Translation: X:-30.05, Y:5.85, Z:4.11 [[ 6.64893382e-01 7.46935954e-01 1.86313685e-03 -3.00532431e+01] [-7.39011869e-01 6.57473153e-01 1.46937096e-01 5.85436757e+00] [ 1.08527638e-01 -9.90743830e-02 9.89144084e-01 4.10656662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96925976399996 meters Centerline goodness : 0.734623 with order 1 Centerline is valid? [False, False] Translation: X:-30.25, Y:5.82, Z:4.12 [[ 6.65240836e-01 7.46599950e-01 6.56852049e-03 -3.02541275e+01] [-7.39253247e-01 6.57410216e-01 1.46001522e-01 5.82057599e+00] [ 1.04686517e-01 -1.01981975e-01 9.89262559e-01 4.11924539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02925976399996 meters Centerline goodness : 0.734492 with order 1 Centerline is valid? [False, False] Translation: X:-30.44, Y:5.79, Z:4.13 [[ 6.66799883e-01 7.45213401e-01 5.90785529e-03 -3.04426347e+01] [-7.38068386e-01 6.59268280e-01 1.43598022e-01 5.78815073e+00] [ 1.03116309e-01 -1.00111546e-01 9.89618464e-01 4.13048514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08925976399996 meters Centerline goodness : 0.733788 with order 1 Centerline is valid? [False, False] Translation: X:-30.62, Y:5.76, Z:4.14 [[ 6.69721440e-01 7.42612270e-01 -4.57016687e-04 -3.06185784e+01] [-7.35257229e-01 6.63174480e-01 1.39987202e-01 5.75558790e+00] [ 1.04259296e-01 -9.34164057e-02 9.90153208e-01 4.13982380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14925976399996 meters Centerline goodness : 0.733607 with order 1 Centerline is valid? [False, False] Translation: X:-30.81, Y:5.72, Z:4.15 [[ 6.74282158e-01 7.38473124e-01 -1.00776169e-03 -3.08093246e+01] [-7.30712662e-01 6.67392351e-01 1.43688746e-01 5.72252083e+00] [ 1.06782850e-01 -9.61503735e-02 9.89622417e-01 4.14848762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20925976399997 meters Centerline goodness : 0.732922 with order 1 Centerline is valid? [False, False] Translation: X:-30.99, Y:5.69, Z:4.16 [[ 6.79634643e-01 7.33550493e-01 -6.52745743e-04 -3.09921728e+01] [-7.26136652e-01 6.72891381e-01 1.41218811e-01 5.69246507e+00] [ 1.04030355e-01 -9.55032135e-02 9.89978192e-01 4.15819259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26925976399994 meters Centerline goodness : 0.734241 with order 1 Centerline is valid? [False, False] Translation: X:-31.18, Y:5.66, Z:4.17 [[ 6.82389282e-01 7.30988923e-01 -2.49434593e-04 -3.11798233e+01] [-7.23889387e-01 6.75809121e-01 1.38802692e-01 5.66138027e+00] [ 1.01631800e-01 -9.45369060e-02 9.90320024e-01 4.16906364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32925976399994 meters Centerline goodness : 0.731977 with order 1 Centerline is valid? [False, False] Translation: X:-31.36, Y:5.63, Z:4.18 [[ 6.83615973e-01 7.29841769e-01 -4.40213753e-04 -3.13573530e+01] [-7.22872922e-01 6.77171416e-01 1.37454037e-01 5.63254521e+00] [ 1.00617798e-01 -9.36475564e-02 9.90508048e-01 4.17879291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38925976399995 meters Centerline goodness : 0.734400 with order 1 Centerline is valid? [False, False] Translation: X:-31.53, Y:5.61, Z:4.19 [[ 6.87745781e-01 7.25946271e-01 -2.78411563e-03 -3.15311745e+01] [-7.19271131e-01 6.81930965e-01 1.32737331e-01 5.60597376e+00] [ 9.82587455e-02 -8.92870057e-02 9.91147340e-01 4.18646567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44925976399995 meters Centerline goodness : 0.737216 with order 1 Centerline is valid? [False, False] Translation: X:-31.70, Y:5.58, Z:4.19 [[ 6.88220186e-01 7.25486941e-01 -4.65550488e-03 -3.16969968e+01] [-7.18824296e-01 6.82740333e-01 1.30985758e-01 5.57962764e+00] [ 9.82069581e-02 -8.68005531e-02 9.91373319e-01 4.19401415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50925976399995 meters Centerline goodness : 0.736569 with order 1 Centerline is valid? [False, False] Translation: X:-31.88, Y:5.55, Z:4.20 [[ 6.85727801e-01 7.27847071e-01 -4.00299906e-03 -3.18838341e+01] [-7.20759650e-01 6.79796193e-01 1.35582679e-01 5.54898913e+00] [ 1.01404679e-01 -9.00876123e-02 9.90757949e-01 4.19991502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56925976399995 meters Centerline goodness : 0.737493 with order 1 Centerline is valid? [False, False] Translation: X:-32.07, Y:5.52, Z:4.21 [[ 6.82887139e-01 7.30511585e-01 -4.24025947e-03 -3.20665578e+01] [-7.23729506e-01 6.77314215e-01 1.32140290e-01 5.51794606e+00] [ 9.94020004e-02 -8.71681034e-02 9.91221955e-01 4.20855113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62925976399995 meters Centerline goodness : 0.737942 with order 1 Centerline is valid? [False, False] Translation: X:-32.24, Y:5.49, Z:4.22 [[ 6.82022704e-01 7.31314282e-01 -4.94479089e-03 -3.22437785e+01] [-7.24671902e-01 6.76707484e-01 1.30067735e-01 5.48809054e+00] [ 9.84665694e-02 -8.51257975e-02 9.91492780e-01 4.21718691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68925976399996 meters Centerline goodness : 0.739614 with order 1 Centerline is valid? [False, False] Translation: X:-32.44, Y:5.46, Z:4.22 [[ 6.82787053e-01 7.30607487e-01 -3.81316512e-03 -3.24355459e+01] [-7.23757622e-01 6.77080618e-01 1.33179361e-01 5.45550993e+00] [ 9.98836587e-02 -8.81733364e-02 9.91084617e-01 4.22360116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74925976399996 meters Centerline goodness : 0.740990 with order 1 Centerline is valid? [False, False] Translation: X:-32.61, Y:5.43, Z:4.23 [[ 6.82268946e-01 7.31079278e-01 -5.67222211e-03 -3.26098922e+01] [-7.24318697e-01 6.76973408e-01 1.30650030e-01 5.42740951e+00] [ 9.93554728e-02 -8.50299615e-02 9.91412324e-01 4.23029559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80925976399996 meters Centerline goodness : 0.738103 with order 1 Centerline is valid? [False, False] Translation: X:-32.79, Y:5.39, Z:4.24 [[ 6.80738350e-01 7.32499373e-01 -6.32198466e-03 -3.27948583e+01] [-7.25391047e-01 6.75283790e-01 1.33415263e-01 5.39483325e+00] [ 1.01995730e-01 -8.62349749e-02 9.91040060e-01 4.23636792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86925976399996 meters Centerline goodness : 0.739429 with order 1 Centerline is valid? [False, False] Translation: X:-32.99, Y:5.36, Z:4.24 [[ 6.85332385e-01 7.28216178e-01 -4.55194948e-03 -3.29857178e+01] [-7.20906978e-01 6.79311350e-01 1.37219600e-01 5.36242796e+00] [ 1.03017724e-01 -9.07595037e-02 9.90530192e-01 4.24164787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92925976399997 meters Centerline goodness : 0.742102 with order 1 Centerline is valid? [False, False] Translation: X:-33.16, Y:5.33, Z:4.25 [[ 6.87523571e-01 7.26145789e-01 -4.86123894e-03 -3.31639247e+01] [-7.19106609e-01 6.81759206e-01 1.34499331e-01 5.33216538e+00] [ 1.00980317e-01 -8.89757114e-02 9.90901760e-01 4.24814992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98925976399994 meters Centerline goodness : 0.739420 with order 1 Centerline is valid? [False, False] Translation: X:-33.34, Y:5.30, Z:4.26 [[ 6.86582449e-01 7.27041020e-01 -3.98696890e-03 -3.33443100e+01] [-7.20125116e-01 6.80786114e-01 1.33977925e-01 5.29918671e+00] [ 1.00121721e-01 -8.91157757e-02 9.90976296e-01 4.25828524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04925976399994 meters Centerline goodness : 0.745229 with order 1 Centerline is valid? [False, False] Translation: X:-33.53, Y:5.26, Z:4.27 [[ 6.93152428e-01 7.20773722e-01 -4.99538233e-03 -3.35297224e+01] [-7.13690540e-01 6.87278100e-01 1.35257633e-01 5.26463980e+00] [ 1.00923364e-01 -9.01889993e-02 9.90797870e-01 4.26506391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10925976399994 meters Centerline goodness : 0.745596 with order 1 Centerline is valid? [False, False] Translation: X:-33.71, Y:5.23, Z:4.27 [[ 6.98092583e-01 7.15972512e-01 -7.07873100e-03 -3.37060715e+01] [-7.08797157e-01 6.92428379e-01 1.34720192e-01 5.23401436e+00] [ 1.01357468e-01 -8.90297822e-02 9.90858396e-01 4.27026193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16925976399995 meters Centerline goodness : 0.743771 with order 1 Centerline is valid? [False, False] Translation: X:-33.89, Y:5.20, Z:4.28 [[ 6.97930281e-01 7.16134441e-01 -6.69213716e-03 -3.38869050e+01] [-7.08922191e-01 6.92166702e-01 1.35405258e-01 5.20225449e+00] [ 1.01600443e-01 -8.97592252e-02 9.90767698e-01 4.27777174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22925976399995 meters Centerline goodness : 0.740570 with order 1 Centerline is valid? [False, False] Translation: X:-34.07, Y:5.17, Z:4.29 [[ 6.93801564e-01 7.20142908e-01 -5.79495569e-03 -3.40650482e+01] [-7.12945186e-01 6.87959291e-01 1.35724631e-01 5.17003114e+00] [ 1.01727824e-01 -9.00344759e-02 9.90729652e-01 4.28615825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28925976399995 meters Centerline goodness : 0.744042 with order 1 Centerline is valid? [False, False] Translation: X:-34.24, Y:5.14, Z:4.29 [[ 6.95616979e-01 7.18384051e-01 -6.43226986e-03 -3.42435890e+01] [-7.11537238e-01 6.90167678e-01 1.31845876e-01 5.13987806e+00] [ 9.91553191e-02 -8.71374302e-02 9.91249359e-01 4.29357722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34925976399995 meters Centerline goodness : 0.744939 with order 1 Centerline is valid? [False, False] Translation: X:-34.42, Y:5.11, Z:4.30 [[ 6.95496471e-01 7.18497645e-01 -6.76705182e-03 -3.44203900e+01] [-7.11828391e-01 6.90262838e-01 1.29759610e-01 5.11131518e+00] [ 9.79030184e-02 -8.54303711e-02 9.91522390e-01 4.29954367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40925976399996 meters Centerline goodness : 0.744806 with order 1 Centerline is valid? [False, False] Translation: X:-34.60, Y:5.08, Z:4.31 [[ 6.92895549e-01 7.21017642e-01 -5.41456691e-03 -3.46001514e+01] [-7.14618981e-01 6.87707514e-01 1.27976900e-01 5.08187101e+00] [ 9.59972409e-02 -8.48052720e-02 9.91762369e-01 4.30677649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46925976399996 meters Centerline goodness : 0.746097 with order 1 Centerline is valid? [False, False] Translation: X:-34.78, Y:5.05, Z:4.31 [[ 6.89161630e-01 7.24581356e-01 -6.17309319e-03 -3.47782303e+01] [-7.18273539e-01 6.84236547e-01 1.26108962e-01 5.05245338e+00] [ 9.56000586e-02 -8.24754882e-02 9.91997189e-01 4.31329014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52925976399996 meters Centerline goodness : 0.747754 with order 1 Centerline is valid? [False, False] Translation: X:-34.96, Y:5.02, Z:4.32 [[ 6.86014891e-01 7.27534714e-01 -8.76412331e-03 -3.49605279e+01] [-7.20748245e-01 6.81164808e-01 1.28594216e-01 5.02097513e+00] [ 9.95265687e-02 -8.19008207e-02 9.91658569e-01 4.31729978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58925976399996 meters Centerline goodness : 0.746495 with order 1 Centerline is valid? [False, False] Translation: X:-35.14, Y:4.99, Z:4.32 [[ 6.86048953e-01 7.27495277e-01 -9.35180748e-03 -3.51410809e+01] [-7.20297489e-01 6.80960057e-01 1.32154939e-01 4.98750852e+00] [ 1.02510301e-01 -8.39286738e-02 9.91184955e-01 4.32075637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64925976399996 meters Centerline goodness : 0.747868 with order 1 Centerline is valid? [False, False] Translation: X:-35.32, Y:4.95, Z:4.33 [[ 6.84763062e-01 7.28699321e-01 -9.84119497e-03 -3.53176553e+01] [-7.21530041e-01 6.79800603e-01 1.31398401e-01 4.95307342e+00] [ 1.02439976e-01 -8.28760537e-02 9.91280793e-01 4.32820703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70925976399994 meters Centerline goodness : 0.746603 with order 1 Centerline is valid? [False, False] Translation: X:-35.50, Y:4.92, Z:4.34 [[ 6.84208073e-01 7.29227128e-01 -9.33316953e-03 -3.55003400e+01] [-7.22041865e-01 6.79154865e-01 1.31925033e-01 4.91698597e+00] [ 1.02541981e-01 -8.35252336e-02 9.91215757e-01 4.33608446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76925976399994 meters Centerline goodness : 0.751470 with order 1 Centerline is valid? [False, False] Translation: X:-35.68, Y:4.88, Z:4.34 [[ 6.88004976e-01 7.25609825e-01 -1.18125232e-02 -3.56759584e+01] [-7.18453217e-01 6.83334287e-01 1.29920083e-01 4.88029329e+00] [ 1.02343191e-01 -8.08989181e-02 9.91454102e-01 4.34188147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82925976399994 meters Centerline goodness : 0.755353 with order 1 Centerline is valid? [False, False] Translation: X:-35.85, Y:4.85, Z:4.35 [[ 6.93210244e-01 7.20632660e-01 -1.21707254e-02 -3.58535601e+01] [-7.13720384e-01 6.88715527e-01 1.27570124e-01 4.84553653e+00] [ 1.00313365e-01 -7.97464217e-02 9.91754877e-01 4.34851835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88925976399995 meters Centerline goodness : 0.752649 with order 1 Centerline is valid? [False, False] Translation: X:-36.04, Y:4.81, Z:4.35 [[ 7.02751972e-01 7.11366249e-01 -9.88561465e-03 -3.60376094e+01] [-7.04620643e-01 6.97872248e-01 1.28390321e-01 4.80894738e+00] [ 9.82314370e-02 -8.32609429e-02 9.91674443e-01 4.35443437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94925976399995 meters Centerline goodness : 0.750103 with order 1 Centerline is valid? [False, False] Translation: X:-36.21, Y:4.77, Z:4.36 [[ 7.06941833e-01 7.07193695e-01 -1.05034913e-02 -3.62088701e+01] [-7.00555217e-01 7.02193039e-01 1.27072117e-01 4.77477262e+00] [ 9.72400786e-02 -8.24743199e-02 9.91837867e-01 4.36092375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00925976399995 meters Centerline goodness : 0.754226 with order 1 Centerline is valid? [False, False] Translation: X:-36.38, Y:4.74, Z:4.36 [[ 7.21129327e-01 6.92693908e-01 -1.21508343e-02 -3.63810052e+01] [-6.85694093e-01 7.16128211e-01 1.30322662e-01 4.73812106e+00] [ 9.89752693e-02 -8.56477383e-02 9.91397176e-01 4.36444266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06925976399995 meters Centerline goodness : 0.752514 with order 1 Centerline is valid? [False, False] Translation: X:-36.55, Y:4.70, Z:4.37 [[ 7.29039553e-01 6.84416856e-01 -8.65432497e-03 -3.65522251e+01] [-6.77896777e-01 7.23727217e-01 1.29131236e-01 4.70475147e+00] [ 9.46429653e-02 -8.82750397e-02 9.91589747e-01 4.37118921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12925976399995 meters Centerline goodness : 0.750162 with order 1 Centerline is valid? [False, False] Translation: X:-36.72, Y:4.67, Z:4.38 [[ 7.30642441e-01 6.82727028e-01 -6.74007442e-03 -3.67236414e+01] [-6.76517955e-01 7.25258897e-01 1.27761453e-01 4.67245575e+00] [ 9.21144960e-02 -8.87881584e-02 9.91782024e-01 4.37775568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18925976399996 meters Centerline goodness : 0.751064 with order 1 Centerline is valid? [False, False] Translation: X:-36.89, Y:4.64, Z:4.38 [[ 7.31181606e-01 6.82121970e-01 -9.11471717e-03 -3.68857120e+01] [-6.76030273e-01 7.26312835e-01 1.24309032e-01 4.64172109e+00] [ 9.14140576e-02 -8.47306526e-02 9.92201686e-01 4.38313228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24925976399996 meters Centerline goodness : 0.751602 with order 1 Centerline is valid? [False, False] Translation: X:-37.04, Y:4.61, Z:4.39 [[ 7.31399640e-01 6.81850217e-01 -1.16123923e-02 -3.70439071e+01] [-6.75913839e-01 7.27082083e-01 1.20383248e-01 4.61242218e+00] [ 9.05265061e-02 -8.01992876e-02 9.92659572e-01 4.38892750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30925976399996 meters Centerline goodness : 0.752061 with order 1 Centerline is valid? [False, False] Translation: X:-37.21, Y:4.58, Z:4.39 [[ 7.31165901e-01 6.82139329e-01 -9.07533923e-03 -3.72064304e+01] [-6.76535282e-01 7.26741492e-01 1.18940392e-01 4.58422818e+00] [ 8.77293448e-02 -8.08253718e-02 9.92859920e-01 4.39312188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36925976399996 meters Centerline goodness : 0.750642 with order 1 Centerline is valid? [False, False] Translation: X:-37.36, Y:4.56, Z:4.40 [[ 7.27086240e-01 6.86512658e-01 -6.78002577e-03 -3.73614783e+01] [-6.81082563e-01 7.22508282e-01 1.18778466e-01 4.55594654e+00] [ 8.64415453e-02 -8.17444310e-02 9.92897632e-01 4.39777159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42925976399997 meters Centerline goodness : 0.750555 with order 1 Centerline is valid? [False, False] Translation: X:-37.53, Y:4.53, Z:4.40 [[ 7.23215901e-01 6.90570542e-01 -8.43130714e-03 -3.75275018e+01] [-6.85083771e-01 7.18905809e-01 1.17620854e-01 4.52571853e+00] [ 8.72868123e-02 -7.92891199e-02 9.93022783e-01 4.40292418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48925976399994 meters Centerline goodness : 0.749596 with order 1 Centerline is valid? [False, False] Translation: X:-37.69, Y:4.50, Z:4.41 [[ 7.16696953e-01 6.97287499e-01 -1.16456480e-02 -3.76922048e+01] [-6.91598183e-01 7.12797776e-01 1.16667407e-01 4.49501645e+00] [ 8.96517161e-02 -7.55610659e-02 9.93102762e-01 4.40811718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54925976399994 meters Centerline goodness : 0.746584 with order 1 Centerline is valid? [False, False] Translation: X:-37.86, Y:4.46, Z:4.41 [[ 7.13470086e-01 7.00610000e-01 -1.02986997e-02 -3.78613259e+01] [-6.95052502e-01 7.09517676e-01 1.16132200e-01 4.46364359e+00] [ 8.86704904e-02 -7.56987139e-02 9.93180371e-01 4.41296201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60925976399994 meters Centerline goodness : 0.749240 with order 1 Centerline is valid? [False, False] Translation: X:-38.03, Y:4.43, Z:4.42 [[ 7.10540109e-01 7.03597536e-01 -9.12479745e-03 -3.80312688e+01] [-6.98218540e-01 7.06598563e-01 1.14931896e-01 4.43256873e+00] [ 8.73133676e-02 -7.52926192e-02 9.93331464e-01 4.41821179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66925976399995 meters Centerline goodness : 0.751197 with order 1 Centerline is valid? [False, False] Translation: X:-38.20, Y:4.40, Z:4.42 [[ 7.09240900e-01 7.04889101e-01 -1.04259580e-02 -3.81976761e+01] [-6.99515554e-01 7.05515764e-01 1.13690352e-01 4.40107342e+00] [ 8.74947677e-02 -7.33407277e-02 9.93461526e-01 4.42260286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72925976399995 meters Centerline goodness : 0.747694 with order 1 Centerline is valid? [False, False] Translation: X:-38.37, Y:4.37, Z:4.43 [[ 7.09573557e-01 7.04547582e-01 -1.08660978e-02 -3.83712279e+01] [-6.98856805e-01 7.05645021e-01 1.16894270e-01 4.36750790e+00] [ 9.00251833e-02 -7.53512368e-02 9.93084920e-01 4.42655874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78925976399995 meters Centerline goodness : 0.748261 with order 1 Centerline is valid? [False, False] Translation: X:-38.54, Y:4.33, Z:4.43 [[ 7.08861823e-01 7.05283712e-01 -9.47635115e-03 -3.85381858e+01] [-6.99522405e-01 7.04667441e-01 1.18794794e-01 4.33344251e+00] [ 9.04617096e-02 -7.75801745e-02 9.92873605e-01 4.43320563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84925976399995 meters Centerline goodness : 0.747387 with order 1 Centerline is valid? [False, False] Translation: X:-38.71, Y:4.30, Z:4.44 [[ 7.14753058e-01 6.99321669e-01 -8.79031153e-03 -3.87132349e+01] [-6.93165983e-01 7.10020958e-01 1.24061112e-01 4.29804397e+00] [ 9.29999292e-02 -8.25799141e-02 9.92235643e-01 4.43566383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90925976399996 meters Centerline goodness : 0.750803 with order 1 Centerline is valid? [False, False] Translation: X:-38.88, Y:4.26, Z:4.44 [[ 7.22094337e-01 6.91725747e-01 -9.76009151e-03 -3.88752110e+01] [-6.85705020e-01 7.17534643e-01 1.22281076e-01 4.26396749e+00] [ 9.15881724e-02 -8.16059288e-02 9.92447520e-01 4.43988250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96925976399996 meters Centerline goodness : 0.751299 with order 1 Centerline is valid? [False, False] Translation: X:-39.04, Y:4.23, Z:4.45 [[ 7.27294597e-01 6.86294293e-01 -6.53545058e-03 -3.90421382e+01] [-6.80572268e-01 7.22395701e-01 1.22334945e-01 4.23073126e+00] [ 8.86789558e-02 -8.45256979e-02 9.92467354e-01 4.44688049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02925976399996 meters Centerline goodness : 0.749251 with order 1 Centerline is valid? [False, False] Translation: X:-39.21, Y:4.20, Z:4.45 [[ 7.30724624e-01 6.82660055e-01 -4.09536789e-03 -3.92051322e+01] [-6.77154312e-01 7.25566354e-01 1.22537769e-01 4.19703282e+00] [ 8.66231012e-02 -8.67681690e-02 9.92455401e-01 4.45399213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08925976399996 meters Centerline goodness : 0.752825 with order 1 Centerline is valid? [False, False] Translation: X:-39.36, Y:4.17, Z:4.46 [[ 7.32774302e-01 6.80436712e-01 -6.90671859e-03 -3.93620664e+01] [-6.74915782e-01 7.28048222e-01 1.20143559e-01 4.16587290e+00] [ 8.67785122e-02 -8.33766589e-02 9.92732503e-01 4.45935509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14925976399996 meters Centerline goodness : 0.751901 with order 1 Centerline is valid? [False, False] Translation: X:-39.52, Y:4.14, Z:4.47 [[ 7.29799507e-01 6.83636110e-01 -5.86075242e-03 -3.95192426e+01] [-6.78185497e-01 7.25010452e-01 1.20101107e-01 4.13583420e+00] [ 8.63545605e-02 -8.36750516e-02 9.92744366e-01 4.46567538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20925976399994 meters Centerline goodness : 0.753988 with order 1 Centerline is valid? [False, False] Translation: X:-39.68, Y:4.11, Z:4.47 [[ 7.33231943e-01 6.79960153e-01 -5.01080536e-03 -3.96776300e+01] [-6.74690126e-01 7.28426800e-01 1.19111846e-01 4.10814381e+00] [ 8.46413141e-02 -8.39558695e-02 9.92868199e-01 4.47071403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26925976399994 meters Centerline goodness : 0.753253 with order 1 Centerline is valid? [False, False] Translation: X:-39.83, Y:4.08, Z:4.48 [[ 7.31743004e-01 6.81557607e-01 -5.60393734e-03 -3.98320190e+01] [-6.76304500e-01 7.27075061e-01 1.18212007e-01 4.07945963e+00] [ 8.46427756e-02 -8.27108409e-02 9.92972566e-01 4.47614382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32925976399994 meters Centerline goodness : 0.752144 with order 1 Centerline is valid? [False, False] Translation: X:-39.99, Y:4.05, Z:4.48 [[ 7.28752472e-01 6.84742073e-01 -6.93734686e-03 -3.99881728e+01] [-6.79419557e-01 7.24278447e-01 1.17515091e-01 4.04982258e+00] [ 8.54920978e-02 -8.09260439e-02 9.93046865e-01 4.48225777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38925976399995 meters Centerline goodness : 0.750710 with order 1 Centerline is valid? [False, False] Translation: X:-40.15, Y:4.02, Z:4.49 [[ 7.23663430e-01 6.90134480e-01 -5.06355967e-03 -4.01526085e+01] [-6.85000302e-01 7.19136023e-01 1.16696045e-01 4.01718661e+00] [ 8.41773523e-02 -8.09801200e-02 9.93154768e-01 4.48932645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44925976399995 meters Centerline goodness : 0.751266 with order 1 Centerline is valid? [False, False] Translation: X:-40.31, Y:3.99, Z:4.49 [[ 7.20707255e-01 6.93224848e-01 -4.51248510e-03 -4.03117149e+01] [-6.88193443e-01 7.16230024e-01 1.15777102e-01 3.98744801e+00] [ 8.34915411e-02 -8.03359346e-02 9.93264970e-01 4.49472913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50925976399995 meters Centerline goodness : 0.751804 with order 1 Centerline is valid? [False, False] Translation: X:-40.47, Y:3.96, Z:4.50 [[ 7.16586445e-01 6.97464988e-01 -6.81595792e-03 -4.04670649e+01] [-6.92368874e-01 7.12465626e-01 1.14096770e-01 3.95957095e+00] [ 8.44346380e-02 -7.70410417e-02 9.93446259e-01 4.49945464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56925976399995 meters Centerline goodness : 0.749499 with order 1 Centerline is valid? [False, False] Translation: X:-40.62, Y:3.93, Z:4.50 [[ 7.13239956e-01 7.00862749e-01 -8.95390856e-03 -4.06249932e+01] [-6.95751372e-01 7.09471258e-01 1.12163109e-01 3.93013389e+00] [ 8.49634858e-02 -7.37695169e-02 9.93649468e-01 4.50474498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62925976399995 meters Centerline goodness : 0.749941 with order 1 Centerline is valid? [False, False] Translation: X:-40.79, Y:3.90, Z:4.51 [[ 7.09060823e-01 7.05112409e-01 -7.01713364e-03 -4.07915468e+01] [-7.00036428e-01 7.05082661e-01 1.13169962e-01 3.89835205e+00] [ 8.47452037e-02 -7.53321371e-02 9.93550864e-01 4.51125969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68925976399996 meters Centerline goodness : 0.747444 with order 1 Centerline is valid? [False, False] Translation: X:-40.96, Y:3.87, Z:4.52 [[ 7.08672696e-01 7.05518576e-01 -5.15253760e-03 -4.09558490e+01] [-7.00503988e-01 7.04468947e-01 1.14094982e-01 3.86635032e+00] [ 8.41259317e-02 -7.72466250e-02 9.93456484e-01 4.51683897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74925976399996 meters Centerline goodness : 0.749476 with order 1 Centerline is valid? [False, False] Translation: X:-41.11, Y:3.83, Z:4.52 [[ 7.07922691e-01 7.06236858e-01 -8.65817633e-03 -4.11126903e+01] [-7.01100216e-01 7.04151513e-01 1.12379421e-01 3.83462419e+00] [ 8.54631569e-02 -7.34856925e-02 9.93627647e-01 4.52138998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80925976399996 meters Centerline goodness : 0.750184 with order 1 Centerline is valid? [False, False] Translation: X:-41.28, Y:3.80, Z:4.53 [[ 7.07647895e-01 7.06510531e-01 -8.79353337e-03 -4.12845917e+01] [-7.00997511e-01 7.03576557e-01 1.16544060e-01 3.79987054e+00] [ 8.85265299e-02 -7.63079140e-02 9.93146593e-01 4.52583537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86925976399996 meters Centerline goodness : 0.746753 with order 1 Centerline is valid? [False, False] Translation: X:-41.46, Y:3.77, Z:4.53 [[ 7.06493679e-01 7.07687144e-01 -6.75188756e-03 -4.14551458e+01] [-7.02193539e-01 7.02135398e-01 1.18025920e-01 3.76678570e+00] [ 8.82661658e-02 -7.86434349e-02 9.92987560e-01 4.53268586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92925976399997 meters Centerline goodness : 0.745813 with order 1 Centerline is valid? [False, False] Translation: X:-41.62, Y:3.73, Z:4.54 [[ 7.03684937e-01 7.10484836e-01 -6.22960821e-03 -4.16213432e+01] [-7.05006690e-01 6.99294906e-01 1.18119438e-01 3.73331646e+00] [ 8.82784029e-02 -7.87269540e-02 9.92979854e-01 4.53951101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98925976399994 meters Centerline goodness : 0.745086 with order 1 Centerline is valid? [False, False] Translation: X:-41.78, Y:3.70, Z:4.55 [[ 7.04729841e-01 7.09415996e-01 -9.20845754e-03 -4.17794780e+01] [-7.03960345e-01 7.00807669e-01 1.15362231e-01 3.70231229e+00] [ 8.82931693e-02 -7.48168174e-02 9.93280806e-01 4.54615976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04925976399994 meters Centerline goodness : 0.747365 with order 1 Centerline is valid? [False, False] Translation: X:-41.95, Y:3.67, Z:4.55 [[ 7.07050884e-01 7.07111690e-01 -8.49144156e-03 -4.19460387e+01] [-7.01705487e-01 7.03032868e-01 1.15560358e-01 3.66856374e+00] [ 8.76838424e-02 -7.57485620e-02 9.93264164e-01 4.55296782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10925976399994 meters Centerline goodness : 0.746281 with order 1 Centerline is valid? [False, False] Translation: X:-42.12, Y:3.63, Z:4.56 [[ 7.09617688e-01 7.04553424e-01 -6.87089725e-03 -4.21168909e+01] [-6.98899633e-01 7.05092838e-01 1.19930785e-01 3.63437505e+00] [ 8.93422657e-02 -8.03029388e-02 9.92758479e-01 4.55756420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16925976399995 meters Centerline goodness : 0.744360 with order 1 Centerline is valid? [False, False] Translation: X:-42.29, Y:3.60, Z:4.56 [[ 7.10525943e-01 7.03621722e-01 -8.32803046e-03 -4.22855707e+01] [-6.97228494e-01 7.05569206e-01 1.26666978e-01 3.59990749e+00] [ 9.50016390e-02 -8.41936338e-02 9.91910339e-01 4.55999913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22925976399995 meters Centerline goodness : 0.743313 with order 1 Centerline is valid? [False, False] Translation: X:-42.45, Y:3.57, Z:4.57 [[ 7.10991924e-01 7.03162083e-01 -7.31908395e-03 -4.24523628e+01] [-6.96936536e-01 7.06006822e-01 1.25832553e-01 3.56728615e+00] [ 9.36480033e-02 -8.43649920e-02 9.92024495e-01 4.56638835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28925976399995 meters Centerline goodness : 0.742258 with order 1 Centerline is valid? [False, False] Translation: X:-42.62, Y:3.53, Z:4.57 [[ 7.07178653e-01 7.07014363e-01 -5.38919796e-03 -4.26232943e+01] [-7.00974811e-01 7.02092791e-01 1.25299745e-01 3.53268937e+00] [ 9.23724367e-02 -8.48316131e-02 9.92104294e-01 4.57420793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34925976399995 meters Centerline goodness : 0.743063 with order 1 Centerline is valid? [False, False] Translation: X:-42.78, Y:3.50, Z:4.58 [[ 7.06280103e-01 7.07862955e-01 -9.92230612e-03 -4.27830735e+01] [-7.01665536e-01 7.01819835e-01 1.22940615e-01 3.49973941e+00] [ 9.39887782e-02 -7.98683700e-02 9.92364426e-01 4.58059662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40925976399996 meters Centerline goodness : 0.740163 with order 1 Centerline is valid? [False, False] Translation: X:-42.95, Y:3.47, Z:4.59 [[ 7.06157800e-01 7.07990982e-01 -9.48318610e-03 -4.29518240e+01] [-7.01916162e-01 7.01732876e-01 1.22002757e-01 3.46572810e+00] [ 9.30315150e-02 -7.94967968e-02 9.92484457e-01 4.58727867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46925976399996 meters Centerline goodness : 0.739557 with order 1 Centerline is valid? [False, False] Translation: X:-43.12, Y:3.43, Z:4.59 [[ 7.06366455e-01 7.07796773e-01 -8.37608768e-03 -4.31246307e+01] [-7.01844761e-01 7.01866045e-01 1.21646972e-01 3.43059969e+00] [ 9.19802258e-02 -8.00486272e-02 9.92538088e-01 4.59454151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52925976399996 meters Centerline goodness : 0.739326 with order 1 Centerline is valid? [False, False] Translation: X:-43.28, Y:3.40, Z:4.60 [[ 7.05446557e-01 7.08672447e-01 -1.13365379e-02 -4.32827598e+01] [-7.02644591e-01 7.01364339e-01 1.19910981e-01 3.39812925e+00] [ 9.29286518e-02 -7.66252317e-02 9.92719920e-01 4.59896241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58925976399996 meters Centerline goodness : 0.741271 with order 1 Centerline is valid? [False, False] Translation: X:-43.45, Y:3.36, Z:4.61 [[ 7.06928198e-01 7.07175563e-01 -1.24597549e-02 -4.34499483e+01] [-7.01048531e-01 7.02920109e-01 1.20142733e-01 3.36258227e+00] [ 9.37202169e-02 -7.61973927e-02 9.92678436e-01 4.60597409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64925976399996 meters Centerline goodness : 0.738226 with order 1 Centerline is valid? [False, False] Translation: X:-43.62, Y:3.33, Z:4.61 [[ 7.13548120e-01 7.00524237e-01 -1.07179152e-02 -4.36165652e+01] [-6.94480912e-01 7.09245381e-01 1.21108432e-01 3.32786264e+00] [ 9.24410235e-02 -7.89733062e-02 9.92581419e-01 4.61390730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70925976399994 meters Centerline goodness : 0.735906 with order 1 Centerline is valid? [False, False] Translation: X:-43.78, Y:3.29, Z:4.62 [[ 7.15586384e-01 6.98465285e-01 -9.07600179e-03 -4.37844515e+01] [-6.92523692e-01 7.11078781e-01 1.21564401e-01 3.29194503e+00] [ 9.13622660e-02 -8.07044836e-02 9.92542051e-01 4.62064742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76925976399994 meters Centerline goodness : 0.736459 with order 1 Centerline is valid? [False, False] Translation: X:-43.94, Y:3.26, Z:4.63 [[ 7.22481437e-01 6.91298945e-01 -1.12401660e-02 -4.39423411e+01] [-6.85430004e-01 7.18288531e-01 1.19362038e-01 3.25920883e+00] [ 9.05885333e-02 -7.85325097e-02 9.92787169e-01 4.62676096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82925976399994 meters Centerline goodness : 0.736641 with order 1 Centerline is valid? [False, False] Translation: X:-44.10, Y:3.22, Z:4.63 [[ 7.23931250e-01 6.89782144e-01 -1.11417731e-02 -4.41042251e+01] [-6.83978088e-01 7.19759266e-01 1.18830023e-01 3.22347990e+00] [ 8.99862226e-02 -7.84040387e-02 9.92852097e-01 4.63238178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88925976399995 meters Centerline goodness : 0.735743 with order 1 Centerline is valid? [False, False] Translation: X:-44.27, Y:3.19, Z:4.64 [[ 7.25632913e-01 6.87997455e-01 -1.07878237e-02 -4.42668094e+01] [-6.82150601e-01 7.21343513e-01 1.19725079e-01 3.19048470e+00] [ 9.01522762e-02 -7.95175373e-02 9.92748472e-01 4.63867658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94925976399995 meters Centerline goodness : 0.738856 with order 1 Centerline is valid? [False, False] Translation: X:-44.42, Y:3.16, Z:4.64 [[ 7.29867196e-01 6.83471200e-01 -1.26883732e-02 -4.44220186e+01] [-6.77746482e-01 7.25926087e-01 1.17008642e-01 3.15892791e+00] [ 8.91828584e-02 -7.68012695e-02 9.93049839e-01 4.64271001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00925976399995 meters Centerline goodness : 0.737182 with order 1 Centerline is valid? [False, False] Translation: X:-44.59, Y:3.13, Z:4.65 [[ 7.30905597e-01 6.82400421e-01 -1.03283411e-02 -4.45865229e+01] [-6.76811975e-01 7.26700020e-01 1.17612212e-01 3.12524166e+00] [ 8.77642288e-02 -7.89730793e-02 9.93005888e-01 4.64805918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06925976399995 meters Centerline goodness : 0.733493 with order 1 Centerline is valid? [False, False] Translation: X:-44.74, Y:3.09, Z:4.65 [[ 7.31727635e-01 6.81524819e-01 -9.92923966e-03 -4.47403593e+01] [-6.75884930e-01 7.27400344e-01 1.18609868e-01 3.09383632e+00] [ 8.80581009e-02 -8.00790945e-02 9.92891288e-01 4.65291980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12925976399995 meters Centerline goodness : 0.728950 with order 1 Centerline is valid? [False, False] Translation: X:-44.88, Y:3.06, Z:4.66 [[ 7.36088768e-01 6.76709044e-01 -1.54335429e-02 -4.48820797e+01] [-6.70837968e-01 7.32364102e-01 1.16701511e-01 3.06251338e+00] [ 9.02759408e-02 -7.55492650e-02 9.93047110e-01 4.65666401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18925976399996 meters Centerline goodness : 0.730529 with order 1 Centerline is valid? [False, False] Translation: X:-45.04, Y:3.03, Z:4.66 [[ 7.41685336e-01 6.70595477e-01 -1.43027133e-02 -4.50380571e+01] [-6.64823159e-01 7.37794703e-01 1.16915110e-01 3.02661154e+00] [ 8.89552104e-02 -7.72054480e-02 9.93038916e-01 4.66204659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24925976399996 meters Centerline goodness : 0.731541 with order 1 Centerline is valid? [False, False] Translation: X:-45.20, Y:2.99, Z:4.67 [[ 7.51651009e-01 6.59465558e-01 -1.12222630e-02 -4.51953984e+01] [-6.53965974e-01 7.47378387e-01 1.17277664e-01 2.98861051e+00] [ 8.57278569e-02 -8.08128962e-02 9.93035755e-01 4.66867610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30925976399996 meters Centerline goodness : 0.731825 with order 1 Centerline is valid? [False, False] Translation: X:-45.34, Y:2.96, Z:4.67 [[ 7.58176109e-01 6.51916268e-01 -1.31972681e-02 -4.53428777e+01] [-6.46478849e-01 7.54184482e-01 1.15199239e-01 2.95543849e+00] [ 8.50534326e-02 -7.88095559e-02 9.93254734e-01 4.67371512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36925976399996 meters Centerline goodness : 0.730825 with order 1 Centerline is valid? [False, False] Translation: X:-45.49, Y:2.92, Z:4.68 [[ 7.63924217e-01 6.45161974e-01 -1.36314791e-02 -4.54912941e+01] [-6.39780417e-01 7.59972430e-01 1.14555332e-01 2.92203243e+00] [ 8.42662926e-02 -7.87904392e-02 9.93323340e-01 4.67885831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42925976399997 meters Centerline goodness : 0.731364 with order 1 Centerline is valid? [False, False] Translation: X:-45.64, Y:2.89, Z:4.68 [[ 7.68889486e-01 6.39286883e-01 -1.10108750e-02 -4.56387998e+01] [-6.34062136e-01 7.64596176e-01 1.15576364e-01 2.88875989e+00] [ 8.23053264e-02 -8.18838721e-02 9.93237567e-01 4.68369155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48925976399994 meters Centerline goodness : 0.731562 with order 1 Centerline is valid? [False, False] Translation: X:-45.78, Y:2.85, Z:4.69 [[ 7.75895205e-01 6.30774590e-01 -1.04903567e-02 -4.57815322e+01] [-6.25620812e-01 7.71481903e-01 1.15820002e-01 2.85395013e+00] [ 8.11494343e-02 -8.33011984e-02 9.93214820e-01 4.68940094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54925976399994 meters Centerline goodness : 0.727635 with order 1 Centerline is valid? [False, False] Translation: X:-45.92, Y:2.82, Z:4.69 [[ 7.81953604e-01 6.23230446e-01 -1.15053595e-02 -4.59191361e+01] [-6.18130204e-01 7.77670854e-01 1.14643333e-01 2.82304360e+00] [ 8.03965981e-02 -8.25339570e-02 9.93340089e-01 4.69383511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60925976399994 meters Centerline goodness : 0.732542 with order 1 Centerline is valid? [False, False] Translation: X:-46.06, Y:2.79, Z:4.70 [[ 7.87273471e-01 6.16514001e-01 -1.05341575e-02 -4.60558204e+01] [-6.11649106e-01 7.82994614e-01 1.13158321e-01 2.79283480e+00] [ 7.80118781e-02 -8.26433364e-02 9.93521125e-01 4.69855048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66925976399995 meters Centerline goodness : 0.732810 with order 1 Centerline is valid? [False, False] Translation: X:-46.19, Y:2.76, Z:4.70 [[ 7.87027874e-01 6.16840440e-01 -9.74667348e-03 -4.61918183e+01] [-6.11941188e-01 7.82584667e-01 1.14408132e-01 2.76282133e+00] [ 7.81991600e-02 -8.40779983e-02 9.93386018e-01 4.70258177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72925976399995 meters Centerline goodness : 0.731982 with order 1 Centerline is valid? [False, False] Translation: X:-46.32, Y:2.73, Z:4.71 [[ 7.93573661e-01 6.08403481e-01 -9.27622309e-03 -4.63234098e+01] [-6.03643822e-01 7.89099508e-01 1.13736993e-01 2.73450377e+00] [ 7.65178454e-02 -8.46591469e-02 9.93467588e-01 4.70684211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78925976399995 meters Centerline goodness : 0.731033 with order 1 Centerline is valid? [False, False] Translation: X:-46.45, Y:2.71, Z:4.71 [[ 7.94852042e-01 6.06723546e-01 -9.83717478e-03 -4.64548580e+01] [-6.01994103e-01 7.90485841e-01 1.12850499e-01 2.70526339e+00] [ 7.62452020e-02 -8.37775280e-02 9.93563282e-01 4.71029953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84925976399995 meters Centerline goodness : 0.732345 with order 1 Centerline is valid? [False, False] Translation: X:-46.59, Y:2.68, Z:4.71 [[ 7.94320008e-01 6.07418015e-01 -9.95391585e-03 -4.65853454e+01] [-6.02531916e-01 7.89810030e-01 1.14697024e-01 2.67652413e+00] [ 7.75307409e-02 -8.51085886e-02 9.93350649e-01 4.71462277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90925976399996 meters Centerline goodness : 0.734337 with order 1 Centerline is valid? [False, False] Translation: X:-46.71, Y:2.65, Z:4.72 [[ 7.94532889e-01 6.07126597e-01 -1.07137027e-02 -4.67141261e+01] [-6.02226632e-01 7.90133386e-01 1.14071539e-01 2.64949828e+00] [ 7.77211197e-02 -8.41815125e-02 9.93414768e-01 4.71730173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96925976399996 meters Centerline goodness : 0.736907 with order 1 Centerline is valid? [False, False] Translation: X:-46.84, Y:2.62, Z:4.72 [[ 7.92353895e-01 6.09972907e-01 -1.04094857e-02 -4.68435976e+01] [-6.05016800e-01 7.87876937e-01 1.14911284e-01 2.62333860e+00] [ 7.82941635e-02 -8.47524897e-02 9.93321217e-01 4.72021580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02925976399996 meters Centerline goodness : 0.737209 with order 1 Centerline is valid? [False, False] Translation: X:-46.98, Y:2.60, Z:4.73 [[ 7.88401332e-01 6.15093638e-01 -9.11899129e-03 -4.69762963e+01] [-6.10096128e-01 7.83722246e-01 1.16456670e-01 2.59607553e+00] [ 7.87785132e-02 -8.62511325e-02 9.93153910e-01 4.72608503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08925976399996 meters Centerline goodness : 0.737308 with order 1 Centerline is valid? [False, False] Translation: X:-47.11, Y:2.57, Z:4.73 [[ 7.84966460e-01 6.19458059e-01 -9.96845394e-03 -4.71104449e+01] [-6.14670655e-01 7.80711292e-01 1.12560494e-01 2.56962794e+00] [ 7.75089895e-02 -8.22288960e-02 9.93594870e-01 4.73068441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14925976399996 meters Centerline goodness : 0.737902 with order 1 Centerline is valid? [False, False] Translation: X:-47.24, Y:2.54, Z:4.74 [[ 7.79224328e-01 6.26655336e-01 -1.06083181e-02 -4.72421343e+01] [-6.21937738e-01 7.75228999e-01 1.10514473e-01 2.54173781e+00] [ 7.74783601e-02 -7.95178528e-02 9.93817898e-01 4.73604025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20925976399994 meters Centerline goodness : 0.743234 with order 1 Centerline is valid? [False, False] Translation: X:-47.37, Y:2.52, Z:4.74 [[ 7.75447199e-01 6.31287740e-01 -1.25471469e-02 -4.73733058e+01] [-6.26392770e-01 7.71631294e-01 1.10531640e-01 2.51772082e+00] [ 7.94590405e-02 -7.78520086e-02 9.93793402e-01 4.73851229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26925976399994 meters Centerline goodness : 0.746470 with order 1 Centerline is valid? [False, False] Translation: X:-47.51, Y:2.49, Z:4.74 [[ 7.70941504e-01 6.36790463e-01 -1.21286632e-02 -4.75116821e+01] [-6.31806923e-01 7.67035558e-01 1.11698093e-01 2.49007443e+00] [ 8.04313965e-02 -7.84497227e-02 9.93668170e-01 4.74145361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32925976399994 meters Centerline goodness : 0.744806 with order 1 Centerline is valid? [False, False] Translation: X:-47.66, Y:2.46, Z:4.74 [[ 7.58597661e-01 6.51505240e-01 -8.39711778e-03 -4.76572979e+01] [-6.46547891e-01 7.54295762e-01 1.14077728e-01 2.46451520e+00] [ 8.06561479e-02 -8.11099589e-02 9.93436339e-01 4.74426208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38925976399995 meters Centerline goodness : 0.746623 with order 1 Centerline is valid? [False, False] Translation: X:-47.80, Y:2.43, Z:4.75 [[ 7.50335254e-01 6.61003922e-01 -8.41556866e-03 -4.78038374e+01] [-6.55984506e-01 7.46090925e-01 1.14160673e-01 2.43464987e+00] [ 8.17394321e-02 -8.01382950e-02 9.93426655e-01 4.74822997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44925976399995 meters Centerline goodness : 0.751584 with order 1 Centerline is valid? [False, False] Translation: X:-47.94, Y:2.41, Z:4.75 [[ 7.41777928e-01 6.70551624e-01 -1.12260895e-02 -4.79411112e+01] [-6.65448856e-01 7.38006697e-01 1.11910386e-01 2.40897314e+00] [ 8.33266205e-02 -7.55422660e-02 9.93654890e-01 4.75014423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50925976399995 meters Centerline goodness : 0.751678 with order 1 Centerline is valid? [False, False] Translation: X:-48.09, Y:2.38, Z:4.75 [[ 7.35122107e-01 6.77851718e-01 -1.06083153e-02 -4.80897542e+01] [-6.72600611e-01 7.31207828e-01 1.13769635e-01 2.37679658e+00] [ 8.48758259e-02 -7.64994146e-02 9.93450519e-01 4.75361597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56925976399995 meters Centerline goodness : 0.750275 with order 1 Centerline is valid? [False, False] Translation: X:-48.25, Y:2.34, Z:4.76 [[ 7.29564674e-01 6.83828062e-01 -1.07036937e-02 -4.82451198e+01] [-6.78514815e-01 7.25681052e-01 1.14037957e-01 2.34455211e+00] [ 8.57498225e-02 -7.59354498e-02 9.93418731e-01 4.75814914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62925976399995 meters Centerline goodness : 0.752269 with order 1 Centerline is valid? [False, False] Translation: X:-48.40, Y:2.31, Z:4.76 [[ 7.26948751e-01 6.86565155e-01 -1.31833705e-02 -4.84014385e+01] [-6.81182529e-01 7.23410683e-01 1.12549305e-01 2.30705189e+00] [ 8.68094223e-02 -7.28372951e-02 9.93558681e-01 4.76265901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68925976399996 meters Centerline goodness : 0.750836 with order 1 Centerline is valid? [False, False] Translation: X:-48.56, Y:2.27, Z:4.77 [[ 7.29881528e-01 6.83467887e-01 -1.20250540e-02 -4.85613250e+01] [-6.78041401e-01 7.26096006e-01 1.14212298e-01 2.27085180e+00] [ 8.67917819e-02 -7.52079625e-02 9.93383586e-01 4.76805851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74925976399996 meters Centerline goodness : 0.753022 with order 1 Centerline is valid? [False, False] Translation: X:-48.72, Y:2.23, Z:4.77 [[ 7.32229660e-01 6.80963571e-01 -1.13287465e-02 -4.87160387e+01] [-6.75467400e-01 7.28245656e-01 1.15767247e-01 2.23437763e+00] [ 8.70833882e-02 -7.71160127e-02 9.93211762e-01 4.77144859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80925976399996 meters Centerline goodness : 0.752427 with order 1 Centerline is valid? [False, False] Translation: X:-48.87, Y:2.19, Z:4.78 [[ 7.35099739e-01 6.77877272e-01 -1.05251188e-02 -4.88732072e+01] [-6.72238325e-01 7.30821614e-01 1.18302171e-01 2.19227646e+00] [ 8.78863371e-02 -7.98885066e-02 9.92921859e-01 4.77649980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86925976399996 meters Centerline goodness : 0.752886 with order 1 Centerline is valid? [False, False] Translation: X:-49.03, Y:2.15, Z:4.78 [[ 7.44183042e-01 6.67892631e-01 -1.05372286e-02 -4.90265645e+01] [-6.62450130e-01 7.39960030e-01 1.16700383e-01 2.15362283e+00] [ 8.57404540e-02 -7.98660578e-02 9.93111266e-01 4.78197021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92925976399997 meters Centerline goodness : 0.753854 with order 1 Centerline is valid? [False, False] Translation: X:-49.18, Y:2.12, Z:4.79 [[ 7.49043012e-01 6.62452425e-01 -9.55772266e-03 -4.91818378e+01] [-6.57111022e-01 7.44688688e-01 1.16806943e-01 2.11546956e+00] [ 8.44965705e-02 -8.12129394e-02 9.93108649e-01 4.78697144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98925976399994 meters Centerline goodness : 0.753895 with order 1 Centerline is valid? [False, False] Translation: X:-49.33, Y:2.08, Z:4.79 [[ 7.55990790e-01 6.54512641e-01 -9.54608741e-03 -4.93280320e+01] [-6.49144651e-01 7.51506894e-01 1.17680117e-01 2.07833462e+00] [ 8.41970745e-02 -8.27682929e-02 9.93005671e-01 4.79156675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04925976399994 meters Centerline goodness : 0.752916 with order 1 Centerline is valid? [False, False] Translation: X:-49.47, Y:2.04, Z:4.80 [[ 7.62585552e-01 6.46822015e-01 -9.19551359e-03 -4.94725372e+01] [-6.41486808e-01 7.57975653e-01 1.18184535e-01 2.04159367e+00] [ 8.34143344e-02 -8.42270181e-02 9.92949071e-01 4.79591455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10925976399994 meters Centerline goodness : 0.752561 with order 1 Centerline is valid? [False, False] Translation: X:-49.62, Y:2.00, Z:4.80 [[ 7.69091682e-01 6.39087576e-01 -8.06563038e-03 -4.96197915e+01] [-6.33966150e-01 7.64409174e-01 1.17326620e-01 2.00423096e+00] [ 8.11474272e-02 -8.51215911e-02 9.93060627e-01 4.80018334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16925976399995 meters Centerline goodness : 0.752788 with order 1 Centerline is valid? [False, False] Translation: X:-49.77, Y:1.97, Z:4.81 [[ 7.70314456e-01 6.37636824e-01 -5.90922869e-03 -4.97680602e+01] [-6.32589046e-01 7.65317576e-01 1.18828051e-01 1.96856157e+00] [ 8.02915779e-02 -8.77968524e-02 9.92897263e-01 4.80606523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22925976399995 meters Centerline goodness : 0.753137 with order 1 Centerline is valid? [False, False] Translation: X:-49.91, Y:1.93, Z:4.81 [[ 7.68531595e-01 6.39777386e-01 -6.63963297e-03 -4.99122790e+01] [-6.34638973e-01 7.63593926e-01 1.18986096e-01 1.93466410e+00] [ 8.11945966e-02 -8.72308039e-02 9.92873720e-01 4.81168293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28925976399995 meters Centerline goodness : 0.751856 with order 1 Centerline is valid? [False, False] Translation: X:-50.06, Y:1.90, Z:4.82 [[ 7.66850512e-01 6.41796648e-01 -6.11190499e-03 -5.00579049e+01] [-6.36697681e-01 7.61890387e-01 1.18907950e-01 1.89967012e+00] [ 8.09713257e-02 -8.72931869e-02 9.92886471e-01 4.81751128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34925976399995 meters Centerline goodness : 0.753430 with order 1 Centerline is valid? [False, False] Translation: X:-50.21, Y:1.87, Z:4.82 [[ 7.63476546e-01 6.45807192e-01 -6.05268713e-03 -5.02070602e+01] [-6.40840018e-01 7.58701187e-01 1.17032391e-01 1.86597471e+00] [ 8.01725406e-02 -8.54726813e-02 9.93109654e-01 4.82281298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40925976399996 meters Centerline goodness : 0.757233 with order 1 Centerline is valid? [False, False] Translation: X:-50.35, Y:1.83, Z:4.83 [[ 7.57142300e-01 6.53216387e-01 -6.62492594e-03 -5.03519403e+01] [-6.48092602e-01 7.52397906e-01 1.17785271e-01 1.83326451e+00] [ 8.19238498e-02 -8.48866456e-02 9.93016989e-01 4.82832507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46925976399996 meters Centerline goodness : 0.755382 with order 1 Centerline is valid? [False, False] Translation: X:-50.50, Y:1.80, Z:4.83 [[ 7.55116520e-01 6.55559681e-01 -6.36756297e-03 -5.05006543e+01] [-6.50501017e-01 7.50426848e-01 1.17081054e-01 1.80077049e+00] [ 8.15320083e-02 -8.42677315e-02 9.93101949e-01 4.83352285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52925976399996 meters Centerline goodness : 0.754691 with order 1 Centerline is valid? [False, False] Translation: X:-50.65, Y:1.77, Z:4.84 [[ 7.47028623e-01 6.64731156e-01 -8.98475253e-03 -5.06492601e+01] [-6.59380984e-01 7.42601560e-01 1.17301496e-01 1.76624674e+00] [ 8.46460504e-02 -8.17032002e-02 9.93055705e-01 4.83757691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58925976399996 meters Centerline goodness : 0.756538 with order 1 Centerline is valid? [False, False] Translation: X:-50.80, Y:1.73, Z:4.84 [[ 7.47809876e-01 6.63840608e-01 -9.79980174e-03 -5.08020234e+01] [-6.58504810e-01 7.43517726e-01 1.16416519e-01 1.72941807e+00] [ 8.45683389e-02 -8.06042059e-02 9.93152132e-01 4.84315776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64925976399996 meters Centerline goodness : 0.759288 with order 1 Centerline is valid? [False, False] Translation: X:-50.96, Y:1.69, Z:4.85 [[ 7.47004175e-01 6.64788703e-01 -6.38297686e-03 -5.09604034e+01] [-6.59726094e-01 7.42433301e-01 1.16422827e-01 1.69068180e+00] [ 8.21355150e-02 -8.27573217e-02 9.93179230e-01 4.84998722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70925976399994 meters Centerline goodness : 0.759853 with order 1 Centerline is valid? [False, False] Translation: X:-51.12, Y:1.65, Z:4.86 [[ 7.49198131e-01 6.62341424e-01 -2.44939708e-03 -5.11150631e+01] [-6.57480070e-01 7.44136542e-01 1.18240286e-01 1.65440066e+00] [ 8.01381254e-02 -8.69749716e-02 9.92981991e-01 4.85589074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76925976399994 meters Centerline goodness : 0.760942 with order 1 Centerline is valid? [False, False] Translation: X:-51.26, Y:1.62, Z:4.86 [[ 7.48413430e-01 6.63220628e-01 -3.96695448e-03 -5.12639663e+01] [-6.58265600e-01 7.43525975e-01 1.17709490e-01 1.61757251e+00] [ 8.10168957e-02 -8.54840537e-02 9.93040150e-01 4.86131441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82925976399994 meters Centerline goodness : 0.759145 with order 1 Centerline is valid? [False, False] Translation: X:-51.42, Y:1.58, Z:4.87 [[ 7.51371381e-01 6.59864673e-01 -4.43413924e-03 -5.14155768e+01] [-6.54751334e-01 7.46351401e-01 1.19416401e-01 1.57792743e+00] [ 8.21080904e-02 -8.68228075e-02 9.92834358e-01 4.86812968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88925976399995 meters Centerline goodness : 0.757739 with order 1 Centerline is valid? [False, False] Translation: X:-51.57, Y:1.54, Z:4.88 [[ 7.53693688e-01 6.57225816e-01 -2.28949319e-04 -5.15716817e+01] [-6.52263477e-01 7.48045611e-01 1.22393299e-01 1.53803383e+00] [ 8.06113005e-02 -9.20977218e-02 9.92481651e-01 4.87552297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94925976399995 meters Centerline goodness : 0.759811 with order 1 Centerline is valid? [False, False] Translation: X:-51.72, Y:1.50, Z:4.88 [[ 7.57238132e-01 6.53137219e-01 1.47802878e-03 -5.17220940e+01] [-6.48260604e-01 7.51304338e-01 1.23693090e-01 1.50100786e+00] [ 7.96781114e-02 -9.46232722e-02 9.92319422e-01 4.88229096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00925976399995 meters Centerline goodness : 0.759628 with order 1 Centerline is valid? [False, False] Translation: X:-51.86, Y:1.46, Z:4.89 [[ 7.56631850e-01 6.53839025e-01 -1.66520236e-03 -5.18645317e+01] [-6.48669195e-01 7.50964079e-01 1.23617264e-01 1.46321535e+00] [ 8.20762987e-02 -9.24525940e-02 9.92328574e-01 4.88782688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06925976399995 meters Centerline goodness : 0.761036 with order 1 Centerline is valid? [False, False] Translation: X:-52.01, Y:1.43, Z:4.89 [[ 7.60895209e-01 6.48867672e-01 -3.03729567e-03 -5.20091954e+01] [-6.43634726e-01 7.55335929e-01 1.23296287e-01 1.42868416e+00] [ 8.22971531e-02 -9.18606448e-02 9.92365256e-01 4.89283586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12925976399995 meters Centerline goodness : 0.760293 with order 1 Centerline is valid? [False, False] Translation: X:-52.16, Y:1.39, Z:4.90 [[ 7.57327632e-01 6.53035060e-01 2.60569586e-04 -5.21597484e+01] [-6.48109164e-01 7.51566012e-01 1.22894430e-01 1.39126665e+00] [ 8.00585364e-02 -9.32402255e-02 9.92419715e-01 4.90126046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18925976399996 meters Centerline goodness : 0.760860 with order 1 Centerline is valid? [False, False] Translation: X:-52.31, Y:1.36, Z:4.91 [[ 7.54460439e-01 6.56344472e-01 -1.17485861e-03 -5.23052564e+01] [-6.51348442e-01 7.48935622e-01 1.21822170e-01 1.35577282e+00] [ 8.08372014e-02 -9.11447657e-02 9.92551247e-01 4.90861268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24925976399996 meters Centerline goodness : 0.760569 with order 1 Centerline is valid? [False, False] Translation: X:-52.45, Y:1.32, Z:4.91 [[ 7.53080608e-01 6.57917519e-01 -3.75978511e-03 -5.24518545e+01] [-6.52669562e-01 7.47770248e-01 1.21910213e-01 1.31981594e+00] [ 8.30183205e-02 -8.93543201e-02 9.92534011e-01 4.91494658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30925976399996 meters Centerline goodness : 0.762156 with order 1 Centerline is valid? [False, False] Translation: X:-52.60, Y:1.28, Z:4.92 [[ 7.50789709e-01 6.60528333e-01 -4.13936091e-03 -5.26022187e+01] [-6.55112731e-01 7.45406587e-01 1.23273394e-01 1.28075401e+00] [ 8.45110764e-02 -8.98406476e-02 9.92364115e-01 4.92209450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36925976399996 meters Centerline goodness : 0.761378 with order 1 Centerline is valid? [False, False] Translation: X:-52.75, Y:1.24, Z:4.93 [[ 7.49510233e-01 6.61984691e-01 -3.26806973e-03 -5.27517631e+01] [-6.56541127e-01 7.43961078e-01 1.24401219e-01 1.24246204e+00] [ 8.47830189e-02 -9.10943641e-02 9.92226616e-01 4.92983650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42925976399994 meters Centerline goodness : 0.763083 with order 1 Centerline is valid? [False, False] Translation: X:-52.90, Y:1.20, Z:4.94 [[ 7.48641162e-01 6.62968549e-01 -3.01888252e-03 -5.29039487e+01] [-6.57550705e-01 7.43089114e-01 1.24280483e-01 1.20460827e+00] [ 8.46373506e-02 -9.10564172e-02 9.92242535e-01 4.93704454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48925976399994 meters Centerline goodness : 0.761275 with order 1 Centerline is valid? [False, False] Translation: X:-53.05, Y:1.17, Z:4.94 [[ 7.53476394e-01 6.57471016e-01 -2.27744696e-03 -5.30539603e+01] [-6.52207664e-01 7.47873096e-01 1.23737608e-01 1.16739606e+00] [ 8.30571319e-02 -9.17479979e-02 9.92312359e-01 4.94304795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54925976399994 meters Centerline goodness : 0.760924 with order 1 Centerline is valid? [False, False] Translation: X:-53.21, Y:1.13, Z:4.95 [[ 7.56661172e-01 6.53805266e-01 1.59535730e-03 -5.32062464e+01] [-6.48861468e-01 7.50635584e-01 1.24599416e-01 1.12676165e+00] [ 8.02662221e-02 -9.53147056e-02 9.92205846e-01 4.95082975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60925976399994 meters Centerline goodness : 0.763922 with order 1 Centerline is valid? [False, False] Translation: X:-53.35, Y:1.09, Z:4.96 [[ 7.59216067e-01 6.50838062e-01 8.83309210e-04 -5.33521845e+01] [-6.45911082e-01 7.53300564e-01 1.23843184e-01 1.08903086e+00] [ 7.99364605e-02 -9.45942742e-02 9.92301409e-01 4.95647584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66925976399995 meters Centerline goodness : 0.764251 with order 1 Centerline is valid? [False, False] Translation: X:-53.50, Y:1.05, Z:4.97 [[ 7.64420614e-01 6.44709421e-01 3.29954233e-03 -5.34984217e+01] [-6.39845382e-01 7.58005527e-01 1.26591900e-01 1.04902727e+00] [ 7.91139194e-02 -9.88806550e-02 9.91949396e-01 4.96512318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72925976399995 meters Centerline goodness : 0.764853 with order 1 Centerline is valid? [False, False] Translation: X:-53.64, Y:1.01, Z:4.97 [[ 7.70427004e-01 6.37521472e-01 2.93328507e-03 -5.36406559e+01] [-6.32706463e-01 7.64027207e-01 1.26273351e-01 1.00962368e+00] [ 7.82608627e-02 -9.91403076e-02 9.91991148e-01 4.97194188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78925976399995 meters Centerline goodness : 0.763447 with order 1 Centerline is valid? [False, False] Translation: X:-53.77, Y:0.97, Z:4.98 [[ 7.74458077e-01 6.32624114e-01 1.19082795e-03 -5.37749324e+01] [-6.28013357e-01 7.68583990e-01 1.21974889e-01 9.74048375e-01] [ 7.62490047e-02 -9.52122937e-02 9.92532472e-01 4.97947847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84925976399995 meters Centerline goodness : 0.763742 with order 1 Centerline is valid? [False, False] Translation: X:-53.91, Y:0.94, Z:4.99 [[ 7.78202586e-01 6.28011386e-01 1.55990463e-03 -5.39121755e+01] [-6.23377882e-01 7.72154964e-01 1.23193862e-01 9.36565322e-01] [ 7.61626601e-02 -9.68421922e-02 9.92381398e-01 4.98605081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90925976399996 meters Centerline goodness : 0.763868 with order 1 Centerline is valid? [False, False] Translation: X:-54.05, Y:0.90, Z:4.99 [[ 7.85114928e-01 6.19343111e-01 2.94278692e-03 -5.40507445e+01] [-6.14884438e-01 7.78875715e-01 1.23570822e-01 8.98311691e-01] [ 7.42406724e-02 -9.88267713e-02 9.92331392e-01 4.99439520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96925976399996 meters Centerline goodness : 0.762655 with order 1 Centerline is valid? [False, False] Translation: X:-54.18, Y:0.87, Z:5.00 [[ 7.86306446e-01 6.17834619e-01 1.59884969e-03 -5.41755849e+01] [-6.13821888e-01 7.80899754e-01 1.15837231e-01 8.65400153e-01] [ 7.03197103e-02 -9.20649706e-02 9.93266923e-01 5.00346866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02925976399996 meters Centerline goodness : 0.766108 with order 1 Centerline is valid? [False, False] Translation: X:-54.30, Y:0.83, Z:5.01 [[ 7.85662218e-01 6.18652806e-01 1.89348753e-03 -5.43019648e+01] [-6.14927586e-01 7.80588534e-01 1.12007162e-01 8.32786041e-01] [ 6.78155106e-02 -8.91641533e-02 9.93705595e-01 5.01233519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08925976399996 meters Centerline goodness : 0.765556 with order 1 Centerline is valid? [False, False] Translation: X:-54.43, Y:0.80, Z:5.02 [[ 7.83945519e-01 6.20822513e-01 2.97162103e-03 -5.44283977e+01] [-6.17517548e-01 7.79260535e-01 1.06888241e-01 8.00937326e-01] [ 6.40429591e-02 -8.56295854e-02 9.94266601e-01 5.02054241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14925976399996 meters Centerline goodness : 0.766245 with order 1 Centerline is valid? [False, False] Translation: X:-54.54, Y:0.77, Z:5.03 [[ 7.79850942e-01 6.25964977e-01 -5.95672778e-04 -5.45432239e+01] [-6.22479792e-01 7.75608546e-01 1.04643647e-01 7.70152868e-01] [ 6.59652671e-02 -8.12356526e-02 9.94509604e-01 5.02770902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20925976399994 meters Centerline goodness : 0.764196 with order 1 Centerline is valid? [False, False] Translation: X:-54.68, Y:0.73, Z:5.03 [[ 7.80972200e-01 6.24565384e-01 -7.09868126e-04 -5.46803736e+01] [-6.20935055e-01 7.76554117e-01 1.06786524e-01 7.33361272e-01] [ 6.72464171e-02 -8.29565243e-02 9.94281718e-01 5.03293686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26925976399994 meters Centerline goodness : 0.764733 with order 1 Centerline is valid? [False, False] Translation: X:-54.82, Y:0.70, Z:5.04 [[ 7.84102857e-01 6.20626971e-01 2.20756764e-03 -5.48214819e+01] [-6.17175905e-01 7.79358102e-01 1.08142735e-01 6.96277679e-01] [ 6.53958123e-02 -8.61574850e-02 9.94132926e-01 5.03881301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32925976399994 meters Centerline goodness : 0.765811 with order 1 Centerline is valid? [False, False] Translation: X:-54.96, Y:0.66, Z:5.05 [[ 7.88075842e-01 6.15566457e-01 3.79527374e-03 -5.49563587e+01] [-6.12236409e-01 7.83141221e-01 1.08887138e-01 6.60546354e-01] [ 6.40550345e-02 -8.81349277e-02 9.94046874e-01 5.04515024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38925976399995 meters Centerline goodness : 0.768126 with order 1 Centerline is valid? [False, False] Translation: X:-55.08, Y:0.63, Z:5.05 [[ 7.88493385e-01 6.15011187e-01 6.27863277e-03 -5.50787987e+01] [-6.12024401e-01 7.83572115e-01 1.06962021e-01 6.28035135e-01] [ 6.08630781e-02 -8.81815227e-02 9.94243282e-01 5.05474408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44925976399995 meters Centerline goodness : 0.767855 with order 1 Centerline is valid? [False, False] Translation: X:-55.21, Y:0.59, Z:5.06 [[ 7.90311094e-01 6.12685461e-01 4.99007700e-03 -5.52079147e+01] [-6.09567763e-01 7.85414160e-01 1.07479022e-01 5.92362445e-01] [ 6.19315568e-02 -8.79836533e-02 9.94194830e-01 5.05976350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50925976399995 meters Centerline goodness : 0.766288 with order 1 Centerline is valid? [False, False] Translation: X:-55.33, Y:0.56, Z:5.07 [[ 7.90813971e-01 6.12055310e-01 1.24921984e-03 -5.53324417e+01] [-6.08708422e-01 7.86273110e-01 1.06059669e-01 5.56627227e-01] [ 6.39321559e-02 -8.46338790e-02 9.94358982e-01 5.06575531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56925976399995 meters Centerline goodness : 0.768389 with order 1 Centerline is valid? [False, False] Translation: X:-55.46, Y:0.52, Z:5.07 [[ 7.94388476e-01 6.07406971e-01 1.92906452e-03 -5.54640091e+01] [-6.04247695e-01 7.89925041e-01 1.04418159e-01 5.21054233e-01] [ 6.19005014e-02 -8.41142152e-02 9.94531612e-01 5.07211421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62925976399995 meters Centerline goodness : 0.768330 with order 1 Centerline is valid? [False, False] Translation: X:-55.59, Y:0.49, Z:5.08 [[ 7.96802208e-01 6.04231732e-01 3.20239239e-03 -5.55907123e+01] [-6.01057038e-01 7.92050175e-01 1.06709691e-01 4.85741308e-01] [ 6.19409257e-02 -8.69513376e-02 9.94285063e-01 5.07887077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68925976399996 meters Centerline goodness : 0.766939 with order 1 Centerline is valid? [False, False] Translation: X:-55.71, Y:0.45, Z:5.08 [[ 7.99295297e-01 6.00931665e-01 2.85706871e-03 -5.57137492e+01] [-5.97556147e-01 7.94283861e-01 1.09726019e-01 4.50759190e-01] [ 6.36685156e-02 -8.94107497e-02 9.93957765e-01 5.08445896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74925976399996 meters Centerline goodness : 0.768723 with order 1 Centerline is valid? [False, False] Translation: X:-55.83, Y:0.42, Z:5.09 [[ 8.00424276e-01 5.99433828e-01 2.53928464e-04 -5.58286496e+01] [-5.96251254e-01 7.96130846e-01 1.03247846e-01 4.19279223e-01] [ 6.16880914e-02 -8.27934876e-02 9.94655628e-01 5.09232819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80925976399996 meters Centerline goodness : 0.767384 with order 1 Centerline is valid? [False, False] Translation: X:-55.96, Y:0.38, Z:5.10 [[ 8.02011563e-01 5.97308001e-01 7.77672561e-04 -5.59573468e+01] [-5.94096230e-01 7.97562887e-01 1.04609323e-01 3.82996195e-01] [ 6.18637427e-02 -8.43598988e-02 9.94513089e-01 5.09811345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86925976399996 meters Centerline goodness : 0.765988 with order 1 Centerline is valid? [False, False] Translation: X:-56.08, Y:0.35, Z:5.11 [[ 8.00733378e-01 5.99013043e-01 3.07107259e-03 -5.60829015e+01] [-5.96317835e-01 7.96623098e-01 9.89781781e-02 3.48253613e-01] [ 5.68427322e-02 -8.10864663e-02 9.95084865e-01 5.10614201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92925976399994 meters Centerline goodness : 0.766948 with order 1 Centerline is valid? [False, False] Translation: X:-56.20, Y:0.32, Z:5.11 [[ 8.01764811e-01 5.97634972e-01 2.37240672e-03 -5.61972607e+01] [-5.95192455e-01 7.98116569e-01 9.35728812e-02 3.18234458e-01] [ 5.40289692e-02 -7.64354820e-02 9.95609606e-01 5.11346540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98925976399994 meters Centerline goodness : 0.767204 with order 1 Centerline is valid? [False, False] Translation: X:-56.32, Y:0.29, Z:5.12 [[ 7.98740210e-01 6.01664545e-01 3.72191004e-03 -5.63167881e+01] [-5.99460433e-01 7.95253310e-01 9.06606974e-02 2.87097324e-01] [ 5.15874660e-02 -7.46454822e-02 9.95874884e-01 5.12094303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04925976399994 meters Centerline goodness : 0.767319 with order 1 Centerline is valid? [False, False] Translation: X:-56.45, Y:0.25, Z:5.13 [[ 7.99837791e-01 6.00185480e-01 6.07435446e-03 -5.64467880e+01] [-5.97956232e-01 7.95907967e-01 9.47568087e-02 2.52097527e-01] [ 5.20370336e-02 -7.94222746e-02 9.95481918e-01 5.12640616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10925976399994 meters Centerline goodness : 0.768787 with order 1 Centerline is valid? [False, False] Translation: X:-56.56, Y:0.22, Z:5.14 [[ 8.00474648e-01 5.99322588e-01 7.26456917e-03 -5.65643873e+01] [-5.97438368e-01 7.96869354e-01 8.98144187e-02 2.20614433e-01] [ 4.80388973e-02 -7.62342975e-02 9.95932024e-01 5.13533364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16925976399995 meters Centerline goodness : 0.765382 with order 1 Centerline is valid? [False, False] Translation: X:-56.69, Y:0.19, Z:5.14 [[ 8.02066609e-01 5.97185192e-01 7.68117107e-03 -5.66876177e+01] [-5.95213821e-01 7.98229571e-01 9.24665370e-02 1.86573207e-01] [ 4.90883088e-02 -7.87362610e-02 9.95686165e-01 5.14072672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22925976399995 meters Centerline goodness : 0.765409 with order 1 Centerline is valid? [False, False] Translation: X:-56.81, Y:0.15, Z:5.15 [[ 8.02439995e-01 5.96662407e-01 9.16654129e-03 -5.68103518e+01] [-5.94598556e-01 7.98177634e-01 9.67730420e-02 1.52839585e-01] [ 5.04243080e-02 -8.31049716e-02 9.95264263e-01 5.14663941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28925976399995 meters Centerline goodness : 0.767349 with order 1 Centerline is valid? [False, False] Translation: X:-56.93, Y:0.12, Z:5.15 [[ 8.03770524e-01 5.94893330e-01 7.40746561e-03 -5.69345101e+01] [-5.92629045e-01 7.99490862e-01 9.80060074e-02 1.16040536e-01] [ 5.23809191e-02 -8.31642192e-02 9.95158255e-01 5.15280731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34925976399995 meters Centerline goodness : 0.765430 with order 1 Centerline is valid? [False, False] Translation: X:-57.04, Y:0.08, Z:5.15 [[ 8.10812961e-01 5.85297047e-01 -3.11586369e-03 -5.70435256e+01] [-5.82365396e-01 8.07261775e-01 9.58069495e-02 8.06148622e-02] [ 5.85908422e-02 -7.58669452e-02 9.95395057e-01 5.15481727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40925976399996 meters Centerline goodness : 0.760725 with order 1 Centerline is valid? [False, False] Translation: X:-57.15, Y:0.05, Z:5.16 [[ 8.17720155e-01 5.75532580e-01 -9.79781090e-03 -5.71500881e+01] [-5.72075692e-01 8.14458022e-01 9.68892864e-02 4.53168349e-02] [ 6.37428466e-02 -7.36232329e-02 9.95246939e-01 5.15860001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46925976399996 meters Centerline goodness : 0.749784 with order 1 Centerline is valid? [False, False] Translation: X:-57.25, Y:0.02, Z:5.16 [[ 8.23219827e-01 5.67356880e-01 -2.03785896e-02 -5.72453651e+01] [-5.63988562e-01 8.21388327e-01 8.50771309e-02 1.50807509e-02] [ 6.50078312e-02 -5.85438895e-02 9.96165947e-01 5.16343320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52925976399996 meters Centerline goodness : 0.738190 with order 3 Centerline is valid? [False, False] Translation: X:-57.35, Y:-0.00, Z:5.17 [[ 8.00210892e-01 5.98798564e-01 -3.32085515e-02 -5.73495164e+01] [-5.95534030e-01 7.99938080e-01 7.37447452e-02 -2.72185224e-03] [ 7.07230325e-02 -3.92345258e-02 9.96724087e-01 5.16582848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58925976399996 meters Centerline goodness : 0.711378 with order 1 Centerline is valid? [False, False] Translation: X:-57.48, Y:-0.03, Z:5.17 [[ 7.76705311e-01 6.29009229e-01 -3.28062417e-02 -5.74767575e+01] [-6.25589445e-01 7.76444762e-01 7.59695867e-02 -2.77898186e-02] [ 7.32578057e-02 -3.84827430e-02 9.96570305e-01 5.16837581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64925976399996 meters Centerline goodness : 0.746282 with order 3 Centerline is valid? [False, False] Translation: X:-57.62, Y:-0.06, Z:5.17 [[ 7.39115606e-01 6.72693531e-01 -3.45186206e-02 -5.76206831e+01] [-6.68926684e-01 7.39059048e-01 7.95538560e-02 -5.51128346e-02] [ 7.90266632e-02 -3.57090701e-02 9.96232728e-01 5.17250537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70925976399994 meters Centerline goodness : 0.740522 with order 3 Centerline is valid? [False, False] Translation: X:-57.77, Y:-0.09, Z:5.18 [[ 7.07920138e-01 7.05227234e-01 -3.87766375e-02 -5.77666597e+01] [-7.00975170e-01 7.08255018e-01 8.37176292e-02 -8.92578545e-02] [ 8.65037001e-02 -3.20839356e-02 9.95734769e-01 5.17921843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76925976399994 meters Centerline goodness : 0.632257 with order 1 Centerline is valid? [False, False] Translation: X:-57.93, Y:-0.13, Z:5.19 [[ 6.68045432e-01 7.42779934e-01 -4.46460507e-02 -5.79288175e+01] [-7.37795751e-01 6.68980049e-01 9.01283750e-02 -1.27599870e-01] [ 9.68128657e-02 -2.72701828e-02 9.94928945e-01 5.18697997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82925976399994 meters Centerline goodness : 0.714280 with order 1 Centerline is valid? [False, False] Translation: X:-58.09, Y:-0.17, Z:5.19 [[ 5.97884629e-01 7.99756416e-01 -5.40707425e-02 -5.80945559e+01] [-7.92965048e-01 5.99974427e-01 1.06005282e-01 -1.66052921e-01] [ 1.17219467e-01 -2.05027200e-02 9.92894372e-01 5.19113350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88925976399995 meters Centerline goodness : 0.743427 with order 2 Centerline is valid? [False, False] Translation: X:-58.27, Y:-0.22, Z:5.20 [[ 4.99707379e-01 8.63590586e-01 -6.71106179e-02 -5.82687855e+01] [-8.53277432e-01 5.04106170e-01 1.33396379e-01 -2.17239768e-01] [ 1.49030734e-01 -9.39517911e-03 9.88787930e-01 5.19843755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94925976399995 meters Centerline goodness : 0.730347 with order 2 Centerline is valid? [False, False] Translation: X:-58.53, Y:-0.31, Z:5.22 [[ 4.14571878e-01 9.06398622e-01 -8.10660016e-02 -5.85261965e+01] [-8.92310243e-01 4.22376585e-01 1.59312428e-01 -3.05659551e-01] [ 1.78640946e-01 6.28957121e-03 9.83894229e-01 5.21808013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00925976399995 meters Centerline goodness : 0.573978 with order 1 Centerline is valid? [False, False] Translation: X:-58.83, Y:-0.42, Z:5.25 [[ 2.71340125e-01 9.56443094e-01 -1.07662179e-01 -5.88338332e+01] [-9.35428057e-01 2.88393239e-01 2.04459508e-01 -4.17179051e-01] [ 2.26602929e-01 4.52321540e-02 9.72936362e-01 5.24790246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06925976399995 meters Centerline goodness : 0.407194 with order 2 Centerline is valid? [False, False] Translation: X:-59.04, Y:-0.49, Z:5.27 [[ 0.18342436 0.97506039 -0.12495095 -59.03855206] [ -0.95123235 0.20811981 0.22769095 -0.48850356] [ 0.2480172 0.07709332 0.96568322 5.27001846] [ 0. 0. 0. 1. ]] SLAMing on 245.12925976399995 meters Centerline goodness : 0.351397 with order 2 Centerline is valid? [False, False] Translation: X:-59.15, Y:-0.50, Z:5.28 [[ 0.13085131 0.98295744 -0.12912243 -59.14562802] [ -0.96090562 0.15780127 0.22750637 -0.50307588] [ 0.24400476 0.09430497 0.96517783 5.27675225] [ 0. 0. 0. 1. ]] SLAMing on 245.18925976399996 meters Centerline goodness : 0.337296 with order 2 Centerline is valid? [False, False] Translation: X:-59.22, Y:-0.48, Z:5.27 [[ 0.09788406 0.98951624 -0.10619006 -59.21624813] [ -0.96913706 0.11903527 0.21587952 -0.48263905] [ 0.22625665 0.08178156 0.97062851 5.27119559] [ 0. 0. 0. 1. ]] SLAMing on 245.24925976399996 meters Centerline goodness : 0.341297 with order 2 Centerline is valid? [False, False] Translation: X:-59.17, Y:-0.43, Z:5.26 [[ 0.11162485 0.98874383 -0.09962694 -59.16603889] [ -0.97223522 0.12940634 0.19496842 -0.42903502] [ 0.20566618 0.0750975 0.97573654 5.26000516] [ 0. 0. 0. 1. ]] SLAMing on 245.30925976399996 meters Centerline goodness : 0.356722 with order 2 Centerline is valid? [False, False] Translation: X:-59.14, Y:-0.39, Z:5.25 [[ 0.14486484 0.98532353 -0.09028685 -59.14162735] [ -0.97021849 0.15936033 0.18242905 -0.38901465] [ 0.19413978 0.06117042 0.97906482 5.25102164] [ 0. 0. 0. 1. ]] SLAMing on 245.36925976399996 meters Centerline goodness : 0.500240 with order 2 Centerline is valid? [False, False] Translation: X:-59.11, Y:-0.36, Z:5.23 [[ 2.51066234e-01 9.63364585e-01 -9.43102498e-02 -5.91125775e+01] [-9.45025728e-01 2.65036585e-01 1.91525409e-01 -3.55604988e-01] [ 2.09504463e-01 4.10400492e-02 9.76946055e-01 5.22957870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42925976399994 meters Centerline goodness : 0.722794 with order 2 Centerline is valid? [False, False] Translation: X:-59.11, Y:-0.35, Z:5.22 [[ 3.40457980e-01 9.34811104e-01 -1.01077019e-01 -5.91094317e+01] [-9.12273753e-01 3.54442538e-01 2.05248841e-01 -3.54095924e-01] [ 2.27694891e-01 2.23313057e-02 9.73476425e-01 5.22026371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48925976399994 meters Centerline goodness : 0.629661 with order 1 Centerline is valid? [False, False] Translation: X:-59.10, Y:-0.38, Z:5.21 [[ 4.82004905e-01 8.70448603e-01 -9.99524925e-02 -5.90974431e+01] [-8.33732240e-01 4.90738199e-01 2.53113754e-01 -3.75768993e-01] [ 2.69373020e-01 -3.86684554e-02 9.62259283e-01 5.21454770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54925976399994 meters Centerline goodness : 0.618445 with order 1 Centerline is valid? [False, False] Translation: X:-59.20, Y:-0.44, Z:5.22 [[ 0.56744024 0.8165946 -0.10575842 -59.20244069] [ -0.76795254 0.57117687 0.28983768 -0.44202537] [ 0.29708665 -0.08324812 0.95121463 5.22292034] [ 0. 0. 0. 1. ]] SLAMing on 245.60925976399994 meters Centerline goodness : 0.675141 with order 2 Centerline is valid? [False, False] Translation: X:-59.42, Y:-0.55, Z:5.26 [[ 0.65928047 0.74624197 -0.09204452 -59.42295461] [ -0.69244924 0.65029601 0.31245663 -0.54898806] [ 0.29302443 -0.1422604 0.94546214 5.26032215] [ 0. 0. 0. 1. ]] SLAMing on 245.66925976399995 meters Centerline goodness : 0.724097 with order 3 Centerline is valid? [False, False] Translation: X:-59.63, Y:-0.63, Z:5.30 [[ 0.69610266 0.7144927 -0.07029411 -59.62872297] [ -0.66710921 0.67989458 0.30448096 -0.62541711] [ 0.26534201 -0.16505616 0.94992109 5.30036909] [ 0. 0. 0. 1. ]] SLAMing on 245.72925976399995 meters Centerline goodness : 0.724520 with order 1 Centerline is valid? [False, False] Translation: X:-59.81, Y:-0.71, Z:5.34 [[ 0.71991517 0.6911553 -0.06345461 -59.8122125 ] [ -0.65054953 0.70381777 0.28535217 -0.70818291] [ 0.24188315 -0.16414899 0.95631985 5.34024409] [ 0. 0. 0. 1. ]] SLAMing on 245.78925976399995 meters Centerline goodness : 0.735055 with order 3 Centerline is valid? [False, False] Translation: X:-59.98, Y:-0.78, Z:5.37 [[ 0.71747339 0.69323097 -0.06828434 -59.97723874] [ -0.65838997 0.70688052 0.25853933 -0.78396662] [ 0.22749634 -0.14053736 0.96358428 5.37427828] [ 0. 0. 0. 1. ]] SLAMing on 245.84925976399995 meters Centerline goodness : 0.740687 with order 3 Centerline is valid? [False, False] Translation: X:-60.15, Y:-0.85, Z:5.40 [[ 0.7004874 0.71002769 -0.0719589 -60.15193661] [ -0.6786686 0.69392986 0.24056243 -0.84984465] [ 0.22074041 -0.1196747 0.96796262 5.40079402] [ 0. 0. 0. 1. ]] SLAMing on 245.90925976399996 meters Centerline goodness : 0.732670 with order 3 Centerline is valid? [False, False] Translation: X:-60.33, Y:-0.89, Z:5.42 [[ 0.68523292 0.72450039 -0.07453211 -60.32622427] [ -0.69612052 0.68158962 0.22550345 -0.89040822] [ 0.21417765 -0.10263905 0.97138723 5.41539975] [ 0. 0. 0. 1. ]] SLAMing on 245.96925976399996 meters Centerline goodness : 0.730597 with order 3 Centerline is valid? [False, False] Translation: X:-60.50, Y:-0.93, Z:5.43 [[ 0.66719061 0.74091169 -0.07685412 -60.50344651] [ -0.71443392 0.66569847 0.21547557 -0.93336606] [ 0.21081004 -0.08885609 0.97348021 5.43094062] [ 0. 0. 0. 1. ]] SLAMing on 246.02925976399996 meters Centerline goodness : 0.727109 with order 1 Centerline is valid? [False, False] Translation: X:-60.69, Y:-0.98, Z:5.45 [[ 0.64669318 0.75950179 -0.07032047 -60.68989644] [ -0.73346237 0.64451537 0.21594649 -0.98069182] [ 0.20933437 -0.0880737 0.97386968 5.44887421] [ 0. 0. 0. 1. ]] SLAMing on 246.08925976399996 meters Centerline goodness : 0.743541 with order 1 Centerline is valid? [False, False] Translation: X:-60.88, Y:-1.03, Z:5.47 [[ 6.33467074e-01 7.71835248e-01 -5.46792077e-02 -6.08779178e+01] [-7.46379576e-01 6.28151268e-01 2.19871586e-01 -1.03088243e+00] [ 2.04051454e-01 -9.84699661e-02 9.73995210e-01 5.46635800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14925976399996 meters Centerline goodness : 0.746442 with order 1 Centerline is valid? [False, False] Translation: X:-61.05, Y:-1.08, Z:5.48 [[ 6.32706237e-01 7.72457014e-01 -5.47081323e-02 -6.10452769e+01] [-7.49422464e-01 6.28570512e-01 2.08002603e-01 -1.07699935e+00] [ 1.95060988e-01 -9.06050409e-02 9.76597121e-01 5.47833158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20925976399994 meters Centerline goodness : 0.747399 with order 1 Centerline is valid? [False, False] Translation: X:-61.21, Y:-1.12, Z:5.49 [[ 6.32119068e-01 7.73023612e-01 -5.34787698e-02 -6.12062923e+01] [-7.51907632e-01 6.28600843e-01 1.98735738e-01 -1.11941970e+00] [ 1.87244218e-01 -8.54135546e-02 9.78592932e-01 5.48926643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26925976399994 meters Centerline goodness : 0.756114 with order 1 Centerline is valid? [False, False] Translation: X:-61.39, Y:-1.17, Z:5.50 [[ 6.32087822e-01 7.73753370e-01 -4.20797856e-02 -6.13864244e+01] [-7.52780395e-01 6.26022590e-01 2.03512640e-01 -1.16962905e+00] [ 1.83811488e-01 -9.69610239e-02 9.78167622e-01 5.50240264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32925976399994 meters Centerline goodness : 0.756235 with order 1 Centerline is valid? [False, False] Translation: X:-61.54, Y:-1.22, Z:5.51 [[ 6.34739313e-01 7.71436469e-01 -4.46293532e-02 -6.15426227e+01] [-7.51311212e-01 6.29621049e-01 1.97759441e-01 -1.21776035e+00] [ 1.80658425e-01 -9.19951583e-02 9.79234101e-01 5.51304926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38925976399995 meters Centerline goodness : 0.755078 with order 1 Centerline is valid? [False, False] Translation: X:-61.70, Y:-1.27, Z:5.53 [[ 6.45222983e-01 7.62543311e-01 -4.70637975e-02 -6.17014420e+01] [-7.42875905e-01 6.40579970e-01 1.94403426e-01 -1.26892504e+00] [ 1.78389158e-01 -9.04709972e-02 9.79791971e-01 5.52525530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44925976399995 meters Centerline goodness : 0.760379 with order 1 Centerline is valid? [False, False] Translation: X:-61.88, Y:-1.32, Z:5.54 [[ 6.52495595e-01 7.56730995e-01 -4.00961278e-02 -6.18787383e+01] [-7.38274420e-01 6.46730629e-01 1.91547319e-01 -1.31875339e+00] [ 1.70881187e-01 -9.53818361e-02 9.80664023e-01 5.53698011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50925976399995 meters Centerline goodness : 0.757489 with order 1 Centerline is valid? [False, False] Translation: X:-62.03, Y:-1.36, Z:5.55 [[ 6.62726084e-01 7.47642349e-01 -4.27206580e-02 -6.20341048e+01] [-7.29497705e-01 6.57426993e-01 1.88740158e-01 -1.36328079e+00] [ 1.69195849e-01 -9.39184036e-02 9.81097395e-01 5.54791154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56925976399995 meters Centerline goodness : 0.758313 with order 1 Centerline is valid? [False, False] Translation: X:-62.20, Y:-1.41, Z:5.56 [[ 6.72872445e-01 7.38660389e-01 -4.02927234e-02 -6.22014974e+01] [-7.21573422e-01 6.67359977e-01 1.84289059e-01 -1.41154678e+00] [ 1.63016779e-01 -9.49288714e-02 9.82045844e-01 5.55885714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62925976399995 meters Centerline goodness : 0.762387 with order 1 Centerline is valid? [False, False] Translation: X:-62.37, Y:-1.46, Z:5.57 [[ 6.82934178e-01 7.29482161e-01 -3.81665546e-02 -6.23679769e+01] [-7.13645290e-01 6.77436430e-01 1.78298302e-01 -1.46159076e+00] [ 1.55920845e-01 -9.45286220e-02 9.83235999e-01 5.56919264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68925976399996 meters Centerline goodness : 0.756295 with order 1 Centerline is valid? [False, False] Translation: X:-62.51, Y:-1.50, Z:5.58 [[ 6.86517219e-01 7.25545341e-01 -4.77290896e-02 -6.25143125e+01] [-7.10202306e-01 6.83178769e-01 1.69939560e-01 -1.50290271e+00] [ 1.55906356e-01 -8.27691245e-02 9.84297963e-01 5.57594373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74925976399996 meters Centerline goodness : 0.753195 with order 1 Centerline is valid? [False, False] Translation: X:-62.67, Y:-1.55, Z:5.58 [[ 6.90892131e-01 7.21355297e-01 -4.81102727e-02 -6.26744566e+01] [-7.06703938e-01 6.87893693e-01 1.65444285e-01 -1.54744719e+00] [ 1.52438865e-01 -8.03044355e-02 9.85044969e-01 5.58428392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80925976399996 meters Centerline goodness : 0.759552 with order 1 Centerline is valid? [False, False] Translation: X:-62.84, Y:-1.60, Z:5.59 [[ 6.95987064e-01 7.16657422e-01 -4.47676865e-02 -6.28382141e+01] [-7.03094629e-01 6.92821280e-01 1.60176827e-01 -1.59718678e+00] [ 1.45807918e-01 -8.00050798e-02 9.86072633e-01 5.59337032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86925976399996 meters Centerline goodness : 0.761838 with order 1 Centerline is valid? [False, False] Translation: X:-62.99, Y:-1.64, Z:5.60 [[ 6.90963807e-01 7.21445772e-01 -4.56619794e-02 -6.29913199e+01] [-7.08594549e-01 6.88447295e-01 1.54706456e-01 -1.64078101e+00] [ 1.43048185e-01 -7.45407323e-02 9.86904705e-01 5.60074361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92925976399994 meters Centerline goodness : 0.761730 with order 1 Centerline is valid? [False, False] Translation: X:-63.16, Y:-1.69, Z:5.61 [[ 6.86406542e-01 7.25878501e-01 -4.41187086e-02 -6.31604208e+01] [-7.13914796e-01 6.84159786e-01 1.49167863e-01 -1.68783433e+00] [ 1.38461991e-01 -7.08927982e-02 9.87827155e-01 5.60769916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98925976399994 meters Centerline goodness : 0.762779 with order 1 Centerline is valid? [False, False] Translation: X:-63.32, Y:-1.73, Z:5.61 [[ 6.83967089e-01 7.28190449e-01 -4.39054874e-02 -6.33192951e+01] [-7.16744429e-01 6.81988677e-01 1.45495250e-01 -1.73300343e+00] [ 1.35891297e-01 -6.80449493e-02 9.88384257e-01 5.61333210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04925976399994 meters Centerline goodness : 0.758491 with order 1 Centerline is valid? [False, False] Translation: X:-63.48, Y:-1.78, Z:5.62 [[ 6.71548602e-01 7.39605452e-01 -4.47911903e-02 -6.34816954e+01] [-7.28547046e-01 6.70109284e-01 1.42030804e-01 -1.77679812e+00] [ 1.35061750e-01 -6.27480987e-02 9.88848320e-01 5.61729121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10925976399994 meters Centerline goodness : 0.762003 with order 1 Centerline is valid? [False, False] Translation: X:-63.65, Y:-1.82, Z:5.62 [[ 6.62691160e-01 7.47683762e-01 -4.25372628e-02 -6.36466167e+01] [-7.36542543e-01 6.60983205e-01 1.43548896e-01 -1.82333456e+00] [ 1.35445595e-01 -6.37980808e-02 9.88728626e-01 5.62409596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16925976399995 meters Centerline goodness : 0.763317 with order 1 Centerline is valid? [False, False] Translation: X:-63.81, Y:-1.87, Z:5.63 [[ 6.54473117e-01 7.54880900e-01 -4.26587084e-02 -6.38078547e+01] [-7.43815471e-01 6.52949851e-01 1.42811194e-01 -1.86774267e+00] [ 1.35659440e-01 -6.17358800e-02 9.88830217e-01 5.63117540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22925976399995 meters Centerline goodness : 0.762776 with order 1 Centerline is valid? [False, False] Translation: X:-63.97, Y:-1.92, Z:5.64 [[ 6.48306211e-01 7.60144264e-01 -4.33561380e-02 -6.39661225e+01] [-7.48765616e-01 6.46853430e-01 1.44674432e-01 -1.91642800e+00] [ 1.38018506e-01 -6.13297474e-02 9.88528985e-01 5.63812798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28925976399995 meters Centerline goodness : 0.765235 with order 1 Centerline is valid? [False, False] Translation: X:-64.13, Y:-1.97, Z:5.65 [[ 6.39973315e-01 7.67207544e-01 -4.27403776e-02 -6.41276650e+01] [-7.55598763e-01 6.38449344e-01 1.46468237e-01 -1.96994545e+00] [ 1.39659102e-01 -6.14411866e-02 9.88291615e-01 5.64527708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34925976399995 meters Centerline goodness : 0.763896 with order 1 Centerline is valid? [False, False] Translation: X:-64.28, Y:-2.02, Z:5.65 [[ 6.40208812e-01 7.66961568e-01 -4.36191390e-02 -6.42816809e+01] [-7.55173359e-01 6.38749122e-01 1.47352491e-01 -2.01529509e+00] [ 1.40875384e-01 -6.13963513e-02 9.88121761e-01 5.65092927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40925976399996 meters Centerline goodness : 0.754307 with order 1 Centerline is valid? [False, False] Translation: X:-64.43, Y:-2.06, Z:5.65 [[ 6.38049609e-01 7.68199183e-01 -5.25614993e-02 -6.44323162e+01] [-7.54861930e-01 6.37517544e-01 1.54126073e-01 -2.06305912e+00] [ 1.51908401e-01 -5.86634058e-02 9.86652139e-01 5.65205599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46925976399996 meters Centerline goodness : 0.751208 with order 1 Centerline is valid? [False, False] Translation: X:-64.60, Y:-2.12, Z:5.66 [[ 6.41665631e-01 7.65231577e-01 -5.18252010e-02 -6.45960425e+01] [-7.50301162e-01 6.40290214e-01 1.64549714e-01 -2.11553830e+00] [ 1.59101806e-01 -6.67013875e-02 9.85006366e-01 5.65731896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52925976399996 meters Centerline goodness : 0.764101 with order 1 Centerline is valid? [False, False] Translation: X:-64.77, Y:-2.17, Z:5.67 [[ 6.54793870e-01 7.54705366e-01 -4.08019389e-02 -6.47699624e+01] [-7.39837013e-01 6.51062220e-01 1.69585318e-01 -2.17067313e+00] [ 1.54551550e-01 -8.08566418e-02 9.84670514e-01 5.66728741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58925976399996 meters Centerline goodness : 0.758211 with order 1 Centerline is valid? [False, False] Translation: X:-64.91, Y:-2.22, Z:5.67 [[ 6.68115492e-01 7.42430595e-01 -4.91782690e-02 -6.49124985e+01] [-7.27902782e-01 6.65878372e-01 1.63595644e-01 -2.21595541e+00] [ 1.54205157e-01 -7.35037853e-02 9.85300951e-01 5.67349490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64925976399996 meters Centerline goodness : 0.753403 with order 1 Centerline is valid? [False, False] Translation: X:-65.06, Y:-2.26, Z:5.68 [[ 6.73892894e-01 7.36914478e-01 -5.31546803e-02 -6.50619437e+01] [-7.22575898e-01 6.72367833e-01 1.60641116e-01 -2.26200346e+00] [ 1.54118262e-01 -6.98466158e-02 9.85580546e-01 5.67921267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70925976399994 meters Centerline goodness : 0.757783 with order 1 Centerline is valid? [False, False] Translation: X:-65.23, Y:-2.31, Z:5.69 [[ 6.85572931e-01 7.26517740e-01 -4.64944058e-02 -6.52259914e+01] [-7.12732876e-01 6.82834172e-01 1.60466012e-01 -2.31212339e+00] [ 1.48329373e-01 -7.68730625e-02 9.85945703e-01 5.68632171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76925976399994 meters Centerline goodness : 0.759482 with order 1 Centerline is valid? [False, False] Translation: X:-65.39, Y:-2.36, Z:5.69 [[ 6.91968433e-01 7.20478024e-01 -4.57285961e-02 -6.53860017e+01] [-7.07437077e-01 6.89344891e-01 1.56001291e-01 -2.36166286e+00] [ 1.43918276e-01 -7.55978647e-02 9.86697772e-01 5.69374512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82925976399994 meters Centerline goodness : 0.761847 with order 1 Centerline is valid? [False, False] Translation: X:-65.55, Y:-2.41, Z:5.70 [[ 6.96525100e-01 7.16421786e-01 -3.99075222e-02 -6.55527043e+01] [-7.04281140e-01 6.93243078e-01 1.52977484e-01 -2.41155447e+00] [ 1.37262016e-01 -7.84465419e-02 9.87423556e-01 5.70289048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88925976399995 meters Centerline goodness : 0.764138 with order 1 Centerline is valid? [False, False] Translation: X:-65.71, Y:-2.46, Z:5.71 [[ 6.96567783e-01 7.16476791e-01 -3.81357051e-02 -6.57105205e+01] [-7.04962264e-01 6.93326413e-01 1.49421185e-01 -2.45659431e+00] [ 1.33497303e-01 -7.71977508e-02 9.88037943e-01 5.70988139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94925976399995 meters Centerline goodness : 0.757051 with order 1 Centerline is valid? [False, False] Translation: X:-65.86, Y:-2.50, Z:5.72 [[ 6.96818725e-01 7.15938818e-01 -4.33044355e-02 -6.58643575e+01] [-7.04716570e-01 6.94632309e-01 1.44431681e-01 -2.49967975e+00] [ 1.33484907e-01 -7.01253462e-02 9.88566748e-01 5.71602829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00925976399995 meters Centerline goodness : 0.756039 with order 1 Centerline is valid? [False, False] Translation: X:-66.02, Y:-2.55, Z:5.72 [[ 6.91538182e-01 7.21085649e-01 -4.25491508e-02 -6.60227337e+01] [-7.10073316e-01 6.89423727e-01 1.43146117e-01 -2.54797051e+00] [ 1.32555005e-01 -6.87779889e-02 9.88786508e-01 5.72380414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06925976399995 meters Centerline goodness : 0.759505 with order 1 Centerline is valid? [False, False] Translation: X:-66.18, Y:-2.60, Z:5.73 [[ 6.89606057e-01 7.23113756e-01 -3.93698081e-02 -6.61826938e+01] [-7.12334851e-01 6.87113269e-01 1.43018934e-01 -2.59544615e+00] [ 1.30470476e-01 -7.05822365e-02 9.88936602e-01 5.73101749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12925976399995 meters Centerline goodness : 0.758331 with order 1 Centerline is valid? [False, False] Translation: X:-66.34, Y:-2.64, Z:5.74 [[ 6.86671174e-01 7.25797215e-01 -4.12444124e-02 -6.63367645e+01] [-7.15270014e-01 6.84670287e-01 1.40055009e-01 -2.64335557e+00] [ 1.29890359e-01 -6.66708462e-02 9.89284334e-01 5.73809927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18925976399996 meters Centerline goodness : 0.759956 with order 1 Centerline is valid? [False, False] Translation: X:-66.50, Y:-2.69, Z:5.75 [[ 6.85748429e-01 7.26787612e-01 -3.91006318e-02 -6.64955416e+01] [-7.16559082e-01 6.83567379e-01 1.38847836e-01 -2.69152231e+00] [ 1.27640803e-01 -6.71967725e-02 9.89541520e-01 5.74565068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24925976399996 meters Centerline goodness : 0.763218 with order 1 Centerline is valid? [False, False] Translation: X:-66.66, Y:-2.74, Z:5.75 [[ 6.83732937e-01 7.28780497e-01 -3.72593378e-02 -6.66553385e+01] [-7.18855632e-01 6.81446041e-01 1.37396774e-01 -2.74043889e+00] [ 1.25522318e-01 -6.71586153e-02 9.89815068e-01 5.75307137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30925976399996 meters Centerline goodness : 0.762731 with order 1 Centerline is valid? [False, False] Translation: X:-66.81, Y:-2.79, Z:5.76 [[ 6.78520300e-01 7.33678343e-01 -3.64182892e-02 -6.68121222e+01] [-7.23513782e-01 6.76048925e-01 1.39591038e-01 -2.78544819e+00] [ 1.27035467e-01 -6.83662185e-02 9.89539312e-01 5.75808553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36925976399996 meters Centerline goodness : 0.759299 with order 1 Centerline is valid? [False, False] Translation: X:-66.97, Y:-2.83, Z:5.76 [[ 6.75332072e-01 7.36565914e-01 -3.73797695e-02 -6.69683071e+01] [-7.25949410e-01 6.72828589e-01 1.42475066e-01 -2.83393275e+00] [ 1.30092454e-01 -6.90821597e-02 9.89092315e-01 5.76462239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42925976399994 meters Centerline goodness : 0.760973 with order 1 Centerline is valid? [False, False] Translation: X:-67.12, Y:-2.88, Z:5.77 [[ 6.75524648e-01 7.36482853e-01 -3.54888293e-02 -6.71244036e+01] [-7.25761083e-01 6.72643524e-01 1.44296711e-01 -2.88388308e+00] [ 1.30143385e-01 -7.17195736e-02 9.88897872e-01 5.77209824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48925976399994 meters Centerline goodness : 0.764273 with order 1 Centerline is valid? [False, False] Translation: X:-67.28, Y:-2.93, Z:5.78 [[ 6.76387721e-01 7.35781548e-01 -3.35434833e-02 -6.72754032e+01] [-7.25331675e-01 6.73315187e-01 1.43319996e-01 -2.93141143e+00] [ 1.28037545e-01 -7.26097343e-02 9.89107787e-01 5.77805919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54925976399994 meters Centerline goodness : 0.763002 with order 1 Centerline is valid? [False, False] Translation: X:-67.43, Y:-2.98, Z:5.79 [[ 6.70251360e-01 7.41346174e-01 -3.41901314e-02 -6.74338005e+01] [-7.31001951e-01 6.67446072e-01 1.41957349e-01 -2.98101968e+00] [ 1.28059607e-01 -7.01540537e-02 9.89282137e-01 5.78584867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60925976399994 meters Centerline goodness : 0.765416 with order 1 Centerline is valid? [False, False] Translation: X:-67.59, Y:-3.03, Z:5.79 [[ 6.65792601e-01 7.45315987e-01 -3.49898718e-02 -6.75891274e+01] [-7.34754083e-01 6.63074236e-01 1.43069897e-01 -3.02846751e+00] [ 1.29833164e-01 -6.95459277e-02 9.89093885e-01 5.79362637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66925976399995 meters Centerline goodness : 0.761321 with order 1 Centerline is valid? [False, False] Translation: X:-67.74, Y:-3.08, Z:5.80 [[ 6.64981078e-01 7.45860469e-01 -3.86306429e-02 -6.77417059e+01] [-7.34816941e-01 6.62633639e-01 1.44778187e-01 -3.07828077e+00] [ 1.33582290e-01 -6.78883038e-02 9.88709740e-01 5.79929222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72925976399995 meters Centerline goodness : 0.765963 with order 1 Centerline is valid? [False, False] Translation: X:-67.90, Y:-3.13, Z:5.81 [[ 6.68081063e-01 7.43334470e-01 -3.34896985e-02 -6.78964728e+01] [-7.32196270e-01 6.64751962e-01 1.48301892e-01 -3.12514347e+00] [ 1.32500251e-01 -7.45566534e-02 9.88374923e-01 5.80868342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78925976399995 meters Centerline goodness : 0.772605 with order 1 Centerline is valid? [False, False] Translation: X:-68.05, Y:-3.18, Z:5.82 [[ 6.71381920e-01 7.40524580e-01 -2.94900645e-02 -6.80542376e+01] [-7.29503861e-01 6.67358026e-01 1.49857874e-01 -3.17640156e+00] [ 1.30653870e-01 -7.90987512e-02 9.88267653e-01 5.81675398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84925976399995 meters Centerline goodness : 0.767679 with order 1 Centerline is valid? [False, False] Translation: X:-68.20, Y:-3.23, Z:5.82 [[ 6.76993715e-01 7.35323877e-01 -3.12778879e-02 -6.81980151e+01] [-7.24176609e-01 6.73109908e-01 1.49970968e-01 -3.22557351e+00] [ 1.31330690e-01 -7.88786878e-02 9.88195529e-01 5.82476535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90925976399996 meters Centerline goodness : 0.767679 with order 1 Centerline is valid? [False, False] Translation: X:-68.35, Y:-3.28, Z:5.83 [[ 6.79689606e-01 7.32863636e-01 -3.05439163e-02 -6.83514472e+01] [-7.21774914e-01 6.75660399e-01 1.50079973e-01 -3.27568319e+00] [ 1.30625469e-01 -7.99619649e-02 9.88201938e-01 5.83377555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96925976399996 meters Centerline goodness : 0.769364 with order 1 Centerline is valid? [False, False] Translation: X:-68.50, Y:-3.33, Z:5.84 [[ 6.86628861e-01 7.26388435e-01 -3.00108151e-02 -6.85039149e+01] [-7.15631432e-01 6.82582159e-01 1.48166294e-01 -3.32507987e+00] [ 1.28111129e-01 -8.02585713e-02 9.88507006e-01 5.84341701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02925976399996 meters Centerline goodness : 0.771686 with order 1 Centerline is valid? [False, False] Translation: X:-68.66, Y:-3.37, Z:5.85 [[ 6.89303711e-01 7.23929526e-01 -2.80434411e-02 -6.86554217e+01] [-7.13578007e-01 6.85116964e-01 1.46359740e-01 -3.37217394e+00] [ 1.25167175e-01 -8.08751293e-02 9.88833855e-01 5.85100390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08925976399996 meters Centerline goodness : 0.771052 with order 1 Centerline is valid? [False, False] Translation: X:-68.81, Y:-3.42, Z:5.86 [[ 6.85841034e-01 7.27303774e-01 -2.55205180e-02 -6.88102639e+01] [-7.17262241e-01 6.81472582e-01 1.45361611e-01 -3.41893671e+00] [ 1.23113581e-01 -8.13900535e-02 9.89049395e-01 5.85847145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14925976399996 meters Centerline goodness : 0.766019 with order 1 Centerline is valid? [False, False] Translation: X:-68.96, Y:-3.47, Z:5.87 [[ 6.80471248e-01 7.32092887e-01 -3.16051594e-02 -6.89551943e+01] [-7.21544735e-01 6.76941328e-01 1.45339719e-01 -3.46621463e+00] [ 1.27797013e-01 -7.60949636e-02 9.88876878e-01 5.86584785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20925976399994 meters Centerline goodness : 0.766295 with order 1 Centerline is valid? [False, False] Translation: X:-69.11, Y:-3.51, Z:5.87 [[ 6.81210862e-01 7.31400032e-01 -3.17136260e-02 -6.91077878e+01] [-7.20872281e-01 6.77699055e-01 1.45145255e-01 -3.51428755e+00] [ 1.27651539e-01 -7.60130505e-02 9.88901967e-01 5.87298460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26925976399994 meters Centerline goodness : 0.769662 with order 1 Centerline is valid? [False, False] Translation: X:-69.26, Y:-3.56, Z:5.88 [[ 6.80287108e-01 7.32347242e-01 -2.96136353e-02 -6.92628892e+01] [-7.22112737e-01 6.76606026e-01 1.44074567e-01 -3.56352347e+00] [ 1.25549376e-01 -7.66276871e-02 9.89123628e-01 5.88042348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32925976399994 meters Centerline goodness : 0.769187 with order 1 Centerline is valid? [False, False] Translation: X:-69.42, Y:-3.61, Z:5.89 [[ 6.76893567e-01 7.35454515e-01 -3.03604344e-02 -6.94151631e+01] [-7.25278079e-01 6.73432321e-01 1.43040612e-01 -3.61156583e+00] [ 1.25645561e-01 -7.48035123e-02 9.89251044e-01 5.88840783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38925976399995 meters Centerline goodness : 0.770257 with order 1 Centerline is valid? [False, False] Translation: X:-69.57, Y:-3.66, Z:5.90 [[ 6.70540081e-01 7.41147541e-01 -3.28073477e-02 -6.95660705e+01] [-7.30771114e-01 6.67481165e-01 1.42977175e-01 -3.65681793e+00] [ 1.27865469e-01 -7.18972648e-02 9.89182089e-01 5.89651588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44925976399995 meters Centerline goodness : 0.773304 with order 1 Centerline is valid? [False, False] Translation: X:-69.72, Y:-3.70, Z:5.90 [[ 6.65420333e-01 7.45865108e-01 -3.00170171e-02 -6.97203334e+01] [-7.35435154e-01 6.61942701e-01 1.44799842e-01 -3.70497487e+00] [ 1.27870695e-01 -7.42771894e-02 9.89005553e-01 5.90340452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50925976399995 meters Centerline goodness : 0.773797 with order 1 Centerline is valid? [False, False] Translation: X:-69.88, Y:-3.76, Z:5.91 [[ 6.64628043e-01 7.46634579e-01 -2.83966364e-02 -6.98759373e+01] [-7.35988106e-01 6.60756413e-01 1.47385449e-01 -3.75594578e+00] [ 1.28806333e-01 -7.70569162e-02 9.88671412e-01 5.91131801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56925976399995 meters Centerline goodness : 0.774261 with order 1 Centerline is valid? [False, False] Translation: X:-70.02, Y:-3.80, Z:5.92 [[ 6.69120657e-01 7.42540413e-01 -3.01874473e-02 -7.00193462e+01] [-7.31693065e-01 6.65364286e-01 1.48039269e-01 -3.80248157e+00] [ 1.30010789e-01 -7.69681873e-02 9.88520659e-01 5.91863966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62925976399995 meters Centerline goodness : 0.772326 with order 1 Centerline is valid? [False, False] Translation: X:-70.16, Y:-3.85, Z:5.93 [[ 6.73947491e-01 7.38082301e-01 -3.20826365e-02 -7.01642611e+01] [-7.27043122e-01 6.70325395e-01 1.48567038e-01 -3.85038560e+00] [ 1.31160507e-01 -7.68009221e-02 9.88381778e-01 5.92638624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68925976399996 meters Centerline goodness : 0.767809 with order 1 Centerline is valid? [False, False] Translation: X:-70.30, Y:-3.90, Z:5.93 [[ 6.80160326e-01 7.32250590e-01 -3.45109424e-02 -7.03048487e+01] [-7.21003698e-01 6.76733425e-01 1.48948106e-01 -3.89764181e+00] [ 1.32422047e-01 -7.64260750e-02 9.88242610e-01 5.93382753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74925976399996 meters Centerline goodness : 0.771603 with order 1 Centerline is valid? [False, False] Translation: X:-70.45, Y:-3.95, Z:5.94 [[ 6.90401219e-01 7.22794487e-01 -3.02371637e-02 -7.04533069e+01] [-7.11787859e-01 6.86167429e-01 1.50107640e-01 -3.94648674e+00] [ 1.29244732e-01 -8.21120517e-02 9.88207170e-01 5.94206048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80925976399996 meters Centerline goodness : 0.774041 with order 1 Centerline is valid? [False, False] Translation: X:-70.60, Y:-3.99, Z:5.95 [[ 6.94804901e-01 7.18637620e-01 -2.83922487e-02 -7.06019743e+01] [-7.07849514e-01 6.90293456e-01 1.49813253e-01 -3.99449938e+00] [ 1.27260423e-01 -8.39935432e-02 9.88306566e-01 5.95096458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86925976399996 meters Centerline goodness : 0.768164 with order 1 Centerline is valid? [False, False] Translation: X:-70.74, Y:-4.04, Z:5.96 [[ 7.01317166e-01 7.12114191e-01 -3.23668164e-02 -7.07430036e+01] [-7.01556296e-01 6.97544982e-01 1.45772982e-01 -4.04229302e+00] [ 1.26384320e-01 -7.95259509e-02 9.88788464e-01 5.95850983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92925976399994 meters Centerline goodness : 0.767955 with order 1 Centerline is valid? [False, False] Translation: X:-70.89, Y:-4.09, Z:5.97 [[ 7.05005000e-01 7.08523410e-01 -3.10246327e-02 -7.08904377e+01] [-6.98521814e-01 7.01286424e-01 1.42353880e-01 -4.08854914e+00] [ 1.22618210e-01 -7.86888146e-02 9.89329493e-01 5.96628045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98925976399994 meters Centerline goodness : 0.770807 with order 1 Centerline is valid? [False, False] Translation: X:-71.04, Y:-4.14, Z:5.97 [[ 7.05297859e-01 7.08346295e-01 -2.82923325e-02 -7.10445335e+01] [-6.98829295e-01 7.01420330e-01 1.40168247e-01 -4.13823706e+00] [ 1.19132476e-01 -7.90888541e-02 9.89723399e-01 5.97459229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04925976399994 meters Centerline goodness : 0.773786 with order 1 Centerline is valid? [False, False] Translation: X:-71.19, Y:-4.18, Z:5.98 [[ 7.05323418e-01 7.08407431e-01 -2.60343673e-02 -7.11939206e+01] [-6.99187621e-01 7.01258894e-01 1.39185613e-01 -4.18187298e+00] [ 1.16856954e-01 -7.99679649e-02 9.89924026e-01 5.98235823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10925976399994 meters Centerline goodness : 0.765276 with order 1 Centerline is valid? [False, False] Translation: X:-71.34, Y:-4.23, Z:5.99 [[ 7.01852672e-01 7.11702555e-01 -2.97035246e-02 -7.13362810e+01] [-7.02523500e-01 6.98488724e-01 1.36287323e-01 -4.22718455e+00] [ 1.17743613e-01 -7.47861979e-02 9.90223947e-01 5.98985895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16925976399995 meters Centerline goodness : 0.768579 with order 1 Centerline is valid? [False, False] Translation: X:-71.48, Y:-4.27, Z:6.00 [[ 7.01197283e-01 7.12404562e-01 -2.83215669e-02 -7.14813786e+01] [-7.03345001e-01 6.97692101e-01 1.36130602e-01 -4.27128610e+00] [ 1.16739795e-01 -7.55345756e-02 9.90285993e-01 5.99779040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22925976399995 meters Centerline goodness : 0.767570 with order 1 Centerline is valid? [False, False] Translation: X:-71.63, Y:-4.32, Z:6.01 [[ 6.99276061e-01 7.14355272e-01 -2.66371139e-02 -7.16289141e+01] [-7.05371086e-01 6.95571359e-01 1.36499510e-01 -4.31814716e+00] [ 1.16037158e-01 -7.66617894e-02 9.90281954e-01 6.00555638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28925976399995 meters Centerline goodness : 0.767502 with order 1 Centerline is valid? [False, False] Translation: X:-71.78, Y:-4.37, Z:6.01 [[ 6.98720610e-01 7.14886576e-01 -2.69572465e-02 -7.17758339e+01] [-7.05932383e-01 6.95097629e-01 1.36010131e-01 -4.36530922e+00] [ 1.15969735e-01 -7.60030883e-02 9.90340624e-01 6.01340798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34925976399995 meters Centerline goodness : 0.765665 with order 1 Centerline is valid? [False, False] Translation: X:-71.92, Y:-4.41, Z:6.02 [[ 7.00775980e-01 7.12847792e-01 -2.75871465e-02 -7.19151126e+01] [-7.03949085e-01 6.97260777e-01 1.35214991e-01 -4.41141720e+00] [ 1.15623143e-01 -7.53354713e-02 9.90432156e-01 6.02104818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40925976399996 meters Centerline goodness : 0.757996 with order 1 Centerline is valid? [False, False] Translation: X:-72.05, Y:-4.45, Z:6.03 [[ 6.99857218e-01 7.13526617e-01 -3.28578983e-02 -7.20488915e+01] [-7.04483084e-01 6.97118559e-01 1.33151416e-01 -4.45422715e+00] [ 1.17912930e-01 -7.00391462e-02 9.90550887e-01 6.02667660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46925976399996 meters Centerline goodness : 0.759295 with order 1 Centerline is valid? [False, False] Translation: X:-72.20, Y:-4.50, Z:6.03 [[ 6.98634400e-01 7.14846399e-01 -3.00765860e-02 -7.21975203e+01] [-7.05828429e-01 6.95482965e-01 1.34572193e-01 -4.50177716e+00] [ 1.17116200e-01 -7.27878536e-02 9.90447234e-01 6.03452087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52925976399996 meters Centerline goodness : 0.762823 with order 1 Centerline is valid? [False, False] Translation: X:-72.35, Y:-4.55, Z:6.04 [[ 6.96895581e-01 7.16678603e-01 -2.66144499e-02 -7.23463294e+01] [-7.07738685e-01 6.93254099e-01 1.36032012e-01 -4.54906428e+00] [ 1.15941809e-01 -7.59640325e-02 9.90346890e-01 6.04309044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58925976399996 meters Centerline goodness : 0.761824 with order 1 Centerline is valid? [False, False] Translation: X:-72.49, Y:-4.59, Z:6.05 [[ 6.90724584e-01 7.22602279e-01 -2.73037563e-02 -7.24892097e+01] [-7.13427973e-01 6.87143372e-01 1.37311741e-01 -4.59335788e+00] [ 1.17983372e-01 -7.53653318e-02 9.90151499e-01 6.05075669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64925976399994 meters Centerline goodness : 0.759793 with order 1 Centerline is valid? [False, False] Translation: X:-72.64, Y:-4.64, Z:6.06 [[ 6.87970496e-01 7.25274716e-01 -2.59457744e-02 -7.26365238e+01] [-7.15859586e-01 6.84050500e-01 1.40071292e-01 -4.64031153e+00] [ 1.19338387e-01 -7.77913851e-02 9.89801419e-01 6.05897788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70925976399994 meters Centerline goodness : 0.764346 with order 1 Centerline is valid? [False, False] Translation: X:-72.77, Y:-4.69, Z:6.07 [[ 6.90178313e-01 7.23193046e-01 -2.54109329e-02 -7.27740403e+01] [-7.13797873e-01 6.86143701e-01 1.40354618e-01 -4.68660383e+00] [ 1.18939035e-01 -7.87314436e-02 9.89775159e-01 6.06719182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76925976399994 meters Centerline goodness : 0.767509 with order 1 Centerline is valid? [False, False] Translation: X:-72.92, Y:-4.73, Z:6.08 [[ 6.91866492e-01 7.21666373e-01 -2.27684772e-02 -7.29219121e+01] [-7.12431328e-01 6.87457204e-01 1.40869428e-01 -4.73365126e+00] [ 1.17313083e-01 -8.12418607e-02 9.89766336e-01 6.07702079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82925976399994 meters Centerline goodness : 0.765059 with order 1 Centerline is valid? [False, False] Translation: X:-73.07, Y:-4.78, Z:6.09 [[ 6.92119088e-01 7.21419340e-01 -2.29195090e-02 -7.30658947e+01] [-7.12045495e-01 6.87635572e-01 1.41945526e-01 -4.77987565e+00] [ 1.18162517e-01 -8.19234748e-02 9.89609096e-01 6.08543682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88925976399995 meters Centerline goodness : 0.761527 with order 1 Centerline is valid? [False, False] Translation: X:-73.20, Y:-4.82, Z:6.09 [[ 6.93332590e-01 7.20146302e-01 -2.60619227e-02 -7.31998627e+01] [-7.10572064e-01 6.89237780e-01 1.41557849e-01 -4.82283789e+00] [ 1.19905224e-01 -7.96277962e-02 9.89586859e-01 6.09225444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94925976399995 meters Centerline goodness : 0.759913 with order 1 Centerline is valid? [False, False] Translation: X:-73.34, Y:-4.87, Z:6.10 [[ 6.95585303e-01 7.17934058e-01 -2.70513388e-02 -7.33395708e+01] [-7.08299979e-01 6.91583007e-01 1.41506478e-01 -4.86860639e+00] [ 1.20300566e-01 -7.92693636e-02 9.89567654e-01 6.09998071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00925976399995 meters Centerline goodness : 0.761630 with order 1 Centerline is valid? [False, False] Translation: X:-73.48, Y:-4.92, Z:6.11 [[ 6.97161781e-01 7.16498745e-01 -2.43926013e-02 -7.34830913e+01] [-7.06863090e-01 6.92667283e-01 1.43375753e-01 -4.91618293e+00] [ 1.19624504e-01 -8.27138660e-02 9.89367674e-01 6.10925487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06925976399995 meters Centerline goodness : 0.761975 with order 1 Centerline is valid? [False, False] Translation: X:-73.62, Y:-4.96, Z:6.12 [[ 6.99309252e-01 7.14439536e-01 -2.32963379e-02 -7.36245250e+01] [-7.04862147e-01 6.94622606e-01 1.43766440e-01 -4.96117284e+00] [ 1.18894591e-01 -8.41164945e-02 9.89337400e-01 6.11750962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12925976399995 meters Centerline goodness : 0.760340 with order 1 Centerline is valid? [False, False] Translation: X:-73.76, Y:-5.01, Z:6.13 [[ 7.02186988e-01 7.11604776e-01 -2.34963100e-02 -7.37642201e+01] [-7.02012693e-01 6.97473452e-01 1.43906087e-01 -5.00928419e+00] [ 1.18792312e-01 -8.45542741e-02 9.89312368e-01 6.12619531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18925976399996 meters Centerline goodness : 0.761074 with order 1 Centerline is valid? [False, False] Translation: X:-73.90, Y:-5.06, Z:6.14 [[ 7.03862342e-01 7.09986952e-01 -2.22785153e-02 -7.39039398e+01] [-7.00284700e-01 6.98818432e-01 1.45787990e-01 -5.05930336e+00] [ 1.19076208e-01 -8.70133729e-02 9.89064977e-01 6.13639384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24925976399996 meters Centerline goodness : 0.760099 with order 1 Centerline is valid? [False, False] Translation: X:-74.04, Y:-5.11, Z:6.14 [[ 7.07310667e-01 7.06494594e-01 -2.40210166e-02 -7.40429285e+01] [-6.96838863e-01 7.02551699e-01 1.44349261e-01 -5.10867021e+00] [ 1.18857978e-01 -8.53609939e-02 9.89235200e-01 6.14496955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30925976399996 meters Centerline goodness : 0.751909 with order 1 Centerline is valid? [False, False] Translation: X:-74.17, Y:-5.15, Z:6.15 [[ 7.08556685e-01 7.04969453e-01 -3.10723897e-02 -7.41726180e+01] [-6.95277793e-01 7.04984189e-01 1.39950290e-01 -5.15213078e+00] [ 1.20566223e-01 -7.75587710e-02 9.89670866e-01 6.15283660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36925976399996 meters Centerline goodness : 0.758408 with order 1 Centerline is valid? [False, False] Translation: X:-74.32, Y:-5.20, Z:6.16 [[ 7.09207514e-01 7.04533255e-01 -2.56436292e-02 -7.43229493e+01] [-6.94992158e-01 7.04784524e-01 1.42354046e-01 -5.20329274e+00] [ 1.18366392e-01 -8.31364376e-02 9.89483567e-01 6.16405434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42925976399994 meters Centerline goodness : 0.762106 with order 1 Centerline is valid? [False, False] Translation: X:-74.47, Y:-5.25, Z:6.17 [[ 7.08111932e-01 7.05806566e-01 -2.03613331e-02 -7.44707694e+01] [-6.96483672e-01 7.02920480e-01 1.44268127e-01 -5.24967674e+00] [ 1.16137789e-01 -8.79766460e-02 9.89329128e-01 6.17375120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48925976399994 meters Centerline goodness : 0.756923 with order 1 Centerline is valid? [False, False] Translation: X:-74.61, Y:-5.29, Z:6.18 [[ 7.05380773e-01 7.08398123e-01 -2.46994949e-02 -7.46082169e+01] [-6.98899337e-01 7.00889419e-01 1.42456095e-01 -5.29491116e+00] [ 1.18227245e-01 -8.32233298e-02 9.89492898e-01 6.18231557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54925976399994 meters Centerline goodness : 0.760982 with order 1 Centerline is valid? [False, False] Translation: X:-74.76, Y:-5.35, Z:6.19 [[ 7.04732246e-01 7.09175501e-01 -2.05565362e-02 -7.47575816e+01] [-6.99682406e-01 6.99511919e-01 1.45353381e-01 -5.34621232e+00] [ 1.17460599e-01 -8.80521679e-02 9.89166226e-01 6.19429517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60925976399994 meters Centerline goodness : 0.763679 with order 1 Centerline is valid? [False, False] Translation: X:-74.91, Y:-5.40, Z:6.21 [[ 7.04986222e-01 7.09090822e-01 -1.35879738e-02 -7.49050869e+01] [-6.99897079e-01 6.98686728e-01 1.48259688e-01 -5.39529568e+00] [ 1.14623321e-01 -9.50108542e-02 9.88855112e-01 6.20537293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66925976399995 meters Centerline goodness : 0.763640 with order 1 Centerline is valid? [False, False] Translation: X:-75.05, Y:-5.44, Z:6.21 [[ 7.03078125e-01 7.10941222e-01 -1.56117931e-02 -7.50450160e+01] [-7.01847578e-01 6.97282880e-01 1.45624733e-01 -5.44085911e+00] [ 1.14416462e-01 -9.14284655e-02 9.89216715e-01 6.21425159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72925976399995 meters Centerline goodness : 0.762342 with order 1 Centerline is valid? [False, False] Translation: X:-75.18, Y:-5.49, Z:6.22 [[ 6.96755297e-01 7.17078167e-01 -1.81922332e-02 -7.51821389e+01] [-7.07829603e-01 6.91435973e-01 1.44546010e-01 -5.48713245e+00] [ 1.16229553e-01 -8.78361972e-02 9.89330831e-01 6.22488842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78925976399995 meters Centerline goodness : 0.762157 with order 1 Centerline is valid? [False, False] Translation: X:-75.33, Y:-5.54, Z:6.23 [[ 6.92940446e-01 7.20782324e-01 -1.75037095e-02 -7.53260687e+01] [-7.11442217e-01 6.87496814e-01 1.45595680e-01 -5.53552923e+00] [ 1.16976537e-01 -8.84362573e-02 9.89189324e-01 6.23390019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84925976399995 meters Centerline goodness : 0.759884 with order 1 Centerline is valid? [False, False] Translation: X:-75.46, Y:-5.58, Z:6.24 [[ 6.91994756e-01 7.21636815e-01 -1.95848223e-02 -7.54624816e+01] [-7.12184727e-01 6.86864717e-01 1.44947490e-01 -5.58048355e+00] [ 1.18051568e-01 -8.63548913e-02 9.89245500e-01 6.24070116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90925976399996 meters Centerline goodness : 0.753826 with order 1 Centerline is valid? [False, False] Translation: X:-75.60, Y:-5.63, Z:6.25 [[ 6.87244267e-01 7.26031095e-01 -2.39617649e-02 -7.55957703e+01] [-7.16341341e-01 6.82811765e-01 1.43607720e-01 -5.62629500e+00] [ 1.20625046e-01 -8.15287798e-02 9.89344559e-01 6.24861980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96925976399996 meters Centerline goodness : 0.763667 with order 1 Centerline is valid? [False, False] Translation: X:-75.75, Y:-5.68, Z:6.26 [[ 6.82734882e-01 7.30490477e-01 -1.60232484e-02 -7.57499554e+01] [-7.20727486e-01 6.76890905e-01 1.49568020e-01 -5.67929335e+00] [ 1.20104005e-01 -9.05669089e-02 9.88621597e-01 6.26169592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02925976399996 meters Centerline goodness : 0.766529 with order 1 Centerline is valid? [False, False] Translation: X:-75.90, Y:-5.73, Z:6.27 [[ 6.84632064e-01 7.28811298e-01 -1.06314891e-02 -7.59008083e+01] [-7.19148519e-01 6.77787858e-01 1.53065438e-01 -5.73380620e+00] [ 1.18761715e-01 -9.71478869e-02 9.88158865e-01 6.27396910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08925976399996 meters Centerline goodness : 0.755736 with order 1 Centerline is valid? [False, False] Translation: X:-76.03, Y:-5.78, Z:6.28 [[ 6.90324794e-01 7.23180181e-01 -2.14966105e-02 -7.60266803e+01] [-7.13027813e-01 6.85069673e-01 1.49234313e-01 -5.77950423e+00] [ 1.22649974e-01 -8.76924654e-02 9.88568164e-01 6.28107289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14925976399994 meters Centerline goodness : 0.752237 with order 1 Centerline is valid? [False, False] Translation: X:-76.17, Y:-5.83, Z:6.29 [[ 6.92912435e-01 7.20670133e-01 -2.25148082e-02 -7.61670558e+01] [-7.10410795e-01 6.87719679e-01 1.49526406e-01 -5.82686849e+00] [ 1.23243092e-01 -8.76139433e-02 9.88501359e-01 6.29068940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20925976399994 meters Centerline goodness : 0.756859 with order 1 Centerline is valid? [False, False] Translation: X:-76.32, Y:-5.88, Z:6.30 [[ 6.93554103e-01 7.20174318e-01 -1.82114639e-02 -7.63160400e+01] [-7.09989919e-01 6.87592142e-01 1.52089977e-01 -5.87883915e+00] [ 1.22053355e-01 -9.25526715e-02 9.88198857e-01 6.30316387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26925976399994 meters Centerline goodness : 0.755389 with order 1 Centerline is valid? [False, False] Translation: X:-76.46, Y:-5.92, Z:6.31 [[ 6.89704622e-01 7.23777617e-01 -2.12954140e-02 -7.64563665e+01] [-7.13532121e-01 6.84357463e-01 1.50089224e-01 -5.92372299e+00] [ 1.23204897e-01 -8.83222697e-02 9.88443084e-01 6.31167980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32925976399994 meters Centerline goodness : 0.752041 with order 1 Centerline is valid? [False, False] Translation: X:-76.60, Y:-5.97, Z:6.32 [[ 6.85052345e-01 7.28143822e-01 -2.25800749e-02 -7.65983642e+01] [-7.17591172e-01 6.79817999e-01 1.51361810e-01 -5.97261302e+00] [ 1.25563508e-01 -8.74875004e-02 9.88220493e-01 6.32158915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38925976399995 meters Centerline goodness : 0.752621 with order 1 Centerline is valid? [False, False] Translation: X:-76.74, Y:-6.02, Z:6.33 [[ 6.82423732e-01 7.30604967e-01 -2.26767105e-02 -7.67411110e+01] [-7.19783615e-01 6.77072509e-01 1.53246092e-01 -6.02053514e+00] [ 1.27316133e-01 -8.82564452e-02 9.87927832e-01 6.33220204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44925976399995 meters Centerline goodness : 0.759957 with order 1 Centerline is valid? [False, False] Translation: X:-76.90, Y:-6.07, Z:6.34 [[ 6.80097429e-01 7.32967240e-01 -1.50503238e-02 -7.68969839e+01] [-7.22339523e-01 6.73461742e-01 1.57082446e-01 -6.07233466e+00] [ 1.25272104e-01 -9.59599242e-02 9.87470806e-01 6.34368081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50925976399995 meters Centerline goodness : 0.768704 with order 1 Centerline is valid? [False, False] Translation: X:-77.04, Y:-6.12, Z:6.35 [[ 6.79499686e-01 7.33573450e-01 -1.22543698e-02 -7.70438694e+01] [-7.23098939e-01 6.72436322e-01 1.57978847e-01 -6.12256603e+00] [ 1.24129372e-01 -9.84854553e-02 9.87366454e-01 6.35459835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56925976399995 meters Centerline goodness : 0.762149 with order 1 Centerline is valid? [False, False] Translation: X:-77.18, Y:-6.17, Z:6.37 [[ 6.82234796e-01 7.30935014e-01 -1.70202611e-02 -7.71767626e+01] [-7.20105649e-01 6.75790644e-01 1.57336770e-01 -6.17029849e+00] [ 1.26505087e-01 -9.50842327e-02 9.87398325e-01 6.36595381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62925976399995 meters Centerline goodness : 0.762435 with order 1 Centerline is valid? [False, False] Translation: X:-77.32, Y:-6.22, Z:6.38 [[ 6.86645552e-01 7.26800290e-01 -1.67100102e-02 -7.73185790e+01] [-7.15857189e-01 6.79957261e-01 1.58765887e-01 -6.22171392e+00] [ 1.26753186e-01 -9.70539095e-02 9.87174842e-01 6.37869479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68925976399996 meters Centerline goodness : 0.761436 with order 1 Centerline is valid? [False, False] Translation: X:-77.45, Y:-6.27, Z:6.39 [[ 6.96490120e-01 7.17333056e-01 -1.82975372e-02 -7.74549840e+01] [-7.06049839e-01 6.89639153e-01 1.60908247e-01 -6.27466344e+00] [ 1.28043503e-01 -9.91520311e-02 9.86799745e-01 6.38909579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74925976399996 meters Centerline goodness : 0.764423 with order 1 Centerline is valid? [False, False] Translation: X:-77.60, Y:-6.33, Z:6.40 [[ 7.00845343e-01 7.13110861e-01 -1.69913436e-02 -7.75997808e+01] [-7.01935707e-01 6.93708452e-01 1.61415136e-01 -6.32696361e+00] [ 1.26893926e-01 -1.01200216e-01 9.86740314e-01 6.40162339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80925976399996 meters Centerline goodness : 0.766030 with order 1 Centerline is valid? [False, False] Translation: X:-77.74, Y:-6.38, Z:6.41 [[ 7.15428223e-01 6.98575004e-01 -1.24667954e-02 -7.77413262e+01] [-6.88004041e-01 7.07486114e-01 1.61597763e-01 -6.37686908e+00] [ 1.21708242e-01 -1.07034395e-01 9.86777960e-01 6.41305319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86925976399996 meters Centerline goodness : 0.764920 with order 1 Centerline is valid? [False, False] Translation: X:-77.88, Y:-6.42, Z:6.43 [[ 7.23505766e-01 6.90169963e-01 -1.43118343e-02 -7.78771895e+01] [-6.80038589e-01 7.16143170e-01 1.57119310e-01 -6.42342648e+00] [ 1.18688351e-01 -1.03944127e-01 9.87475921e-01 6.42514491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92925976399994 meters Centerline goodness : 0.766143 with order 1 Centerline is valid? [False, False] Translation: X:-78.02, Y:-6.47, Z:6.44 [[ 7.30724435e-01 6.82550693e-01 -1.28977514e-02 -7.80201644e+01] [-6.73127823e-01 7.23527525e-01 1.52992987e-01 -6.47318961e+00] [ 1.13757348e-01 -1.03113879e-01 9.88143104e-01 6.43757445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98925976399994 meters Centerline goodness : 0.764371 with order 1 Centerline is valid? [False, False] Translation: X:-78.15, Y:-6.52, Z:6.45 [[ 7.33377638e-01 6.79702523e-01 -1.27169128e-02 -7.81547999e+01] [-6.70663615e-01 7.26431815e-01 1.50023779e-01 -6.51917216e+00] [ 1.11209511e-01 -1.01495314e-01 9.88600600e-01 6.44811979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04925976399994 meters Centerline goodness : 0.759976 with order 1 Centerline is valid? [False, False] Translation: X:-78.29, Y:-6.56, Z:6.46 [[ 7.35854970e-01 6.77001769e-01 -1.36406924e-02 -7.82857693e+01] [-6.68436647e-01 7.29469698e-01 1.45142715e-01 -6.56328006e+00] [ 1.08212346e-01 -9.76860492e-02 9.89316695e-01 6.45678485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10925976399994 meters Centerline goodness : 0.764740 with order 1 Centerline is valid? [False, False] Translation: X:-78.43, Y:-6.61, Z:6.47 [[ 7.38664788e-01 6.73996237e-01 -1.01687768e-02 -7.84256803e+01] [-6.66046113e-01 7.32106873e-01 1.42835923e-01 -6.60735266e+00] [ 1.03715506e-01 -9.87349928e-02 9.89694142e-01 6.46891131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16925976399995 meters Centerline goodness : 0.761242 with order 1 Centerline is valid? [False, False] Translation: X:-78.55, Y:-6.65, Z:6.48 [[ 7.32165169e-01 6.81001011e-01 -1.31067880e-02 -7.85542877e+01] [-6.73161140e-01 7.26402666e-01 1.38539694e-01 -6.65067492e+00] [ 1.03866477e-01 -9.26109579e-02 9.90270148e-01 6.47769902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22925976399995 meters Centerline goodness : 0.756098 with order 1 Centerline is valid? [False, False] Translation: X:-78.68, Y:-6.69, Z:6.49 [[ 7.25705339e-01 6.87828888e-01 -1.55942789e-02 -7.86848667e+01] [-6.79802327e-01 7.20358009e-01 1.37670387e-01 -6.69167202e+00] [ 1.05927133e-01 -8.93071080e-02 9.90355332e-01 6.48693354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28925976399995 meters Centerline goodness : 0.754580 with order 1 Centerline is valid? [False, False] Translation: X:-78.82, Y:-6.73, Z:6.50 [[ 7.22793111e-01 6.90893144e-01 -1.53877624e-02 -7.88202379e+01] [-6.83095353e-01 7.17652762e-01 1.35481553e-01 -6.73331963e+00] [ 1.04646346e-01 -8.74138242e-02 9.90660368e-01 6.49529880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34925976399995 meters Centerline goodness : 0.751834 with order 1 Centerline is valid? [False, False] Translation: X:-78.96, Y:-6.78, Z:6.50 [[ 7.12704258e-01 7.01327161e-01 -1.38871935e-02 -7.89552369e+01] [-6.93559749e-01 7.07498351e-01 1.35723829e-01 -6.77697865e+00] [ 1.05011974e-01 -8.70993521e-02 9.90649377e-01 6.50486624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40925976399996 meters Centerline goodness : 0.758220 with order 1 Centerline is valid? [False, False] Translation: X:-79.10, Y:-6.82, Z:6.52 [[ 7.05766996e-01 7.08387445e-01 -8.95406472e-03 -7.91007048e+01] [-7.00651689e-01 6.99817791e-01 1.39076490e-01 -6.82493158e+00] [ 1.04786253e-01 -9.18819156e-02 9.90241160e-01 6.51732035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46925976399996 meters Centerline goodness : 0.762885 with order 1 Centerline is valid? [False, False] Translation: X:-79.24, Y:-6.88, Z:6.53 [[ 6.96830145e-01 7.17179872e-01 -8.98779948e-03 -7.92414819e+01] [-7.09305092e-01 6.90928981e-01 1.39654677e-01 -6.87629791e+00] [ 1.06367454e-01 -9.09404967e-02 9.90159477e-01 6.52930763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52925976399996 meters Centerline goodness : 0.763772 with order 1 Centerline is valid? [False, False] Translation: X:-79.38, Y:-6.93, Z:6.54 [[ 6.92684515e-01 7.21139981e-01 -1.20536685e-02 -7.93752573e+01] [-7.13062548e-01 6.87244122e-01 1.38698663e-01 -6.92557973e+00] [ 1.08304964e-01 -8.74793967e-02 9.90261274e-01 6.53956354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58925976399996 meters Centerline goodness : 0.757500 with order 1 Centerline is valid? [False, False] Translation: X:-79.51, Y:-6.97, Z:6.55 [[ 6.92242371e-01 7.21464291e-01 -1.70228107e-02 -7.95076904e+01] [-7.13070676e-01 6.87437601e-01 1.37694429e-01 -6.97173883e+00] [ 1.11043734e-01 -8.31794509e-02 9.90328465e-01 6.54871529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64925976399994 meters Centerline goodness : 0.758604 with order 1 Centerline is valid? [False, False] Translation: X:-79.65, Y:-7.02, Z:6.56 [[ 6.90645539e-01 7.23036614e-01 -1.50596699e-02 -7.96463443e+01] [-7.14413707e-01 6.85347958e-01 1.41107164e-01 -7.01985553e+00] [ 1.12346760e-01 -8.66961986e-02 9.89879778e-01 6.55806701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70925976399994 meters Centerline goodness : 0.759352 with order 1 Centerline is valid? [False, False] Translation: X:-79.78, Y:-7.07, Z:6.57 [[ 6.91557904e-01 7.22183782e-01 -1.40801557e-02 -7.97783388e+01] [-7.13222916e-01 6.85801647e-01 1.44876403e-01 -7.06682014e+00] [ 1.14283583e-01 -9.01481320e-02 9.89349573e-01 6.56832242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76925976399994 meters Centerline goodness : 0.755180 with order 1 Centerline is valid? [False, False] Translation: X:-79.91, Y:-7.12, Z:6.58 [[ 6.97217932e-01 7.16670051e-01 -1.64679406e-02 -7.99075915e+01] [-7.07374022e-01 6.91535700e-01 1.46288651e-01 -7.11513434e+00] [ 1.16228864e-01 -9.03460773e-02 9.89104867e-01 6.57856385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82925976399994 meters Centerline goodness : 0.750607 with order 1 Centerline is valid? [False, False] Translation: X:-80.04, Y:-7.17, Z:6.59 [[ 7.05929366e-01 7.08003856e-01 -1.98562594e-02 -8.00406068e+01] [-6.98586984e-01 7.00615309e-01 1.45308000e-01 -7.16642802e+00] [ 1.16790224e-01 -8.87058600e-02 9.89187199e-01 6.58893283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88925976399995 meters Centerline goodness : 0.751429 with order 1 Centerline is valid? [False, False] Translation: X:-80.18, Y:-7.21, Z:6.60 [[ 7.09081034e-01 7.04858095e-01 -1.94718489e-02 -8.01761969e+01] [-6.95351076e-01 7.03565990e-01 1.46566635e-01 -7.21459105e+00] [ 1.17008409e-01 -9.03878497e-02 9.89009135e-01 6.59935399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94925976399995 meters Centerline goodness : 0.752749 with order 1 Centerline is valid? [False, False] Translation: X:-80.32, Y:-7.27, Z:6.61 [[ 7.13979341e-01 6.99959612e-01 -1.70306546e-02 -8.03165444e+01] [-6.90466467e-01 7.07914211e-01 1.48706178e-01 -7.26716732e+00] [ 1.16144561e-01 -9.44140429e-02 9.88734762e-01 6.61234517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00925976399995 meters Centerline goodness : 0.755593 with order 1 Centerline is valid? [False, False] Translation: X:-80.45, Y:-7.31, Z:6.62 [[ 7.17612371e-01 6.96238027e-01 -1.68847862e-02 -8.04504127e+01] [-6.86831478e-01 7.11514862e-01 1.48354717e-01 -7.31421900e+00] [ 1.15303972e-01 -9.48641776e-02 9.88790060e-01 6.62238553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06925976399995 meters Centerline goodness : 0.750087 with order 1 Centerline is valid? [False, False] Translation: X:-80.59, Y:-7.36, Z:6.63 [[ 7.17538146e-01 6.96287013e-01 -1.79834493e-02 -8.05851318e+01] [-6.86784674e-01 7.11575523e-01 1.48280430e-01 -7.35970089e+00] [ 1.16042320e-01 -9.40461077e-02 9.88781831e-01 6.63280127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12925976399995 meters Centerline goodness : 0.752142 with order 1 Centerline is valid? [False, False] Translation: X:-80.72, Y:-7.41, Z:6.64 [[ 7.16745132e-01 6.97127769e-01 -1.70085127e-02 -8.07214030e+01] [-6.87665150e-01 7.10643460e-01 1.48669143e-01 -7.40694407e+00] [ 1.15728376e-01 -9.48617233e-02 9.88740712e-01 6.64342949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18925976399996 meters Centerline goodness : 0.754944 with order 1 Centerline is valid? [False, False] Translation: X:-80.86, Y:-7.46, Z:6.65 [[ 7.16325603e-01 6.97626936e-01 -1.39387411e-02 -8.08596615e+01] [-6.88382860e-01 7.09816720e-01 1.49295885e-01 -7.45545568e+00] [ 1.14046782e-01 -9.73492744e-02 9.88694316e-01 6.65495331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24925976399996 meters Centerline goodness : 0.755682 with order 1 Centerline is valid? [False, False] Translation: X:-81.00, Y:-7.50, Z:6.66 [[ 7.15860338e-01 6.98056716e-01 -1.61492582e-02 -8.09961369e+01] [-6.88923173e-01 7.09882260e-01 1.46465148e-01 -7.50412155e+00] [ 1.13705052e-01 -9.37229920e-02 9.89084001e-01 6.66481111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30925976399996 meters Centerline goodness : 0.747335 with order 1 Centerline is valid? [False, False] Translation: X:-81.12, Y:-7.55, Z:6.67 [[ 7.12254051e-01 7.01567093e-01 -2.23109745e-02 -8.11217550e+01] [-6.92011665e-01 7.07165583e-01 1.45040314e-01 -7.55193943e+00] [ 1.17533065e-01 -8.78660969e-02 9.89174164e-01 6.67313722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36925976399996 meters Centerline goodness : 0.749935 with order 1 Centerline is valid? [False, False] Translation: X:-81.27, Y:-7.60, Z:6.69 [[ 7.13490813e-01 7.00422418e-01 -1.84199983e-02 -8.12652747e+01] [-6.90896685e-01 7.07675367e-01 1.47842299e-01 -7.60440914e+00] [ 1.16587440e-01 -9.27578065e-02 9.88839400e-01 6.68571943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42925976399994 meters Centerline goodness : 0.767313 with order 1 Centerline is valid? [False, False] Translation: X:-81.41, Y:-7.65, Z:6.70 [[ 7.13288907e-01 7.00836621e-01 -6.85315807e-03 -8.14072791e+01] [-6.92842350e-01 7.06560882e-01 1.44018048e-01 -7.65440402e+00] [ 1.05775295e-01 -9.79783179e-02 9.89551331e-01 6.70187251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48925976399994 meters Centerline goodness : 0.765160 with order 1 Centerline is valid? [False, False] Translation: X:-81.54, Y:-7.70, Z:6.71 [[ 7.09868874e-01 7.04241360e-01 -1.14143989e-02 -8.15395236e+01] [-6.96212061e-01 7.04045082e-01 1.40033167e-01 -7.70156864e+00] [ 1.06653400e-01 -9.14583446e-02 9.90081019e-01 6.71075322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54925976399994 meters Centerline goodness : 0.760690 with order 1 Centerline is valid? [False, False] Translation: X:-81.67, Y:-7.75, Z:6.72 [[ 7.06604673e-01 7.07448218e-01 -1.50616996e-02 -8.16708769e+01] [-6.99058819e-01 7.01207761e-01 1.40087269e-01 -7.74963809e+00] [ 1.09665870e-01 -8.84573053e-02 9.90024597e-01 6.72042791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60925976399994 meters Centerline goodness : 0.759661 with order 1 Centerline is valid? [False, False] Translation: X:-81.81, Y:-7.80, Z:6.73 [[ 7.05529936e-01 7.08539033e-01 -1.41402906e-02 -8.18083844e+01] [-6.99845920e-01 6.99736983e-01 1.43470704e-01 -7.80006099e+00] [ 1.11549078e-01 -9.13268520e-02 9.89553540e-01 6.73059894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66925976399995 meters Centerline goodness : 0.760853 with order 1 Centerline is valid? [False, False] Translation: X:-81.94, Y:-7.85, Z:6.74 [[ 7.07337226e-01 7.06743747e-01 -1.36866946e-02 -8.19404520e+01] [-6.97890332e-01 7.01292001e-01 1.45391244e-01 -7.84782461e+00] [ 1.12352722e-01 -9.32888275e-02 9.89279566e-01 6.73953095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72925976399995 meters Centerline goodness : 0.759152 with order 1 Centerline is valid? [False, False] Translation: X:-82.07, Y:-7.90, Z:6.75 [[ 7.11300812e-01 7.02728730e-01 -1.49494572e-02 -8.20716979e+01] [-6.93826035e-01 7.05376010e-01 1.45086590e-01 -7.89585120e+00] [ 1.12501503e-01 -9.28278864e-02 9.89306017e-01 6.74808663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78925976399995 meters Centerline goodness : 0.761402 with order 1 Centerline is valid? [False, False] Translation: X:-82.21, Y:-7.95, Z:6.76 [[ 7.15915517e-01 6.98019408e-01 -1.52930736e-02 -8.22057659e+01] [-6.89166838e-01 7.10006392e-01 1.44706575e-01 -7.94616527e+00] [ 1.11866178e-01 -9.30582034e-02 9.89356422e-01 6.75914199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84925976399995 meters Centerline goodness : 0.758017 with order 1 Centerline is valid? [False, False] Translation: X:-82.34, Y:-8.00, Z:6.77 [[ 7.19923811e-01 6.93844435e-01 -1.70178489e-02 -8.23369862e+01] [-6.84936886e-01 7.14215210e-01 1.44076704e-01 -7.99825220e+00] [ 1.12121226e-01 -9.20680972e-02 9.89420182e-01 6.76907857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90925976399996 meters Centerline goodness : 0.750456 with order 1 Centerline is valid? [False, False] Translation: X:-82.46, Y:-8.05, Z:6.78 [[ 7.25290408e-01 6.88087300e-01 -2.21289907e-02 -8.24601830e+01] [-6.78886596e-01 7.20190054e-01 1.42965995e-01 -8.04583461e+00] [ 1.14310165e-01 -8.86687900e-02 9.89480183e-01 6.77806911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96925976399996 meters Centerline goodness : 0.754069 with order 1 Centerline is valid? [False, False] Translation: X:-82.59, Y:-8.10, Z:6.79 [[ 7.32679844e-01 6.80228699e-01 -2.16601872e-02 -8.25896394e+01] [-6.71027888e-01 7.27349220e-01 1.43821719e-01 -8.09546500e+00] [ 1.13586181e-01 -9.08406846e-02 9.89366540e-01 6.78722489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02925976399996 meters Centerline goodness : 0.753590 with order 1 Centerline is valid? [False, False] Translation: X:-82.72, Y:-8.15, Z:6.80 [[ 7.38322394e-01 6.74112748e-01 -2.12613657e-02 -8.27220934e+01] [-6.65054404e-01 7.32920386e-01 1.43284150e-01 -8.14558366e+00] [ 1.12172560e-01 -9.16499315e-02 9.89453186e-01 6.79806286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08925976399996 meters Centerline goodness : 0.756035 with order 1 Centerline is valid? [False, False] Translation: X:-82.86, Y:-8.20, Z:6.81 [[ 7.42959419e-01 6.69066323e-01 -1.90146742e-02 -8.28606630e+01] [-6.60433585e-01 7.37399405e-01 1.41667210e-01 -8.19578947e+00] [ 1.08806169e-01 -9.26950589e-02 9.89731703e-01 6.80869621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14925976399994 meters Centerline goodness : 0.756711 with order 1 Centerline is valid? [False, False] Translation: X:-82.99, Y:-8.24, Z:6.82 [[ 7.44615137e-01 6.67267354e-01 -1.73947138e-02 -8.29919901e+01] [-6.59006286e-01 7.39039650e-01 1.39753750e-01 -8.24254456e+00] [ 1.06108498e-01 -9.25995322e-02 9.90033491e-01 6.81856354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20925976399994 meters Centerline goodness : 0.753825 with order 1 Centerline is valid? [False, False] Translation: X:-83.12, Y:-8.29, Z:6.83 [[ 7.38457410e-01 6.74045670e-01 -1.85226323e-02 -8.31218762e+01] [-6.66083781e-01 7.33459186e-01 1.35536043e-01 -8.28732681e+00] [ 1.04943078e-01 -8.77499705e-02 9.90599260e-01 6.82807676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26925976399994 meters Centerline goodness : 0.752891 with order 1 Centerline is valid? [False, False] Translation: X:-83.25, Y:-8.33, Z:6.84 [[ 7.33902878e-01 6.78946640e-01 -2.04456839e-02 -8.32542482e+01] [-6.70848911e-01 7.29213345e-01 1.34943081e-01 -8.33422092e+00] [ 1.06528417e-01 -8.53191508e-02 9.90642387e-01 6.83780065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32925976399994 meters Centerline goodness : 0.749647 with order 1 Centerline is valid? [False, False] Translation: X:-83.38, Y:-8.38, Z:6.85 [[ 7.29305618e-01 6.83837099e-01 -2.19120388e-02 -8.33822841e+01] [-6.75543301e-01 7.24796385e-01 1.35319801e-01 -8.38018831e+00] [ 1.08418467e-01 -8.38869602e-02 9.90559647e-01 6.84585886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38925976399995 meters Centerline goodness : 0.751201 with order 1 Centerline is valid? [False, False] Translation: X:-83.52, Y:-8.43, Z:6.85 [[ 7.26805821e-01 6.86565185e-01 -1.95332136e-02 -8.35200162e+01] [-6.78345670e-01 7.21983359e-01 1.36334810e-01 -8.42950686e+00] [ 1.07705389e-01 -8.58386626e-02 9.90470228e-01 6.85455696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44925976399995 meters Centerline goodness : 0.756166 with order 1 Centerline is valid? [False, False] Translation: X:-83.66, Y:-8.48, Z:6.87 [[ 7.25026398e-01 6.88586066e-01 -1.36364125e-02 -8.36621856e+01] [-6.80504379e-01 7.19285426e-01 1.39793656e-01 -8.48140482e+00] [ 1.06068436e-01 -9.20744524e-02 9.90086755e-01 6.86695589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50925976399995 meters Centerline goodness : 0.755125 with order 1 Centerline is valid? [False, False] Translation: X:-83.79, Y:-8.53, Z:6.88 [[ 7.25011408e-01 6.88569956e-01 -1.51615816e-02 -8.37914623e+01] [-6.80460166e-01 7.19527728e-01 1.38758106e-01 -8.53172309e+00] [ 1.06453841e-01 -9.02843576e-02 9.90210237e-01 6.87574254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56925976399995 meters Centerline goodness : 0.750837 with order 1 Centerline is valid? [False, False] Translation: X:-83.92, Y:-8.58, Z:6.88 [[ 7.24251764e-01 6.89300158e-01 -1.80187251e-02 -8.39191803e+01] [-6.81138594e-01 7.19253401e-01 1.36838448e-01 -8.57771085e+00] [ 1.07282793e-01 -8.68322381e-02 9.90429485e-01 6.88260622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62925976399995 meters Centerline goodness : 0.746736 with order 1 Centerline is valid? [False, False] Translation: X:-84.05, Y:-8.62, Z:6.89 [[ 7.23186570e-01 6.90363220e-01 -1.99952438e-02 -8.40501102e+01] [-6.82110845e-01 7.18482152e-01 1.36044820e-01 -8.62460549e+00] [ 1.08286566e-01 -8.47468144e-02 9.90500882e-01 6.89020783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68925976399996 meters Centerline goodness : 0.745814 with order 1 Centerline is valid? [False, False] Translation: X:-84.18, Y:-8.67, Z:6.90 [[ 7.20713562e-01 6.93024803e-01 -1.69877641e-02 -8.41826247e+01] [-6.84715254e-01 7.15474041e-01 1.38787310e-01 -8.67292529e+00] [ 1.08337352e-01 -8.83941152e-02 9.90176499e-01 6.89937614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74925976399996 meters Centerline goodness : 0.747534 with order 1 Centerline is valid? [False, False] Translation: X:-84.32, Y:-8.72, Z:6.91 [[ 7.19820435e-01 6.94005990e-01 -1.46365016e-02 -8.43183768e+01] [-6.85784797e-01 7.14242750e-01 1.39844579e-01 -8.72381347e+00] [ 1.07506990e-01 -9.06254953e-02 9.90065284e-01 6.90774637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80925976399996 meters Centerline goodness : 0.745231 with order 1 Centerline is valid? [False, False] Translation: X:-84.44, Y:-8.77, Z:6.92 [[ 7.19667485e-01 6.94046534e-01 -1.94453125e-02 -8.44443406e+01] [-6.85713300e-01 7.14864669e-01 1.36988229e-01 -8.77183064e+00] [ 1.08976972e-01 -8.52520648e-02 9.90381798e-01 6.91560317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86925976399996 meters Centerline goodness : 0.744452 with order 1 Centerline is valid? [False, False] Translation: X:-84.58, Y:-8.82, Z:6.92 [[ 7.19136041e-01 6.94641381e-01 -1.77962329e-02 -8.45787773e+01] [-6.86195764e-01 7.13960572e-01 1.39268357e-01 -8.82365715e+00] [ 1.09447372e-01 -8.79411952e-02 9.90094752e-01 6.92459006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92925976399994 meters Centerline goodness : 0.740355 with order 1 Centerline is valid? [False, False] Translation: X:-84.70, Y:-8.87, Z:6.93 [[ 7.20580797e-01 6.93079413e-01 -2.01057932e-02 -8.47025559e+01] [-6.84350498e-01 7.15569401e-01 1.40088644e-01 -8.87163864e+00] [ 1.11479645e-01 -8.71857770e-02 9.89934810e-01 6.93212228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98925976399994 meters Centerline goodness : 0.735857 with order 1 Centerline is valid? [False, False] Translation: X:-84.83, Y:-8.92, Z:6.94 [[ 7.21824625e-01 6.91772419e-01 -2.04970788e-02 -8.48320703e+01] [-6.82830265e-01 7.16693976e-01 1.41748272e-01 -8.92191423e+00] [ 1.12747678e-01 -8.83213678e-02 9.89690506e-01 6.93968363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.049259764 meters Centerline goodness : 0.734368 with order 1 Centerline is valid? [False, False] Translation: X:-84.96, Y:-8.97, Z:6.95 [[ 7.23703570e-01 6.89822647e-01 -1.99463782e-02 -8.49622784e+01] [-6.80805084e-01 7.18376969e-01 1.42964915e-01 -8.97225861e+00] [ 1.12949455e-01 -8.98846236e-02 9.89526743e-01 6.94775191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.109259764 meters Centerline goodness : 0.733314 with order 1 Centerline is valid? [False, False] Translation: X:-85.09, Y:-9.02, Z:6.96 [[ 7.24918963e-01 6.88496421e-01 -2.15679214e-02 -8.50944864e+01] [-6.79348036e-01 7.19763769e-01 1.42920826e-01 -9.02243986e+00] [ 1.13924285e-01 -8.89538916e-02 9.89499097e-01 6.95612090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.169259764 meters Centerline goodness : 0.730722 with order 1 Centerline is valid? [False, False] Translation: X:-85.22, Y:-9.07, Z:6.96 [[ 7.29214390e-01 6.83902777e-01 -2.28771675e-02 -8.52216403e+01] [-6.74692233e-01 7.24167972e-01 1.42727499e-01 -9.07180168e+00] [ 1.14178645e-01 -8.86438992e-02 9.89497598e-01 6.96353355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.229259764 meters Centerline goodness : 0.733391 with order 1 Centerline is valid? [False, False] Translation: X:-85.35, Y:-9.12, Z:6.97 [[ 7.33725193e-01 6.79030394e-01 -2.37710824e-02 -8.53502044e+01] [-6.69906542e-01 7.28822534e-01 1.41573082e-01 -9.12250769e+00] [ 1.13457326e-01 -8.79513335e-02 9.89642359e-01 6.97070632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28925976399995 meters Centerline goodness : 0.731118 with order 1 Centerline is valid? [False, False] Translation: X:-85.48, Y:-9.17, Z:6.98 [[ 7.41442661e-01 6.70596138e-01 -2.37402627e-02 -8.54816947e+01] [-6.61808126e-01 7.36651362e-01 1.39121445e-01 -9.17393628e+00] [ 1.10782600e-01 -8.74390756e-02 9.89990719e-01 6.97928409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34925976399995 meters Centerline goodness : 0.733813 with order 1 Centerline is valid? [False, False] Translation: X:-85.62, Y:-9.23, Z:6.99 [[ 7.41576356e-01 6.70618367e-01 -1.83170175e-02 -8.56195288e+01] [-6.62159373e-01 7.36061630e-01 1.40564013e-01 -9.22546165e+00] [ 1.07747262e-01 -9.21101636e-02 9.89902139e-01 6.98907893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40925976399996 meters Centerline goodness : 0.731575 with order 1 Centerline is valid? [False, False] Translation: X:-85.75, Y:-9.27, Z:7.00 [[ 7.38996006e-01 6.73520699e-01 -1.59615563e-02 -8.57486552e+01] [-6.64978697e-01 7.33015988e-01 1.43146408e-01 -9.27348005e+00] [ 1.08112145e-01 -9.51705286e-02 9.89572804e-01 6.99819848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46925976399996 meters Centerline goodness : 0.730646 with order 1 Centerline is valid? [False, False] Translation: X:-85.88, Y:-9.32, Z:7.01 [[ 7.37298755e-01 6.75387356e-01 -1.55712822e-02 -8.58800348e+01] [-6.67011362e-01 7.31424724e-01 1.41822831e-01 -9.32322498e+00] [ 1.07174567e-01 -9.41795744e-02 9.89769579e-01 7.00603884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.52925976399996 meters Centerline goodness : 0.730677 with order 1 Centerline is valid? [False, False] Translation: X:-86.01, Y:-9.37, Z:7.01 [[ 7.37678407e-01 6.74966648e-01 -1.58300966e-02 -8.60092504e+01] [-6.66600544e-01 7.31854489e-01 1.41536995e-01 -9.37299638e+00] [ 1.07118078e-01 -9.38564337e-02 9.89806389e-01 7.01430052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58925976399996 meters Centerline goodness : 0.731916 with order 1 Centerline is valid? [False, False] Translation: X:-86.14, Y:-9.42, Z:7.02 [[ 7.40222796e-01 6.72215126e-01 -1.40369936e-02 -8.61415292e+01] [-6.64002024e-01 7.34141983e-01 1.41904410e-01 -9.42438091e+00] [ 1.05695437e-01 -9.57202867e-02 9.89780835e-01 7.02351438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64925976399996 meters Centerline goodness : 0.731118 with order 1 Centerline is valid? [False, False] Translation: X:-86.27, Y:-9.48, Z:7.03 [[ 7.42647195e-01 6.69535558e-01 -1.40456593e-02 -8.62697741e+01] [-6.61514388e-01 7.36693208e-01 1.40291953e-01 -9.47601290e+00] [ 1.04277793e-01 -9.48960197e-02 9.90010549e-01 7.03071194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70925976399997 meters Centerline goodness : 0.731467 with order 1 Centerline is valid? [False, False] Translation: X:-86.39, Y:-9.52, Z:7.04 [[ 7.45258119e-01 6.66435725e-01 -2.13016743e-02 -8.63864531e+01] [-6.58303232e-01 7.40489200e-01 1.35324050e-01 -9.52106654e+00] [ 1.05958441e-01 -8.68283860e-02 9.90572380e-01 7.03717571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76925976399997 meters Centerline goodness : 0.731152 with order 1 Centerline is valid? [False, False] Translation: X:-86.51, Y:-9.57, Z:7.05 [[ 7.45560498e-01 6.66099879e-01 -2.12248647e-02 -8.65104096e+01] [-6.58110158e-01 7.40889588e-01 1.34065800e-01 -9.56858910e+00] [ 1.05026494e-01 -8.59858652e-02 9.90745107e-01 7.04544975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82925976399997 meters Centerline goodness : 0.735316 with order 1 Centerline is valid? [False, False] Translation: X:-86.65, Y:-9.62, Z:7.06 [[ 7.40572485e-01 6.71843444e-01 -1.33709093e-02 -8.66494234e+01] [-6.64605251e-01 7.35242921e-01 1.33107877e-01 -9.62089503e+00] [ 9.92585208e-02 -8.96896547e-02 9.91011358e-01 7.05563266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.889259764 meters Centerline goodness : 0.731257 with order 1 Centerline is valid? [False, False] Translation: X:-86.77, Y:-9.66, Z:7.06 [[ 7.36465635e-01 6.76260879e-01 -1.70174224e-02 -8.67688165e+01] [-6.68666418e-01 7.31545427e-01 1.33140936e-01 -9.66462095e+00] [ 1.02487024e-01 -8.66747449e-02 9.90951007e-01 7.06141328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.949259764 meters Centerline goodness : 0.732322 with order 1 Centerline is valid? [False, False] Translation: X:-86.90, Y:-9.71, Z:7.07 [[ 7.35859888e-01 6.76956464e-01 -1.54974517e-02 -8.68955013e+01] [-6.69426675e-01 7.30737026e-01 1.33758462e-01 -9.71323660e+00] [ 1.01873217e-01 -8.80530794e-02 9.90892781e-01 7.06962640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.009259764 meters Centerline goodness : 0.737989 with order 1 Centerline is valid? [False, False] Translation: X:-87.03, Y:-9.76, Z:7.08 [[ 7.34027550e-01 6.79022420e-01 -1.14938188e-02 -8.70254041e+01] [-6.71847524e-01 7.28533573e-01 1.33640329e-01 -9.76209600e+00] [ 9.91184129e-02 -9.03735900e-02 9.90963246e-01 7.08009409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.069259764 meters Centerline goodness : 0.735025 with order 1 Centerline is valid? [False, False] Translation: X:-87.15, Y:-9.81, Z:7.09 [[ 7.30813202e-01 6.82475236e-01 -1.18158787e-02 -8.71533016e+01] [-6.75181899e-01 7.25327970e-01 1.34271140e-01 -9.80932558e+00] [ 1.00207115e-01 -9.01492545e-02 9.90874183e-01 7.08725445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.129259764 meters Centerline goodness : 0.734391 with order 1 Centerline is valid? [False, False] Translation: X:-87.27, Y:-9.86, Z:7.09 [[ 7.26566309e-01 6.86982201e-01 -1.25241779e-02 -8.72733635e+01] [-6.79480755e-01 7.21100206e-01 1.35352858e-01 -9.85501604e+00] [ 1.02016192e-01 -8.98328887e-02 9.90718299e-01 7.09415992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.189259764 meters Centerline goodness : 0.738171 with order 1 Centerline is valid? [False, False] Translation: X:-87.40, Y:-9.91, Z:7.10 [[ 7.26272086e-01 6.87284784e-01 -1.29800710e-02 -8.73999842e+01] [-6.79631860e-01 7.20761028e-01 1.36396757e-01 -9.90632058e+00] [ 1.03098945e-01 -9.02394873e-02 9.90569252e-01 7.10277039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.249259764 meters Centerline goodness : 0.737284 with order 1 Centerline is valid? [False, False] Translation: X:-87.52, Y:-9.96, Z:7.11 [[ 7.23335763e-01 6.90382482e-01 -1.25460179e-02 -8.75241252e+01] [-6.82460571e-01 7.17563607e-01 1.39104421e-01 -9.95900758e+00] [ 1.05037822e-01 -9.20570402e-02 9.90198241e-01 7.11160269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.309259764 meters Centerline goodness : 0.732718 with order 1 Centerline is valid? [False, False] Translation: X:-87.65, Y:-10.01, Z:7.12 [[ 7.23918585e-01 6.89757964e-01 -1.32602390e-02 -8.76452024e+01] [-6.81456979e-01 7.17937584e-01 1.42063405e-01 -1.00078720e+01] [ 1.07509389e-01 -9.38060568e-02 9.89768738e-01 7.11939671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.369259764 meters Centerline goodness : 0.732432 with order 1 Centerline is valid? [False, False] Translation: X:-87.77, Y:-10.05, Z:7.13 [[ 7.32666521e-01 6.80474851e-01 -1.23994388e-02 -8.77668102e+01] [-6.72276672e-01 7.26437808e-01 1.42590977e-01 -1.00533089e+01] [ 1.06036995e-01 -9.61357820e-02 9.89704030e-01 7.12654535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.429259764 meters Centerline goodness : 0.736704 with order 1 Centerline is valid? [False, False] Translation: X:-87.90, Y:-10.10, Z:7.14 [[ 7.36995533e-01 6.75843477e-01 -8.55450354e-03 -8.78951637e+01] [-6.68037197e-01 7.30290846e-01 1.42834114e-01 -1.01046578e+01] [ 1.02780780e-01 -9.95533773e-02 9.89709673e-01 7.13684427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.489259764 meters Centerline goodness : 0.736120 with order 1 Centerline is valid? [False, False] Translation: X:-88.02, Y:-10.16, Z:7.15 [[ 7.42271821e-01 6.70062448e-01 -6.98994491e-03 -8.80209129e+01] [-6.62334563e-01 7.35214633e-01 1.44126233e-01 -1.01559982e+01] [ 1.01712686e-01 -1.02351159e-01 9.89534623e-01 7.14822100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.549259764 meters Centerline goodness : 0.737584 with order 1 Centerline is valid? [False, False] Translation: X:-88.14, Y:-10.20, Z:7.16 [[ 7.48846663e-01 6.62715605e-01 -6.05830567e-03 -8.81407981e+01] [-6.55295555e-01 7.41766964e-01 1.42721782e-01 -1.02037461e+01] [ 9.90778027e-02 -1.02906749e-01 9.89744305e-01 7.15743116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.609259764 meters Centerline goodness : 0.739936 with order 1 Centerline is valid? [False, False] Translation: X:-88.25, Y:-10.25, Z:7.17 [[ 7.51309803e-01 6.59907828e-01 -7.43222153e-03 -8.82515419e+01] [-6.52672211e-01 7.44645609e-01 1.39720801e-01 -1.02484252e+01] [ 9.77372213e-02 -1.00122803e-01 9.90163047e-01 7.16556513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.669259764 meters Centerline goodness : 0.738027 with order 1 Centerline is valid? [False, False] Translation: X:-88.36, Y:-10.29, Z:7.17 [[ 7.54279408e-01 6.56480710e-01 -9.78016910e-03 -8.83638053e+01] [-6.49249818e-01 7.48021504e-01 1.37617237e-01 -1.02933543e+01] [ 9.76588384e-02 -9.74520752e-02 9.90437199e-01 7.17443027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.729259764 meters Centerline goodness : 0.743481 with order 1 Centerline is valid? [False, False] Translation: X:-88.48, Y:-10.34, Z:7.19 [[ 7.55273510e-01 6.55375611e-01 -6.68835416e-03 -8.84801158e+01] [-6.48953329e-01 7.49223263e-01 1.32378540e-01 -1.03407029e+01] [ 9.17687373e-02 -9.56415752e-02 9.91176668e-01 7.18705289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78925976399995 meters Centerline goodness : 0.747752 with order 1 Centerline is valid? [False, False] Translation: X:-88.59, Y:-10.38, Z:7.19 [[ 7.55202664e-01 6.55468955e-01 -5.42089026e-03 -8.85931525e+01] [-6.49232540e-01 7.49106280e-01 1.31669623e-01 -1.03843487e+01] [ 9.03661730e-02 -9.59178316e-02 9.91278833e-01 7.19450754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84925976399995 meters Centerline goodness : 0.746855 with order 1 Centerline is valid? [False, False] Translation: X:-88.70, Y:-10.43, Z:7.20 [[ 7.49165378e-01 6.62302951e-01 -1.02974599e-02 -8.87034741e+01] [-6.55697352e-01 7.43717390e-01 1.30174600e-01 -1.04264699e+01] [ 9.38734217e-02 -9.07702861e-02 9.91437611e-01 7.20051874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90925976399996 meters Centerline goodness : 0.758064 with order 1 Centerline is valid? [False, False] Translation: X:-88.82, Y:-10.47, Z:7.21 [[ 7.45841675e-01 6.66074467e-01 -8.06225743e-03 -8.88205597e+01] [-6.59374723e-01 7.39949899e-01 1.33038045e-01 -1.04729216e+01] [ 9.45789117e-02 -9.39092699e-02 9.91078139e-01 7.21052116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96925976399996 meters Centerline goodness : 0.756921 with order 1 Centerline is valid? [False, False] Translation: X:-88.94, Y:-10.52, Z:7.22 [[ 7.45575089e-01 6.66386306e-01 -6.86125863e-03 -8.89366252e+01] [-6.59586682e-01 7.39359995e-01 1.35248685e-01 -1.05197742e+01] [ 9.52008120e-02 -9.63124558e-02 9.90787927e-01 7.21903313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.02925976399996 meters Centerline goodness : 0.755604 with order 1 Centerline is valid? [False, False] Translation: X:-89.05, Y:-10.57, Z:7.23 [[ 7.45929597e-01 6.65961761e-01 -9.16341806e-03 -8.90502415e+01] [-6.58956175e-01 7.39942242e-01 1.35137848e-01 -1.05657549e+01] [ 9.67770397e-02 -9.47650299e-02 9.90784434e-01 7.22594706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08925976399996 meters Centerline goodness : 0.755544 with order 1 Centerline is valid? [False, False] Translation: X:-89.16, Y:-10.61, Z:7.24 [[ 7.46601431e-01 6.65195284e-01 -1.00765658e-02 -8.91639824e+01] [-6.58064570e-01 7.40652070e-01 1.35593264e-01 -1.06129425e+01] [ 9.76592289e-02 -9.46030938e-02 9.90713344e-01 7.23504025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14925976399996 meters Centerline goodness : 0.760015 with order 1 Centerline is valid? [False, False] Translation: X:-89.28, Y:-10.66, Z:7.24 [[ 7.45550541e-01 6.66399694e-01 -8.11412347e-03 -8.92814380e+01] [-6.59320018e-01 7.39296706e-01 1.36884967e-01 -1.06622005e+01] [ 9.72188450e-02 -9.67048574e-02 9.90553717e-01 7.24480234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20925976399997 meters Centerline goodness : 0.765331 with order 1 Centerline is valid? [False, False] Translation: X:-89.40, Y:-10.71, Z:7.25 [[ 7.42150239e-01 6.70198052e-01 -6.89881875e-03 -8.93961639e+01] [-6.63143749e-01 7.35753981e-01 1.37500718e-01 -1.07069451e+01] [ 9.72285467e-02 -9.74712823e-02 9.90477642e-01 7.25296289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26925976399997 meters Centerline goodness : 0.758436 with order 1 Centerline is valid? [False, False] Translation: X:-89.51, Y:-10.75, Z:7.26 [[ 7.38983351e-01 6.73641102e-01 -1.05485889e-02 -8.95075680e+01] [-6.66085937e-01 7.32867123e-01 1.38691399e-01 -1.07516175e+01] [ 1.01158941e-01 -9.54643680e-02 9.90279467e-01 7.26119199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32925976399997 meters Centerline goodness : 0.750700 with order 1 Centerline is valid? [False, False] Translation: X:-89.62, Y:-10.79, Z:7.27 [[ 7.37838708e-01 6.74850183e-01 -1.30870571e-02 -8.96164937e+01] [-6.66712012e-01 7.31691826e-01 1.41852613e-01 -1.07947803e+01] [ 1.05304955e-01 -9.59390507e-02 9.89801276e-01 7.27033947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.389259764 meters Centerline goodness : 0.752815 with order 1 Centerline is valid? [False, False] Translation: X:-89.74, Y:-10.84, Z:7.28 [[ 7.40749524e-01 6.71709423e-01 -9.82816810e-03 -8.97369103e+01] [-6.63592620e-01 7.33919151e-01 1.44939691e-01 -1.08432032e+01] [ 1.04570437e-01 -1.00842107e-01 9.89391678e-01 7.27960258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.449259764 meters Centerline goodness : 0.755542 with order 1 Centerline is valid? [False, False] Translation: X:-89.84, Y:-10.89, Z:7.29 [[ 7.41334404e-01 6.71094486e-01 -7.44939405e-03 -8.98405641e+01] [-6.63623770e-01 7.34647529e-01 1.41054952e-01 -1.08861431e+01] [ 1.00133879e-01 -9.96252938e-02 9.89973741e-01 7.29099821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.509259764 meters Centerline goodness : 0.755767 with order 1 Centerline is valid? [False, False] Translation: X:-89.95, Y:-10.93, Z:7.30 [[ 7.41602882e-01 6.70780418e-01 -8.87675981e-03 -8.99531073e+01] [-6.63182451e-01 7.35067842e-01 1.40940781e-01 -1.09317111e+01] [ 1.01065337e-01 -9.86351778e-02 9.89978232e-01 7.29949426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.569259764 meters Centerline goodness : 0.756396 with order 1 Centerline is valid? [False, False] Translation: X:-90.07, Y:-10.98, Z:7.31 [[ 7.39966233e-01 6.72609071e-01 -6.85658952e-03 -9.00653508e+01] [-6.65099456e-01 7.33150995e-01 1.41888449e-01 -1.09752525e+01] [ 1.00462373e-01 -1.00432347e-01 9.89858907e-01 7.30996757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.629259764 meters Centerline goodness : 0.762101 with order 1 Centerline is valid? [False, False] Translation: X:-90.19, Y:-11.03, Z:7.32 [[ 7.38350131e-01 6.74403346e-01 -4.38302738e-03 -9.01879185e+01] [-6.66928560e-01 7.31101575e-01 1.43863766e-01 -1.10261116e+01] [ 1.00226644e-01 -1.03298664e-01 9.89587796e-01 7.32146555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.689259764 meters Centerline goodness : 0.757596 with order 1 Centerline is valid? [False, False] Translation: X:-90.30, Y:-11.07, Z:7.33 [[ 7.38607711e-01 6.74095694e-01 -7.32432276e-03 -9.02979754e+01] [-6.66316270e-01 7.31647589e-01 1.43925098e-01 -1.10716633e+01] [ 1.02378112e-01 -1.01423872e-01 9.89561479e-01 7.32893345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.749259764 meters Centerline goodness : 0.760400 with order 1 Centerline is valid? [False, False] Translation: X:-90.41, Y:-11.12, Z:7.34 [[ 7.37529616e-01 6.75290532e-01 -5.72388267e-03 -9.04078101e+01] [-6.67489099e-01 7.30243388e-01 1.45612144e-01 -1.11154914e+01] [ 1.02510330e-01 -1.03572640e-01 9.89325195e-01 7.34025834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.809259764 meters Centerline goodness : 0.758837 with order 1 Centerline is valid? [False, False] Translation: X:-90.53, Y:-11.16, Z:7.35 [[ 7.36067050e-01 6.76887639e-01 -5.33116724e-03 -9.05260502e+01] [-6.68678639e-01 7.28319630e-01 1.49731073e-01 -1.11641468e+01] [ 1.05233906e-01 -1.06647271e-01 9.88712387e-01 7.35205485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.869259764 meters Centerline goodness : 0.759731 with order 1 Centerline is valid? [False, False] Translation: X:-90.63, Y:-11.21, Z:7.36 [[ 7.37926948e-01 6.74877968e-01 -1.88355045e-03 -9.06316936e+01] [-6.67251476e-01 7.30000748e-01 1.47899884e-01 -1.12062129e+01] [ 1.01189367e-01 -1.07882508e-01 9.89000544e-01 7.36443679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.929259764 meters Centerline goodness : 0.755559 with order 1 Centerline is valid? [False, False] Translation: X:-90.74, Y:-11.25, Z:7.37 [[ 7.42682250e-01 6.69609972e-01 -6.74980062e-03 -9.07369801e+01] [-6.61556212e-01 7.35236911e-01 1.47546814e-01 -1.12530824e+01] [ 1.03761521e-01 -1.05115027e-01 9.89032041e-01 7.37276651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.989259764 meters Centerline goodness : 0.748135 with order 1 Centerline is valid? [False, False] Translation: X:-90.85, Y:-11.30, Z:7.38 [[ 7.48706049e-01 6.62868185e-01 -6.70973410e-03 -9.08469035e+01] [-6.54672098e-01 7.40962849e-01 1.49594453e-01 -1.12999065e+01] [ 1.04133067e-01 -1.07609596e-01 9.88724673e-01 7.38327325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.049259764 meters Centerline goodness : 0.752172 with order 1 Centerline is valid? [False, False] Translation: X:-90.94, Y:-11.34, Z:7.40 [[ 7.58966484e-01 6.51110464e-01 -5.00399906e-03 -9.09446317e+01] [-6.43808186e-01 7.51559495e-01 1.43768374e-01 -1.13429262e+01] [ 9.73698960e-02 -1.05893762e-01 9.89598714e-01 7.39609338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.109259764 meters Centerline goodness : 0.748708 with order 1 Centerline is valid? [False, False] Translation: X:-91.06, Y:-11.39, Z:7.41 [[ 7.66815187e-01 6.41844482e-01 -5.48918466e-03 -9.10591795e+01] [-6.34603157e-01 7.59391508e-01 1.43538743e-01 -1.13905684e+01] [ 9.62979902e-02 -1.06584234e-01 9.89629475e-01 7.40677429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.169259764 meters Centerline goodness : 0.749048 with order 1 Centerline is valid? [False, False] Translation: X:-91.16, Y:-11.43, Z:7.42 [[ 7.77239927e-01 6.29185444e-01 -4.87573666e-03 -9.11626799e+01] [-6.21857559e-01 7.69322292e-01 1.46411706e-01 -1.14344087e+01] [ 9.58711271e-02 -1.10765010e-01 9.89211726e-01 7.41609806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.229259764 meters Centerline goodness : 0.745066 with order 1 Centerline is valid? [False, False] Translation: X:-91.27, Y:-11.48, Z:7.43 [[ 7.81140091e-01 6.24335018e-01 -5.09335885e-03 -9.12686527e+01] [-6.17758766e-01 7.74043497e-01 1.38675059e-01 -1.14770192e+01] [ 9.05221769e-02 -1.05178181e-01 9.90324838e-01 7.42797191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28925976399995 meters Centerline goodness : 0.748770 with order 1 Centerline is valid? [False, False] Translation: X:-91.38, Y:-11.52, Z:7.44 [[ 7.81830127e-01 6.23487003e-01 -2.36868294e-03 -9.13846470e+01] [-6.17216588e-01 7.74493715e-01 1.38575500e-01 -1.15227088e+01] [ 8.82345531e-02 -1.06880510e-01 9.90349040e-01 7.44101983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34925976399995 meters Centerline goodness : 0.747418 with order 1 Centerline is valid? [False, False] Translation: X:-91.48, Y:-11.56, Z:7.45 [[ 7.78719382e-01 6.27371824e-01 -8.47669802e-04 -9.14773310e+01] [-6.21574141e-01 7.71704927e-01 1.34599751e-01 -1.15591254e+01] [ 8.50982422e-02 -1.04288545e-01 9.90899686e-01 7.45195330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40925976399996 meters Centerline goodness : 0.738733 with order 1 Centerline is valid? [False, False] Translation: X:-91.58, Y:-11.60, Z:7.46 [[ 7.80135855e-01 6.25593586e-01 -4.55111471e-03 -9.15754857e+01] [-6.19547883e-01 7.73566051e-01 1.33251586e-01 -1.15993039e+01] [ 8.68819253e-02 -1.01134706e-01 9.91071795e-01 7.45996903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46925976399996 meters Centerline goodness : 0.737169 with order 1 Centerline is valid? [False, False] Translation: X:-91.67, Y:-11.64, Z:7.47 [[ 7.80037919e-01 6.25700699e-01 -6.28328604e-03 -9.16721051e+01] [-6.19523850e-01 7.73670600e-01 1.32755420e-01 -1.16400585e+01] [ 8.79263528e-02 -9.96616160e-02 9.91128911e-01 7.46881486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.52925976399996 meters Centerline goodness : 0.736935 with order 1 Centerline is valid? [False, False] Translation: X:-91.76, Y:-11.68, Z:7.48 [[ 7.77326972e-01 6.29073156e-01 -5.45368934e-03 -9.17633650e+01] [-6.23302926e-01 7.71312835e-01 1.28724405e-01 -1.16803791e+01] [ 8.51835686e-02 -9.66616518e-02 9.91665410e-01 7.47981312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58925976399996 meters Centerline goodness : 0.730243 with order 1 Centerline is valid? [False, False] Translation: X:-91.86, Y:-11.72, Z:7.49 [[ 7.80515987e-01 6.25078670e-01 -8.45278108e-03 -9.18640951e+01] [-6.19086229e-01 7.74768643e-01 1.28319098e-01 -1.17221792e+01] [ 8.67584809e-02 -9.49221072e-02 9.91696909e-01 7.48760039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64925976399996 meters Centerline goodness : 0.732040 with order 1 Centerline is valid? [False, False] Translation: X:-91.98, Y:-11.77, Z:7.50 [[ 7.83536500e-01 6.21302005e-01 -7.37367003e-03 -9.19766719e+01] [-6.15346732e-01 7.77561981e-01 1.29405425e-01 -1.17677018e+01] [ 8.61333357e-02 -9.68565103e-02 9.91564352e-01 7.49695909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70925976399997 meters Centerline goodness : 0.730092 with order 1 Centerline is valid? [False, False] Translation: X:-92.08, Y:-11.81, Z:7.51 [[ 7.85713796e-01 6.18542218e-01 -7.70425503e-03 -9.20805782e+01] [-6.12507255e-01 7.79669413e-01 1.30193968e-01 -1.18107678e+01] [ 8.65372375e-02 -9.75762843e-02 9.91458610e-01 7.50541792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76925976399997 meters Centerline goodness : 0.738363 with order 1 Centerline is valid? [False, False] Translation: X:-92.20, Y:-11.86, Z:7.52 [[ 7.82736255e-01 6.22351309e-01 -1.67424159e-03 -9.21955178e+01] [-6.16523209e-01 7.75767965e-01 1.34473779e-01 -1.18553660e+01] [ 8.49887551e-02 -1.04225293e-01 9.90915738e-01 7.51721009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82925976399997 meters Centerline goodness : 0.736797 with order 1 Centerline is valid? [False, False] Translation: X:-92.29, Y:-11.89, Z:7.53 [[ 7.73662148e-01 6.33588011e-01 -3.62127192e-03 -9.22910683e+01] [-6.27932182e-01 7.67493530e-01 1.29053695e-01 -1.18894922e+01] [ 8.45461767e-02 -9.75700457e-02 9.91630995e-01 7.52813337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.889259764 meters Centerline goodness : 0.745070 with order 3 Centerline is valid? [False, False] Translation: X:-92.40, Y:-11.93, Z:7.54 [[ 7.63889021e-01 6.45326938e-01 -5.16781872e-03 -9.23998186e+01] [-6.39252448e-01 7.57747965e-01 1.31050860e-01 -1.19327059e+01] [ 8.84865545e-02 -9.68047727e-02 9.91362177e-01 7.53746697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.949259764 meters Centerline goodness : 0.732699 with order 1 Centerline is valid? [False, False] Translation: X:-92.50, Y:-11.97, Z:7.55 [[ 7.52889386e-01 6.58126472e-01 -5.20764788e-03 -9.25042192e+01] [-6.51651083e-01 7.46543911e-01 1.34249972e-01 -1.19739939e+01] [ 9.22411985e-02 -9.76818099e-02 9.90933815e-01 7.54592561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.009259764 meters Centerline goodness : 0.736105 with order 3 Centerline is valid? [False, False] Translation: X:-92.61, Y:-12.01, Z:7.55 [[ 7.38122798e-01 6.74576947e-01 -1.09852942e-02 -9.26098316e+01] [-6.67497750e-01 7.32550402e-01 1.33479075e-01 -1.20132812e+01] [ 9.80891888e-02 -9.11912894e-02 9.90990747e-01 7.55011658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.069259764 meters Centerline goodness : 0.732450 with order 3 Centerline is valid? [False, False] Translation: X:-92.71, Y:-12.05, Z:7.56 [[ 7.29103998e-01 6.84221742e-01 -1.57469805e-02 -9.27103903e+01] [-6.76441709e-01 7.23931228e-01 1.35462877e-01 -1.20534369e+01] [ 1.04086377e-01 -8.81146107e-02 9.90657278e-01 7.55727969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.129259764 meters Centerline goodness : 0.730403 with order 3 Centerline is valid? [False, False] Translation: X:-92.82, Y:-12.10, Z:7.57 [[ 7.21508142e-01 6.92183504e-01 -1.75498763e-02 -9.28240521e+01] [-6.83598745e-01 7.16131698e-01 1.40883450e-01 -1.21038673e+01] [ 1.10085223e-01 -8.96514827e-02 9.89870626e-01 7.56723705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.189259764 meters Centerline goodness : 0.733191 with order 3 Centerline is valid? [False, False] Translation: X:-92.95, Y:-12.16, Z:7.58 [[ 7.23541402e-01 6.90124344e-01 -1.47047331e-02 -9.29458986e+01] [-6.81086529e-01 7.17207255e-01 1.47427587e-01 -1.21589132e+01] [ 1.12289708e-01 -9.66547676e-02 9.88963537e-01 7.57840684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.249259764 meters Centerline goodness : 0.720274 with order 3 Centerline is valid? [False, False] Translation: X:-93.06, Y:-12.21, Z:7.59 [[ 7.34765245e-01 6.78194590e-01 -1.31199304e-02 -9.30585539e+01] [-6.68845386e-01 7.27586807e-01 1.52523073e-01 -1.22090827e+01] [ 1.12986211e-01 -1.03293448e-01 9.88212821e-01 7.58748211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.309259764 meters Centerline goodness : 0.735835 with order 1 Centerline is valid? [False, False] Translation: X:-93.15, Y:-12.25, Z:7.60 [[ 7.38943985e-01 6.73539128e-01 -1.75165756e-02 -9.31504776e+01] [-6.64684092e-01 7.32990607e-01 1.44636880e-01 -1.22505576e+01] [ 1.10258084e-01 -9.52355634e-02 9.89329744e-01 7.59824491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.369259764 meters Centerline goodness : 0.732757 with order 1 Centerline is valid? [False, False] Translation: X:-93.26, Y:-12.30, Z:7.61 [[ 7.41430333e-01 6.70725812e-01 -2.01977074e-02 -9.32602791e+01] [-6.61441191e-01 7.35574762e-01 1.46373906e-01 -1.22971274e+01] [ 1.13033681e-01 -9.51664585e-02 9.89023120e-01 7.60843285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.429259764 meters Centerline goodness : 0.729786 with order 3 Centerline is valid? [False, False] Translation: X:-93.37, Y:-12.34, Z:7.62 [[ 7.46519445e-01 6.64979242e-01 -2.26125179e-02 -9.33653411e+01] [-6.55187580e-01 7.40598625e-01 1.49140579e-01 -1.23430295e+01] [ 1.15922188e-01 -9.65209010e-02 9.88557415e-01 7.61657553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.489259764 meters Centerline goodness : 0.726308 with order 3 Centerline is valid? [False, False] Translation: X:-93.47, Y:-12.39, Z:7.63 [[ 7.53676135e-01 6.56785792e-01 -2.45907744e-02 -9.34738140e+01] [-6.46521371e-01 7.47590352e-01 1.52048618e-01 -1.23926911e+01] [ 1.18247198e-01 -9.86969537e-02 9.88067058e-01 7.62511055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.549259764 meters Centerline goodness : 0.725224 with order 3 Centerline is valid? [False, False] Translation: X:-93.57, Y:-12.43, Z:7.63 [[ 7.57936311e-01 6.51560158e-01 -3.16529468e-02 -9.35663945e+01] [-6.40829634e-01 7.52769319e-01 1.50584632e-01 -1.24332552e+01] [ 1.21942314e-01 -9.38494140e-02 9.88090259e-01 7.63343206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.609259764 meters Centerline goodness : 0.726588 with order 1 Centerline is valid? [False, False] Translation: X:-93.67, Y:-12.48, Z:7.65 [[ 7.60242123e-01 6.48966861e-01 -2.95622745e-02 -9.36714242e+01] [-6.39005883e-01 7.55222931e-01 1.45978788e-01 -1.24778658e+01] [ 1.17061504e-01 -9.20887566e-02 9.88845926e-01 7.64553186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.669259764 meters Centerline goodness : 0.727286 with order 1 Centerline is valid? [False, False] Translation: X:-93.77, Y:-12.52, Z:7.65 [[ 7.60159765e-01 6.49050108e-01 -2.98511345e-02 -9.37715851e+01] [-6.38621041e-01 7.54828401e-01 1.49657109e-01 -1.25197182e+01] [ 1.19667447e-01 -9.46997503e-02 9.88287235e-01 7.65271768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72925976399995 meters Centerline goodness : 0.733323 with order 1 Centerline is valid? [False, False] Translation: X:-93.87, Y:-12.56, Z:7.66 [[ 7.57831748e-01 6.51848870e-01 -2.80016505e-02 -9.38710868e+01] [-6.42124904e-01 7.52756753e-01 1.45027162e-01 -1.25604976e+01] [ 1.15614223e-01 -9.19256305e-02 9.89031359e-01 7.66328954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78925976399995 meters Centerline goodness : 0.746493 with order 1 Centerline is valid? [False, False] Translation: X:-93.97, Y:-12.60, Z:7.68 [[ 7.56914869e-01 6.53021472e-01 -2.53542479e-02 -9.39734482e+01] [-6.44042027e-01 7.51964511e-01 1.40567571e-01 -1.26022597e+01] [ 1.10859137e-01 -9.00684835e-02 9.89746392e-01 7.67598326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84925976399995 meters Centerline goodness : 0.752667 with order 1 Centerline is valid? [False, False] Translation: X:-94.08, Y:-12.65, Z:7.69 [[ 7.54776094e-01 6.55614497e-01 -2.19699543e-02 -9.40828405e+01] [-6.46349132e-01 7.48993347e-01 1.45745551e-01 -1.26488921e+01] [ 1.12008246e-01 -9.58049970e-02 9.89078134e-01 7.68503593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90925976399996 meters Centerline goodness : 0.747500 with order 1 Centerline is valid? [False, False] Translation: X:-94.18, Y:-12.69, Z:7.69 [[ 7.53865885e-01 6.56512966e-01 -2.60183156e-02 -9.41781674e+01] [-6.46486756e-01 7.48253938e-01 1.48899021e-01 -1.26921004e+01] [ 1.17222445e-01 -9.54293957e-02 9.88510055e-01 7.69157134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96925976399996 meters Centerline goodness : 0.735304 with order 1 Centerline is valid? [False, False] Translation: X:-94.27, Y:-12.73, Z:7.70 [[ 7.55200651e-01 6.54538399e-01 -3.53760013e-02 -9.42720437e+01] [-6.43873988e-01 7.50849005e-01 1.47146387e-01 -1.27325887e+01] [ 1.22874996e-01 -8.83473599e-02 9.88481906e-01 7.69707010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.02925976399996 meters Centerline goodness : 0.733532 with order 1 Centerline is valid? [False, False] Translation: X:-94.37, Y:-12.77, Z:7.70 [[ 7.56640436e-01 6.52681940e-01 -3.87496612e-02 -9.43658931e+01] [-6.41528555e-01 7.52541111e-01 1.48737991e-01 -1.27737077e+01] [ 1.26239314e-01 -8.76821643e-02 9.88117136e-01 7.70344081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08925976399996 meters Centerline goodness : 0.736863 with order 1 Centerline is valid? [False, False] Translation: X:-94.46, Y:-12.81, Z:7.71 [[ 7.56615709e-01 6.52512592e-01 -4.19521895e-02 -9.44620073e+01] [-6.40832823e-01 7.52757149e-01 1.50631896e-01 -1.28142319e+01] [ 1.29869019e-01 -8.70861186e-02 9.87699370e-01 7.70838785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14925976399996 meters Centerline goodness : 0.738896 with order 1 Centerline is valid? [False, False] Translation: X:-94.56, Y:-12.85, Z:7.72 [[ 7.54579773e-01 6.54996232e-01 -3.98660485e-02 -9.45552391e+01] [-6.44030097e-01 7.50857920e-01 1.46415911e-01 -1.28536629e+01] [ 1.25835608e-01 -8.48075499e-02 9.88419485e-01 7.71686242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20925976399997 meters Centerline goodness : 0.746416 with order 1 Centerline is valid? [False, False] Translation: X:-94.65, Y:-12.90, Z:7.73 [[ 7.48975360e-01 6.61462663e-01 -3.87692747e-02 -9.46524529e+01] [-6.51249940e-01 7.45669385e-01 1.40892457e-01 -1.28950202e+01] [ 1.22104161e-01 -8.02764906e-02 9.89265515e-01 7.72532758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26925976399997 meters Centerline goodness : 0.687566 with order 1 Centerline is valid? [False, False] Translation: X:-94.74, Y:-12.94, Z:7.73 [[ 7.47104345e-01 6.63452561e-01 -4.08141902e-02 -9.47446189e+01] [-6.52507744e-01 7.43718889e-01 1.45312964e-01 -1.29377052e+01] [ 1.26762542e-01 -8.19323715e-02 9.88543547e-01 7.73236529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32925976399997 meters Centerline goodness : 0.551200 with order 2 Centerline is valid? [False, False] Translation: X:-94.84, Y:-12.98, Z:7.74 [[ 7.47228756e-01 6.62946370e-01 -4.63820704e-02 -9.48358050e+01] [-6.51255744e-01 7.44375131e-01 1.47552093e-01 -1.29784889e+01] [ 1.32344784e-01 -8.00485776e-02 9.87966135e-01 7.73652381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.389259764 meters Centerline goodness : 0.745183 with order 1 Centerline is valid? [False, False] Translation: X:-94.93, Y:-13.02, Z:7.74 [[ 7.49573641e-01 6.60363504e-01 -4.53806019e-02 -9.49331672e+01] [-6.48293722e-01 7.46254381e-01 1.51061737e-01 -1.30218353e+01] [ 1.33621131e-01 -8.38119366e-02 9.87482128e-01 7.74259291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.449259764 meters Centerline goodness : 0.755556 with order 1 Centerline is valid? [False, False] Translation: X:-95.03, Y:-13.06, Z:7.75 [[ 7.54145862e-01 6.55477023e-01 -4.01732609e-02 -9.50299754e+01] [-6.44137031e-01 7.50237169e-01 1.49102901e-01 -1.30631032e+01] [ 1.27872999e-01 -8.65682505e-02 9.88005280e-01 7.75250896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.509259764 meters Centerline goodness : 0.764311 with order 1 Centerline is valid? [False, False] Translation: X:-95.12, Y:-13.10, Z:7.76 [[ 7.56600198e-01 6.52758538e-01 -3.82417437e-02 -9.51155069e+01] [-6.41946124e-01 7.52644303e-01 1.46395785e-01 -1.30995136e+01] [ 1.24343529e-01 -8.62139408e-02 9.88486643e-01 7.76058831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.569259764 meters Centerline goodness : 0.746853 with order 1 Centerline is valid? [False, False] Translation: X:-95.20, Y:-13.14, Z:7.76 [[ 7.62462722e-01 6.45217123e-01 -4.84299592e-02 -9.52007045e+01] [-6.33890457e-01 7.59890094e-01 1.44048373e-01 -1.31395766e+01] [ 1.29743923e-01 -7.91322257e-02 9.88384847e-01 7.76485746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.629259764 meters Centerline goodness : 0.759492 with order 1 Centerline is valid? [False, False] Translation: X:-95.29, Y:-13.18, Z:7.77 [[ 7.68111603e-01 6.38365511e-01 -4.99403583e-02 -9.52886744e+01] [-6.27910575e-01 7.66213881e-01 1.36545225e-01 -1.31794623e+01] [ 1.25430758e-01 -7.35238926e-02 9.89374228e-01 7.77050821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.689259764 meters Centerline goodness : 0.756015 with order 1 Centerline is valid? [False, False] Translation: X:-95.37, Y:-13.22, Z:7.78 [[ 7.70113773e-01 6.36112391e-01 -4.78100612e-02 -9.53732512e+01] [-6.25846708e-01 7.67934088e-01 1.36356643e-01 -1.32163147e+01] [ 1.23453126e-01 -7.50883593e-02 9.89505464e-01 7.77629039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.749259764 meters Centerline goodness : 0.760201 with order 1 Centerline is valid? [False, False] Translation: X:-95.45, Y:-13.25, Z:7.78 [[ 7.72835433e-01 6.32927166e-01 -4.61367091e-02 -9.54530492e+01] [-6.23151492e-01 7.70628116e-01 1.33471066e-01 -1.32509285e+01] [ 1.20031709e-01 -7.44010100e-02 9.89978221e-01 7.78220017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.809259764 meters Centerline goodness : 0.756109 with order 1 Centerline is valid? [False, False] Translation: X:-95.54, Y:-13.29, Z:7.79 [[ 7.79212655e-01 6.24845489e-01 -4.89464348e-02 -9.55424002e+01] [-6.15393364e-01 7.77550312e-01 1.29253703e-01 -1.32912271e+01] [ 1.18821909e-01 -7.05948099e-02 9.90402810e-01 7.78584618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.869259764 meters Centerline goodness : 0.755496 with order 1 Centerline is valid? [False, False] Translation: X:-95.62, Y:-13.32, Z:7.79 [[ 7.81839381e-01 6.21429909e-01 -5.05178226e-02 -9.56191423e+01] [-6.12438899e-01 7.80649847e-01 1.24516708e-01 -1.33247164e+01] [ 1.16815137e-01 -6.64129863e-02 9.90930643e-01 7.79078521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.929259764 meters Centerline goodness : 0.541310 with order 2 Centerline is valid? [False, False] Translation: X:-95.71, Y:-13.36, Z:7.80 [[ 7.84081618e-01 6.18992109e-01 -4.54399181e-02 -9.57075811e+01] [-6.10229606e-01 7.82203130e-01 1.25610872e-01 -1.33630109e+01] [ 1.13295385e-01 -7.07603922e-02 9.91038406e-01 7.79681865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.989259764 meters Centerline goodness : 0.751537 with order 1 Centerline is valid? [False, False] Translation: X:-95.78, Y:-13.40, Z:7.80 [[ 7.86455159e-01 6.15783328e-01 -4.79497242e-02 -9.57835772e+01] [-6.06241835e-01 7.84452970e-01 1.30783694e-01 -1.33973481e+01] [ 1.18148722e-01 -7.37863823e-02 9.90250700e-01 7.79856820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.049259764 meters Centerline goodness : 0.749359 with order 1 Centerline is valid? [False, False] Translation: X:-95.86, Y:-13.44, Z:7.80 [[ 7.90980803e-01 6.09295684e-01 -5.57506850e-02 -9.58643124e+01] [-5.99133717e-01 7.89805080e-01 1.31326789e-01 -1.34353646e+01] [ 1.24049020e-01 -7.04748536e-02 9.89770244e-01 7.80197376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.109259764 meters Centerline goodness : 0.706481 with order 1 Centerline is valid? [False, False] Translation: X:-95.93, Y:-13.46, Z:7.80 [[ 7.93889599e-01 6.05373395e-01 -5.71170379e-02 -9.59261473e+01] [-5.95821611e-01 7.93221539e-01 1.25682927e-01 -1.34626441e+01] [ 1.21391565e-01 -6.57468034e-02 9.90424881e-01 7.80490539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.169259764 meters Centerline goodness : 0.746857 with order 1 Centerline is valid? [False, False] Translation: X:-96.01, Y:-13.50, Z:7.81 [[ 7.99271382e-01 5.98668968e-01 -5.25425920e-02 -9.60064666e+01] [-5.88605046e-01 7.97472577e-01 1.32595586e-01 -1.34965263e+01] [ 1.21282139e-01 -7.50530227e-02 9.89776584e-01 7.80727480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22925976399995 meters Centerline goodness : 0.730239 with order 1 Centerline is valid? [False, False] Translation: X:-96.05, Y:-13.52, Z:7.81 [[ 7.99524982e-01 5.98237896e-01 -5.35837986e-02 -9.60523596e+01] [-5.88382993e-01 7.98021409e-01 1.30258530e-01 -1.35153358e+01] [ 1.20686607e-01 -7.26171531e-02 9.90031056e-01 7.80831470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28925976399995 meters Centerline goodness : 0.734071 with order 1 Centerline is valid? [False, False] Translation: X:-96.13, Y:-13.55, Z:7.81 [[ 7.97047777e-01 6.01129439e-01 -5.79503139e-02 -9.61263125e+01] [-5.90735490e-01 7.95992604e-01 1.32012709e-01 -1.35486795e+01] [ 1.25484747e-01 -7.09871292e-02 9.89552629e-01 7.80869149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34925976399995 meters Centerline goodness : 0.712808 with order 1 Centerline is valid? [False, False] Translation: X:-96.18, Y:-13.57, Z:7.81 [[ 7.95846514e-01 6.02450751e-01 -6.06747059e-02 -9.61811963e+01] [-5.92106642e-01 7.95286047e-01 1.30114670e-01 -1.35691974e+01] [ 1.26641427e-01 -6.76254099e-02 9.89640719e-01 7.81179346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40925976399996 meters Centerline goodness : 0.727780 with order 1 Centerline is valid? [False, False] Translation: X:-96.26, Y:-13.60, Z:7.81 [[ 7.91358675e-01 6.08249989e-01 -6.15093315e-02 -9.62554045e+01] [-5.97447965e-01 7.90772075e-01 1.33174526e-01 -1.36020439e+01] [ 1.29643266e-01 -6.86401915e-02 9.89182060e-01 7.81381239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46925976399996 meters Centerline goodness : 0.728719 with order 1 Centerline is valid? [False, False] Translation: X:-96.31, Y:-13.62, Z:7.81 [[ 7.90259915e-01 6.09622462e-01 -6.20461202e-02 -9.63108041e+01] [-5.99208785e-01 7.89982489e-01 1.29909582e-01 -1.36224246e+01] [ 1.28211148e-01 -6.54837549e-02 9.89582629e-01 7.81410337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.52925976399996 meters Centerline goodness : 0.706444 with order 1 Centerline is valid? [False, False] Translation: X:-96.38, Y:-13.65, Z:7.82 [[ 7.80525088e-01 6.21624911e-01 -6.60534403e-02 -9.63829037e+01] [-6.11392134e-01 7.81131448e-01 1.26622742e-01 -1.36543977e+01] [ 1.30308270e-01 -5.84476732e-02 9.89749273e-01 7.81621628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58925976399996 meters Centerline goodness : 0.734255 with order 1 Centerline is valid? [False, False] Translation: X:-96.46, Y:-13.69, Z:7.82 [[ 7.79302486e-01 6.23024710e-01 -6.72892705e-02 -9.64611362e+01] [-6.11611046e-01 7.79586886e-01 1.34819194e-01 -1.36913308e+01] [ 1.36453522e-01 -6.39100718e-02 9.88582793e-01 7.81918205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64925976399996 meters Centerline goodness : 0.682114 with order 1 Centerline is valid? [False, False] Translation: X:-96.51, Y:-13.71, Z:7.82 [[ 7.82470061e-01 6.18912428e-01 -6.84690455e-02 -9.65128922e+01] [-6.08227794e-01 7.83223681e-01 1.28917092e-01 -1.37136498e+01] [ 1.33414968e-01 -5.92289882e-02 9.89288822e-01 7.81984030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70925976399997 meters Centerline goodness : 0.703328 with order 3 Centerline is valid? [False, False] Translation: X:-96.58, Y:-13.74, Z:7.82 [[ 7.82748171e-01 6.18199314e-01 -7.16582811e-02 -9.65827197e+01] [-6.07462218e-01 7.83980932e-01 1.27920104e-01 -1.37447867e+01] [ 1.35258846e-01 -5.65995287e-02 9.89192366e-01 7.82347365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76925976399997 meters Centerline goodness : 0.692156 with order 1 Centerline is valid? [False, False] Translation: X:-96.63, Y:-13.77, Z:7.82 [[ 7.80960356e-01 6.20558415e-01 -7.07684673e-02 -9.66330807e+01] [-6.09830266e-01 7.82085430e-01 1.28255321e-01 -1.37650413e+01] [ 1.34936906e-01 -5.70055683e-02 9.89213019e-01 7.82463224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82925976399997 meters Centerline goodness : 0.669474 with order 1 Centerline is valid? [False, False] Translation: X:-96.70, Y:-13.80, Z:7.83 [[ 7.81561817e-01 6.19942820e-01 -6.95127825e-02 -9.67038495e+01] [-6.07401612e-01 7.81645459e-01 1.41752101e-01 -1.37971720e+01] [ 1.42212548e-01 -6.85658537e-02 9.87458513e-01 7.82663249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.889259764 meters Centerline goodness : 0.680389 with order 1 Centerline is valid? [False, False] Translation: X:-96.75, Y:-13.82, Z:7.83 [[ 7.82353386e-01 6.19034130e-01 -6.87017100e-02 -9.67532105e+01] [-6.06859468e-01 7.82457367e-01 1.39578130e-01 -1.38187149e+01] [ 1.40159785e-01 -6.75071391e-02 9.87824894e-01 7.82856710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.949259764 meters Centerline goodness : 0.538258 with order 2 Centerline is valid? [False, False] Translation: X:-96.82, Y:-13.84, Z:7.83 [[ 7.79460877e-01 6.22368363e-01 -7.14028119e-02 -9.68214576e+01] [-6.10614714e-01 7.80271551e-01 1.35373476e-01 -1.38438817e+01] [ 1.39965751e-01 -6.19187207e-02 9.88218428e-01 7.82877660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.009259764 meters Centerline goodness : 0.566480 with order 2 Centerline is valid? [False, False] Translation: X:-96.87, Y:-13.87, Z:7.83 [[ 7.75886064e-01 6.26592584e-01 -7.33658665e-02 -9.68680874e+01] [-6.14406945e-01 7.76904113e-01 1.37564914e-01 -1.38656254e+01] [ 1.43195398e-01 -6.16582015e-02 9.87771909e-01 7.82973748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.069259764 meters Centerline goodness : 0.535238 with order 2 Centerline is valid? [False, False] Translation: X:-96.94, Y:-13.89, Z:7.83 [[ 7.73787636e-01 6.29174118e-01 -7.34344825e-02 -9.69367846e+01] [-6.16693582e-01 7.74729766e-01 1.39580857e-01 -1.38934045e+01] [ 1.44712542e-01 -6.27193671e-02 9.87483955e-01 7.83400656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.129259764 meters Centerline goodness : 0.500237 with order 3 Centerline is valid? [False, False] Translation: X:-96.99, Y:-13.92, Z:7.83 [[ 7.71233874e-01 6.31951005e-01 -7.63952845e-02 -9.69852292e+01] [-6.19255933e-01 7.72641978e-01 1.39808663e-01 -1.39155503e+01] [ 1.47378429e-01 -6.05169438e-02 9.87227075e-01 7.83331494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.189259764 meters Centerline goodness : 0.528443 with order 2 Centerline is valid? [False, False] Translation: X:-97.06, Y:-13.95, Z:7.84 [[ 7.68728051e-01 6.34805532e-01 -7.79687106e-02 -9.70554982e+01] [-6.21963021e-01 7.70394937e-01 1.40191447e-01 -1.39464805e+01] [ 1.49061006e-01 -5.92754432e-02 9.87049765e-01 7.83711465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.249259764 meters Centerline goodness : 0.652895 with order 1 Centerline is valid? [False, False] Translation: X:-97.11, Y:-13.97, Z:7.84 [[ 7.66564563e-01 6.37139601e-01 -8.01991226e-02 -9.71059289e+01] [-6.23993460e-01 7.68539772e-01 1.41346317e-01 -1.39693259e+01] [ 1.51693551e-01 -5.83073494e-02 9.86706299e-01 7.83870054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.309259764 meters Centerline goodness : 0.647556 with order 1 Centerline is valid? [False, False] Translation: X:-97.18, Y:-14.00, Z:7.84 [[ 7.64898311e-01 6.38924252e-01 -8.18924571e-02 -9.71805993e+01] [-6.25956812e-01 7.67264647e-01 1.39581629e-01 -1.40029108e+01] [ 1.52015275e-01 -5.55046113e-02 9.86818420e-01 7.84069926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.369259764 meters Centerline goodness : 0.111243 with order 1 Centerline is valid? [False, False] Translation: X:-97.23, Y:-14.03, Z:7.84 [[ 7.63985753e-01 6.39499243e-01 -8.58282400e-02 -9.72343718e+01] [-6.26356487e-01 7.66984242e-01 1.39329552e-01 -1.40288281e+01] [ 1.54930051e-01 -5.26867181e-02 9.86519533e-01 7.84195811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.429259764 meters Centerline goodness : 0.113625 with order 1 Centerline is valid? [False, False] Translation: X:-97.31, Y:-14.07, Z:7.85 [[ 7.66033186e-01 6.36710050e-01 -8.82806330e-02 -9.73117996e+01] [-6.23429790e-01 7.69369984e-01 1.39302277e-01 -1.40664669e+01] [ 1.56615629e-01 -5.16733906e-02 9.86306953e-01 7.84631345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.489259764 meters Centerline goodness : 0.109517 with order 1 Centerline is valid? [False, False] Translation: X:-97.39, Y:-14.10, Z:7.85 [[ 7.73767871e-01 6.27576956e-01 -8.62000334e-02 -9.73877255e+01] [-6.15139261e-01 7.76886740e-01 1.34352832e-01 -1.41022714e+01] [ 1.51284404e-01 -5.09328797e-02 9.87177224e-01 7.84795636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.549259764 meters Centerline goodness : 0.544420 with order 2 Centerline is valid? [False, False] Translation: X:-97.44, Y:-14.12, Z:7.85 [[ 7.79593824e-01 6.20165938e-01 -8.73365837e-02 -9.74423965e+01] [-6.08859246e-01 7.83163499e-01 1.26274908e-01 -1.41239975e+01] [ 1.46710221e-01 -4.52674516e-02 9.88143192e-01 7.84789256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.609259764 meters Centerline goodness : 0.506621 with order 2 Centerline is valid? [False, False] Translation: X:-97.52, Y:-14.16, Z:7.85 [[ 7.85653490e-01 6.12501058e-01 -8.71266150e-02 -9.75179338e+01] [-6.00797754e-01 7.88960126e-01 1.28778796e-01 -1.41599521e+01] [ 1.47616574e-01 -4.88300359e-02 9.87838537e-01 7.84882343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.669259764 meters Centerline goodness : 0.478854 with order 2 Centerline is valid? [False, False] Translation: X:-97.57, Y:-14.18, Z:7.85 [[ 7.90292385e-01 6.07348159e-01 -8.10318486e-02 -9.75728134e+01] [-5.95637218e-01 7.92517327e-01 1.30891525e-01 -1.41831162e+01] [ 1.43715871e-01 -5.51769906e-02 9.88079576e-01 7.84892252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72925976399995 meters Centerline goodness : 0.106304 with order 1 Centerline is valid? [False, False] Translation: X:-97.62, Y:-14.21, Z:7.85 [[ 7.99482244e-01 5.94984031e-01 -8.25962737e-02 -9.76232785e+01] [-5.82572322e-01 8.01519882e-01 1.34816054e-01 -1.42107619e+01] [ 1.46415955e-01 -5.96647383e-02 9.87422142e-01 7.85209414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78925976399995 meters Centerline goodness : 0.107604 with order 1 Centerline is valid? [False, False] Translation: X:-97.71, Y:-14.25, Z:7.85 [[ 8.18476279e-01 5.68370659e-01 -8.39724658e-02 -9.77050394e+01] [-5.58063746e-01 8.21218137e-01 1.19019442e-01 -1.42508886e+01] [ 1.36606870e-01 -5.05526008e-02 9.89334624e-01 7.85456440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84925976399995 meters Centerline goodness : 0.108275 with order 1 Centerline is valid? [False, False] Translation: X:-97.75, Y:-14.28, Z:7.86 [[ 8.24140854e-01 5.59882721e-01 -8.55756513e-02 -9.77515441e+01] [-5.48782200e-01 8.26735597e-01 1.23880381e-01 -1.42759177e+01] [ 1.40106922e-01 -5.51324891e-02 9.88600252e-01 7.85663475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90925976399996 meters Centerline goodness : 0.109406 with order 1 Centerline is valid? [False, False] Translation: X:-97.82, Y:-14.32, Z:7.86 [[ 8.39347690e-01 5.36479139e-01 -8.76674906e-02 -9.78225256e+01] [-5.24227186e-01 8.41512246e-01 1.30548829e-01 -1.43166059e+01] [ 1.43809990e-01 -6.36181758e-02 9.87558309e-01 7.85795593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96925976399996 meters Centerline goodness : 0.121960 with order 1 Centerline is valid? [False, False] Translation: X:-97.87, Y:-14.35, Z:7.86 [[ 8.51669811e-01 5.15999080e-01 -9.16705130e-02 -9.78736050e+01] [-5.03763119e-01 8.54263901e-01 1.28280580e-01 -1.43470762e+01] [ 1.44503472e-01 -6.30724742e-02 9.87492081e-01 7.86151994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.02925976399996 meters Centerline goodness : 0.118678 with order 1 Centerline is valid? [False, False] Translation: X:-97.95, Y:-14.39, Z:7.87 [[ 8.62650446e-01 4.97411739e-01 -9.17374985e-02 -9.79484979e+01] [-4.85829917e-01 8.65309245e-01 1.23325595e-01 -1.43855106e+01] [ 1.40724904e-01 -6.18180581e-02 9.88116911e-01 7.86569724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08925976399996 meters Centerline goodness : 0.114909 with order 1 Centerline is valid? [False, False] Translation: X:-98.00, Y:-14.40, Z:7.87 [[ 8.63899296e-01 4.96126043e-01 -8.68156414e-02 -9.79958063e+01] [-4.85579936e-01 8.66188324e-01 1.18025058e-01 -1.44032557e+01] [ 1.33754000e-01 -5.98058309e-02 9.89208335e-01 7.86921798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14925976399996 meters Centerline goodness : 0.111648 with order 1 Centerline is valid? [False, False] Translation: X:-98.04, Y:-14.43, Z:7.87 [[ 8.66271399e-01 4.90687686e-01 -9.38054249e-02 -9.80444106e+01] [-4.80349837e-01 8.69708836e-01 1.13448558e-01 -1.44281981e+01] [ 1.37251217e-01 -5.32178206e-02 9.89105640e-01 7.87325257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20925976399997 meters Centerline goodness : 0.112172 with order 1 Centerline is valid? [False, False] Translation: X:-98.10, Y:-14.45, Z:7.87 [[ 8.68805959e-01 4.85835146e-01 -9.56055264e-02 -9.80955057e+01] [-4.76942216e-01 8.72988264e-01 1.02066707e-01 -1.44507622e+01] [ 1.33050096e-01 -4.30778520e-02 9.90172697e-01 7.87336544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26925976399997 meters Centerline goodness : 0.375482 with order 1 Centerline is valid? [False, False] Translation: X:-98.17, Y:-14.49, Z:7.88 [[ 8.70565145e-01 4.82200369e-01 -9.79751603e-02 -9.81722815e+01] [-4.73471569e-01 8.75117841e-01 9.99671842e-02 -1.44881780e+01] [ 1.33944024e-01 -4.06394933e-02 9.90155256e-01 7.87556944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32925976399997 meters Centerline goodness : 0.392358 with order 1 Centerline is valid? [False, False] Translation: X:-98.25, Y:-14.52, Z:7.88 [[ 8.72725033e-01 4.77724823e-01 -1.00647950e-01 -9.82518700e+01] [-4.69281017e-01 8.77715664e-01 9.69047968e-02 -1.45227188e+01] [ 1.34634109e-01 -3.73390698e-02 9.90191623e-01 7.87593202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 13640.35 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%| | 0/8812 [00:00